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Introduction

1. AppendixD Servo Loop Block Diagrams Servo Config Motor Dual Command Velocity Offset e Acc gt wat gt FF Gain Velocity Command Output ae Pos Neg Coarse Ta Low Pass Torgus Vel Filter Filter e p FF Offset pa BW Limit Gain Position asii 1 Command Velocity fore Coarse Position Command Velocity Command Command 5 Eror Pos P F F Etter p vei P F Torque 5 Frict aad Notch Torque Torque e gt gt Gain Gain Scaling Comp ae Filter Limit gt amplifier Position Command Velocity Feedback Error Position Posi Accum velit Feedback P Gain non P Gain Y Position Velocity Integrator Integrator Motor Error Error Low Pass Filter 5 Feedback Polarity Motor Feedback v Channel Hardware Motor Feedback Position Feedback Position i H Feedback i Coarse i Faaa y Position Hardware menna Pe A _ coum Feedback ef reoitack ulator Position 394 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
2. Torque Offset e Acc P ddt p gt FF Velocity Gain Offset apa e Offset Output amp Vel Filter Friction Servo ep aa gt FF BW Comp Polarity Gain Position Command Velocity Coarse Position Command Error Low Velocity Pos P Output Output 16 Bit Pass p p bd gt interpolator O Gain z z Hine Scaling E limt pac D gano Position Command Velocity ervo Feedback Output Level Error Position Accum p Pos Feedback ulator Gain Position Integrator Error ni Servo Config Position Servo Motor Encoder Polarity Position H Ch AB Feedback Enae Y Coarse hi PE z put Position 16 bit an lt 4 hd Accum j Encoder e rs becca ulator Counter Watch Eygi Watch 4 Event Handler Watch Position chz Homing Marker Event Marker Input lt 4 Event j Marker he Handler Latch T Registration Regist po lt 4 Event j Regist ke Registration Handler Input 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 The controller updates these values at the coarse update p
3. Ace gt Hat gt FF Velocity Sain Offset e Output Output aed Pos Neg Low Pass ote pa Vel Filter Filter Let o gt vat c FF Bw ew Gain Position Accel Torque Command Velocity Command Command Coarse Position Command Velocity Error Error Low Fine Pos P Vel P gt Torque Frict Notch Torque Torque e gt interpolator ad O gt Gain X O P Gain P scaling X gt comp P Led gt Filter Limit gt amplifier Position Command Velocity Feedback Error Error Position Accum pres Accum gt on AA Feedback ulator ai ulator Position Velocity Integrator Integrator Motor Error Error Low Pass Filter Feedback Polarity Motor Feedback Y Hardware Channel Feedback he __ Motor Position Reeves Position H Feedback recy H Coarse Channel x Position Hardware lt 4 Accum Feedback e Acum fraa Feedback The Auxiliary Position Servo configuration provides full position servo control using an auxiliary that is external to the motor feedback device to provide position and velocity feedback 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 pos
4. J1 to 50 pin Ultra 200 Terminal Block Series Digital Kit P N 9109 1391 Servo Drive 115 Tor 24 vor igor13 READY 24 VCOM 1 22 COMMAND 4 From General cable QUT P N 9109 1369 003 1756 MO2AE C0720 X our 123 omman ENABLE 1 20 Interface From General cable ENABLE t ENABLE Cable J1 1756 M02AE C0721 DRVFLT 125 Reay E X_IN_COM CHA 17 aout CHA AOUT From General cable CHB 19 Bou 1756 M02AE C0722 X cup a BOUT CHZ OUT X cz 112 Hour Notes e This is an example of one way to wire the drive e See Ultra 200 Series Drive Installation Manual publication number 1398 5 0 for other configurations Publication LOGIX UM002D EN P July 2008 259 Appendix B 260 Wiring Diagrams 1398 CFLAExx Cable 7 1 0 in E Individually Jacketed pairs ET BRAKE L RESET 3 _ _1398 cFLAE elt 2s 5 0 in a Pinouts for 1398 CFLAExx Cable WHT ORG22GA 2 gt lag BRAKE i wameLzzea A 50 BRAKE pra DRAIN eal ep LNN oe TANAGA ER 21 RESET Wires DRAIN 1 4 Stripped Joo g Back o WHIRED 226A a 5 2avoe Bin Xi WHT BLK 226A X C2NCOM ia DRAIN aa ep LNN ve WHT SRN ZGA re 22 COMMAND Xi wauza X 23 COMMAND a DRAIN ae ep LNN 26 24VDC m o s BROWN2GA 24 READY Au RED
5. ANALOG COMMAND WHT GRN 22GA 0UT 0 f e i WHT GRN 22GA ANALOG COMMAND ANALOG COMMAND WHT BLU 22GA 4 7 WHT BLU 22GA ANALOG COMMAND DRAIN CHASSIS _ 4 11 L CHASSIS DRAIN I 7 ee 10 POWER BROWN 28GA ENABLE O_ g ENABLE 1 BROWN 28GA 10 POWER INPUT 1 ENABLE RED 28GA mi ENABLE O g 7 ENABLE 1 RED 28GA 2 INPUT 1 ENABLE OUTPUT 1 READY 3 ORANGE 28GA DAVFLT O 45 o g _ORVELT 1 ORANGE 28GA 3 OUTPUT 1 READY 10 COM YELLOW 28GA x INCOM 13 N COM IX YELLOW 28GA 10 COM DRAIN DRAIN ey AOUT GREEN 28GA CHAO 96 On 95 LACH GREEN 28GA AOUT AOUT R BLUE 28GA ht CHA 0 99 Ox 27 CHA 1 BLUE 28GA A AOUT BOUT VIOLET 28GA CHB 0 39 fi 29 CHB 1 VIOLET 28GA BOUT BOUT GRAY 28GA 8 CHB 0 37 Dz 31 CHB 1 GRAY 28GA 8 BOUT IOUT WHITE 28GA CHZ 0 34 23 33 CHZ 1 WHITE 28GA IOUT IOUT BLACK 28GA CHZ 0 35 S33 35 CHZ 1 IX BLACK 28GA IX DRAIN CHASSIS 94 73 CHASSIS DRAIN EES SSS SSS 1756 M02AE SERVO MODULE BLACK 28GA ___ ACOM ANALOG GRD ACOM ANALOG GRD y __ BLACK 28GA 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 2090 U3AE D44 xx RED 28GA AX AX RED 28GA 2090 U3AE D44 xx Conitrollenliterkace WHT RED 28GA AX AX WHT RED 28GA Controller Interface Cable ORANGE 28GA BX BX ORANGE 28GA Cable WHT ORG 28GA BX BX WHT ORG 28GA YELLOW 28GA X IX YELLOW 28GA WHT YEL 28GA X 1X WHT Y
6. Attribute Axis Type Data Type Access Description the same as the Drive Status Bits attribute Tag Bit Servo Action Status 0 Drive Enable Status 1 Shutdown Status 2 Process Status 3 Bus Ready Status 4 Reserved 5 Home Input Status 6 Reg 1 Input Status 7 Reg 2 Input Status 8 Pos Overtravel Input Status 9 Neg Overtravel Input Status 10 Enable Input Status 11 Accel Limit Status 12 Absolute Reference Status 13 Reserved 14 Reserved 15 Velocity Lock Status 16 Velocity Standstill Status 17 Velocity Threshold Status 18 Torque Threshold Status 19 Torque Limit Status 20 Velocity Limit Status 21 Position Lock Status 22 Power Limit Status 23 Reserved 24 Low Velocity Threshold Status 25 High Velocity Threshold Status 26 Publication LOGIX UM002D EN P July 2008 313 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description B Drive Status AXIS_SERVO_DRIVE BOOL Tag Tag Bit Servo Action Status 0 Drive Enable Status 1 Shutdown Status 2 Process Status 3 Bus Ready Status 4 Reserved 5 Home Input Status 6 Reg 1 Input Status 7 Reg 2 Input Status 8 Pos Overtravel Input Status 9 Neg Overtravel Input Status 10 Enable Input Status 11 Accel Limit Status 12 Absolute Reference Status 13 Safe Off Mode Active Status 14 requires Drive firmware revision 1 85 or higher Drive Thermal AXIS_SERVO_DRIVE SINT GSV Fault Action SSV Fault Action Value Shutdown 0 Disable Drive 1 St
7. If you have an AXIS_SERVO_DRIVE data type While the Vel Gain if employed is typically established by the automatic servo tuning procedure the Pos 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 Gain can be computed based on the current or computed value for the Vel P Gain using the following formula Vel 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 Gain value of 15 6 mSec Sec Publication LOGIX UM002D EN P July 2008 379 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for AXIS SERVO DRIVE T Real Time Axis Information for the axis Otherwise you won t see the m z eg right value as the axis runs See Axis Info Select 1 Velocity Integrator Error in Position Units mSec Sec 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
8. z Coordinate System Properties My_coordinate_system General Geometry Units Offsets Dynamics Tag Manual Adjust Vector Maximum Speed 0 0 Coordination Units s Maximum Acceleration 0 0 Coordination Units s 2 Maximum Deceleration 0 0 Coordination Units s 2 Maximum Accel Jerk 0 0 Coordination Units s 3 lt 1 of Max Accel Time Maximum Decel Jerk 0 0 Coordination Units s 3 lt 1 of Max Decel Time t Position Tolerance Actual 0 0 Coordination Units Command 0 0 Coordination Units Dynamics Tab The Dynamics dialog is accessible only if you are configuring a Cartesian cootdinate system The Dynamics tab is for entering the Vector values used for Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk and Maximum Deceleration Jerk 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 Acceleration Maximum Deceleration Maximum Acceleration Jerk and 62 Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 Publication LOGIX UM002D EN P July 2008 Maximum Deceleration Jerk The values 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
9. As each axis J1 J2 J3 is rotated the TCP of the gripper moves correspondingly in X1 X2 X3 direction The gripper remains vertical along the X3 axis while its position is translated to X1 X2 X3 space by the mechanical action of the parallelograms in each of the three forearm assemblies The mechanical connections of the parallelograms via spherical joints ensures that the top and bottom plates remain parallel to each other You program the TCP to an X1 X2 X3 coordinate then RSLogix 5000 software computes the commands necessary for each of the joints J1 J2 J3 to move the gripper linearly from the current X1 X2 X3 position to the programmed X1 X2 X3 position at the programmed vector dynamics When each top link L1 moves downward its corresponding joint axis J1 J2 or J3 is assumed to be rotating in the positive direction The three joint axes of the robot are configured as linear axes To rotate the gripper configure a fourth axis as either a linear or rotary independent axis 109 Chapter6 Kinematics in RSLogix 5000 Software Establish the Reference Frame for a Delta Three dimensional Robot Joint 2 Top View I Joint 1 Joint 3 The reference frame for the Delta geometries is located at the center of the top fixed plate Joint 1 Joint 2 and Joint 3 are actuated joints If you configure the Delta coordinate system in RSLogix 5000 with the joints homed at 0 in the horizontal position
10. Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation 136 Publication LOGIX UMO02D EN P July 2008 DRIVE Light State Description Off One of the following The axis is not used The axis is a position only axis type Flashing green The axis drive is in the normal disabled state Interpret Module Lights LEDs Chapter 7 Recommended Action None if the axis is not used or is a position only type Otherwise make sure the module is configured an axis tag has been associated with the module and the axis type is servo None The servo axis state can be changed by executing motion instructions Steady green The axis drive is in the normal enabled state None The servo axis state can be changed by executing motion instructions Flashing red The axis drive output is in the shutdown state Steady red The axis drive is faulted Publication LOGIX UM002D EN P July 2008 Check for faults that may have generated this state Execute the Motion Axis Shutdown Reset 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 no
11. ON The Drive Enable output of the axis is on OFF Drive Enable output of the axis is off AXIS_SERVO_DRIVE If this bit is ON The drive s power structure is active OFF The drive s power structure is not active Drive Fault AXIS_SERVO BOOL Publication LOGIX UM002D EN P July 2008 Tag If this bit is set then the external servo drive has detected a fault and has communicated the existence of this fault to the servo module via the Drive Fault input 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 301 Appendix C Attribute Drive Fault 302 Axis Attributes Axis Type AXIS_SERVO_DRIVE Data Type Access Description DINT Tag Lets you access all the drive fault bits in one 32 bit word This tag is the same as the Drive Fault Bits attribute Tag Bit Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault 1 Pos Hard Overtravel Fault 2 Neg Hard Overtravel Fault 3 Mot Feedback Fault 4 Mot Feedback Noise Fault 5 Aux Feedback Fault 6 Aux Feedback Noise Fault 7 Reserved 8 Drive Enable Input Fault g Common Bus Fault 10 Precharge Overload Fault 11 Guard Fault Exists 12 Ground Short Fault 13 Drive Hard Fault 14 Overspeed Fault 15 Overload Fault 16 Drive Overtemp Fault 17 Motor Overtemp Fau
12. The connections to the motion module are running again InhibitAxis AXIS_SERVO INT GSV To Set the attribute to AXIS_SERVO_DRIVE SSV Block the controller from using the axis This 1 or any non zero value inhibits the axis Let the controller use the axis This 0 uninhibits the axis Integrator Hold AXIS_SERVO SINT GSV When the Integrator Hold Enable attribute value is configured TRUE the Enable AXIS SERVO DRIVE Ssy servo loop temporarily disables any enabled integrators while the z 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 0 disabled 1 enabled Inter Module AXIS_SERVO BOOL Tag If this bit is on the analog servo cards of a SoftLogix5800 controller Sync Fault aren t synchronized The hardware or vbfirmware of the card causes this fault For example the cable between 2 cards isn t connected Interpolated AXIS_CONSUMED REAL GSV Interpolated Actual Position in Position Units Actual Position AXIS_GENERIC Tag Interpolated Actual Position is the interpolation of the actual position 3 based on past axis trajectory history at the time specified by the AXIS_SERVO Interpolated Time attribute AXIS_SERVO_DRIVE AXIS_VIRTUAL Interpolated AXIS_CONSUMED REAL GSV Interpolated Command Position in Position Units Command AXIS GENERIC Tag Interpolated Command Position
13. 0 0 160 General Tab AXIS VIRTUAL 0 0 0 0 0 0000 164 General Tab AXIS GENERIC 0 0 0 000 165 Motion Plannet Tab we i e oo cc ee wn a bd or ewlaa sew wn ee 166 Units Fabs rae ranih weed E E en Sha Sean ie ES 169 Servo Tab AXIS SERVO oer os we hee SRO Ri ee cS 170 Feedback Tab US SERV Ott fs sa Miaicinice bh ae at eh 172 Drive Motor Tab AXIS_SERVO_DRIVE 177 Motor Feedback Tab AXIS SERVO_DRIVE 184 Aux Feedback Tab AXIS SERVO_DRIVE 185 Conversion Lab ei 2ic situa nt cit eo als ak We MAR Se hoa ORS 187 Homing Tab AXIS SERV Ovsdai to ba Gut BAe te pore sae S 44 188 Homing Tab AXIS_SERVO_DRIVE Ascend devour wanes 193 Homing Tab AXIS_VIRTUAL esa Sab athe satel iain nd 197 Hookup Tab AXIS SERVO fvccite aioe ie eeu nates date keen 198 Hookup Tab Overview AXIS_SERVO_DRIVE 200 Tune Tab AXIS_SERVO AXIS SERVO_DRIVE 202 Dynamics Tab AXIS_SERVO AXIS_SERVO _DRIVE AXIS VIR TU AIS Asie Ses ade wb Mabe ant ek Morea 205 Gains Tab AXIS SERVO 0 0 0 cece eee eee 210 Gains Tab AXIS _SERVO_DRIVE 00 0c cee eee 215 Output Tab AXIS_SERVO 6 eas ps5ii aah aed naira ind wank es 222 Output Tab Overview AXIS_SERVO_DRIVE 225 Limits Tab AXIS SERVO 0 0 ccc ccc ccc a aan a 229 Limits Tab AXIS_SERVO_DRIVE 0 000 000 0 eee 233 ffset Tab AXIS SERVO
14. Data Types 3 6 1 0 Configuration Requ ested Pack Iv dn et Interval RPI ms 1756 Backplane 1756 413 ig fa 1 1756 L60M035E My_Controller aul SERCOS Network fl 1 2098 D5D 020 5E My_Axis_X ffl 2 2098 D5D 020 5E My_Axis_Y I Major Fault On Controller If Connection Fails While in Run Mode r Module Fault 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 Phase Inhibited Motion Module Motion Module Phase 4 2 Inhibited Inhibited Publication LOGIX UM002D EN P July 2008 71 Chapter5 Inhibit an Axis Do you have 1394 drives on a SERCOS ring 4 drives E Inhibit the axes in any order Yes o No SERCOS ring Yes 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 inhibited NOT inhibited inhibited inhibited NOT inhibited inhibited NOT inhibited 72 Publication LOGIX UM002D EN P July 2008 Inhibit an Axis Chapter 5 Example Inhibit an Axis 1 Make sure all axes are off This axis is off And this axis is off All axes are off My_Axis_X ServoActionStatus My_Axis_Y ServoActionStatus All Axes_Off i P es 2 Use a one shot in
15. Use a Set System Value SSV instruction to set or change the value Attribute Axis Type Actual Position Tolerance Config Fault Tag Coordinate Motion Status Use the tag for the coordinate system to get the value Use the tag for the coordinate system or a GSV instruction to get the value It s easier to use the tag Publication LOGIX UM002D EN P July 2008 413 Appendix F Coordinate System Attributes Coordinate System Attributes Attribute Data Type Access Description Accel Status BOOL Tag Use the Accel Status bit to determine if the coordinated vectored motion is currently being commanded to accelerate The acceleration bit is set when a coordinated move is in the accelerating phase due to the current coordinated move It is cleared when the coordinated move has been stopped or the coordinated move is in the decelerating phase Actual Pos Tolerance BOOL Tag Use the Actual Pos Tolerance Status bit to determine when a coordinate move is Status within the Actual Position Tolerance The Actual Position Tolerance Status bit is set for AT term type only The bit is set when interpolation is complete and the actual distance to programmed endpoint is less than the configured AT value The bit remains set after an instruction completes The bit is reset if either a new instruction is started or the axis moves such that the actual distance to programmed endpoint is greater than the configure
16. acceleration jerk value is derived from the motion instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time This means that the entire S curve move will have Jerk limiting This is the default mode An S curve move with 0 of Time will result in a trapezoidal profile and have 0 Jerk limiting If set manually enter the value in units Coordination Units second units You can also use the Calculate button to view this value in terms of units of Time Maximum Deceleration Jerk The jerk parameters only apply to S curve profile moves using these instructions e MCS MCCD e MCCM e MCLM The Maximum Deceleration Jerk rate of the coordinate system in Coordination Units second defaults to 100 of the maximum deceleration time The speed and deceleration rate for the calculation are defined above MaxDecel2 i d Maximum Deceleration Jerk Speed The Maximum Decel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Multi axis motion instruction has Jerk Units units per sec then the Max Deceleration Jerk value is derived from the Motion Instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time meaning the entire S curve move will have Jerk limiting which is the default mode An S curve move with 0 of Time will result in a trapezoidal profile and have
17. uz REG24V 1 A i General cable C0720 To registration sensor REG5SV 0 20Q Orgi REG5V 1 0K 29 Carl OK CHASSIS 4 23 CHASSIS r CLOCK 0 2eQ zsf CLOCK 1 CLOCK 0 28 Q Gazi CLOCK 1 DATA 0 oS DATA 1 DATA 0 26 Gail DATA 1 SSICOM ae Gsl SSI COM CHASSIS ssi CHASSIS TY General cable C0722 E gt To Synchronous Serial Interface SSI l f General cable C0720 To E stop relay coil Notes This example shows the wiring for Axis 1 Wire Axis 0 the same way Publication LOGIX UM002D EN P July 2008 265 AppendixB Wiring Diagrams 1756 HYD02 Application This example uses a 1 axis loop with a differential LDT input Example 24V Power Supply PC with RSLogix 5000 HT TIETTTL Drive Output as Servo or IMPORTANT This Proportional module s analog ControlLogix 1756 HYDO2 Amplifier output require an controller external amplifier to drive the valve 8 f o o o of H B B jsour OUT CHASSIS vane HINT amp INT E l 9 RET amp RET Piston ty
18. 0 Unused blanks both the FDBK and DRIVE LEDs RSLogix 5000 software also uses the current configured value for Axis Type to control the look of many of the dialogs associated with configurating an axis Backlash Reversal Offset 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 such as a motor a gearbox and a ball screw which can introduce inaccuracies and which 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 and so on 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 Offset 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
19. 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 Sec2 the Torque Scaling attribute value would be calculated as shown below Torque Scaling 100 Rated 3000 RPS 0 0333 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 also do not reflect the true performance of the system Torque Threshold AXIS_SERVO_DRIVE REAL GSV SSV Rated This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Torque Threshold Status AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Torque Feedback is less than the configured Torque Threshold Transform State Status AXIS_CONSUMED BOOL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Publication LOGIX UM002D EN P July 2008 Tag If the bit is ON The axis is part of an active transform OFF The axis isn t part of an active transform 371 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Tune AXIS_SERVO REAL GSV Position Units Sec2 AXIS_SERVO_DRIVE eer Accelerinon 7 The Tune Acce
20. 216 Cancel Apply Help 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 Motor Position Servo Loop Auxiliary Position Servo Loop Dual Position Servo Loop Motor Dual Command Servo Loop Auxiliary Dual Command Servo Loop 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 Publication LOGIX UM002D EN P July 2008 Velocity Feedforward Acceleration Feedforward Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 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 software is offline the foll
21. Accel Status 0 Decel Status 1 Actual Pos Tolerance Status Command Pos Tolerance Status Stopping Status Move Status Transition Status 2 3 4 Reserved 5 6 7 8 Move Pending Status Move Pending Queue Full Status 9 Coordinate System Auto SINT GSV The Coordinate System Auto Tag Update attribute configures whether the Actual Tag Update Position attribute is automatically updated each motion task scan This is similar SSV to but separate from the Motion Group s Auto Tag Update attribute 0 auto update disabled 1 auto update enabled default Coordinate System Status DINT GSV Lets you access the status bits for the coordinate system in one 32 bit word Tag Status Bit Shutdown Status 0 Ready Status 1 MotionStatus 2 Axis Inhibit Status 3 Decel Status BOOL Tag Use the Decel Status bit to determine if the coordinated vectored motion is currently being commanded to decelerate The deceleration bit is set when a coordinated move is in the decelerating phase due to the current coordinated move It is cleared when the coordinated move has been stopped or the coordinated move is complete 416 Publication LOGIX UM002D EN P July 2008 Attribute Data Type Dynamics Configuration DINT Bits Access GSV SSV Coordinate System Attributes Appendix F Description Revision 16 improved how the controller handles changes to an S curve profile Do you want to return to
22. Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO_DRIVE Feedforward Gain cont 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 The optimal value for Acceleration Feedforward is 100 theoretically In reality however the value may need to be tweaked 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 ru
23. Description Lets you access the status bits for your servo loop in one 32 bit word This attribute is the same as the Servo Status tag Bit Servo Action Status 0 Servo Status p Drive Enable Status Shutdown Status Process Status Output Limit Status Position Lock Status Home Input Status Reg 1 Input Status Reg 2 Input Status co N N Dm oy AJ j N Resevered oO Resevered mees Drive Fault Input Status Shutdown Status AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL BOOL Tag If this bit is ON The axis is in the Shutdown state OFF The axis isn t in the Shutdown state Soft Overtravel Fault Action AXIS_SERVO AXIS_SERVO_DRIVE SINT GSV SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 SSI Clock Frequency AXIS_SERVO SINT GSV 0 208 kHz 1 650 kHz This attribute provides for setting the Clock Frequency in kHz of the SSI device This attribute is only active if the Transducer Type is set to SSI SSI Code Type AXIS_SERVO SINT GSV 0 Binary 1 Gray 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 SSI Data Length 364 AXIS_SERVO SINT GSV This attribute provides for setting the data length of the SSI device
24. 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 The Integral that is 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 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 d
25. 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 LOGIX UM002D EN P July 2008 247 AppendixA Axis Properties 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 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 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
26. 0 0 Coordination Units s 2 Maximum Accel Jerk o o Coordination Units s 3 Maximum Decel Jerk 0 0 H Coordination Units s 3 Position Tolerance Actual 0 0 Sj Coordination Units Command 0 0 Coordination Units Cancel ppl Help These changes can be made either online or offline The blue arrows to the right of the fields indicate that they are immediate commit fields This means Publication LOGIX UM002D EN P July 2008 65 Chapter4 Create and Configure a Coordinate System Tag Tab 66 that the values in those fields are immediately updated to the controller if online or to the project file if offline 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 ate immediately reset when the Reset button is clicked The Tag tab is for reviewing your Tag information and renaming the tag or editing the description Coordinate System Properties cartesian_coordinate_system General Geometry Units Offsets Dynamics Tag Name cartesian coordinate systemi Description Type Base Data Type COORDINATE_SYSTEM Scope fa kinematics_basics Cancel f Help 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 befo
27. 0 to 180 J3 60 L1 10 L2 12 Publication LOGIX UM002D EN P July 2008 y x kg S Y Se a aay 7 ma _ 1 170 J J1 170 R2 10 12 cos 60 16 Top view Depicts the envelope of the tool center point sweep in J1 and J3 while J2 remains at a fixed position of 0 R2 10 12 cos 60 16 X3 Side view Depicts the envelope of the tool center point sweep in J2 and J3 while J1 remains at a fixed position of 0 97 Chapter6 Kinematics in RSLogix 5000 Software Define Configuration Parameters for an Articulated Dependent Robot RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including link lengths lt base offsets end effector offsets The configuration parameter information is available from the robot manufacturer IMPORTANT Be sure that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog using the same measurement units The following example illustrates the typical configuration parameters for an Articulated Dependent robot Figure 4 Articulated Dependent hea L2 12 inches T j 1 X1e 2 inches E L1 10 inches L ph ee X3b 4 0 inches Xi a hipa aeaee R aje Robot Origin X1b 3 0
28. 1 english 3 Feedback Polarity Aux Only 0 not inverted Inverted If the bits are Then Feedback Resolution is scaled to 210 0 0 Feedback Cycles per Feedback Rev 1 0 Feedback Cycles per Feedback Rev 0 1 Feedback Cycles per mm 1 1 Feedback Cycles per 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 Motor Feedback AXIS SERVO_DRIVE DINT GSV Feedback Counts per Cycle Interpoldtion 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 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 interpol
29. 1 tune in progress 2 tune process aborted by user 3 tune process timed out 4 AXIS_SERVO tune process failed due to servo fault AXIS_SERVO_DRIVE tune process failed due to drive fault 5 axis reached Tuning Travel Limit 6 axis polarity set incorrectly More codes for a AXIS_SERVO_DRIVE 7 tune measurement fault 8 tune configuration fault The Tune Status attribute returns status of the last run MRAT Motion Run Axis Tuning instruction that initiates a tuning procedure on the targeted axis Use the attribute 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 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Tuning AXIS_SERVO DINT GSV Bits Configuration AXIS_SERVO_DRIVE SSV 0 Tuning Direction Reverse Bits une Position Error Integrator une Velocity Error Integrator une Velocity Feedforward une Acceleration Feedforward une Output Low Pass Filter idirectional Tuning une Friction Compensation une Torque Offset nou ou Il Haoa o Nooa A WN Il Tuning Direction Reverse The Tune Direction Reverse bit determines the direction of the tuning proced
30. 134 The axis drive is faulted Check the drive status Clear the drive fault condition at the drive Execute a fault reset motion 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 there is 24V applied this is the normal condition Publication LOGIX UM002D EN P July 2008 Interpret Module Lights LEDs Chapter 7 1756 M02AS Module OK Light 2 AXIS SERVO SSI CHO CHL FDBK FDBK DRIVE DRIVE OK State Description Recommended Action Off The module is not operating Apply chassis power Verify the module is completely inserted in chassis and backplane Flashing green The module has passed internal diagnostics but itis None if you have not configured the module not communicating axis data over the backplane If you have configured the module check the slot number in the 1756 MOZ2AS Properties dialog box Steady green One of the following None 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 complete the NVS update A major recoverable failure has occurred If an NVS update is not in progress A communication fault timer fault or non volatile memory
31. A N These faults have module scope instead of axis scope These faults show up in all the axes that are connected to the motion module The motion planner updates these fault bits every coarse update period Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Module Hardware Fault AXIS_SERVO BOOL AXIS_SERVO_DRIVE AXIS_SERVO BOOL Tag If this bit is set the motion module has a hardware problem that in general is going to require replacement of the module If this bit is set the motion module lost communication with the Module Sync Fault AXIS_SERVO_DRIVE Tag controller and missed several position updates in a row The motion module can miss up to 4 position updates After that the motion module shuts down This bit clears when communication is reestablished Mot Feedback Fault AXIS_SERVO_DRIVE BOOL Publication LOGIX UM002D EN P July 2008 Tag Set for the A Quad B feedback device when one of these happens The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z 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
32. Apply Help 46 Publication LOGIX UM002D EN P July 2008 Chapter 4 Create and Configure a Coordinate System Introduction In RSLogix 5000 software a coordinate system is a grouping of one or more primary and or ancillary axes that you must create to generate coordinated motion You can configure the coordinate system with one two or three dimensions RSLogix 5000 software supports these types of geometry e Cartesian e Articulated Dependant e Articulated Independent Selective Compliant Assembly Robot Arm SCARA Independent e Delta three dimensional e Delta two dimensional e SCARA Delta 2 Controller My_Controller Coordinate System Properties Delta Tasks 3 8 Motion Groups General Geometry Units Offsets Joints Tag My _Motion_Group i My_Axis_ Motion Group motion_group X a gt My_Axis_Y Hy My_Coordinate_System Type Deta zl Ca Ungrouped Axes nE Cartesian m Dimension Articulated Dependent p4 Articulated Independent Coordination Mode Ancillary J3 J3 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
33. Apply chassis power Verify the module is completely inserted into the chassis and backplane Flashing green The module has passed internal diagnostics but itis None if you have not configured the module not communicating axis data over the backplane If you have configured the module check the slot number in the 1756 MO2AE Properties dialog box Steady green Axis data is being exchanged with the module None The module is ready for action The module is in the normal operating state Flashing red A major recoverable failure has occurred Check the servo fault word for the source of the error A communication fault timer fault or NVS Clear the fault condition using the motion instructions update is in progress Resume normal operation The OK contact has opened If the flashing persists reconfigure the module Solid red A potential non recoverable fault has occurred Reboot the module The OK contact has opened If the solid red persists replace the module Publication LOGIX UM002D EN P July 2008 133 Chapter 7 Interpret Module Lights LEDs State Off FDBK Light Description The axis is not used Recommended Action None if you are not using this axis If you are using this axis make sure you configured the module and associated an axis tag with the module Flashing green The axis is in the normal servo loop inactive state None You can chang
34. Associated Module Module Module Type Node MySafetyDrive bh Fl 2094 SE02F MO00 S 1 2094 4C09 M02 M 13 7 Cancel Apply Help Axis Configuration Selects and displays the intended use of the axis 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 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Module Selects and displays the name of the SERCOS drive to which the axis is associated Displays lt none gt if the axis is not associated with any drive Module Type Displays a module icon and the name of the SERCOS drive to which the axis is associated Displays lt none gt if the axis is not associated with any drive If the associated drive is a Kinetix Safety drive a p
35. Axis Inhibit Status Command Pos Tolerance BOOL BOOL Tag If this bit is ON An axis in the coordinate system is inhibited OFF None of the axis in the coordinate system are inhibited Use the Command Position Tolerance Status bit to determine when a coordinate Status Tag move is within the Command Position Tolerance The Command Position Tolerance Status bit is set for all term types whenever the distance to programmed endpoint is less than the configured CT value The bit will remains set after an instruction completes The bit is reset when a new instruction is started Command Position Tolerance Config Fault REAL BOOL GSV SSV Tag Coordination Units The Command Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM and so on specify a Termination Type of Command Position The Configuration Fault bit is set when an update operation targeting an axis Publication LOGIX UM002D EN P July 2008 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 415 AppendixF Coordinate System Attributes Attribute Data Type Access Description Coordinate Motion Status DINT GSV Lets you access the motion status bits for the coordinate system in one 32 bit word Tag Status Bit
36. Data Table space AXIS_VIRTUAL ai Ng 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 Module AXIS_GENERIC SINT GSV Zero based channel number of the module Oxff indicates unassigned Channel AXIS_SERVO AXIS_SERVO_DRIVE Publication LOGIX UM002D EN P July 2008 The axis is associated to a specific channel on a motion module by specifying the Module Channel attribute 335 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Module Class AXIS_SERVO DINT GSV ASA Object class code of the motion engine in the module for example Code AXIS SERVO DRIVE OxAF for the MO2AE module The ASA class code of the object in the motion module which is supporting motion for example OxAF is the ASA object ID of the Servo Module Axis Object residing in the 1756 MO2AE module Module Fault AXIS_CONSUMED BOOL Tag Set when a serious fault has occurred with the motion module AXIS GENERIC associated with the selected axis Usually a module fault affects all axes 7 associated with the motion module A module fault generally results in AXIS_SERVO the shutdown of all associated axes Reconfiguration of the motion AXIS_SERVO_DRIVE module is required to recover from a module fault conditio
37. DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedstatus BOOL Decimal WatchEventStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal 402 Publication LOGIX UM002D EN P July 2008 Axis Data Types Appendix E Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registr
38. GSV Lets you access all the servo fault bits in one 32 bit word This tag is the same as the Servo Fault Bits attribute Servo Fault Bit Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault lt gt Reserved Reserved Feedback Fault Feedback Noise Fault Reserved Reserved Position Error Fault jo co SS OG on A WY N Drive Fault These fault bits are updated every coarse update period Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Lets you access all the servo fault bits in one 32 bit word This attribute is the same as the Servo Fault tag Servo Fault Bit Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault Reserved Reserved Feedback Fault Feedback Noise Fault Reserved Reserved Position Error Fault oO o SS GD on A WY N Drive Fault These fault bits are updated every coarse update period Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Servo Feedback AXIS_SERVO SINT GSV This attribute provides a selection f
39. If this bit is set the tuning or test process has been aborted Shutdown Acknowledge If this bit is set the axis has been forced into the shutdown state Zero DAC Acknowledge Only for AXIS_SERVO Data Type If this bit is set the DAC output for the axis has been set to zero volts Abort Home Acknowledge If this bit is set the active home procedure has been aborted Abort Event Acknowledge If this bit is set the active registration or watch position event procedure has been aborted Change Pos Reference If this bit is set the Servo loop has switched to a new position coordinate system The controller uses this bit when processing new position data from the servo module or drive to account for the offset implied by the shift in the reference point The bit is cleared when the conroller acknowledges completion of the reference position change by clearing its Change Cmd Reference bit 290 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Axis State AXIS_CONSUMED SINT GSV Operating state of the axis AXIS_GENERIC 0 Axis Ready AXIS_SERVO 1 Direct Drive Control AXIS_SERVO_DRIVE 2 Servo Control AXIS_VIRTUAL 3 Axis Faulted 4 Axis Shutdown 5 Axis Inhibited 6 Axis Ungrouped 7 No Module 8 Configuring Axis Status AXIS_CONSUMED DINT Tag Lets you access all the axis status bits in one 32 bit word This tag is the AXIS GENERIC same a
40. Offsets Joints Tag Type Articulated Dependent Iranstorm Dimension 3 Link Lengths Li ja t2 00 Zen Angle Oriertatinn Set the Zero Angle Orientations D0 Publication LOGIX UM002D EN P July 2008 95 Chapter 6 96 Kinematics in RSLogix 5000 Software Method 2 Establishing a Reference Frame Position the robot so that L1 is parallel to the X3 axis L2 is parallel to X1 axis Program a Motion Redefine Position MRP instruction for all the three axis to with the following values 0 90 and 0 The Joint to Cartesian reference frame relationship is automatically established by the 1756 L6xx controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled Identify the Work Envelope for an Articulated Dependent Robot The work envelope is the three dimensional region of space defining the reaching boundaries for the robot arm The work envelope of an articulated robot is ideally a complete sphere having an inner radius equal to L1 L2 and outer radius equal to L1 L2 However due to the range of motion limitations on individual joints the work envelope may not be a complete sphere Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 If the range of motion values for the articulated robot are Typically the work envelope would be J1 170 J2
41. You can compute the Pos Gain based on the current or computed value for the Pos P Gain using the following formula Pos Gain 0 25 0 001 Sec mSec Pos P Gain Assuming a Pos P Gain value of 100 Sec this results in a Pos Gain value of 2 5 0 1 mSec Sec Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Position AXIS_SERVO Integrator Error AXIS_SERVO_DRIVE Axis Attributes Appendix C Data Type Access Description REAL GSV Important To use this attribute choose it as one of the attributes for Ta Real Time Axis Information for the axis Otherwise you won t see the g right value as the axis runs See Axis Info Select 1 Position Integrator Error in Position Units mSec 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 Position Lock AXIS_SERVO Status AXIS_SERVO_DRIVE BOOL Tag If this bit is ON The axis position error is less than or equal to the Position Lock Tolerance value of the axis OFF The axis position error is greater than the Position Lock Tolerance value of the axis Position Lock AXIS_SERVO Tolerance AXIS_SERVO_DRIVE REAL GSV Position Units SSV The Position Lock Toleranc
42. acceleration reduced overshoot and greater system stability However too much Velocity Proportional Gain leads to high frequency instability and resonanice 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 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 Integral Gain to produce a component to the Servo Output or Torque 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 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 c
43. if a motion group has been associated with the coordinate system It is not necessary to use the Wizard dialogs to configure your coordinate system Once it has been created you can access the Coordinate System Properties dialog and enter the information for the coordinate system See the section entitled Editing Coordinate System Properties later in this manual for detailed information about entering configuration information General Wizard Dialog The General dialog lets you associate the tag to a Motion Group e enter the coordinate system type e select the Dimension for the tag that is the number of associated axes e specify the number of dimensions to transform e enter the associated axis information e choose whether to update Actual Position values of the coordinate system automatically during operation This dialog has the same fields as the General tab found under Coordinate System Properties Publication LOGIX UM002D EN P July 2008 Edit Coordinate System Properties Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 Geometry Wizard Dialog The Geometry dialog lets you configure key attributes related to non Cartesian geometry and shows the bitmap of the associated geometry Offsets Wizard Dialog The Offset dialog lets you configure the offsets for the base and end effector This dialog shows the bitmaps for the offsets related to the
44. on the ratio of the tuning torque to the maximum torque output of the system Extrapolation error increases as the Tuning Torque value decreases The direction of the tuning motion profile Forward Uni directional the tuning motion profile is initiated in the forward tuning direction only 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 Reverse Uni directional the tuning motion profile is initiated in the reverse tuning direction only 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 Tuning profile can be used to tune Friction Compensation and Torque Offset Damping Factor Specifies the dynamic response of the servo axis The default is set to 0 8 Publication LOGIX UM002D EN P July 2008 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 The tuning procedure uses the Damping Facto
45. 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 Stobe AXIS_CONSUMED REAL GSV Strobe Command Position in Position Units C nie AXIS_ GENERIC Tag Strobe Actual Position and Strobe Command Position are used to Paco RERO simultaneously store a snap shot of the actual command position and master offset position of an axis when the MGSP Motion Group Strobe AXIS_SERVO_DRIVE Position instruction is executed The values are stored in the configured AXIS VIRTUAL Position Units of the axis 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 Strobe Master AXIS_CONSUMED REAL GSV Strobe Master Offset in Master Position Units Offset AXIS_ GENERIC Tag The Strobe Master Offset is the position offset that was applied to the master side of the position cam when the last Motion Group Strobe AXIS_SERVO Position MGSP instruction was executed The Strobe Master Offset is
46. 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 2 219 AppendixA Axis Properties The typical value for the Velocity Proportional Gain is 15 mSec 2 Integrator Hold if the Integrator Hold parameter is set to 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 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 ore E pole one a o g The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters 220 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Set Custom Gains Click on this button to open the Custom Gain Attributes dialog Custom Gain Attributes X VelocityDroop Position Units s REAL Close Cancel Help At this dialog box you can edit the VelocityDroop attribute When a parameter transitions to a read only state any pending changes to p y y 8 8 parameter values are lost and the parameter reverts to the most recently saved parameter value When multiple workstations connec
47. the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed 349 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Posion AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS SERVO DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the T z right value as the axis runs See Axis Info Select 1 Position Feedback in Position Units 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 Poston AXIS_SERVO REAL GSV 1 mSec Sec Integral Gain AXIS_SERVO_DRIVE SSV 350 Position Integral Gain Pos 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 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 cor
48. 0 Jerk limiting If set manually enter the value in units Coordination Units second units You can also use the optional Calculate button to view the value in terms of units of Time 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 publication number 1756 RM007 for more information regarding the use of Actual and Command Position Tolerance Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 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 Dynamics Tab Manual Adjust At this dialog you can make changes to the Vector and Position Tolerance values Manual Adjust My_coordinate_system x Dynamics m Vector Maximum Speed 0 0 H Coordination Units s Bic e Maximum Acceleration o o Coordination Units s 2 Maximum Deceleration
49. 0 0 1 1 2 2 Motion Status BOOL Tag 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 Move Pending Queue Full BOOL Tag The move pending queue full bit is set there is no room in the instruction queue Status for the next coordinated move instruction Once there is room in the queue the bit is cleared Move Pending Status BOOL Tag The move pending bit is set once a coordinated motion instruction is queued Once the instruction has begun executing the bit will be cleared provided no subsequent coordinated motion instructions have been queued in the mean time In the case of a single coordinated motion instruction the status bit may not be detected by the user in RSLogix5000 since the transition from queued to executing is faster than the coarse update The real value of the bit comes in the case of multiple instructions As long as an instruction is in the instruction queue the pending bit will be set This provides the RSLogix5000 programmer a means of stream lining the execution of multiple coordinated motion instructions Ladder logic containing coordinated motion instructions can be made to execute faster when the programmer allows instructions to be queued while a preceding instruction is executing When the MovePendingStatus bit is clear the next coordinated motion instruction can be executed that is setup
50. 1 0 Position Units Conversion Constant 200000 0 based on 200000 Counts Motor Rey ne F Drive Counts Unwind Position Unwind 200000 based on 200000 Counts Motor Rev OK Cancel Help 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 AXIS_SERVO AXIS _SERVO_DRIVE and AXIS_VIRTUAL 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 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 Publication LOGIX UM002D EN P July 2008 187 AppendixA Axis Properties 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 of 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
51. 167 Units Tab 169 Average Velocity Timebase 169 Position Units 169 Encoder 298 Encoder Noise 282 321 337 End Effector Offsets determining 99 Index 425 Establish 110 G General 50 General Tab AXIS_VIRTUAL 164 Assigned Motion Group 164 Geometry of robot 80 tab 51 Geometry Tab link lengths 57 zero angle orientations box 57 H home limit switch wire diagram 271 home limit switch input wire 271 hookup tests run 25 Identify 112 inhibit axis 69 75 axis of a 1394 drive 72 K Kinematics activating 128 arm solutions 127 130 arm solutions for two axes robots 127 Articulated Independent 82 changing arm solutions 129 determine Coordinate system type 80 error conditions 131 no solution 130 overview 75 singularity 130 solution mirroring 127 terms 77 L Linear displacement transducer LDT Connecting the LDT to the 1756 HYD02 module 266 268 M Motion Apply Axis Tuning 35 Publication LOGIX UM002D EN P July 2008 426 Index Motion Apply Hookup Diagnostic 35 Motion Arm Output Cam 35 Motion Arm Registration 35 Motion Arm Watch Position 35 Motion Attributes Axis Event Bit Attributes 288 Axis Fault Bit Attributes 288 Axis Status Bit Attributes 291 Commissioning Configuration Attributes Damping Factor 298 Drive Model Time Constant 304 Position Servo Bandwidth 352 Test Increment 366 Tuning Configuration Bits 374 Bi directional Tuning 375 Tune Acceleration Feedforward 374
52. 2008 Servo Module RTB souro fo o HOU RED 0UT0 FAO ENABLEO ENABLEO ENABLE 1 DRVEITO f RORO 1 RED CHASSIS e HLHASSIS BLK meow S erage Ly HOMEO 1 Dregzav 1 REGZAVO O OfIReaay ey q DOK 1756 MO2AE H K4 HOK __ CHASSIS eHASSIS CHA0 O O PA CHAD f o o PART CHBO i O Diary CHB0 o O F scHz0 O o ACHE CHZ0 Jo oR RED OK To fault ox lt lt BLK 0k string _ SV DC 5V DC RED Field Power 5C0M BLK Supply 24V DC 24V DC w2 Field Power 24V COM wi Supply 18215 WHT ENABLE 1 BLK _ ENABLE 1 127 NA DR OK 1 RED DAVFIT 1 TB2 19 BLK INCOM TB2 18 Ce a 1394CCAExx 7 J Axis 1 ett Notes 1394CCAExx 1394 Servo Drive 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 1394CCAEx cable is wired to connect to torque command reference input pins The xx in the cable number is the length of the cable 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
53. 59 Conversion Ratio 59 Conversion Ratio Units 59 Coordination Units 58 Coordinate system properties Offsets Tab End Effector 60 coordinated system time master set 14 CST master See coordinated system time master D Delta Robot Maximum Negative Joint Limit Condition 114 Maximum Positive Joint Limit Condition 114 115 117 118 119 120 122 123 124 types configure 108 Delta three dimensional configuration parameters 115 configure 108 maximum positive joint limit condition 114 reference frame 110 work envelope 112 zero angle orientation 111 Delta two dimensional configuration parameters 120 configure 117 establish the reference frame 118 work envelope 119 Diagrams Block 387 diagrams wiring 257 Direct Commands Accessing From Group 32 Supported Commands Motion State 34 drive add SERCOS interface drive 16 check wiring 25 E Editing Axis Properties General Tab AXIS_GENERIC 165 Axis Configuration 165 Channel 166 Ellipsis button 166 Module 166 Motion Group 165 General Tab AXIS_SERVO_DRIVE 160 164 Assigned Motion Group 161 Axis Configuration 160 Module 161 Module Type 161 Node 161 Node with a Kinetix 6000 Drive 162 General Tab SERVO_AXIS 159 Axis Configuration 159 Channel 160 Module 160 Motion Planner Tab 166 Enable Master Position Filter Checkbox 168 Master Delay Compensation Checkbox 167 Master Position Filter Bandwidth 168 Output Cam Execution Targets 166 Program Stop Action
54. 5V field supply 263 AppendixB Wiring Diagrams 1394 CFLAExx Cable 264 ENABLE DRIVE FAULT AXIS 0 Individually Jacketed Pairs s E 30in e AxSO 1394 CFLAE 12 1 g rere 1756 MO2AE SV ENC PRAXIS MO2AE OK mi daal 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 con N gt RED 22GA TFA BLACK 22GA ne ay ORANGE22GA 725 ye WHT ORG 22GA yi YELLOW 226A a WHT YEL 22GA x GREEN 22GA WHT GRN 22GA BLUE22GA 2 WHT BLU 22GA ne WHT VIO 22GA GRAY 22GA X WHT GRY 22GA x RED22GA_ 77 255 BLACK 22GA ne DRAIN Publication LOGIX UM002D EN P July 2008 Wiring Diagrams Appendix B 1756 M02AS Module oW L A N 0UT0 2G rj 0UM General cabio cor To servo drive or valve 0UT 0 f4 s f OUT1 ENABLE 0 fs s f ENABLE 1 ENABLE 0 8s 7 ENABLE 1 jl F General cable C0721 To servo drive valve or pump DRVFLT 0 o amp f DRVFLT 1 CHASSIS 126 Oni CHASSIS INCOM 14Q Orli IN COM A _ f General cable C0720 To home limit switch HOME 0 he 151 HOME 1 REG24V 0 fjis
55. ACO9 MO2 1 1 Motion Groups Trends General Connection Associated Axes Power z Types Identification Status a IO Configuration Vendor Allen Bradley Major Fault 5 a Eo is Product Type RA Miscellaneous Minor Fault 9 4 peepee My SERCOS_Ring Product Code 2094 4009 M02 Internal State Bs SERCOS Network Revision 1 80 Configured ia 1 2094 AC09 M02 My _Kinetix_6000_Drive_1 pi Serial Number 00000000 Dwned n 2 2094 AM01 My_Drive_Y Product Name 2094 AC09 M02 Module Identity 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 chosen the axis configuration is 162 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A changed to Feedback Only on the General tab and the spat appears next to General e Axis Properties mysercos4daxis lel X Conversion Homing Hookup Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Feedback Only x Motion Group mymationgroup 7 eB New Group r Associated Module Module my2094dry ne Module Type 2094 4C05 M01 Node 129 Auxiliary x Cancel Apply Help This also places a spat on the Aux Feedback tab
56. Aux Feedback Fault 6 Aux Feedback Noise Fault 7 Reserved 8 Drive Enable Input Fault g Common Bus Fault 0 Precharge Overload Fault 11 GuardFaultExists 2 Ground Short Fault 3 Drive Hard Fault 4 Overspeed Fault 5 Overload Faul 16 Drive Overtemp Fault 17 Motor Overtemp Fault 18 Drive Cooling Fault 19 Drive Control Voltage Fault 20 Feedback Faul 21 Commutation Fault 22 Drive Overcurrent Fault 23 Drive Overvoltage Fault 24 Drive Undervoltage Fault 25 Power Phase Loss Fault 26 Position Error Fault 27 SERCOS Fault 28 Overtravel Fault 29 Reserved 30 Manufacturer Specific Fault 31 Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Drive Fault AXIS_SERVO BOOL Tag Digital output from the drive that shows if there is a fault Input Status If this bit is ON The drive is has a fault OFF The drive doesn t have a fault Drive Hard AXIS_SERVO_DRIVE BOOL Tag Set when the drive detects a serious hardware fault Fault Drive Model AXIS_SERVO REAL GSV Sec i AXIS_SERVO_DRIVE SSV Pane Constant The value for the Drive Model Time Constant represents the lumped model time constant for the drive s current loop used by the MRAT instruction to calculate t
57. Axis 26 10 Get Axis Information 27 11 Program Motion Control 28 12 What s Next 30 Publication LOGIX UM002D EN P July 2008 13 Chapter 1 Start Make the Controller the You must make one module in the chassis the master clock for motion Master Clock control This module is called the coordinated system time CST master The 14 motion modules set theit clocks to the CST master In most cases make the controller the CST master 5 Controller My_Controlle o 3 8 Tasks IN co Verify H 8 MainTask wa cS MainProgram Generate Report A Program Tags Print gt EN MainRoutine B My_Subroutine Properties 3 Unscheduled Programs Phases L N a Motion Groups f Controller Properties My_Controller General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory ti The Date and Time displayed here is Controller local time not workstation local time Use these fields to configure Time attributes of the Controller _SetDate Tine and one fom Workstation fe 3 Date and Time G Time Zone e r e A DANGER If CST master is cleared online active axes in any controller in this chassis or chassis synchronized by SynchLink may experience unexpected motion Vv Make this controller the Coordinated System Time master Is the master Synchro
58. Based on the right hand rule X3 positive will be orthogonal to the X1 X2 plane pointing up The linear axis will always move in the X3 direction When configuring a SCARA Delta robot in RSLogix 5000 software keep the following in mind Configure both the source and the target coordinate system with a transform dimension of two The linear axis configured as a third axis must be the same for both the source and target coordinate systems Publication LOGIX UM002D EN P July 2008 Robot Kinematics in RSLogix 5000 Software Chapter 6 Example of Source and Target Coordinate System Configuration for a SCARA Delta l l Conrdinate System Properties CS_XY mx iz Coordinate System Properties SCARADelta EIE4 General Geometry Units Oifsetx Dynamics Tag General Geowety Units Offsets Joints Tay Motion Group mobon group i i Motion Group matinn_group zj _ Tye Cartesian yi Type z Dimensionc 3 a Trenstorm Dimension A a Dimensio a Traredoun Dinerrsion 1 Coordinate Axis Name Coorcinetion Mode nj Coordinate Axia Name F j Coordination Mode Xi X v Primary 0 vw n zi E 1 k iv m al 1 2 x Anciiey 2 x E zf Primary og 2 J3 Z gt Janney i I Enable Coordinate System Auto fag Update M Enable Courdinale System Auto Tay Update Cancel Ancly Help oK Coret or He Publication LOGIX UM002D EN P July 2008 Calibrate a SCARA Delta Robot The method used
59. Configuration for Articulated Typical Joint Coordinate System Configuration for an Articulated Independent robot Independent robot Coordinate System Properties csi Source Cartesian 7 Save the project 8 Download the Kinematic project to the 1756 L6xx controller and then use the MCT instruction to link the Joint coordinate system to the Cartesian coordinate system The Joint to Cartesian reference frame relationship is automatically established by the 1756 L6xx controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled For additional information about the MCT or MCTP instructions refer to the LOGTIX5000 Controllers Motion Instructions publication 1756 RM007 For detailed steps about Creating and Configuring a Coordinate System refer to Chapter 4 Create and Configure a Coordin Publication LOGIX UM002D EN P July 2008 79 Chapter6 Kinematics in RSLogix 5000 Software Determine the Coordinate System Type If your robot looks similar to Your Coordinate System type is Articulated Independent For configuration information go to page 82 Articulated Dependent For configuration information go to page 92 Cartesian lt u This illustration shows a typical Gantry machine Le For configuration information go to page 101 Cartesian Sliding Member This illustration shows a typical H b
60. Controller Organizer for the Attribute Error 280 Publication LOGIX UM002D EN P July 2008 Attribute Aux Feedback Configuration Axis Type AXIS_SERVO_DRIVE Axis Attributes Appendix C Data Type Access Description INT GSV The controller and drive use this for scaling the feedback device counts These attributes are derived from the corresponding Motor and Auxiliary Feedback Unit attributes Bit 0 Feedback type 0 rotary default 1 linear 1 reserved 2 Linear feedback unit 0 metric 1 english 3 Feedback Polarity Aux Only 0 not inverted 1 Inverted Ifthe bits are Then Feedback Resolution is scaled to 2 1 oO 0 0 Feedback Cycles per Feedback Rev 1 0 Feedback Cycles per Feedback Rev 0 1 Feedback Cycles per mm 1 1 Feedback Cycles per 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 Aux Feedback Fault Publication LOGIX UM0
61. Degrees Ok Cancel Joints Tab The Joints tab is accessible only if you are configuring or editing an articulated Publication LOGIX UM002D EN P July 2008 coordinate system This dialog is where you define the Joint Conversion Ratios Joint axis units are always specified in degrees Axis Name The Axis Name column displays the names of the axes associated to the coordinate system The names appear in the order that they were configured into the coordinate system This is a read only field Joint Ratio The Joint Ratio column shown in white is divided into two columns that define the relationship between the axis position units to the joint axis units 61 Chapter4 Create and Configure a Coordinate System The left half of the Joint Ratio column is a configurable field that lets you specify a value for the axis position units numerator The right half of the Joint Ratio column is a configurable field that lets you specify a value for the joint axis units denominator Keep in mind that Joint axis units are always specified as degrees Joint Units The Joint Units column is a read only field that displays the configured axis position units to the joint units The Axis Position units are defined in the Axis Properties Units dialog Joint units are always defined as degrees If you are configuring a Cartesian coordinate system click the Dynamics tab to access the Coordinate System Properties Dynamics dialog
62. For more information regarding error codes refer to the Logix5000 Controllers Motion Instructions Reference Manual publication 1756 RMO007 Define Configuration Parameters for a SCARA Delta Robot RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including link lengths lt base offset end effector offset The configuration information is available from the robot manufacturer IMPORTANT Be sure that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog using the same measurement units Link lengths Links are the rigid mechanical bodies attached at joints The SCARA Delta robot has two link pairs each with the same lengths The link attached to each actuated joint J1 and J2 is L1 The parallel bar assembly attached to link L1 is link L2 Base offset There is one base offset X1b available for the SCARA Delta robot geometry Enter the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints The base offset value is always a positive number Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Publication LOGIX UM002D EN P July 2008 End effector offset There is one end effector offset X1e available for the SCA
63. Gantry Robot For a Cartesian Gantry robot the reference frame is an orthogonal set of X1 X2 and X3 axes positioned anywhere on the Cartesian robot All global coordinate measurements points are relative to this reference frame Typically the reference frame is aligned with the X1 X2 and X3 axes of the machine Cartesian Reference Frame Cartesian XYZ reference frame ore K7 gt To establish a Local coordinate system with axes positions different from the reference frame use the Motion Redefine Position MRP instruction to reset the position register You can also use the Offset Vector in the MCT transform instruction to establish an offset between the Local coordinate system and the reference frame For more information about Motion Instructions refer to the Logix5000 Controllers Motion Instruction Reference manual publication number 1756 RMO007 Identify the Work Envelope for a Cartesian Gantry Robot The work envelope for a Cartesian Gantry robot is typically a solid rectangle of length width and height that is equal to the axis travel limits Define Configuration Parameters for a Cartesian Gantry Robot Link Lengths Does not apply to a Cartesian Gantry robot configuration 101 Chapter 6 Kinematics in RSLogix 5000 Software Base Offsets Does not apply to a Cartesian Gantry robot configuration End effector Offsets Does not apply to a Cartesian Gantry robot configuration Configure a Cartesian H bot The
64. H bot is a special type of Cartesian two axis gantry robot This type of 102 machine has three rails positioned in the form of a letter H Two motors are positioned at the end of each leg of the robot Unlike a standard gantry robot neither motor is riding on top of the moving rails Use these guidelines when configuring a Cartesian H bot Cartesian H bot Sliding Member yo X2Nirt X1 Virt Sliding rail 4 Stationary Rails EA a Pe ee Stationary Motors A Stationary Motors B In the Cartesian H bot illustration above the X1 and X2 axes are the real axes on the robot X1 Virt and X2 Virt are configured as the virtual axes The configuration of the H bot mechanical linkages enable it to move at a 45 angle to the axes when either motor A or motor B is rotated For example when Motor A X1 axis is rotated the robot move along a straight line at 45 angle Motor B X2 axis is rotated the machine moves at an angle of 45 Motors A and B are both rotated clockwise at the same speed then the machine moves along a horizontal line Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Motors A and B are both rotated counterclockwise at the same speed then the machine moves along a vertical line Any X Y position can be reached by properly programming the two motors For example a move of X1 10 X
65. If the lights on the module look like this Then do this cP Ring OK Off Off Off Make sure the module is all the way in the chassis or connected and locked to the other modules Is this a 1768 M04SE module No Check the power supply for power Yes Check the power supply and controller for power Off Off Flashing Red Wait Someone is updating the firmware of the module Flashing Off Flashing Look for cables that are broken unplugged or in the wrong port Orange Green Check the drives for faults Solid Orange Flashing Red Flashing Make sure each drive has its own address Green Make sure that all of the drives have the same baud rate Set the Data Rate of the SERCOS interface module to Auto Detect Check the Cycle Time of the SERCOS interface module See Specifications Flashing Red Flashing Flashing Did you configure the module and Green Green Green NO Use RSLogix 5000 software to configure the module YES Check the configuration of the module and drives in RSLogix 5000 software Flashing Flashing Flashing Check the configuration of the axes in RSLogix 5000 software Green Green Green Solid Green Solid Green Flashing Check the configuration of the drives in RSLogix 5000 software Green Check the motion group drives and axes for faults Solid Green Solid Green Solid Green None the axes are ready Solid Green Solid Green Flashing Red Check the motion group and axes for faults Solid Red Solid Red Solid R
66. Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence ATTENTION INA awa Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present TENET Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures gt gt gt ii Allen Bradley Rockwell Automation and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Summary of Changes Introduction This publication has new and updated information T
67. 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 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 Gain makes it invaluable in applications where velocity accuracy is critical The higher the Vel Gain value the faster the axis is driven to the zero Velocity Error condition Unfortunately Gain control is intrinsically unstable Too much Gain results in axis oscillation and servo instability In certain cases Vel 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 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 Sec
68. Offset Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 iof x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Friction Compensation Friction Compensation Window joo Manual Adjust a0 Pasition Units r Backlash Compensation Reversal Offset Stabilization Window Velocity Offset Torque Force Offset Friction Compensation Publication LOGIX UM002D EN P July 2008 joo Position Units a0 Position Units oo Position Units s a0 Cancel Apply Help 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 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 software is offline the following param
69. Ox0002 X SCS Ox0003 X SCM Ox0004 X SNS Ox0005 X MHG Ox0006 X Resolver Ox0007 X Analog Reference Ox0008 X Sin Cos 0x0009 X TTL 0x000A X UVW 0x000B X Unknown Stegmann 0x000C X Endat 0x000D X RCM215S 4 0x000E RCM215S 6 0x000F RCM215S 8 0x0010 LINCODER 0x0011 X Sin Cos with Hall 0x0012 X TTL with Hall 0x0013 X Aux Feedback AXIS_SERVO_DRIVE INT GSV The Motor Feedback Units attribute establishes the unit of measure that Units is applied to the Motor Feedback Resolution attribute value The Aux Publication LOGIX UM002D EN P July 2008 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 0 revs 1 inches 2 mm 283 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Aux Position AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS SERVO DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Auxiliary Position Feedback in Position Units Aux Position Feedback is the current value of the position feedback coming from the auxiliary feedback input Average AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled Velocity AXIS_ GENERIC Tag for the motion group defaul
70. PRATT INTROS ih ta EE an ha bt a gl MR de thet IN ead aio ee 274 Additional Error Code Informatotins citi eds wate ek 384 Appendix D TALEORN CHO ios ames atou ens rita ns Nea eines 387 TInterpt tno the 1 OPA eh Ek beach a ae A a fe 387 AXISSERVO eei 5 wh SA ce eta ha hi iaaa ca eosin 388 AXIS SERVO DRIVE cas feast tnicamsss iach he apecworninaan arer EE Ea eki 390 Appendix E TRHOCUCHOD scat teu ote eotnt soap t ety ee ene ees 399 AXIS CONSUMED horini AE EE Sa E AA 399 POI SoU INE RUG see areia beled Ree n Awa AT S 402 PERS SERVO otal des Meee ninety uo aes alba genta aoe ae 404 AXIS SERVO DRIVE Aho tek wad aa ad tek Souci aetna hd 407 PRS eV URN Te hs rind Cet P ea ay tices O detec Aoi A 411 Appendix F How to Access Attributes elit she bak hAdak a eg breeds elt wats 413 Coordinate Systent Atti bites a pack elie hae S MEA ua ened 414 Publication LOGIX UM002D EN P July 2008 Introduction Description of the Modules Motion Module Preface Use this manual to setup and program motion control using these Logix5000 motion modules This table describes the Logix5000 motion modules Description 1756 M02AE The 1756 M02AE is a two axis servo module for drives actuators that need a 10V velocity or torque reference Use the 1756 M02AE when your equipment has quadrature encoder feedback The module also has Home limit switch inputs Drive fault inputs Drive enable outputs 5V or 24V position registration inp
71. Series Temposonic GH RTB Cable Color Code Yellow Gray Supply VDC 5 Red or Brown a sever Supply Com dg l LOT Cmn y White y sbreSensscecsssssosmenrer a Brain ace ak a kd ee Chassis Chassis Customer eat 24 V DC LDT Power O Supply Supply Common To Local Ground Bus Temposonic GH Series Temposonic GH Cable Color Code Supply VDC 5 fh Red or Brown A E T pa Al Write Tem Chassis Publication LOGIX UM002D EN P July 2008 269 AppendixB Wiring Diagrams 24V Registration Sensor 24V de Field Power 24V Supply Sourcing Type Registration Sensor Supply l cabl From the motion module gt a RE X k NE Common Notes Use sourcing type registration sensors 43395 Wire the inputs so that they get source current from the sensor Don t use current sinking sensor configurations because the registration input common IN_ COM is shared with the other 24V servo module inputs 5V Registration Sensor 5V de Field Power 5V Supply Sourcing Type Registration Sensor Supply From the motion module lt gt 3 X ae o Taa 43395 Notes Use sourcing type registration sensors Wire the inputs so that they get source current from the sensor Don t use current sinking sensor configurations because the registration input common IN_ COM is shared with the other 24
72. Slave Values 34 Motion Change Dynamics MCD 34 Motion Redefine Position MRP 34 Motion State Instructions Motion Axis Fault Reset MAFR 34 Motion Axis Shutdown MASD 34 Motion Axis Shutdown Reset MASR 34 Motion Direct Drive Off MDF 34 Motion Direct Drive On MDO 34 Motion Servo Off MSF 34 Motion Servo On MSO 34 motion instructions overview 28 motion planner set period 18 Motion Redefine Position 34 Motion Run Axis Tuning 35 Motion Run Hookup Diagnostic 35 Motion Servo Off 34 Motion Servo On 34 Naming a Coordinate System 48 Entering Tag Information 48 Parameters 49 Alias For 49 Data Type 49 Description 49 Name 49 Scope 49 Style 49 Tag Type 49 Alias 49 Base 49 0 Offsets 51 OK contact wire 271 OK contacts wire diagram 271 R registration sensor wiring diagram 270 RSLogix 5000 programming software Motion Instructions 31 S Index 431 SCARA configure 104 SCARA Delta configuation parameters 124 establish the reference frame 122 identify the work envelope 123 SCARA Independent configure 104 reference frame 104 106 Selective Compliant Assembly Robot Arm base offsets 108 configuration parameters 107 configure 104 127 end effector offsets 108 establish reference frame 104 identify work envelope 106 link lengths 107 SERCOS interface drive add to controller 16 SERCOS interface module choose 15 set up 17 Singularity planning for definition of 130 Specifications 9 1756 HYD02 Motion Modu
73. a Cable To registration 2O Oa h sensor REGSV 0 l REGSV 1 2 Onz 0K OK AO 23 CHASSIS CHASSIS I 2 Oz CHA 0 CHA 1 28 Oz CHA 0 l CHA 1 90 CHBO CHB 1 General Cable T entoder 20O C31 C0722 CHB 0 CHB 1 KS O33 CHZ 0 CHZ 1 l 36 G O35 PPS WwW CHZ 0 CHZ 1 V mal Cable To E stop relay coil U Notes This example shows the wiring for Axis 1 Wire Axis 0 the same way 258 Publication LOGIX UM002D EN P July 2008 Wiring Diagrams Appendix B Ultra 100 Series Drive J1 to 50 pin Ultra 100 Terminal Block Series Digital Kit P N 9109 1391 Servo Drive s 24 VDC 24 VDC t za VOC Field Power HA P Supply 24 VCOM Te 24VC0M Lo D3 lza veom From General cab OUT Z2 COMMANDE P N 9109 1359 003 1756 M02AE gt C0720 X OUT 23 COMMAND ENABLE 20 Interface From General cab ENABLE ENABLE J1 1756 M02AE gt gt C0721 DRVFLT 25 READY Cable IN COM 1 7 CHA AOUT X CHA 1 8 _ AOUT From General cab CHB 13 Bour 1756 M02AE gt 9722 X CHB 110 gout CHZ 111 IOUT X cHz 112 IOUT Notes e This is an example of one way to wire the drive e See Ultra 100 Series Drive Installation Manual publication number 1398 5 2 for other configurations Ultra 200 Series Drive
74. accolade OOS RAW dan wwe hed eA 239 Offset Tab AXIS _SERVO_DRIVE 0 00 cece eee 242 Fault Actions Tab AXIS SERVO 00005 246 Fault Actions Tab AXIS SERVO_DRIVE 0 249 Tag TAB hala ta 0 a RCD tl OE th a te NO ea ne al irda a 254 Table of Contents Wiring Diagrams Axis Attributes Servo Loop Block Diagrams Axis Data Types Coordinate System Attributes Appendix B Tntrod cton a teu tu wees Beret ae eae ee Bie a ee 257 1756 M02AE Mod le ss ce cante aires nha ent oak en Oats PRE RTD 258 Ultta 100 Series Dives oj tata a sae Me aoe aie nes 3 259 Ulter 200 Series Dfive oridi iiia a aa aa R 259 eA DODO DVE sha ater aS oi un obini a a e E E aa Ss iMag 261 1394 Servo Drive in Torque Mode only 00005 263 1756 MO02AS Mod le ij seater aa nea die ent una 265 1756 HYD02 Application Example 0503 neces G55 ne oe RS 266 1756 HYDO02 M d l rosen ceinte te ea an wal eaten Kae Rao 267 PLD TS fact fe Sch Rie atte Sid Ne I Seal Ace oh hag hd on ei ee oh ona 268 Temposonic GH Feedback Device vi nti ier w ea hes 269 2AN Resis tanion Sensor pie an o Ay a Pete tn SEs a 270 SV Registration OCH SOL ssi a iesiee Rona drahariginet Oe a E 4 270 Home limitowiteh Inputs sa teas oe carep alata N a N dt E 271 OK Contatis i iaae EE Do oP ARS Say 271 Appendix C Totr d c oni rasent ae E E E A T eae mae he eh eae Re 273 How to Access Attributes seat a ka ieee eee Aad tee oer el es 273 AXIS
75. and have 0 Jerk limiting If set manually enter the value in units Position Units second units You can also use the Calculate button to view this value in terms of units of Time Publication LOGIX UM002D EN P July 2008 207 AppendixA Axis Properties Maximum Deceleration Jerk Manual Adjust 208 The jerk parameters only apply to S curve profile moves using these instructions MAJ e MAM e MAS MCD The Maximum Deceleration Jerk rate of the axis in Position Units second 3 defaults to 100 of the maximum deceleration time after tuning The speed and deceleration rate for the calculation are determined during the tuning process MaxDecel2 i Maximum Deceleration Jerk Speed The Maximum Decel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Single axis motion instruction has Jerk Units units per sec then the Max Deceleration Jerk value is derived from the Motion Instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time meaning the entire S curve move will have Jerk limiting which is the default mode An S curve move with 0 of Time will result in a trapezoidal profile and have 0 Jerk limiting If set manually enter the value in units Position Units second units You can also use the optional Calculate button to view the value in terms of units of Time Click on this button to open the D
76. 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 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 Sec2 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 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 Map Instance AXIS_ GENERIC DINT GSV AXIS_SERVO AXIS_SERVO_DRIVE 1 0 Map Instance Number This is 0 for virtual and consumed Data Types The axis is associated to a specific motion compatible module by specifying the instance of the map entry representing the module Marker AXIS_SERVO REAL GSV Distance AXIS_SERVO_DRIVE Tag Publication LOGIX UM002D EN P July 2008 Important To us
77. 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 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 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 If the Integrator Hold parameter is set to 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 Disabled all active position or velocity integrators are always enabled Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Manual Adjust Click on this button to access the Gains tab of the Manual Adjust dialog for online editing Manual Adju
78. armed or when the axis approaches or passes through the specified axis AXIS_VIRTUAL ie ae 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 Output Cam AXIS_CONSUMED DINT Tag A set of bits that are set when an Output Cam is locked to the Master Lock Status AXIS_ SERVO Axis The bit number corresponds with the execution target number One bit per execution target AXIS_SERVO_DRIVE AXIS_VIRTUAL Output Cam AXIS_CONSUMED DINT GSV A set of bits that are set when an Output Cam is waiting for an armed AXIS GENERIC Ta Output Cam to move beyond its cam start cam end position l Pending Status 9 The bit number corresponds with the execution target number One bit AXIS_SERVO per execution target AXIS_SERVO_DRIVE The Output Cam Pending Status bit is set if an Output Cam is currently AXIS VIRTUAL pending the completion of another Output Cam This would be initiated z7 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 Pending bit is cleared This bit is also cleared if the Output Cam is terminated by a MDOC instruction Output Cam AXIS_CONSUMED DINT GSV A set of bits that are set when the Output Cam has been initiated The eee AXIS_ GENERIC Tag bit nu
79. association and moves the coordinate system to the Ungrouped Axes sub branch of the Motions Groups branch Ellipsis Button The Ellipsis button opens the Motion Group Properties dialog 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 unavailable New Group Button The New Group button opens the New Tag dialog where you can create a new Motion Group tag This button is enabled only if no Motion Group tag has been created Type Type selects and displays the type of coordinate system robot type in the Motion Group Available choices are Cartesian Articulated Dependent Articulated Independent SCARA Independent Delta and SCARA Delta The type of coordinate system you choose in this field changes the configuration tabs that are available Dimension Enter the coordinate system dimensions that is the number of axes that this coordinated system is to support The options are 1 2 or 3 in keeping with its support of a maximum of three axes Changes in the Dimension spin 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 Transform Dimension Enter the number of axes in the coordinate system that you want to transform The options are 1 2 or 3 in keeping with it
80. attribute is derived from the Drive Units attribute See IDN 93 in IEC Scaling Factor 1491 Torque AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Feedback Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The torque feedback when operating in Torque Mode in terms of rated 368 Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Torque Limit AXIS_SERVO_DRIVE Bipolar Axis Attributes Appendix C Data Type Access Description REAL GSV SSV Rated 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 rating 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 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 Torque Limit AXIS_SERVO_DRIVE Negative REAL GSV SSV Rated This attribute maps directly toa SERCOS IDN See
81. available from the robot manufacturer Enter the values for the base offsets in the X1b and X3b fields of the Coordinate System Properties dialog Publication LOGIX UM002D EN P July 2008 89 Chapter6 Kinematics in RSLogix 5000 Software Example of Base Offsets for an Articulated Independent Robot Coordinate System Properties Articulated_Independent General Geomety Units Offsets Joints Tag Type Articulated Independent Top View Transform Dimension 3 End Effector Offsets xie i Xe jnn X3a 0 0 Enter the Base Offset values Base Nfisete Xib 30 x 100 X j4u For the robot shown in our example the Base Offset values are X1b 3 0 X3b 4 0 End effector Offsets The robot can have an end effector attached to the end of robot link L2 If there is an attached end effector then you must configure the end effector offset value on the Coordinate System Properties dialog The end effector offsets ate defined with respect to the tool reference frame at the tool tip Some robots also have an offset defined for the J3 joint as illustrated in the robot example refer to Figure 4 Articulated Independent on page 88 You can account for this value when computing the X3e end effector offset value In 90 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Figure 4 Articulated Independent the value for X3e offset is entered as the sum of X3e1 X3
82. axis bus regulator as a percent of rated capacity Bus Regulator AXIS_SERVO_DRIVE INT GSV The Bus Regulator ID attribute contains the enumeration of the specific ID 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 C2C AXIS_CONSUMED SINT GSV Producer Consumed axis s associated C2C connection instance in Connection AXIS GENERIC reference to the C2C map instance Instance AXIS_SERVO When Axis Data Type is specified to be Consumed then this axis is AXIS_SERVO_DRIVE associated to the consumed data by specifying both the C2C Map Instance and the C2C Connection Instance This attribute is the AXIS_VIRTUAL oh es f 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 C2C Map AXIS_CONSUMED SINT GSV Producer Consumed axis s associated C2C map instance Instance AXIS_GENERIC or a l When the Axis Data Type attribute is specified to be Consumed then AXIS_SERVO this axis is associated to the consumed data by specifying both the C2C AXIS_SERVO_DRIVE Map Instance and the C
83. 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 the target speed Jog_PB lt Local 4 Data 0 My_Axis_OK e Motion Axis Jog EN Axis My_Axis Motion Control Jog_1 DNS Direction 0 Speed _1_Speed 60 0 P gt Speed Units Units per sec Accel Rate Jog_1_Accel 20 0 Accel Units Units per sec2 Decel Rate Jog_1_Decel F 20 0 The instruction that Decel Units Units per sec starts the axis uses an Profile S Curve S Curve profile Merge Disabled Merge Speed Programmed lt lt Less Jog_PB lt Local 4 Data 0 AS _ Motion Axis Stop KEN Axis My_Axis ECON ase Motion Control Stop_1 ER gt The instruction that stops the axis keeps the Stop Type Jog p S Curve profile Suppose you use an MAS m po pitan instruction with the Stop Type set to Jog In that case the axis keeps the profile of the MAJ instruction that started the axis Publication LOGIX UM002D EN P July 2008 Troubleshoot Axis Motion Chapter 8 Cause When you use an S curve profile jerk de
84. be manually calculated if necessary using the following guidelines Torque Scaling 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 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 0333 Rated Revs Per Second2 223 Appendix A Axis Properties Enable Low pass Output Filter 224 Low pass Output Filter Bandwidth 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 Select this to enable the servo s low pass digital output filter De select this to disable this filter 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 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
85. 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 Continued on next page Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Drive Scaling Linear Scaling Unit Bits cont When the Scaling Unit is set to linear the Linear Scaling bit attribute is used to determine whether the controller 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 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
86. disabled when RSLogix 5000 software 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 enable and set maximum positive and negative software travel limits and configure both Position Error Tolerance and Position Lock Tolerance and set the servo drive s Output Limit Publication LOGIX UM002D EN P July 2008 229 Appendix A Axis Properties 230 for an axis of the type AXIS_SERVO configured as a Servo drive in the General tab of this dialog e Axis Properties myservyol axis Of X General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Soft Travel Limits Manual Adjust Mavimum Positive 0 Position Units Maximum Negative foo Position Units Position Error Tolerance joo Position Units Position Lock Tolerance foo Position Units Output Limit 10 0 Volts Cancel Apply Help 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 chan
87. drive s 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 Output Notch AXIS_SERVO_DRIVE REAL GSV Filter Frequency SSV Hertz The Output Notch Filter Frequency attribute controls the center frequency of the drive s digital notch filter Currently implemented as a 24 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 The output filter is particular
88. 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 327 AppendixC Axis Attributes Attribute Axis Type Data Type Access AXIS_GENERIC REAL GSV AXIS_SERVO SSV AXIS_SERVO_DRIVE AXIS_VIRTUAL Home Position Description Position Units 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 In most cases Home Position is set to zero although any value within the Maximum Positive and Negative Travel limits of the axis if 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 Home Return AXIS_GENERIC REAL GSV Speed AXIS_SERVO SSV AXIS_SERVO_DRIVE Position Units Sec The Home Return Speed attribute controls the speed of the jog profile used after the first leg of an active bidirectional homing sequence Home Sequence AXIS_GE
89. gains enable and configure the Notch Filter enable and configure servo s low pass digital output filter Publication LOGIX UM002D EN P July 2008 225 Appendix A 226 Axis Properties for an axis of the type AXIS_SERVO_DRIVE configured as a Servo drive in the General tab of this dialog e Axis Properties mysercos1 axis X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Ottset Fault Actions Tag Motor Inertia a0 Kg m 2 Manual Adjust Load Inertia Ratio Po Load Inertia Motor Inertia Torque Force Scaling a0 Rated Position Units s 2 System Acceleration a0 Position Units s 2 at 100 Rat J Enable Notch Filter Frequency Notch Filter Frequency 0 0 Hertz T Enable Low pass Output Filter Low pass Output Filter Bandwidth 10 0 Hertz Cancel Apply Help 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 The parameters on this tab become read only and cannot be edited when the controller is online if the controller is se
90. in progress This Move Status AXIS GENERIC bit is cleared when the Master Offset Move is complete or is ao superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Master Position AXIS_GENERIC REAL GSV Hertz i AXIS_SERVO SSV ae i o n ae The Master Position Filter Bandwidth attribute controls the activity of OLEE AXIS_SERVO_DRIVE the single pole low pass filter that filters the specified master axis AXIS_VIRTUAL position input to the slave s gearing or position camming operation Publication LOGIX UM002D EN P July 2008 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 is an increase in lag time between the response of the slave axis to changes in motion of the master If the Master Position Filter is disabled the Master Position Filter Bandwidth has no effect 333 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Maximum AXIS_GENERIC REAL GSV Position Units Sec Acceleration AXIS_SERVO SSV The Maximum Acceleration and Deceleration attribute values are PAS SERVE BRIYE frequently used by motion instructions such as MAJ MAM MCD and AXIS_VIRTUAL so on 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 th
91. in the queue Move Status BOOL Tag The move bit is set when coordinated motion is generating motion for any associated axes Once coordinated motion is no longer being commanded the move bit is cleared Move Transition Status BOOL Tag The move transition bit is set once the blend point between two successive coordinated moves has been reach The bit remains set while the blend of the two moves into one is in process Once the blend is complete the move transition bit is cleared 418 Publication LOGIX UM002D EN P July 2008 Coordinate System Attributes Appendix F Attribute Data Type Access Description Physical Axes Faulted DINT GSV Shows which axes in this coordinate system have a servo axis fault Tag If this bit is on Then this axis has a servo axis fault 0 0 1 1 2 2 Physical Axis Fault BOOL Tag 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 Ready Status BOOL Tag The Ready bit is set when all associated axes are enabled It is cleared after an MCSD MGSD or a fault on any of the associated axes Shutdown Status BOOL Tag The Coordinate System bit will be set after an MCSD or MGSD is executed and all associated axes have stopped A MCSR or a MGSR will reset the coordinate system and clear the bit Coord
92. inches coe i If the robot is two dimensional then X3b and X3e would be X2b and X2e respectively 98 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Link Lengths Link lengths are the rigid mechanical bodies attached at joints For an articulated dependent robot with The length of Is equal to the value of the distance between Two dimensions L1 J1 and J2 L2 J2 and the end effector Three dimensions L1 J2 and J3 L2 J3 and the end effector Enter the Link Length values ur foo For the robot shown in our example the Link Length values are L1 10 0 L2 12 0 Publication LOGIX UM002D EN P July 2008 Example of Link Lengths for an Articulated Dependent Robot Coordinate System Properties sdsd General Geometry Units Offsets Joints Tag Type Articulated Dependent Transform Dimension 3 Link Lengths l2 140 Zero Angle Orientations z j0 0 Degrees z2 10 0 Degrees 23 0 0 Degrees Base Offsets The base offset is a set of coordinate values the redefines the origin of the robot The correct base offset values are typically available from the robot manufacturer Enter the values for the base offsets in the X1b and X3b fields of the Coordinate System Properties dialog 99 Chapter6 Kinematics in RSLogix 5000 Software Example of Base Offsets for an Articulated Independent Robot Coordinate System Properties sds
93. is programmed forcing a left right change to occur After the change is performed the robot stays in the new arm solution when Cartesian moves are made The robot arm solution changes again if required when another joint move is made Example Suppose you want to move the robot from position A x1 y1 to position B X Y gt refer to figure below At position A the system is in a left arm solution Programming a Cartesian move from A X4 Y1 to B X9 Y gt means that the system moves along the straight line refer to illustration from A to B while maintaining a left arm solution If you want to be at position B in a right arm solution you must make a joint move in J1 from 0 to and a joint move in J2 from O4 to Op Right Arm Left Arm Publication LOGIX UM002D EN P July 2008 129 Chapter6 Kinematics in RSLogix 5000 Software Plan for Singularity Encounter a No solution Position 130 A singularity occurs when an infinite number of joint positions mathematical solutions exist for a given Cartesian position The Cartesian position of a singularity is dependent on the type of the robot geometry and the size of the link lengths for the robot Not all robot geometries have singularity positions For example singularities for an Articulated Independent robot occur when the robot manipulator folds its arm back onto itself and the Cartesian position is at the origin the robot is fully stretched at or very
94. 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 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 Maximum AXIS_GENERIC REAL GSV Position Units Sec AXIS_SERVO SSV Spa 7 The value of the Maximum Speed attribute is used by various motion AXIS_SERVO_DRIVE instructions for example MAJ MAM MCD and so on to determine AXIS_VIRTUAL the steady state 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 Memory Usage AXIS_CONSUMED DINT MSG Amount of memory consumed for this instance in bytes AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Memory Use AXIS_CONSUMED INT GSV Controller memory space where instance exists AXIS_GENERIC 105 0x69 1 0 space AXIS_SERVO AXIS_SERVO_DRIVE 106 Ox6a
95. 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 In general modern velocity servo systems typically run with a unity gain bandwidth of 40 Hertz The typical value for the Velocity Proportional Gain is 250 Sec 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 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 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 Publication LOGIX U
96. 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 Por axes of the type AXIS_SERVO_DRIVE 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 the label indicates 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 i z Use this tab to configure the attributes related to homine an axis of the type omin g a Ke 8 g yp AXIS_SERVO or AXIS_SERVO_DRIVE 188 Publication LOGIX UM002D EN P July 2
97. no motion is commanded the controller just waits for the switch and marker events to occur 189 Appendix A 190 Axis Properties 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 using the MAH instruction the axis must be in the Axis Ready state with the setvo loop disabled For the SSI feedback transducer no physical marker pulse exists However a pseudo marker reference is established by the M02AS 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 rollover of the feedback dev
98. of Each Other Maximum Negative Joint Limit Condition R absolute value of X1b X1e R JMaxNeg cos L2 L1 Define Configuration Parameters for a Delta Three dimensional Robot RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including link lengths base offsets end effector offsets The configuration information is available from the robot manufacturer IMPORTANT Be sure that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog using the same measurement units Link lengths Link lengths are the rigid mechanical bodies attached at the rotational joints The three dimensional Delta robot geometry has three link pairs each made up of L1 and 12 Each of the link pairs has the same dimensions L1 is the link attached to each actuated joint J1 J2 and J3 L2 is the parallel bar assembly attached to L1 115 Chapter 6 116 Kinematics in RSLogix 5000 Software Three dimensional Delta Robot Link Lengths Configuration Screen Coordinale System Properties Dalla General Geometry Unite Offsets Joints Tag Type Della Transform Dimanciorc 3 Link Lengths Lt 2202 L2 6 U0 toes Base offsets There is one base offset valu
99. 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 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 100 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 Position Error at constant speed is negative the actual position of the axis is ahead 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 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO REAL GSV 1 mSec Sec Integral Gain AXIS_SERVO_DRIVE Ssv When configured for a torque current loop servo drive every servo update the current Velocity Error is also accumulated in a variable called the Velocity
100. source axes Be sure that the robot position does not go outside the rectangle You can check the position in the event task To avoid problems with singularity positions RSLogix 5000 software internally calculates the joint limits for the Delta robot geometries When an MCT instruction is invoked for the first time the maximum positive and maximum negative joint limits are internally calculated based upon the link lengths and offset values entered on the Geometry and Offsets tabs of the 119 Chapter 6 120 Kinematics in RSLogix 5000 Software Coordinate System Properties dialog Homing or moving a joint axis to a For More Information About See Page Maximum positive joint limits 114 Maximum negative joint limits 114 position beyond a computed joint limit and then invoking a MCT instruction results in an error 67 Invalid Transform position For more information regarding error codes refer to the Logix5000 Controllers Motion Instructions Reference Manual publication 1756 RM007 Define Configuration Parameters for a Delta Two dimensional Robot RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including link lengths lt base offsets end effector offsets The configuration information is available from the robot manufacturer IMPORTANT Be sure that the values for the li
101. synchronously every Coarse Update Period the Velocity Offset can be tied into custom outer control loop algorithms using Function Block programming Velocity Polarity AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Polarity attribute See IDN 42 in f IEC 1491 380 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO REAL GSV 1 Sec i AXIS_SERVO_DRIVE V pe a SRE SSV AXIS_SERVO 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 Maximum Bandwidth There are limitations to the m
102. tab shows a typical representation of the type of coordinate system you selected on the General tab Your robot should look similar to the one shown in the graphic but may be somewhat different depending on your application Link Lengths Box The Link Length box displays fields to let you specify a value for the length of each link in an articulated robotic arm coordinate system The measurement units for the articulated coordinate system are defined by the measurement units configured for the affiliated Cartesian coordinate system The two coordinate systems are linked or affiliated with each other by an MCT instruction When specifying the link length values be sure that the values are calculated using the same measurement units as the linked Cartesian coordinate system For example if the manufacturer specifies the robot link lengths using millimeter units and you want to configure the robot using inches then you must convert the millimeter link measurements to inches and enter the values in the appropriate link length fields IMPORTANT Be sure that the link lengths specified for an articulated coordinate system are in the same measurement units as the affiliated Cartesian coordinate system Your system will not work properly if you are using different measurement units The number of fields available for configuration in the link lengths box is determined by values entered on the General tab for the type of coordinate system total c
103. the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Torque Limit AXIS_SERVO_DRIVE Positive Publication LOGIX UM002D EN P July 2008 REAL GSV SSV Rated This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it 369 AppendixC Axis Attributes Attribute Torque Limit Source Axis Type Data Type Access AXIS_SERVO_DRIVE DINT GSV Tag Description Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 This parameter displays the present source if any of any torque limiting for the axis 0 Not Limited 1 Neg e Torque Limit 2 Pos Torque Limit 3 Amp Peak Limit 4 Amp I t Limit 5 Bus Regulator Limit 6 Bipolar Torque Limit 7 Motor Peak Limit 8 Motor I t Limit 9 Voltage Limit Torque Limit Status Torque Offset Torque Polarity 370 AXIS_SERVO_DRIVE BOOL AXIS_SERVO REAL AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE INT Tag GSV SSV Tag GSV Set when the magnitude of the axis torque command is greater than the configured Torque Limit Torque Offset from 100 to 100 Torque Offset compensation can be used to provide a dynamic torqu
104. the axis runs See Axis Info Select 1 Torque Limit Rated The currently operative maximum positive torque current limit magnitude The value should be the lowest value of all torque current limits in the drive at a given time This limit includes the amplifier peak limit motor peak limit user current limit amplifier thermal limit and the motor thermal limit Power Capacity AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 The present utilization of the axis power supply as a percent of rated capacity Power Limit AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the actual supplied power is greater than the Status configured Power Threshold Power Phase AXIS_SERVO_DRIVE BOOL Tag Set when the drive detects that one or more of the three power line Loss Fault phases is lost from the 3 phase power inputs Power Supply AXIS_SERVO_DRIVE INT GSV The Power Supply ID attribute contains the enumeration of the specific ID A B Power Supply or System Module catalog numbers associated with the axis If the Power Supply ID does not match that of the actual supply hardware an error is generated during the drive configuration process Precharge AXIS_SERVO_DRIVE BOOL Tag The drive s precharge resistor gets too hot if you cycle 3 phase power Overload Fault too many times
105. 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 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 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 AOB transducer the Absolute Feedback Enable is forced to False Publication LOGIX UM002D EN P July 2008 Attribute Absolute Feedback Offset Axis Type AXIS_SERVO REAL GSV SSV Axis Attributes Appendix C Data Type Access Description Position Units Important Use this attribute only for an axis of a 1756 HYDO02 or 1756 M02AS module Set the Absolute Feedback Enable attribute to True This attribute is used to determine the relative distance between the absolute position of the feedback device and the absolute position of the machi
106. the connections for Temposonic and Balluff LDTs IMPORTANT Other suppliers also have compatible LDTs Before you connect an LDT to your module make sure that it is the best LDT for your application Temposonics Il Balluff BTL type RPM or DPM 24V Connections 15V Connections Ground Interrogate Interrogate 12V de rT Pulse ey Pulse 7 Output Output Pulse 15V Pulse Ground Output Output Ground Interrogate Output Pulse Interrogate No shield connections on these examples This table lists the LDT connections LDT Connections for Fabricating Your Own LDT Cable 43473 Interrogate Function 1756 HYD02 RTB Wiring Numbers below Temposonics II 2 Balluff represent terminal numbers RPM or DPM BTL type Channel 0 Channel 1 24V de 15V de Interrogate 26 25 9 Yellow 1 Yellow 1 Yellow Interrogate 28 27 10 Green 3 Pink 3 Pink Power Supply N A 5 Red 12V 7 Brown 24V 7 Brown 15V 8 White 15V Ground 34 33 1 White 6 Blue 6 Blue 8 White Output Pulse 30 29 8 Purple 2 Gray 2 Gray 32 31 5 Green 5 Green and wires of the same function should be a twisted pair within the cable 2 Do not connect to pins 2 3 4 6 or 7 268 Publication LOGIX UM002D EN P July 2008 Wiring Diagrams Appendix B Temposonic GH Feedback Device Temposonic 1756 HYD02 GH
107. 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 Publication LOGIX UM002D EN P July 2008 47 Chapter4 Create and Configure a Coordinate System Create a Coordinate System To create a coordinate system right click the motion group in the Controller Organizer and select New Coordinate System Motion Groups Sec ff mygenerica New Axis 7 i x mysercos2a New Coordinate System P t mysercos3a D gt mysercosta Monitor Group Tag D gt myservolax i i Fault Help x myvirtualaxi Ungrouped Axe Clear MotionGr oup Faults The New Tag dialog opens Name my_coordinate_system Description Usage Type Alias For Data Type COORDINATE_SYSTEM w Scope f My_Controller Style Open COORDINATE_SYSTEM Configuration Enter Tag Information A tag lets you 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 A base tag lets you cre
108. the pending cam profile This bit is also cleared if the position cam AXIS VIRTUAL profile completes or is superseded by some other motion operation Position Cam AXIS_CONSUMED BOOL Tag Set if a Position Cam motion profile is currently in progress Cleared Status AXIS_ GENERIC when the Position Cam is complete or is superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Positi n AXIS_SERVO REAL GSV Position Command in Position Units AXIS_SERVO_DRIVE Ta Coe ra g Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 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 Position Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 76 in IEC Scaling 1491 Position Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 78 in IEC Scaling Exp 1491 Position Data AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 77 in IEC Scaling Factor 1491 Position AXIS_SERVO REAL GSV In some External Velocity Servo Drive applications where the level of Differential SSV damping
109. 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 folder Select an axis from the pull down list The default is lt none gt 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 assign an axis only once ina 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 If the type of coordinate system is specified as Cartesian then Primary axes are used in these calculations For 55 Chapter4 Create and Configure a Coordinate System non Cartesian coordinate systems the coordination mode for the axes defaults to Ancillary Enable Coordinate System Auto Tag Update The Enable Coordinate System Auto Tag Update checkbox lets you determine whether the Actual Position values of the current coordinated system are automatically updated during operation Click the checkbox to enable th
110. this value should typically be set to about 85 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 The Maximum Deceleration value entered is used when the motion instruction is set with decel Units of Maximum When a motion instruction is configured with Decel Units units per sec field then the Maximum Deceleration is taken from the motion instruction faceplate Maximum Acceleration Jerk The jerk parameters only apply to S curve profile moves using these instructions MAJ e MAM e MAS MCD The Maximum Acceleration Jerk rate of the axis in Position Units second defaults to 100 of the maximum acceleration time after tuning The speed and acceleration rate for this calculation are determined during S curve the tuning process MaxAccel2 Maximum Acceleration Jerk Speed The Maximum Accel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Single axis Motion Instruction has Jerk Units units per sec then the maximum acceleration jerk value is derived from the motion instruction faceplate The jerk units for the motion instruction also allow for Jerk Units of Time with 100 of Time This means that the entire S curve move will have Jerk limiting This is the default mode An S curve move with 0 of Time will result in a trapezoidal profile
111. 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 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 Manual Adjust myservolaxis x Dynamics Gains Output Limits Offset Position Error Tolerance 0 0 Position Units Position Lock Tolerance 0 0 Position Units Output Limit 10 0 j Volts OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameter
112. to calibrate a SCARA Delta robot is the same as the method used for calibrating a Delta three dimensional robot The only difference is the number of axes used For more information about calibration refer to the section entitled Calibrate a Delta Three dimensional Robot on page 110 of this manual Identify the Work envelope for a SCARA Delta Robot The work envelope for a SCARA Delta robot is similar to the two dimensional Delta robot in the X1 X2 plane The third linear axis extends the work region making it a solid region The maximum positive and negative limits of the linear axis defines the height of the solid region We recommend that you program the SCARA Delta robot within a rectangular solid defined inside the robots work zone The rectangular solid can be defined by the positive and negative dimensions of the X1 X2 X3 virtual source axes Be sure that the robot position does not go outside the rectangular solid You can check the position in the event task 123 Chapter 6 124 Kinematics in RSLogix 5000 Software To avoid problems with singularity positions RSLogix 5000 software internally calculates the joint limits for the Delta robot geometries Homing or For More Information About See Page Maximum positive joint limits 114 114 Maximum negative joint limits moving a joint axis to a position beyond a computed joint limit and then invoking a MCT instruction results in an error 67 Invalid Transform position
113. 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 0333 Rated Revs Per Second2 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 Select this to enable the drive s notch filter De select this to disable this 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 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 This value is not applicable for Ultra3000 drives 227 Appendix A Axis Properties Enable Low pass Output Filter Select this to enable the servo s low pass digital output filter De select this to dis 228 Low pass Output Filter Bandwidth able this filter During tuning if the controller detects a high degree of tuning inertia the contro
114. 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 The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault 337 AppendixC Axis Attributes Attribute Data Type Access Description Mot Feedback Axis Type AXIS_SERVO_DRIVE BOOL Tag Set when there is noise on the feedback device s signal lines Noise Fault For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback noise 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 You can see both of these on an oscilloscope a LPL PL To troubleshoot the loss of channel quadrature look for physical misalignment of the feedback transducer components excessive capacitance or other delays on the encoder signals Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Motion Status 338 AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL DINT Tag Lets you access all the
115. until motion stops after decelerating or moving the Offset distance Reverse Uni directional Reverse Bi 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 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 sequence The home return speed specified should be less than the maximum speed and greater than zero Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Homing Tab Use this tab to configure the attributes related to homing an axis of the type AXIS SERVO DRIVE AXIS_SERVO_DRIVE Axis Properties axis_servo_drive General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Mode z Position oo Position Units Offset 00 Position Units Sequence Torque Leve s pF Active Home Sequ
116. use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Command in Position Units 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 Velocity Data Scaling AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 44 in IEC 1491 Velocity Data Scaling Exp AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 46 in IEC 1491 Velocity Data Scaling Factor AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 45 in IEC 1491 Velocity Droop AXIS_SERVO_DRIVE REAL GSV SSV Position Units sec This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Error Publication LOGIX UM002D EN P July 2008 AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV Tag Importan
117. value 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 software is offline the following parameters can be edited and the program saved to disk using either the Save command or by Publication LOGIX UM002D EN P July 2008 233 AppendixA Axis Properties 234 Hard Travel Limits Soft Travel Limits Maximum Positive Maximum Negative Position Error Tolerance clicking on the Apply button You must re download the edited program to the controller before it can be run 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 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
118. 0 J2 0 to 180 J3 100 L1 10 L2 12 Publication LOGIX UM002D EN P July 2008 R1 22 f R2 7916 X i a gt at R1 10 12 22 R 10 12cos 80 7 916 a T J1 170 I1 170 Top view Depicts the envelope of the tool center point sweep in J1 and J3 while J2 remains at a fixed position of 0 it R1 22 Pi x3 g 4 R2 7 916 r frre I Lt 10 t2si2 i 4 Oo o oe X1 4 i eo i foe X1 Y x3 R1 10 12 22 R2 10 12cos 80 7 916 Side view Depicts the envelope of the tool center point sweep in J2 and J3 while J1 remains at a fixed position of 0 87 Chapter6 Kinematics in RSLogix 5000 Software Define the Configuration Parameters for an Articulated Independent Robot RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including link lengths lt base offsets end effector offsets The configuration parameter information is available from the robot manufacturer IMPORTANT Be sure that the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog using the same measurement units The following example illustrates the typical configuration parameters for an Articulated Independent robot Figure 4 Articulated Indepen
119. 0 0 Decel Units Units per sec2 Profile Merge Disabled Merge Speed Programmed lt lt Less Publication LOGIX UM002D EN P July 2008 143 Chapter8 Troubleshoot Axis Motion 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 slow down 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 profile and an S curve profile Stop while accelerating Trapezoidal is 0 speed goes up i until acceleration 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 1f you want the axis to slow down right away use a trapezoidal profile 144 Publication LOGIX UM002D EN P July 2008 Troubleshoot Axis Motion Chapter 8 Why does my axis overshoot its target speed Example Look for Publication LOGIX UM002D EN P July 2008 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 MA
120. 008 e Axis Properties mysercoslaxis Ble X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Mode active y Position foo Position Units Offset foo Position Units Sequence SwitchMarker x Limit Switch Normally Open Closed Axis Properties Appendix A Active Home Sequence Group Direction Forward Bi directional x Speed joo Position Units s Return Speed joo Position Units s Cancel Apply Help Mode Select the homing mode Publication LOGIX UM002D EN P July 2008 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 selections the only valid Home Sequences for Homing Mode are immediate or switch as no physical marker exists for the LDT or SSI feedback devices 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
121. 01 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 The Servo Loop Configuration attribute determines the specific configuration of the servo loop topology when the axis is set to servo 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 Publication LOGIX UM002D EN P July 2008 Axis Attributes Attribute Axis Type Servo Output AXIS_SERVO Level Data Type Access REAL GSV Tag Appendix C Description Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Servo Output Level in Volts 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 Servo Polarity AXIS_SERVO Bits DINT GSV 0 Feedback Polarity Negative 1 Servo Polarity Negative Feedbac
122. 02D EN P July 2008 AXIS_SERVO AXIS_SERVO_DRIVE BOOL Tag Set for an auxiliary feedback source when one of these happens The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z 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 The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault 281 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Aux Feedback AXIS_SERVO_DRIVE DINT GSV Feedback Counts per Cycle Interpolation 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 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 inte
123. 17 Sg o Sz ol A Arm Solution definition of configuring 127 Articulated Dependent base offsets 99 configuring 92 define configuration parameters 98 end effector offsets 100 establish the reference frame 92 Index establish the reference frame alternate methods 94 identify the work envelope 96 link lengths 99 Articulated Independent base offsets 89 configuration parameters 88 end effector offsets 90 establish reference frame 82 88 establish reference frame methods 84 identify the work envelope 87 link lengths 89 axis add to controller 20 check wiring 25 get status 30 inhibit 69 75 set up 22 tune 26 Axis Properties Aux Feedback Tab AXIS_SERVO_DRIVE 185 Aux Feedback Tab AXIS_SERVO_DRIVE Cycles 185 Feedback Ratio 186 Feedback Type 185 Interpolation Factor 185 Per 185 Conversion Tab 187 Conversion Constant 188 Position Unwind 188 Positioning Mode 187 Drive Motor Tab AXIS_SERVO_DRIVE 177 Amplifier Catalog Number 177 Attribute 1 Atrribute 2 179 Calculate button 181 Calculate Parameters 183 Per 182 Position Range 182 Position Unit Scaling 182 Position Unit Unwind 182 Change Catalog Button 180 Catalog Number 181 Filters 181 Family 181 Feedback Type 181 Voltage 181 Drive Enable Input Checking 179 Drive Enable Input Fault 179 Drive Resolution 179 Loop Configuration 178 Real Time Axis Information 179 Publication LOGIX UM002D EN P July 2008 422 Index Drive Motor Tab AXIS_SERVO_
124. 2 0 causes the X1X2 axes to move to a position of X1 7 0711 X2 7 0711 A move to X1 10 X2 10 causes the robot to move to a position of X1 0 X2 14 142 While this configuration might be very confusing for a programmer utilizing the RSLogix 5000 software Kinematics function configured with two Cartesian coordinate systems and a 45 rotation easily performs the function To configure two Cartesian coordinate systems Coordinate system 1 CS1 and Coordinate system 2 CS2 each containing two linear axes use the following steps 1 Configure CS1 to contain the virtual X1 and X2 axes 2 Configure CS2 to contain the real X1 and X2 axes 3 Configure the Orientation vector of the MCT instruction as 0 0 45 a negative degree rotation around the X3 axis 4 Configure the Translation vector as 0 0 0 5 Link the CS1 and CS2 using a MCT instruction 6 Home the H bot and then program all moves in CS1 The machine moves the tool center point TCP to the programmed coordinates in CS2 The 45 rotation introduced by the Kinematics counteracts the 45 rotation introduced by the mechanics of the machine and the H bot moves to the CS1 configured coordinates As a result a programmed move of X1virt 10 X2virt 5 moves to a real mechanical position of X1 10 X2 5 Establish the Reference Frame for a Cartesian H bot For a Cartesian H bot the Base coordinate system is an orthogonal set of X1 X2 axes postponed anywhere on the
125. 286A a 20 ENABLE _ ORANGE 28GA ae en Ki YELLOW 28GA Xi aa l 24VCOM ae DRAIN iil Wires oe eee seni x GREEN28GA Fl Anita ies Xi BLUE 28GA Xi ell AoT errules _ VIOLET 286A Hes o Bours X GRAY 286A X a0 ABOUT n WHITE 28GA Pi 11 loUT LX Black 286 Ki 12 I0UT pa DRAIN 1 ep e See Publication LOGIX UM002D EN P July 2008 Wiring Diagrams Appendix B Ultra3000 Drive Ultra3000 to 1756 M02AE Interconnect diagram RELAY WHT ORG 22GA WHT ORG 22GA RELAY RELAY g WHT YEL 22GA Kt RELAY RELAY WHT YEL 22GA RELAY DRAIN user configured user configured DRAIN 10 PWR WHT RED 22GA WHT RED 22GA 10 PWR 10 COM RY mack 22GA a iopwr 1 1 1O PWR WHT BLACK 22GA 10 COM DRAIN DRAIN J AUX PWR 45 RED 22GA RED 22GA AUX PWR 5 AUXCOM ECOM g BLACK 22GA AUX PWR AUX PWR BLACK 22GA AUXCOM ECOM DRAIN optional optional DRAIN AXIS 0 AXIS 1
126. 2C Connection Instance For all other Axis Data Types if this axis is to be produced then this attribute is set to 1 one to AXIS_VIRTUAL ear eas indicate that the connection is off of the local controller s map instance Command AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled elation AXIS_ GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO Publication LOGIX UM002D EN P July 2008 AXIS_SERVO_DRIVE AXIS_VIRTUAL Command Acceleration in Position Units Sec2 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 Command Acceleration is a signed value the sign or depends on which direction the axis is being commanded to move 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 295 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Comand AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Updat
127. 3 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication LOGIX UM002D EN P July 2008 Supersedes Publication LOGIX UMO002C EN P July 2007 Copyright 2008 Rockwell Automation Inc All rights reserved Printed in the U S A
128. 5S 4 0x000E RCM215S 6 0x000F RCM215S 8 0x0010 LINCODER 0x0011 X Sin Cos with Hall 0x0012 X TTL with Hall 0x0013 X Motor Feedback AX S_SERVO_DRIVE INT GSV The Motor Feedback Units attribute establishes the unit of measure that Units Publication LOGIX UM002D EN P July 2008 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 0 revs 1 inches 2 mm 341 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Motor ID AXIS_SERVO_DRIVE INT GSV 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 Motor Inertia AXIS_SERVO_DRIVE REAL GSV Rated Pos Units per Sec SSV 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 Load Inertia Ratio Total Inertia Motor Inertia Motor I
129. 71 AppendixA Axis Properties Feedback Tab The Feedback tab lets you to select the type of Feedback used with your Servo AXIS_ SERVO Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type ADB 4 Quadrature B coc tee Feedback Type Select the appropriate Feedback for your current configuration Your options are dependent upon the motion module to which the axis is associated A Quadrature B Encoder The 1756 M02AE servo module provides interface hardware to support Interface AQB incremental quadrature encoders equipped with standard 5 Volt differential encoder interface signals The AQB option has no associated attributes to configure Synchronous Serial Interface The 1756 M02AS servo module provides an interface to transducers with SSI Synchronous Serial Interface SSI 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 172 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Linear Displacement The 1756 HYD02 Servo module provides an interface to the Linear Transducer LDT Magnetostrictive Displacement Transducer or LDT A Field Programmable Gate Array FPGA is used to implement a multi channel LDT In
130. ADDRESSEE Rockwell Automation 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES PLEASE REMOVE www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication LOGIX UM002D EN P July 2008 Supersedes Publication LOGIX UMO002C EN P July 2007 Copyright 2008 Rockwell Automation Inc All rights reserved Printed in the U S A Rockwell Automation Support www rockwellautomation com Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your loc
131. ARA Independent robot joints are as shown in this illustration Joint and Link Start Position that Kinematics Equations use for the SCARA Independent Robots Top View J1 is measured counterclockwise around X3 axis starting at an angle of J1 0 0 when L1 is along the X1 axis J2 is measured counterclockwise starting with J2 0 when Link 12 is aligned with Link L1 J3 is a prismatic axis that moves parallel to X3 axis For information about alternate methods for establishing a reference frame see the Configure an Articulated Independent Robot section on page 82 When configuring the parameters for the Source coordinate system and the Target coordinate system for a SCARA Independent robot keep the following information in mind The transform dimension value should be set to two for both the source and target coordinate systems because only J1 and J2 are involved in the transformations The Z axis is configured as a member of both the source and target coordinate systems 105 Chapter6 Kinematics in RSLogix 5000 Software Por additional information about establishing a reference frame refer to the section entitled Configure an Articulated Independent Robot in this manual Example Source and Target Coordinate Systems for a SCARA Independent Robot s Coordinate System Properties Cartesian General Geometry Units Offsets Dynamics Tag Motion Group motion_group zi BI Type Ca
132. AXIS_SERVO_DRIVE returned in master position units The Strobe Master Offset will show AXIS VIRTUAL the same unwind characteristic as the position of a linear axis Telegram Type AXIS_SERVO_DRIVE INT GSV i aa of 7 which means Application Telegram See IDN 15 in 366 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Test Direction AXIS_SERVO SINT GSV The direction of axis travel during the last hookup test initiated by a Forward AXIS_SERVO_DRIVE MRHD Motion Run Hookup Test instruction 0 reverse 1 forward positive For this Data type Details AXIS_SERVO This value doesn t depend on the Servo Polarity Bits attribute The MAHD Motion Apply Hookup Test instruction uses the Test Direction Forward attribute and the Test Output Polarity attribute to set the Servo Polarity Bits attribute for negative feedback and correct directional sense AXIS_SERVO_DRIVE This value doesn t depend on the Drive Polarity attribute The MAHD Motion Apply Hookup Test instruction uses the Test Direction Forward attribute and the Test Output Polarity attribute to set the Drive Polarity attribute for the correct directional sense Test Increment AXIS_SERVO REAL GSV Position Units AXIS_SERVO_DRIVE SSV 2 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 nec
133. Appendix C Attribute Axis Type Data Type Access Description Physical Axis AXIS_CONSUMED BOOL Tag If this bit is set the physical axis has one or more faults The specific Fault AXIS GENERIC faults can then be determined through access to the fault attributes of i the associated physical axis AXIS_SERVO AXIS_SERVO_DRIVE Do you want this fault to give the controller a major fault AXIS_VIRTUAL YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Pos Dynamic AXIS_SERVO_DRIVE REAL Tag The currently operative maximum positive torque current limit Torque Limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit user current limit amplifier thermal limit and motor thermal limit Pos Hard AXIS_SERVO_DRIVE BOOL Tag Set if the axis moves beyond the current position limits as established Overtravel Fault by hardware overtravel limit switches mounted on the equipment 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 attempt however to move the axis further beyond the hard overtravel limit switch using a motion instruction results in
134. Arm Output Cam Disarm one or all output cams connected to an axis MDOC No Motion Disarm Output Cam Tune an axis and run diagnostic Use the results of an MAAT instruction to calculate MAAT No tests for your control system and update the servo gains and dynamic limits of an Motion Apply Axis Tuning These tests include axis Motor encoder hookup test Run a tuning motion profile for an axis MRAT l l No Motion Run Axis Tuning Encoder hookup test P Use the results of an MRHD instruction to set MAHD No Marker test encoder and servo polarities Motion Apply Hookup Diagnostic Run one of the diagnostic tests on an axis MRHD No Motion Run Hookup Diagnostic Publication LOGIX UM002D EN P July 2008 35 Chapter2 Test an Axis with Motion Direct Commands If you want to Control multi axis coordinated motion 36 And Use this instruction Motion direct Command Start a linear coordinated move for the axes of MCLM No coordinate system Motion Coordinated Linear Move Start a circular move for the for the axes of MCCM No coordinate system Motion Coordinated Circular Move Change in path dynamics for the active motionona MCCD No coordinate system Motion Coordinated Change Dynamics Stop the axes of a coordinate system MCS No Motion Coordinated Stop Shutdown the axes of a coordinate system MCSD No Motion Coordinated Shutdown Transition the axes of a coordinate system to the MCSR No ready state a
135. Attributes Absolute Feedback Enable 274 Index 427 Absolute Feedback Offset 275 Axis Info Select 289 External Drive Type 317 Fault Configuration Bits 318 Drive Fault Checking 318 Drive Fault Normally Closed 319 Hard Overtravel Checking 318 Soft Overtravel Checking 318 LDT Calibration Constant 329 LDT Calibration Constant Units 329 LDT Length 329 LDT Length Units 329 LDT Recirculations 329 LDT Scaling 329 LDT Scaling Units 329 LDT Type 329 Servo Feedback Type 360 A Quadrature B Encoder Interface 360 Linear Displacement Transducer 361 Synchronous Serial Interfac 360 Servo Loop Configuration 361 Servo Polarity Bits 362 Feedback Polarity Negative 362 Servo Polarity Negative 362 SSI Clock Frequency 363 SSI Code Type 363 SSI Data Length 363 Servo Drive Attributes Analog Input 280 Attribute Error Code 280 Attribute Error ID 280 Axis Control Bit Attributes 286 Abort Process 286 Change Cmd Reference 286 Shutdown Request 286 Axis Info Select 289 Axis Response Bit Attributes 290 Abort Event Acknowledge 290 Abort Home Acknowledge 290 Abort Process Acknowledge 290 Change Pos Reference 290 Shutdown Request Acknowledge 290 Commissioning Configuration Attributes Motor Inertia amp Load Inertia Ratio 330 341 Commissioning Status Attributes Test Direction Forward 366 Test Status 366 Publication LOGIX UM002D EN P July 2008 428 Index Publication LOGIX UM002D EN P July 2008 Tune Acceleration 371 Tune Accelera
136. Cartesian H bot The angular rotation of the reference frame may not be rotated for this robot since the angular rotation vector is used to achieve the 45 rotation required for the mechanical operation 103 Chapter6 Kinematics in RSLogix 5000 Software Configure a SCARA Independent 104 Identify the Work Envelope for a Cartesian H bot The work envelope for a Cartesian H bot is a rectangle of length and width equal to the axis soft travel limits Define Configuration Parameters for a Cartesian H bot Link Lengths Does not apply to a Cartesian H bot configuration Base Offsets Does not apply to a Cartesian H bot configuration End effector Offsets Does not apply to a Cartesian H bot configuration The typical SCARA Independent robot has two revolute joints and a single prismatic joint This robot is identical to the Articulated Independent two dimensional robot except that the X1 X2 plane is tilted horizontally with a third linear axis in the vertical direction Use these guidelines when configuring a SCARA Independent robot Establish the Reference Frame for a SCARA Independent Robot The reference frame for the SCARA Independent geometry is at the base of link L1 Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 SCARA Independent Robot Reference Frame The internal Kinematic equations are written as if the start position for the SC
137. Code is reset to zero by reconfiguration of the motion module Axis Configuration Fault information is passed from the motion module or device to the controller via a 16 bit CIP 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 response with each attribute that was processed That status value is defined by CIP as follows UINT16 Values 0 255 Ox00 OxFF are reserved to mirror common service status codes Values 256 65535 are available for object class attribute specific errors Attribute Error AX S_SERVO INT GSV Attribute ID associated with non zero Attribute Error Code AXIS_SERVO_DRIVE Ta i ID 9 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 To quickly see the Attribute Error in RSLogix 5000 1 Select the axis in the Controller Organizer 2 Look at the bottom of the
138. Command Velocity ervo Feedback O iput I Level i Error Error Position Accum gt ie Accum gt Mats I Feedback ulator aliy ulator an Position Velocity Integrator Integrator Error Error iti Servo Config Position Low I Mot jor Pass 1 Filter i A I Encoder Polarity i didt i Position l i Ch AB Feedback A Encoder l v Coarse pea i Position 16 bit AQB lt Accum Encoder o node ulator Counter I Watch T 1 Event Watch l 1 Event he I Handler l l I Watch l Position i Chz Homing arkar l Event Marker p I lt Event j Marker 1 Handler Latch I T l l l l Registration vent Regist i 1 T ie lt 4 Event ie Regist re Registration Handler Input 388 This configuration gives 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 The controller updates these values at the coarse update period of the 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 Publication LOGIX UM002D EN P July 2008 Servo Loop Block Diagrams Appendix D Position Servo with Velocity Servo Drive
139. DRIVE Motor Catalog Number 177 Dynamics Tab 205 Calculate Maximum Acceleration Jerk Maximum Deceleration Jerk 209 Manual Tune 208 209 Maximum Acceleration 206 Maximum Acceleration Jerk 207 Maximum Deceleration 206 Maximum Deceleration Jerk 208 Maximum Velocity 206 Fault Actions Tab AXIS_SERVO 246 Drive Fault 248 Feedback Loss 248 Feedback Noise 248 Position Error 248 Soft Overtravel 249 Fault Actions Tab AXIS_SERVO_DRIVE 249 Drive Thermal 251 Feedback 252 Feedback Noise 251 Hard Overtravel 252 Motor Thermal 251 Position Error 252 Set Custom Stop Action 253 Soft Overtravel 252 Feedback Tab AXIS_SERVO 172 Feedback Type 172 A Quadrature B Encoder Interface AQB 172 Linear Displacement Transducer LDT 173 Absolute Feedback Offset 176 Calculated Values 176 Calculate Button 176 Conversion Constant 176 Minimum Servo Up date Period 176 Calibration Constant 175 Enable Absolute Feedback 176 LDT Type 175 Length 175 Recirculations 175 Scaling 176 Synchronous Serial Interface SSI 172 Publication LOGIX UM002D EN P July 2008 Absolute Feedback Offset 174 Clock Frequency 174 Code Type 173 Data Length 173 Enable Absolute Feedback 174 Gains Tab AXIS_SERVO Differential 213 Integral Position Gain 212 Integrator Hold 214 Manual Tune 215 Proportional Position Gain 212 Proportional Velocity Gain 213 Gains Tab AXIS_SERVO_DRIVE 210 215 Acceleration Feedforward 214 217 Integral Position Gain 218 Int
140. DT device This attribute is only active if the Transducer Type is set to LDT LDT Length AXIS_SERVO SINT GSV 0 m Units 1 in 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 LDT AXIS_SERVO SINT GSV This attribute provides the number of recirculations This attribute is Reci only active if the Transducer Type is set to LDT and LDT Type is set to ecirculations PWM LDT Scaling AXIS_SERVO REAL GSV This attribute provides for setting the scaling factor for LDT devices This attribute is only active if the Transducer Type is set to LDT LDT Scaling AXIS_SERVO SINT GSV 0 Position Units m Units 1 Position Units in 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 LDT Type AXIS_SERVO SINT GSV 0 PWM 1 Start Stop Rising 2 Start Stop Falling 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 330 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Load Inertia AXIS_SERVO_DRIVE REAL GSV Ratio SSV Rated Pos Units per Sec The Motor Inertia value represents the inertia of the motor without
141. 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 referenced to the load side of the transmission This is only applicable when using an auxiliary feedback device Publication LOGIX UM002D EN P July 2008 311 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Bits is the same as the Drive Status tag Tag Bit Servo Action Status 0 Drive Enable Status 1 Shutdown Status 2 Process Status 3 Bus Ready Status 4 Reserved 5 Home Input Status 6 Reg 1 Input Status 7 Reg 2 Input Status 8 Pos Overtravel Input Status 9 Neg Overtravel Input Status 10 Enable Input Status 11 Accel Limit Status 12 Absolute Reference Status 13 Reserved 14 Reserved 15 Velocity Lock Status 16 Velocity Standstill Status 17 Velocity Threshold Status 18 Torque Threshold Status 19 Torque Limit Status 20 Velocity Limit Status 21 Position Lock Status 22 Power Limit Status 23 Reserved 24 Low Velocity Threshold Status 25 High Velocity Threshold Status 26 312 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C
142. Decimal ServoFault DINT Hex PosSoftOvertravelFault BOOL Decimal 405 AppendixE Axis Data Types Member Data Type Style NegSoftOvertravelFault BOOL Decimal FeedbackFault BOOL Decimal FeedbackNoiseFault BOOL Decimal PositionErrorFault BOOL Decimal DriveFault BOOL Decimal ModuleFaults DINT Hex ControlSyncFault BOOL Decimal ModuleSyncFault BOOL Decimal TimerEventFault BOOL Decimal ModuleHardwareFault BOOL Decimal InterModuleSyncFault BOOL Decimal AttributeErrorCode INT Hex AttributeError D INT Hex PositionCommand REAL Float PositionFeedback REAL Float AuxPositionFeedback REAL Float PositionError REAL Float PositionIntegratorError REAL Float VelocityCommand REAL Float VelocityFeedback REAL Float VelocityError REAL Float VelocitylntegratorError REAL Float AccelerationCommand REAL Float AccelerationFeedback REAL Float ServoOutputLevel REAL Float MarkerDistance REAL Float VelocityOffset REAL Float TorqueOffset REAL Float 406 Publication LOGIX UM002D EN P July 2008 AXIS_SERVO_DRIVE Publication LOGIX UM002D EN P July 2008 Axis Data Types Appendix E Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStat
143. Disarm Output Cam 35 Motion Disarm Registration 35 Motion Disarm Watch Position 35 motion group set up 18 Motion Group Shutdown 35 Motion Group Shutdown Reset 35 Publication LOGIX UM002D EN P July 2008 Motion Group Stop 35 Motion Group Strobe Position 35 Motion Instructions 31 Coordinated Motion Instructions Motion Coordinated Change Dynamics MCCD 36 Motion Coordinated Circular Move MCCM 36 Motion Coordinated Linear Move MCLM 36 Motion Coordinated Shutdown MCSD 36 Motion Coordinated Shutdown Reset MCSR 36 Motion Coordinated Stop MCS 36 Motion Configuration Instructions Motion Apply Axis Tuning MAAT 35 Motion Apply Hookup Diagnostic MAHD 35 Motion Run Axis Tuning MRAT 35 Motion Run Hookup Diagnostic MRHD 35 Motion Direct Commands 31 Motion Event Instructions Motion Arm Output Cam MAOC 35 Motion Arm Registration MAR 35 Motion Arm Watch Position MAW 35 Motion Disarm Output Cam MDOC 35 Motion Disarm Registration MDR 35 Motion Disarm Watch Position MDW 35 Motion Group Instructions Motion Group Shutdown MGSD 35 Motion Group Shutdown Reset MGSR 35 Motion Group Stop MGS 35 Motion Group Strobe Position MGSP 35 Motion Move Instructions Motion Axis Gear MAG 34 Motion Axis Home MAH 34 Motion Axis Jog MAJ 34 Motion Axis Move MAM 34 Motion Axis Position Cam MAPC 34 Motion Axis Stop MAS 34 Motion Axis Time Cam MATC 34 Motion Calculate Cam Profile MCCP 34 Motion Calculate
144. 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 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 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Feedback Fault AXIS_SERVO BOOL Tag AXIS_SERVO AXIS_SERVO_DRIVE bi ae Set for a specific feedback source when one of the following conditions occurs The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z 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 The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault AXIS_SERVO_DRIVE Set when one of the feedback sources associated with the drive axis has a problem that prevent
145. EAL GSV SSV Hertz 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 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 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 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 Data type Bandwidth limits AXIS_SERVO 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 22 1 Drive Mode
146. EC 61491 SErial Real time Communication System protocol over a fiber Publication LOGIX UM002D EN P July 2008 optic network The module uses a fiber optic network for all the wiring between the drives and the module P Preface Additional Resources Help for Selecting Drives and Motors Where to Find Sample Projects See these manuals for more information about using motion modules in a Logix5000 control system Publication Publication Number Logix5000 Controllers Quick Start 1756 08001 Logix5000 Controllers Common Procedures 1756 PM001 Logix5000 Controller Motion Instructions Reference Manual 1756 RMO007 Logix5000 Controllers General Instructions Reference Manual 1756 RM003 Logix5000 Controllers Process and Drives Instructions 1756 RMO006 Reference Manual PhaseManager User Manual LOGIX UMO001 ControlLogix Controller User Manual 1756 UM001 CompactLogix Controllers User Manual 1768 UM001 Analog Encoder AE Servo Module Installation Instructions 1756 IN047 ControlLogix SERCOS interface Module Installation 1756 IN572 Instructions CompactLogix SERCOS interface Module Installation 1768 IN005 Instructions 1394 SERCOS Interface Multi Axis Motion Control System 1394 IN002 Installation Manual 1394 SERCOS Integration Manual 1394 IN024 Ultra3000 Digital Servo Drives Installation Manual 2098 IN003 Ultra3000 Digital Servo Drives Integration Manual 2098 IN005 Kinetix 6000 In
147. EL 28GA GREEN 28GA AM AM GREEN 28GA GRN 28GA AM WHT GRN 28GA UE 28GA e BLU 28GA 7 OLET 28GA IM VIOLET 28GA WHT VIO 28GA IM M WHT VIO 28GA GRAY 28GA INPUT 2 INPUT 2 GRAY 28GA a WHT GRY 28GA INPUT 3 INPUT 3 WHT GRY 28GA Ultra3000 PINK 28GA INPUT 4 INPUT 4 PINK 28GA Ultra3000 CN1 Connector WHT PNK 28GA INPUT 5 5 WHT PNK 28GA CN1 Connector Axis 0 WHT BLK RED 28GA INPUT 6 6 BLK RED 28GA Axis 1 RED BLK 28GA INPUT 7 INPUT 7 RED BLK 28GA WHT BLK ORG 28GA INPUT 8 INPUT 8 WHT BLK ORG 28GA ORG BLK 28GA 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 A V Por more information see Ultra3000 Digital Servo Drives Installation Manual publication number 2098 IN003 Publication LOGIX UM002D EN P July 2008 261 AppendixB Wiring Diagrams 2090 U3AE D44xx Cable AXIS 0 CN H A RELAY AXO 10 PWR AXO c AUX PWR AXO Onnector AXIS 0 CN1 D sub high 2 MO2AE density 44 pin view shown with 45 black e lt A without cover PVC overmold asion AUX PWR AX1 0PWR AX RELAY AX1 a 10 AX1 262 Publication LOGIX UM002D EN P July 2008 Wiring Diagrams Appendix B 1394 Servo Drive in Torque Mode only Publication LOGIX UM002D EN P July
148. ES Turn OFF one or more of these bits To turn off this change Turn off this bit Reduced S curve Stop Delay 0 This change applies to the Motion Axis Stop MAS instruction It lets you use a higher deceleration jerk to stop an accelerating axis more quickly The controller uses the deceleration jerk of the stopping instruction if it is more than the current acceleration jerk Reduced S curve Velocity Reversals 1 Before revision 16 you could cause an axis to momentarily reverse direction if you decreased the deceleration jerk while the axis was decelerating This typically happened if you tried to restart a jog or move with a lower deceleration rate while the axis was stopping This change prevents the axis from reversing in those situations Reduced S curve Velocity Overshoots 2 You can cause an axis to overshoot its programmed speed if you decrease the acceleration jerk while the axis is accelerating This change keeps to overshoot to no more than 50 of the programmed speed 317 AppendixC Axis Attributes Attribute Axis Type Enable Input AXIS_SERVO_DRIVE Status Data Type Access BOOL Tag Description If this bit is ON The Enable input is active OFF The Enable input is inactive External Drive AXIS_SERVO_DRIVE Type 318 DINT GSV SSV 0 torque servo 1 velocity servo 2 hydraulic servo When the application requires the servo module axis to interface with an exter
149. 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 establish the absolute machine reference position The Absolute Home Mode is invalid 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 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 t
150. GENERIC Cleared when either another MAR Motion Arm Registration instruction F or a MDR Motion Disarm Registration instruction is executed for AXIS_SERVO registration input 1 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 2 AXIS_CONSUMED BOOL Tag Set when a registration checking has been armed for registration input 2 Armed Status AXIS GENERIC through execution of the MAR Motion Arm Registration instruction iz Cleared when either a registration event occurs or a MDR Motion AXIS_SERVO Disarm Registration instruction is executed for registration input 2 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 2 AXIS_CONSUMED BOOL Tag Set when a registration event has occurred on registration input 2 Status AXIS GENERIC Cleared when either another MAR Motion Arm Registration instruction or a MDR Motion Disarm Registration instruction is executed for AXIS_SERVO registration input 2 AXIS_SERVO_DRIVE AXIS_VIRTUAL Registration 1 AXIS_CONSUMED REAL Tag Registration 1 Position in Position Units Position AXIS_SERVO_DRIVE AXIS_VIRTUAL Registration 1 AXIS_CONSUMED DINT MSG These attributes show which task is triggered when the registration Event Task AXIS_GENERIC event happens AXIS SERVO An instance of 0 means that no event task is configured to be p triggered by the registration event Registration 2 AXIS_SERVO_DRIVE as 5 E Task The task is triggered at the same time that the Process Complete bit VERE TAS AXIS_VIRTUAL is set for the instruction that
151. Help 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 current axis actual position and command position This homing sequence produces no axis motion This read only parameter is always set to Active 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 197 Appendix A Axis Properties Seq uence This read only parameter is always set to Immediate Hookup Tab AXIS SERVO Use this tab to configure and initiate axis hookup and marker test sequences 198 for an axis of the type AXIS_SERVO When a parameter transitions to a read only state any pending changes to patameter values are lost and the parameter reverts to the most recently saved parameter value e Axis Properties Axis3 oi x Tune Dynamics Gains Output Limits Offs
152. Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Maximum Speed 50 0 Position Units s Manual Adjust Maximum Acceleration fi 000 0 Position Units s 2 Maximum Deceleration fi 000 0 Position Units s 2 Maximum Acceleration Jerk 2700 0 Position Units s 3 85 of Max Accel Time Calculate Maximum Deceleration Jerk 20000 0 Position Units s 3 100 of Max Decel Time Calculate cme e Publication LOGIX UM002D EN P July 2008 205 AppendixA Axis Properties 206 Maximum Speed Maximum Acceleration Maximum Deceleration IMPORTANT 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 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 software 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 The steady stat
153. If a value of zero is applied to the Backlash Reversal Offset the feature is effectively disabled Once enabled by a nonzero value and the load is engaged by a reversal of the commanded motion changing the Backlash Reversal Publication LOGIX UM002D EN P July 2008 Stabilization Window Velocity Offset Torque Force Offset Manual Adjust Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Offset can cause the axis to shift as the offset correction is applied to the command position 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 Provides a dynamic velocity correction to the output of the position servo loop in position units per second Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output Click on this button to open the Offset tab of the Manual Adjust dialog for online editing of the Friction Deadband Compensation Backlash 245 AppendixA Axis Properties Compensation Velocity Offset Torque Offset and Output Offset parameters The Manual Adjus
154. If that happens this bit turns on Primary AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Servo Loop Configuration attribute O l See IDN 32 in IEC 1491 peration Mode Process Status AXIS_SERVO BOOL Tag Set when there is an axis tuning operation or an axis hookup diagnostic 354 AXIS_SERVO_DRIVE test operation in progress on the axis Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Programmed AXIS_GENERIC SINT GSV Determines how a specific axis will stop when the controller has a Stop Mode AXIS SERVO SSV critical controller mode change or when an MGS Motion Group Stop instruction executes with it s stop mode set to Programmed The modes AXIS_SERVO_DRIVE fo the controller are Program Mode Run Mode Test Mode and Faulted AXIS_VIRTUAL 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 controller Each individual axis can have its own Programmed Stop Mode configuration independent of other axes Fast Stop default 0 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 1 When the Programmed Stop Mode attribute is configured for Fa
155. 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 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 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Backlash AXIS_SERVO REAL GSV The Backlash Stabilization Window attribute is used to control the ae AXIS SERVO_DRIVE SSV Backlash Stabilization feature in the servo control loop What follows is o a description of this feature and the general backlash instability EON phenomenon 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
156. J 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 i er Motion Axis Jog Axis My_Axis Motion Control Jog_1 Direction 0 Speed Jog_1_Speed 60 0 Speed Units Units per sec Accel Rate Jog_1_Accel 20 06 The MAJ instruction that starts the axis has a higher acceleration rate than the instruction that TUnits Units per sec2 stops the axis Decel Rate Jog_1_Decel 20 06 Decel Units Units per sec2 Profile S Curve Merge Disabled S Curve profile Jog_PB lt Local4 Data O gt My_Axis_OK e Merge Speed Programmed lt lt Less Motion Axis Jog Axis My_Axis Motion Control Jog_2 Direction 0 Speed Jog_2_Speed 00e P gt R Speed Units Units per sec The MAJ instruction that stops Accel Rate Jog_2_Accel the axis has a lower acceleration 106 rate than the instruction that Tunis Units per sec2 starts the axis Decel Rate Jog_2_Decel 20 Decel Units Units per sec2 Profile Curve Merge Disabled S Curve profile Merge Speed Programmed lt lt Less 145 Chapter8 Troubleshoot Axis Motion Cause When you use an S curve profile jerk determines the acceleration and deceleration time of the axis An S curve profile h
157. M002D EN P July 2008 Attribute Axis Type Velocity Scaling AXIS_SERVO Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Data Type Access Description REAL GSV SSV Position Units Per Second The Velocity Scaling attribute is used to convert the output of the 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 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 an input of 100 for example 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 383 AppendixC Axis Attributes Attribute Velocity Servo Bandwidth Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Data Type Access Description R
158. MEMAUICS isesi ES Sats EREET BaD EES 128 Change the Robot Arm Solttiotts 64 ca0s sa batiomess bate hac 129 Plaji f r Singularity se owe pin eons hic Mig es i ads ss 130 Encounter a No solution Position 00 6 044045 ei fs eee eS Bs 130 PMOL COndinGns i 6 h acm eed vase eas Fea Reese ohana ge ee ale 131 Chapter 7 IOC ORs a0 8 has okt Cay Soak eo ee Sn eS 133 1756 MO2AE Oh Ci se ete pn ai gc ar ks See e tay 133 1756 M02AS M d le adie benr Stunde Raich Gaeta Mints EEE 135 1756 HYD02Z Mod l peceta aaaseanauins Roving whoaytrad ay Sochiacd a 138 SERCOS interface Module n tes o i end Shop tata ss 141 Chapter 8 ME ORUCU OM aes bn gare Ea RE aaa BEES ESY 143 Why does my axis accelerate when I stop it 0 2 0 ee ee ee 143 Why does my axis overshoot its target speed n usuena 145 Why is there a delay when I stop and then restart a jog 148 Why does my axis reverse direction when I stop and start it 150 Publication LOGIX UM002D EN P July 2008 Configure Homing Axis Properties Publication LOGIX UM002D EN P July 2008 Table of Contents Chapter 9 Tato ductive wis sweep dns Rata SES AE RE wen ER 153 Guidelines for Homing 5a 24 biaae raise ee date Caaf REND 153 Examples Carrs ones la een mee Saleh he mee ey Salad 154 Appendix A THEFOGUEHO NE u Mises hoses i Fees ei eee a a occa pte leta ts tole te 159 General Tab AXIS SERVO 0 ee eee 159 General Tab AXIS SERVO_DRIVE 0
159. MO3SE m c 1756 MOZAE 1756 M02AS 1756 M03SE 1756 M08SE 1756 M16SE 1768 M04SE Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Overall Usefulness 1 2 3 How can we make this publication more useful for you 2 3 Can we add more information to help you Completeness all necessary information procedure step illustration feature is provided ae example guideline other explanation definition Technical Accuracy 1 2 3 Can we be more accurate all provided information l 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 C0521D EN P July 2007 PLEASE FASTEN HERE DO NOT STAPLE Other Comments PLEASE FOLD HERE BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE
160. Mode active gt Pasition joo Revs Offset o Revs Sequence Marker o x O Active Home Sequence Group Direction Forward Bi directional __ v Speed 0 25 Revs s Retum Speed 0 25 Revs s Publication LOGIX UM002D EN P July 2008 23 Chapter 1 Start Action 24 7 Apply your changes Details s Axis Properties My_Axis_X General Motion Planner Units Drive Mator Motor Feedback Aux Feedback Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ac Mode active xl Position oo Revs Offset joo Revs Sequence Marker o l O E Active Home Sequence Group Direction Forward Bi directional Speed 0 25 Revs s Return Speed 0 25 Revs s Cancel Publication LOGIX UM002D EN P July 2008 Start Chapter 1 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 Test feedback Checks 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 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 cond
161. Motion Modules in Logix5000 Control systems User Manual Catalog Numbers 1756 HYD02 1756 L60MO03SE 1756 MO02AE 1756 MO02AS 1756 M03SE 1756 M08SE 1756 M16SE 1768 M04SE Rockwell ALLEN BRADLEY e ROCKWELL SOFTWARE Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation
162. NERIC SINT GSV 0 immediate default AXIS_SERVO SSV 1 switch AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 marker 3 switch then marker 4 torque limit 5 torque limit then marker Home Speed AXIS_GENERIC REAL GSV Position Units Sec AXIS_SERVO SSV i f The Home Speed attribute controls the speed of the jog profile used in AXIS_SERVO_DRIVE the first leg of an active homing sequence as described in the above discussion of the Home Sequence Type attribute Homed Status AXIS_CONSUMED BOOL Tag Cleared at power up or reconnection Set by the MAH instruction upon AXIS GENERIC successful completion of the configured homing sequence and later a cleared when the axis enters the shutdown state AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Homing Status AXIS_CONSUMED BOOL Tag Set if a Home motion profile is currently in progress Cleared when the AXIS SERVO homing operation is stopped or is superseded by some other motion a operation AXIS_SERVO_DRIVE AXIS_VIRTUAL 328 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Inhibit Status AXIS_SERVO BOOL Tag Use the InhibitStatus bit of an axis to see if the axis is inhibited or ON The axis is inhibited OFF The axis is uninhibited The controller changes the InhibitStatus bit only after all of these have happened The axis has changed to inhibited or uninhibited All uninhibited axes are ready
163. NO Choose Non Major Fault You must write code to handle motion faults 44 2 Set the General Fault Type EJ Controller My_Controller E Tasks 3 6 Motion Groups 38 My_Motion_Group gt My_Axis_X N d gt My_Axis_ Ungrouped Axes a LI Trends Motion Direct Commands I Data Types Cross Reference Ctrl e 25 1 0 Configuration Print b Properties N Motion Group Properties My_Motion_Group d BR Axis Assignment Attribute Tag Coarse Update Period H ms in 0 5 increments Auto Tag Update Enabled v General Fault Type Non Major Fault Scan Times elapsed time Max us Y us OK Cancel Help Publication LOGIX UM002D EN P July 2008 Handle Faults Chapter 3 Choose the Fault Actions Use the fault actions to set how an axis responds to different types of faults for an Axis If you want to Then choose Shutdown the axis and let it Shutdown coast to a stop Disable the axis and let the drive Disable Drive stop the axis using it s best available stopping method The type of faults depends on the type of axis and how you configure it Description Shutdown is the most severe action Use it for faults that could endanger the machine or the operator if you don t remove power quickly and completely For this axis type When the fault happens AXIS_SERVO Axis servo action is disabled The servo amplifier output is zeroed The ap
164. O_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 162 in Data Scaling IEC 1491 Exp Acceleration AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute See IDN 161 in Data Scaling IEC 1491 Factor Apecloncoa AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Feedback AXIS_SERVO_DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Acceleration Feedback in Position Units Sec2 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 276 Publication LOGIX UMO02D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE V E n SSV AXIS_SERVO Publication LOGIX UM002D EN P July 2008 When you connect to a torque servo drive use the Acceleration Feedforward Gain to give 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
165. Offset ao Position Units LDT Type Recirculations Calibration Constant Length Publication LOGIX UM002D EN P July 2008 OK Cancel Help 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 Use this field to set the number of repetitions to use to acquire a measurement from an LDT 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 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 175 AppendixA Axis Properties 176 Scaling Enable Absolute Feedback Absolute Feedback Offset Calculated Values Scaling defines the relationship between the LDT unit of measure length field and the unit of measure defined at the Units tab This field is grayed out because it is always active when Feedback Type is LDT 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
166. Offsets I Coordinate System Properties Delta General Geomety Units Offsets Joints Tag Type Delta Trewesfenen Dimers 2 Frid Fifectoe Dilsrdx Base Offsets Xib 130 0 n Ta 121 Chapter6 Kinematics in RSLogix 5000 Software Configure a SCARA Delta Robot 122 The SCARA Delta robot geometry is similar to a two dimensional Delta robot geometry except that the X1 X2 plane is tilted horizontally with the third linear axis in the vertical direction X3 SCARA Delta Robot X3 i X2 J2 Z 2 t J1 Z1 4 it nX E NN N se Lf a L N Ne is D 2 Base plate Establish the Reference Frame for a SCARA Delta Robot The reference frame for the SCARA Delta robot is located at the center of the base plate When the angles of joints J1 and J2 are both at 0 each of the two L1 links is along the X1 axis One L1 link is pointing in the positive X1 direction the other in the negative X1 direction When the right hand link L1 moves in the clockwise direction looking down on the robot joint J1 is assumed to be rotating in the positive direction When the right hand link L1 moves counterclockwise joint J1 is assumed to be moving in the negative direction When left hand link L1 moves in the clockwise direction joint J2 is assumed to be moving in the negative direction When the left hand link L1 moves in the counterclockwise direction joint J2 is assumed to be rotating in the positive direction
167. OvertempFault BOOL Decimal DriveCoolingFault BOOL Decimal DriveControlVoltageFault BOOL Decimal FeedbackFault BOOL Decimal CommutationFault BOOL Decimal DriveOvercurrentFault BOOL Decimal DriveOvervoltageFault BOOL Decimal DriveUndervoltageFault BOOL Decimal PowerPhaseLossFault BOOL Decimal PositionErrorFault BOOL Decimal SERCOSFault BOOL Decimal SERCOSErrorCode INT Hex 410 Publication LOGIX UM002D EN P July 2008 AXIS_VIRTUAL Publication LOGIX UM002D EN P July 2008 Axis Data Types Appendix E Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedstatus BOOL Decimal WatchEve
168. R 1 Tha home im swch is detected Mie hane im sw ieh ia deara 2 The home podiom far During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and stops 2 The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch and then stops 3 The axis moves back to the home limit switch or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than revolution If the axis is past the home limit switch at the start of the homing sequence the axis reverses direction and starts the return leg of the homing sequence Use a Home Return Speed that is slower than the Home Speed to increase the homing accuracy The accuracy of this sequence depends on the return speed and the delay to detect the transition of the home limit switch Uncertainty Home Return Speed x delay to detect the home limit switch Example Suppose your Home Return Speed is 0 1 in s and it takes 10 ms to detect the home limit switch Uncertainty 0 1 in s x 0 01 s 0 001 in The mechanical uncertainty of the home limit switch also affects the homing accuracy Publication LOGIX UM002D EN P July 2008 Sequence Active home to marker in forward bidirectional Publication LOGIX UM002D EN P July 2008 Configure Homing Chapter 9 Des
169. RA Delta robot geometry Enter the value for the distance from the center of the moving plate to one of the spherical joints of the parallel arms The end effector value is always a positive number SCARA Delta End effector and Base offset Coordinate System Properties Delta General Geomety Units Offeste Joints Tag Type SUAIIA Deto Top View Tramfonn Dinero 2 X24 Xib End Eilectu Olfeets i Sii p Xie 40 0 oor gt PA X1 o e lt gt SNS id ee aS ia NO OO eor So N Side View Baco Offeete Xib 150 0 ae X3 X1 e cet no _ ho 125 Chapter 6 126 Kinematics in RSLogix 5000 Software Configure a Delta Robot With a Negative X1b Offset Beginning with RSLogix 5000 version 17 you can use negative offsets for the X1b base offset on both 2D and 3D delta geometries For example a mechanical 2D delta robot using a negative X1b offset has a mechanical configuration like the one shown below L1 50 0 units L2 80 0 units X1b 10 units X1e 15 units The base offset X1b is the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints In the previous figure one of the actuator joints P1 is on the negative side of X1 Therefore the base offset X1b is measured to be a value of 10 units from the origin of the coordinate system X1 X2 intersection to P1 The RSLogix 5000 coordinate system configuration for the offset tab
170. RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float 400 Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Axis Data Types Appendix E Member Data Type Style CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float ModuleFaults DINT Hex ControlSyncFault BOOL Decimal 401 AppendixE Axis Data Types AXIS_GENERIC Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal
171. S IO O teh 20 Set UP AC AXIS ai sehen eRe E aU ae a AH a T AEE a SO ER 22 Check the Wiring of Each Diive 3s0cccig cai nes ede Si keen 25 Tune Fach Axis aee a a a bee a a a y fora bite a e 26 Get Axis Informan e shit A EES a E EE as 27 Program Motion Como io caj ecite Go otond ange bo ndhied ey antracien ee aegis 28 What ssN xte xiiitie oh doa nlnthine O A TE E EAT EES 30 Chapter 2 ImtroductiOn asa E A E Ea TE OE SOE SS 31 Access Motion Direct Commands 0 000 c cece eens 32 Choose Command erasana oaa nthe ans Mhbvees MbbwA wae 34 Motion Direct Command Dialog ii iciawnin te lewwraaiaees 37 Motion Direct Command Error Process 00 000 cee eee 39 What If the Software Goes Offline or the Controller Gh nges Modes rines cel ty Bt e Ye Bibel he Su EEEE a AR ec 42 Can Two Workstations Give Motion Direct Commands 42 Chapter 3 TRtrO AU CHORE secession taaria yl a a Act oad wee ana a ans a AE bGus 43 Choose If Motion Faults Shut Down the Controller 44 Choose the Fault Actions for an Axis 0 0 ccc ccc eee 45 Set the Fault Action for an Axis 2 0 ccc ee ene 46 Chapter 4 Introductions nener e ee wee es a ee 47 Create a Coordinate SYSte mies eid ieiiecn ealvalee We hed en arcee eon aes fae 48 Entet TaeTnfonmnati n iaso tt g wie ee cab ieee nana su Gey 48 Coordinate System Wizard Dialogs 0 ccc eee eae 50 Edit Coordinate System Properties sy cctersea erate sa wees hea des 51 5 Table o
172. T Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float ModuleFaults DINT Hex ControlSyncFault BOOL Decimal ModuleSyncFault BOOL Decimal TimerEventFault BOOL Decimal ModuleHardwareFault BOOL Decimal SERCOSRingFault BOOL Decimal AttributeErrorCode INT Hex AttributeError D INT Hex PositionCommand REAL Float PositionFeedback REAL Float 408 Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Axis Data Types Appendix E Member Data Type Style AuxPositionFeedback REAL Float PositionError REAL Float PositionIntegratorError REAL Float VelocityCommand REAL Float VelocityFeedback REAL Float VelocityError REAL Float VelocitylntegratorError REAL Float AccelerationCommand REAL Float AccelerationFeedback REAL Float MarkerDistance REAL Float VelocityOffset REAL Float TorqueOffset REAL Float TorqueCommand REAL Float TorqueFeedback REAL Float PosDynamicTorqueLimit REAL Float NegDynamicTorqueLimit REAL Float MotorCapacity REAL Float DriveCapacity REAL Float PowerCapacity REAL Float BusRegulatorCapacity REAL Float MotorElectric
173. The clutch function of F the gearing planner is used to ramp an axis up or down to speed in a AXIS_SERVO gearing process MAG with Clutch selected This bit is cleared during AXIS_SERVO_DRIVE the intervals where the axis is clutching AXIS_VIRTUAL Gearing Status AXIS_CONSUMED BOOL Tag Set if the axis is a slave that is currently gearing to another axis Cleared AXIS GENERIC when the gearing operation is stopped or is superseded by some other 5 motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Ground Short AXIS_SERVO_DRIVE BOOL Tag When the drive detects an imbalance in the DC bus supply current the Fault Ground Short Fault bit is set indicating that current is flowing through an improper ground connection Group Instance AXIS_CONSUMED DINT GSV Instance Number of Group assigned to Axis AXIS_GENERIC The Group Instance attribute is used to determine what motion group AXIS_SERVO object instance this axis is assigned to AXIS_SERVO_DRIVE AXIS_VIRTUAL Hard Overtravel AXIS_SERVO_DRIVE SINT GSV Fault Action Value Fault Action SSV Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Home AXIS_GENERIC DINT GSV 0 Reserved AXIS_SERVO SSV conan 1 Home Switch Normally Closed Bits AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 Marker Edge Negative 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 i
174. This attribute is only active if the Transducer Type is set to SSI Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Ro Ml eee AXIS_CONSUMED REAL GSV Start Actual Position in Position Units Position AXIS_GENERIC Tag Whenever a new motion planner instruction starts for an axis for example using a MAM instruction the value of the axis command AXIS_SERVO position and actual position is stored at the precise instant the motion AXIS_SERVO_DRIVE begins These values are stored as the Start Command Position and AXIS VIRTUAL Start Actual Position respectively in the configured Position Units of the axis 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 Start Command AX S_CONSUMED REAL GSV Start Command Position in Position Units 5 Whenever a new motion planner instruction starts for an axis for Postion eerie Tag exa
175. Tune Friction Compensation 375 Tune Output Low Pass Filter 374 Tune Position Error Integrator 374 Tune Torque Offset 375 Tune Velocity Error Integrator 374 Tune Velocity Feedforward 374 Tuning Direction Reverse 374 Tuning Speed 375 Tuning Torque 375 Tuning Travel Limit 376 Velocity Servo Bandwidth 383 Configuration Attributes Axis Type 292 Motion Conversion Configuration Conversion Constant 298 Motion Dynamics Configuration Maximum Acceleration 333 Maximum Deceleration 333 Maximum Speed 334 Programmed Stop Mode 354 Fast Disable 354 Fast Shutdown 354 Fast Stop 354 Hard Disable 354 Hard Shutdown 354 Motion Homing Configuration Active Homing Active Immediate Home 154 Home Configuration Bits 325 Home Switch Normally Closed 325 Publication LOGIX UM002D EN P July 2008 Home Mode 326 Home Offset 326 Home Position 327 Home Return Speed 327 328 Home Sequence and Home Direction 325 327 Home Speed 327 Passive Homing Passive Home with Marker 157 Passive Home with Switch 157 Passive Home with Switch then Marker 157 Passive Immediate Home 157 Motion Planner Configuration Attributes Master Input Configuration Bits 331 332 Master Delay Compensation 331 Master Position Filter 332 Master Position Filter Bandwidth 332 Output Cam Execution Targets 343 Motion Unit Configuration Attributes Average Velocity Timebase 285 Position Units 352 Position Unwind 352 Rotary Axis 358 Interface Attributes Axis Configuration St
176. Units Sec The Maximum Deceleration attribute value is used by motion instructions such as MCLM MCCM and so on to determine the deceleration rate to apply to the coordinate system vector when the deceleration is specified as a percent of the Maximum Maximum Pending Moves DINT Publication LOGIX UM002D EN P July 2008 GSV The Maximum 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 Limited to a queue of one 417 AppendixF Coordinate System Attributes Attribute Data Type Access Description Maximum Speed REAL GSV Coordination Units Sec SSV The value of the Maximum Speed attribute is used by various motion instructions for example MCLM MCCM and so on to determine the steady state speed of the coordinate system vector when the speed is specified as a percent of the Maximum Module Fault BOOL Tag 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 of the motion module is required to recover from a module fault condition Modules Faulted DINT GSV Shows which axes in this coordinate system have a module fault Tag If this bit is on Then this axis has a module fault
177. Up Handler My_Axis_X_Uninhibit_Cmd SSY iz H E Tasks aR Ta Value ae KH 2 A ass Name F i moen Soups Instance Name My_Axis_X S My_Motion_Group Wi Attribute Name InhibitAxis gt My_Axis_x Source Zero i My_Axis_ 0 H E Ungrouped Axes v E Type AXIS_SERVO_DRIVE A Description My_Axis_X InhibitStatus My_Axis_X SefvoActionStatus My_Axis_X_OK Axis State E q a a Drive Name My_Axis_X Node 1 Axis Fault v v age Use a Get System Value GSV instruction or Set System Value SSV Use the Quick View pane to see the state instruction to read or change the configuration at run time and faults of an axis Use the tag of the axis for status and faults Publication LOGIX UM002D EN P July 2008 27 Chapter 1 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 programming languages See ladder diagram LD structured text ST Logix5000 Controllers Common Procedures Manual 1756 PMO001 sequential function chart SFC Logix5000 Controllers Motion Each motion instruction works on one or more axes Instructions Reference Manual ne 1756 RM007 Each motion instruction needs a motion control tag The tag uses a Logix5000 Controllers General MOTION_INSTRUCTION data type The tag stores the status Instructions Reference Manual information of the inst
178. V servo module inputs 270 Publication LOGIX UM002D EN P July 2008 Wiring Diagrams Appendix B Home Limit Switch Input 24V de Field Power Supply s From the motion module ee pn Notes 43396 The home limit switch inputs to the servo module are designed for 24V dc nominal operation Wire these inputs for current sourcing operation OK Contacts 24V de Field Power Supply OK Pilot Relay General cable 0K O From the motion module c gt C0720 3 X OK 43397 OK Pilot Relay 24V ac dc Contacts Start Stop CR1 or 120V ac M1 typical 43398 CR1 Notes Use the OK relay contacts to connect to an E stop string that controls power to the associated pumps or drives The OK contacts are rated to drive an external 24V dc pilot relay for example Allen Bradley 700 HA32Z24 whose contacts can be incorporated into the E stop string Publication LOGIX UM002D EN P July 2008 271 AppendixB Wiring Diagrams Notes 272 Publication LOGIX UM002D EN P July 2008 Appendix C Axis Attributes Introduction Use this chapter to get configuration status and fault information about an axis The controller stores information about an axis as attributes of the axis Topic Page How to Access Attributes 273 Axis Attributes 274 How to Access Attributes The Access column shows how to access the attribute Example Use a Get System Value GSV instruction t
179. a Three dimensional Robot Rotate each joint to a position so that the respective link is at a horizontal position then perform one of the following a Use a MRP instruction to set all the joint angles to 0 at this position b Configure the values for the Zero Angle Offsets to be equal to the values of the joints when in a horizontal position Configure Zero Angle Orientations for Delta Three dimensional Robot Por Delta robot geometries the internal transformation equations in the RSLogix 5000 software are written assuming that joints are at 0 when link L1 is horizontal as each top link L1 moves downward its corresponding joint axis J1 J2 or J3 is rotating in the positive direction If you want the joint angular position when L1 is horizontal to be at any other value than 0 then you must properly configure the Zero Angle Orientation values on the Geometry tab of the Target Coordinate System Properties dialog to align your joint angle positions with the internal equations Por example if your Delta robot is mounted so that the joints attached at the top plate are homed at 30 in the positive direction below horizontal see Delta Robot with Joints Homed at 30 illustration and you want the RSLogix 5000 software readout values to be zero in this position then you must configure the Zero Angle Orientation values to 30 on the Geometry tab of the Target Coordinate System Properties dialog see the Configurin
180. ab to modify the name and description of the axis When you are online all of the parameters on this tab transition to a read only state and 254 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A cannot be modified If you go online before you save your changes all pending changes revert to their previously saved state e Axis Properties mysercos1laxis fet 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 B Cancel Apply Help Name Displays the name of the current tag You can rename this tag if you wish Desc ription 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 Base Alias Consumed Displays the data type associated with the current tag Publication LOGIX UM002D EN P July 2008 255 Appendix A 256 Axis Properties Data Type Scope Style Displays the axis data type of the current tag 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 Displays the default style in which to displa
181. ack Type cont Servo Loop Configuration 362 Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Data Type Access Description INT GSV SSV Linear Displacement Transducer LDT Servo modules like the 1756 HYD02 use 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 Interrogate 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 HYDO02 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 0
182. ain PositionIntegralGain Pos P Gain PositionProportionalGain Position Error PositionError Position Integrator Error PositionIntegratorError Registration Position RegistrationPosition Servo Output Level ServoOutputLevel Vel FF Gain VelocityFeedforwardGain Vel Gain VelocitylntegralGain Vel P Gain VelocityProportionalGain Velocity Command VelocityCommand Velocity Error VelocityError Velocity Feedback VelocityFeedback Velocity Integrator Error VelocitylntegratorError Watch Position WatchPosition 387 Appendix D Servo Loop Block Diagrams AXIS_SERVO Topic Page Position Servo with Torque Servo Drive 388 Position Servo with Velocity Servo Drive 389 Position Servo with Torque Servo Drive Torque f Offset i be l l Ace l edt gt FF l Velocity Gain l Offset Output I e Offset I Output amp Vai Filter Servo l ddt b FF BW Polarity Gain l Position l Command Velocity Coarse Position Command Velocity I Error Error Low a l Torque Pos P Vel P Output 16 Bit gt interpolator Gain Gain re Scaling z gt gt Dac Trl een Position 5
183. al distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your product up and running United States 1 440 646 3434 Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for the States return procedure Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 66
184. alAngle REAL Float TorqueLimitSource DINT Hex DCBusVoltage DINT Decimal DriveStatus DINT Hex Processstatus BOOL Decimal BusReadyStatus BOOL Decimal HomelnputStatus BOOL Decimal Reg1InputStatus BOOL Decimal Reg2InputStatus BOOL Decimal PosOvertravellnputStatus BOOL Decimal NegOvertravellnputStatus BOOL Decimal EnablelnputStatus BOOL Decimal AccelLimitStatus BOOL Decimal AbsoluteReferenceStatus BOOL Decimal VelocityLockStatus BOOL Decimal VelocityStandstillStatus BOOL Decimal VelocityThresholdStatus BOOL Decimal 409 AppendixE Axis Data Types Member Data Type Style TorqueThresholdStatus BOOL Decimal TorqueLimitStatus BOOL Decimal VelocityLimitStatus BOOL Decimal PositionLockStatus BOOL Decimal PowerLimitStatus BOOL Decimal LowVelocityThresholdStatus BOOL Decimal HighVelocityThresholdStatus BOOL Decimal DriveFault DINT Hex PosSoftOvertravelFault BOOL Decimal NegSoftOvertravelFault BOOL Decimal PosHardOvertravelFault BOOL Decimal NegHardOvertravelFault BOOL Decimal MotFeedbackFault BOOL Decimal MotFeedbackNoiseFault BOOL Decimal AuxFeedbackFault BOOL Decimal AuxFeedbackNoiseFault BOOL Decimal DriveEnablelnputFault BOOL Decimal CommonBusFault BOOL Decimal PreChargeOverloadFault BOOL Decimal GroundShortFault BOOL Decimal DriveHardFault BOOL Decimal OverSpeedFault BOOL Decimal OverloadFault BOOL Decimal DriveOvertempFault BOOL Decimal Motor
185. 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 Publication LOGIX UM002D EN P July 2008 293 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Brake Engage AXIS_SERVO_DRIVE REAL GSV Sec j SSV i Delay Time 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 This is the sequence of events associated with engaging the motor brake Disable axis is initiated via MSF or drive disable fault action Drive stops tracking command reference Servo Action Status bit clears Decel to zero speed using configured Stopping Torque Zero speed or Stopping Time Limit is reached Turn motor brake output off to engage the motor brake Wait Brake Engage Delay Time 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 Drive stop
186. alue that would break the sticktion A larger value causes the axis to dither Dither is when the axis moves rapidly back and forth centered on the commanded position Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Friction AXIS_SERVO REAL GSV Position Units Compensation AXIS_SERVO_DRIVE SSV Window To address the issue of dither when applying Friction Compensation and Publication LOGIX UM002D EN P July 2008 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 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 a
187. an instruction error To recover from this fault the axis must be moved back within normal operation limits of the equipment and the limit switch closed This fault condition is latched and requires execution of an Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear Any attempt to clear the fault while the overtravel limit switch is still open and the drive is enabled is unsuccessful Pos Lock Status AXIS_SERVO DINT Tag Set when the magnitude of the axis position error has become less than AXIS SERVO DRIVE or equal to the configured Position Lock Tolerance value for the B 7 associated physical axis Pos Overtravel AXIS_SERVO BOOL Tag If this bit is Input Status AXIS_SERVO_DRIVE ON The Positive Overtravel input is active OFF The Positive Overtravel input is inactive Pos Soft AXIS_SERVO BOOL Tag If this bit is Overtravel Fault axis SERVO_DRIVE ON The axis moved or tried to move past the Maximum Positive Publication LOGIX UM002D EN P July 2008 travel limit OFF The axis moved back within the Maximum Positive travel limit This fault can only happen when the drive is enabled and you configure the axis for Soft Travel Limits 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
188. 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 LOGIX UM002D EN P July 2008 163 AppendixA Axis Properties General Tab The AXIS_VIRTUAL General tab is shown below AXIS_VIRTUAL f Axis Properties myvirtualaxis iof x General Motion Planner Units Conversion Homing Dynamics Tag Motion G toup mymotiongroup a New Group Cancel Apply Help 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 lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch 164 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A General Tab The AXIS_GENERIC General tab is shown below AXIS_GENERIC e Axis Properties mygenericaxis General Motion Planner Units Conversion Homing Dynamics Tag Axis Configuration Servo x Motion Group mymationgroup 7 g New Group Associated Module Module lt none gt bd Module Type lt none gt Bi fi z Cancel Apply Help Axis Configuration Selects and displays the intended use of the axis Feedback Only If the axis is to be used only to display positi
189. are Chapter 6 Publication LOGIX UM002D EN P July 2008 sure that the robot position does not go outside the rectangular solid You can check the position in the event task To avoid issues with singularity positions RSLogix 5000 software internally calculates the joint limits for the Delta robot geometries When an MCT instruction is invoked for the first time the maximum positive and maximum negative joint limits are internally calculated based upon the link lengths and offset values entered on the Geometry and Offsets tabs of the Coordinate System Properties dialog Delta Three dimensional Configuration Systems Properties Dialog Geometry and Offsets Tabs z Coordinate System Properties Dalta General Geometry Uras Uttscts Joints Tag Type Deka Transform Dimension 3 on Link Lengths S u Pan x 12 emn a be 1 s Zero Ande Orientations e gt N N 0 0 D Se Us legiees 3g ay z gt loo Degrees 23 foo Degrees Coordinate System Properties Delta Gereval Genmety Units Uttsets Joints Tay Type Deka Transform Dimension 3 Top Views X2 End Eftector Offsets xie m s x1 Kin x3 nn Sida View Base Ultsets i xik fnn we ok caa oy Hee During each scan RSLogix5000 software evaluates the joint positions in the forward and inverse kinematics routines to be sure that they don t violate the computed maximum positive and maximu
190. armed the watch event The controller sets these attributes Don t set them by an external device 356 Publication LOGIX UM002D EN P July 2008 Attribute Registration 1 Position Registration 2 Position Axis Type Data Type Access AXIS_CONSUMED REAL GSV AXIS_GENERIC Tag AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis Attributes Appendix C Description Position Units 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 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 Q Encoder Registration Position Registration input The Registration Latch mechanism is controlled by two Event Control instructions MAR Motion Arm Registration and MDR Motion Disarm Registration 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
191. as to get acceleration to 0 before the axis can slow down If you reduce the acceleration it takes longer to get acceleration to 0 In the meantime the axis continues past its 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 S curve speed goes past its target a Zz leration 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 response of the axis continues past its target speed until acceleration equals 0 146 Publication LOGIX UM002D EN P July 2008 Troubleshoot Axis Motion Chapter 8 Corrective action Use a Motion Axis Stop MAS instruction to stop the axis or set up your instructions like this Jog_PB lt Local4 lData O My_Axis_OK Use the same acceleration rate as the instruction that stops the axis Or use a lower acceleration Jog_PB lt Local 4 Data 0 gt My_Axis_OK Use the same acceleration rate as the instruction that starts the axis Or use a higher acceleration Publication LOGIX UM002D EN P July 2008 147 Chapter8 Troubleshoot Axis Motion Why is there a delay when stop and then restart a jog Example Look for 148 While an
192. at the values for the link lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog using the same measurement units The following example illustrates the typical configuration parameters for a SCARA Independent robot Figure 1 SCARA Independent Link Lengths Link lengths are the rigid mechanical bodies attached at joints Publication LOGIX UM002D EN P July 2008 107 Chapter6 Kinematics in RSLogix 5000 Software Enter the Link Length values piini For the robot shown in Figure 1 SCARA Independent the Link zi joo Deges Configuring Link Lengths for a SCARA Independent Robot Coordinate System Properties SCARA_Independent BR General Geomety Units Joints Tag Type SCARA Independent Transform Dimension 2 Link Lengths u Z Zero Angie Unentatons Length values are L1 20 L2 40 Configure Delta Robot Geometries 108 22 oo Degrees we Base Offsets Base offsets do not apply to a SCARA Independent robot configuration End effector Offsets End effector offsets do not apply to a SCARA Independent robot configuration RSLogix 5000 software supports three types of geometries that are often called parallel manipulators Three dimensional Delta Two dimensional Delta SCARA Delta In these geometries the number of joints is greater than the degrees of freedom and not all the joints are actuated mo
193. ate 285 Axis Data Type 287 Consumed 287 Feedback 287 Generic 287 Servo 287 Servo Drive 287 Virtual 287 Axis Instance 290 Axis State 291 C2C Connection Instance 295 C2C Map Instance 295 Group Instance 325 Home Event Task Instance 326 Map Instance 330 Memory Usage 334 Memory Use 334 Module Channel 334 Module Class Code 335 Registration 1 Event Task Instance 355 Registration 2 Event Task Instance 355 Watch Event Task Instance 384 Module Fault Bit Attribute 335 Motion Coordinate System Status Attributes Axis Fault 415 Faulted 414 418 419 Servo On Axes 414 Shutdown 415 Coordinate Motion Status 413 416 Coordinate System Status 416 Motion Coordinate System Configuration Attributes Coordinate System Auto Tag Update 416 Coordinate System Dynamics Configuration Actual Position Tolerance 413 414 Command Position Tolerance 415 Maximum Acceleratio 417 Maximum Deceleration 417 Maximum Speed 418 Max Pending Moves 417 Motion Status Attributes Actual Acceleration 273 279 Actual Position 279 Actual Velocity 279 Average Velocity 284 Command Acceleration 295 Command Position 296 Command Velocity 296 Interpolated Actual Position 328 Interpolated Command Position 328 Interpolation Time 328 Master Offset 332 Motion Status Bits 338 Registration Position 356 Registration Time 356 Start Master Offset 364 Start Position 364 Strobe Master Offset 365 Strobe Position 365 Watch Position 384 Servo Configuration
194. ate 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 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 the Pos P Gain using the following formula Pos I Gain 025 0 001 Sec mSec Pos P Gain 2 Publication LOGIX UM002D EN P July 2008 Differential Proportional Velocity Gain Integral Velocity Gain Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 Position Differential Gain helps predict a large overshoot before it happens and makes the appropriate attempt to correct it before the overshoot actually occurs 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
195. ate your own internal data storage An alias tag lets you assign a name of your choosing to an existing coordinate system tag 48 Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 New Tag Parameters The following parameters appear on the New Tag dialog when you are creating a base tag or an alias tag Name Enter a relevant name for the new tag The name can be up to 40 characters and can be composed of letters numbers or underscores _ Description Enter a description of the tag This is an optional field and is used for annotating the tag Type Use the dropdown menu to select what type of tag to create For a coordinate system the only valid choices are Tag and Alias Selecting either Produced or Consumed generates an error when the OK button is pressed Base refers to a normal tag selected by default e Alias refers to a tag that 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 The Data Type field defines the size and layout of memory that is allocated when the tag is created Select COORDINATE_SYSTEM Scope Enter the Scope for the tag The scope defines the range at which ta
196. ation Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float Publication LOGIX UM002D EN P July 2008 403 AppendixE Axis Data Types AXIS_SERVO Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedstatus BOOL Decimal WatchEventStatus BOOL Deci
197. ation 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 Factor 340 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Motor Feedback AXIS_SERVO_DRIVE DINT GSV Cycles per Motor Feedback Unit 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 unit These parameters provide the SERCOS drive with critical information needed to compute scaling factors used to convert Drive Counts to Feedback counts Motot Feedback AXIS_SERVO_DRIVE INT GSV The Motor and Aux Feedback Type attributes are used to identify the Type motor mounted or auxiliary feedback device connected to the drive Feedback Type Code Rotary Linear Rotary Only Only or Linear lt None gt 0x0000 SRS Ox0001 X SRM Ox0002 X SCS Ox0003 X SCM Ox0004 X SNS Ox0005 X MHG Ox0006 X Resolver Ox0007 X Analog Reference Ox0008 X Sin Cos 0x0009 X TTL 0x000A X UVW 0x000B X Unknown Stegmann 0x000C X Endat 0x000D X RCM21
198. ault 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 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 251 Appendix A 252 Axis Properties Feedback Position Error Hard Overtravel Soft Overtravel Phase Loss 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 Specifies the fault action to be taken when position error exceeds the position tolerance set for the axis 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 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 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 Di
199. aximum 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 system Z These limitations may be expressed as follows Bandwidth Velocity 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 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 Continued on next page Publication LOGIX UM002D EN P July 2008 381 Appendix C Attribute Velocity Proportional Gain cont 382 Axis Attributes Axis Type Data Type Access Description AXIS_SERVO_DRIVE 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
200. bottom plate is always orthogonal to the X2 axis and its position is translated in Cartesian space X1 X2 by mechanical parallelograms in each forearm assembly The two joints 117 Chapter 6 118 Kinematics in RSLogix 5000 Software Jl and J2 are actuated joints The joints between links L1 and L2 and between L2 and the base plate are unactuated joints Each joint is rotated independently to move the gripper to a programmed X1 X2 position As each joint axis J1 and or J2 is rotated the TCP of the gripper moves correspondingly in the X1 and or X2 direction You can program the TCP to a X1 X2 coordinate then RSLogix 5000 software uses internal vector dynamic calculations to compute the proper commands needed for each joint to move the gripper linearly from the current X1 X2 position to the programmed X1 X2 position The two joint axes J1 and J2 of the robot are configured as linear axes To rotate the gripper configure a third axis as a linear or rotary independent axis Establish the Reference Frame for a Delta Two dimensional Robot The reference frame for the two dimensional Delta geometry is located at the center of the fixed top plate When the angles of joints J1 and J2 are both at 0 each of the two L1 links is along the X1 axis One L1 link is pointing in the positive X1 direction the other in the negative X1 direction When the right hand link L1 moves downward joint J1 is assumed to be rotating in t
201. ccess Description 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 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 IDN 123 to relate 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 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 preci
202. 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 when used in conjunction with future Function Block programs provides custom outer control loop capability Publication LOGIX UM002D EN P July 2008 Servo Loop Block Diagrams Appendix D Velocity Offset Auxiliary Dual Command Servo Servo Config Auxiliary Dual Command Ace didt gt FF Gain Velocity Command Output Output pany Coarse Low Pass Notch leg Torque Filter Filter Torque e gt Fine gt FF Offset BW BW Bint Interpolator ak Position Accel Torque Command Velocity Command Coars
203. codes Singularity and other movement error conditions are also reported in the MCT error codes computing an invalid position via an MCTP instruction For a list and description of error codes refer to the LOGIX5000 Controllers Motion Instructions publication 1756 RM007 Monitor Status Bits for Kinematics You can monitor the status of the Kinematics functions using RSLogix 5000 software status bits Toseeif Checkthefollowingtag Andthisbit For A coordinate system is the source of an active transform Coordinate system TransformSourceStatus On A coordinate system is the target of an active transform Coordinate system TransformTargetStatus On An axis is part of an active transform Axis TransformStateStatus On An axis is moving because of a transform Axis ControlledByTransformStatus On Publication LOGIX UM002D EN P July 2008 131 Chapter6 Kinematics in RSLogix 5000 Software Notes 132 Publication LOGIX UM002D EN P July 2008 Chapter 7 Interpret Module Lights LEDs Introduction Use this chapter to interpret the lights on the front of your module For This Module See Page 1756 M02AE Module 133 1756 M02AS Module 135 1756 HYD02 Module 138 SERCOS interface Module 141 1756 M02AE Module OK Light 2 AXIS SERVO CHO CH1 FDBK FDBK DRIVE DRIVE OK State Description Recommended Action Off The module is not operating
204. 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 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 tapered Torque Scaling profile is only run when the acceleration command to the servo loop is zero that is when we are not commanding any acceleration or deceleration that would engage the teeth of the gearbox Properly configured with a suitable value for the Backlash Stabilization Window this
205. cription The marker homing sequence is useful for single turn rotary and linear encoder applications because these applications have only one encoder marker for full axis travel Homing Velociy AMIE velo yy dixie Pod ion Heim Velod iy i The encoder marker ipdeected 2 The home position During the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker and stops 2 The axis moves back to the marker or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than revolution The accuracy of this homing sequence depends on the homing speed and the delay to detect the marker transition Uncertainty Home Speed x delay to detect the marker Example Suppose your Home Speed is 1 in s and it takes 1 us to detect the marker Uncertainty 1 In s x 0 000001 s 0 000001 in 155 Chapter9 Configure Homing Sequence Active home to switch and marker in forward bidirectional Description This is the most precise active homing sequence available Homing GHEH Axis Velocity foie Pos don Ream wen i The home imi swich is celected Fhe home imi switch ia deared 2 The encoder marker ig deiected A The hime posidion During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch a
206. ction stops the axis at 100 units s2 Make sure that Change Decelis Yes Otherwise the axis decelerates at its maximum speed Jog_Pushbutton Fi Motion Axis Stop Axis My Axis x E Motion Control My Axis x MAS Stop Type Jog Change Decel Yes Decel Rate My Axis _SetUp ManuallogDecel 100 06 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 ctionStatus m Motion Axis Move Anis My Axis x E Motion Control My_Axis _x_Move Move Type 0 Position 10 Speed My_Axis_ SetUp AutoS peedCommand 1 06 Speed Units Units per sec Publication LOGIX UM002D EN P July 2008 29 Chapter 1 Start What s Next 30 Use these chapters to continue programming your motion control system Test an Axis with Motion Direct Commands Configure Homing Handle Faults Create and Configure a Coordinate System Inhibit an Axis Publication LOGIX UM002D EN P July 2008 Chapter 2 Introduction Publication LOGIX UM002D EN P July 2008 Test an Axis with 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 when you are commissioning or debugging a motion application During commissioning you ca
207. cuting an i MATC instruction with Pending execution selected This bit is cleared AXIS_SERVO when the current time cam profile completes initiating the start of the AXIS_SERVO_DRIVE pending cam profile This bit is also cleared if the time cam profile AXIS VIRTUAL completes or is superseded by some other motion operation Time Cam AXIS_CONSUMED BOOL Tag Set if a Time Cam motion profile is currently in progress Cleared when Status AXIS GENERIC the Time Cam is complete or is superseded by some other motion 5 operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Timer Event AXIS_SERVO BOOL Tag If this bit is set the motion module has a problem with its timer event Fault AXIS_SERVO_DRIVE that synchronizes the module s servo loop to the master timebase of the chassis that is Coordinated System Time To clear this bit reconfigure the motion module Torque AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Command Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The command when operating in Torque Mode in terms of rated Torque Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 86 in IEC Scaling 1491 Torque Data AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 94 in IEC Scaling Exp 1491 Torque Data AXIS_SERVO_DRIVE DINT GSV This
208. d General Goometry Units Offsets Joints Tag Tyne Atticulated Dependent Top View Transform Dimensio 3 End Effector Offsets xie 0 0 X2e fn Xe foo Rase Nffsets Enter the Base Offset values Xii jan x 00 x3 4 0 For the robot shown in our example the Base Offset values are X1b 3 0 lt X3b 4 0 End effector Offsets The robot can have an end effector attached to the end of robot link L2 If there is an attached end effector then you must configure the end effector offset value on the Coordinate System Properties dialog The end effector offsets ate defined with respect to the tool reference frame at the tool tip Example of End effector Values for an Articulated Independent Robot Coordinate System Properties sdsd General Geomety Units Dffsets Joints Tag Type Articulated Dependent Top View Transform Dimension 3 End Effector Offsets xte 20 x2e 0 0 xe fo Side View Enter the end effector offset values Base Offsets xib 13 0 X1e 2 0 x2 0 0 X3e 3 0 x3b 4 0 For the robot shown in our example the end effector values are Cancel Apply Help 100 Publication LOGIX UM002D EN P July 2008 Configure a Cartesian Gantry Robot Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Use these guidelines when configuring a Cartesian Gantry robot Establish the Reference Frame for a Cartesian
209. d AT value Actual Position REAL 8 Tag Array of actual position of each axis associated to this motion coordinate system in Coordinate Units Actual Position Tolerance REAL GSV Coordination Units SSV The Actual Position Tolerance attribute value is a distance unit used when instructions such as MCLM MCCM and so on specify a Termination Type of Actual Position Axes Configuration Faulted DINT GSV Shows which axes in this coordinate system have a configuration fault Tag If this bit is on Then this axis has a configuration fault 0 0 1 1 2 2 Axes Inhibited Status DINT GSV Shows which axes in this coordinate system are inhibited Tag If this bit is on Then this axis is inhibited 0 0 1 1 2 2 Axes Servo On Status DINT GSV Shows which axes in this coordinate system are on via MSO Tag If this bit is on Then this axis is on 414 0 0 1 1 2 2 Publication LOGIX UM002D EN P July 2008 Attribute Axes Shutdown Status Data Type DINT Access GSV Tag Coordinate System Attributes Appendix F Description Shows which axes in this coordinate system are shutdown If this bit is on Then this axis is shutdown 0 0 1 1 2 2 Axis Fault DINT GSV Tag 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 Type Bit Physical Axis Fault 0 Module Fault 1 Config Fault 2
210. d parameter value When multiple workstations connect to the same controller using RSLogix 5000 software 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 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 Comma
211. d servo loop configuration A value of 100 in this case means only that 100 of the commanded acceleration value is applied to the velocity command summing junction and may not be even close to the optimal value To find the best Acceleration Feedforward Gain run a simple project 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 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 ahead 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 Continued on next page 271 AppendixC Axis Attributes
212. d 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 that is zero tracking error Clicking on this box enables Master Delay Compensation The default setting is Disabled 167 AppendixA Axis Properties 168 Enable Master Position Filter Checkbox Master Position Filter Bandwidth If the axis is configured for Feedback only Master Delay Compensation should be disabled 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 smooths out the actual position signal from the master axis and thus smooths out the corresponding motion of the slave axis When this feature is enabled the Master Position Filter Bandwidth field is enabled 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 IMPORTANT A value of zero for Master Position Filter Bandwidth effectively disables the master position filtering Publication LOGIX UM002D EN P July 2008 Axis Properties Appen
213. d want these travel limits to stay operational Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Method 2 uses a Motion Redefine Position MRP instruction to redefine the axes position to align with the Joint reference frame This method may require the soft travel limits to be adjusted to the new reference frame Method 1 Establishing a Reference Frame Each axis for the robot has the mechanical hard stop in each of the positive and negative directions Manually move or press each axes of the robot against its associated mechanical hard stop and redefine it to the hard limit actual position provided by the robot manufacturer J1 is the axis at the base of the robot that rotates around X3 When the robot is moved so that Link is parallel to the X3 axis and Link2 is parallel to X1 axis as shown in Figure 3 Articulated Dependent the RSLogix5000 values for the Actual Position tags should be J1 0 J2 90 J3 0 If the RSLogix 5000 Actual Position tags do not show these values configure the Zero Angle Orientation for the joint or joints that do not correspond If the RSLogix 5000 software read out Set the Zero Angle Orientations on the values are Coordinate System Properties dialog to J1 10 Z1 10 J2 80 Z2 10 J3 5 23 5 Example of Zero Angle Orientation for an Articulated Dependent Robot Coordinate System Properties sdsd N General Geometry Units
214. dback counts Depending on the feedback type you select this value may be either read only ot editable 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 184 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 e Axis Properties Axis1 ioj x Position Servo Dual Command Servo or Aux Dual Command Servo Use this tab to configure motor and auxiliary feedback device if any parameters for an axis of the type AXIS_SERVO_DRIVE Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion FeedbackT ype nono x Cycles joo ooo per Rev Interpolation Factor fo Feedback Ratio fio Aux Rev Motor Rev Cancel Apply Help Feedback Type For applications that use auxiliary feedback devices select the type of auxiliary feedback device type These are drive dependent 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 ty
215. dent AX3 L2 12 inches X1e 2 inches X3e2 1 5 inches t 7A i CN rad _ Os X3e1 3 0 inches i L1 12 inches Tool reference frame X3b 4 0 inch inches _ aa o es cad Robot Origin X3e X3e1 X3e2 X3e 34 1 5 X1b 3 0inches X3e 1 5 inches If the robot is two dimensional then X3b and X3e would be X2b and X2e respectively 88 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Link Lengths Link lengths are the rigid mechanical bodies attached at joints For an articulated independent robot with The length of Is equal to the value of the distance between 2 dimensions L1 J1 and J2 L2 J2 and the end effector 3 dimensions L1 J2 and J3 L2 J3 and the end effector Example of Link Lengths for an Articulated Independent Robot s Coordinate System Properties Articulated_Independent mE General Geometry Units Offsets Joints Tag Type Articulated Independent Transform Dimension 3 T Link Lengths Enter the Link Length values PT p L2 fi20 For the robot shown in Figure 4 Articulated Independent the Link Length values are Zero Angle Orientations z 10 0 Degrees L1 10 0 22 110 0 Degrees 12 12 0 23 50 Degrees Cancel Apply Help Base Offsets The base offset is a set of coordinate values the redefines the origin of the robot The correct base offset values are typically
216. determines the maximum torque of the tuning procedure This attribute should be set to the desired maximum safe torque level before you run the tuning procedure The default value is 100 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 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 Publication LOGIX UM002D EN P July 2008 Attribute Tuning Travel Limit Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Data Type Access REAL GSV SSV Axis Attributes Appendix C Description Position Units The Tuning Travel Limit attribute limits the travel of the axis during the tuning procedrue If the axis can t complete the tuning procedure before exceeding the Tuning Travel Limit the motion module stops the tuning procedure and reports 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 procedure gone to completion that the limit would have been exceeded Velocity Command AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV Tag Important To
217. dialog 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 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 nonzero value to achieve any motion using the coordinate system Maximum Acceleration Jerk The jerk parameters only apply to S curve profile moves using these instructions e MCS MCCD e MCCM e MCLM The Maximum Acceleration Jerk rate of the coordinate system in Coordination Units second defaults to 100 of the maximum acceleration time The speed and acceleration rate for this calculation are defined above MaxAccel2 i 3 Maximum Acceleration Jerk Speed The Maximum Accel Jerk value entered is used when the motion instruction is set with Jerk Units of Maximum When a Multi axis Motion Instruction has Jerk Units units per sec then the maximum 63 Chapter 4 64 Create and Configure a Coordinate System
218. dix A 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 e Axis Properties myservolaxis mei X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Pasition Units Position Units Average Velocity Timebase 0 28 Seconds Cancel Apply Help Position Units User defined engineering units rather than feedback counts used for labeling all motion related values for example position velocity and so on These position units can be different for each axis Position Units should be chosen for maximum ease of use in your application For example linear axes might use position units of Inches 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 Publication LOGIX UM002D EN P July 2008 169 Appe
219. dix C Description 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 Config Fault AX S_CONSUMED AXIS_GENERIC AX AX AX S_SERVO S_SERVO_DRIVE S_VIRTUAL BOOL Tag 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 Do you want this fault to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Config Update In Process AXIS_CONSUMED AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL BOOL Tag When you use an SSV instruction to change an attribute the controller sends the change to the motion module If you want to wait until the change is done monitor the ConfigUpdatelnProcess bit of the axis If the bit is ON The controller is changing the attribute OFF The change is done Continuous Torque Limit AXIS_SERVO_DRIVE REAL GSV SSV Rated 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 Tor
220. dule If this bit is set true then during normal fault free operation of the drive the Drive Fault input should be active that is 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 Drive Enable Input Fault Handling When the Drive Enable Input Fault Handling bit is set it lets the drive 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 sets a Drive Enable Input Fault If the Drive Enable Input ever goes from active to inactive while the drive axis is enabled the drive also sets 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 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
221. during this time The uncertainty in the registration position is the distance traveled by the axis during this interval as shown by the equation Uncertainty Axis Speed Position enit x Delay L_ 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 M Position Units Desired Accuracy Position Units Maximum Speed L_ Second Delay Registration 1 Time Registration 2 Time AXIS_CONSUMED DINT GSV AXIS_GENERIC Tag AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Publication LOGIX UM002D EN P July 2008 Lower 32 bits of CST time 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 357 AppendixC Axis Attributes Attribute Resistive Brake Contact Delay 358 Axis Type AXIS_SERVO_DRIVE Data Type Access REAL GSV SSV Description Sec This attribute controls an optional external Resistive Brake Module RBM The RBM is between the drive and the motor and uses an internal contactor to switch the motor between the drive and a resistive load The drive s RBM output controls this contactor When the drive s RBM output is energized the RBM contactor is switched f
222. e Position Command Velocity Command Fine Error Pos P Pro Vel P Torque Frict Low Notch Torque Torque e gt interpolator gt Gain gt Gain E H scaling E gt comp oor P Filter gt Limit P amplifier Position Command Velocity Feedback Error Error Position cam pj Pos Accum p vel Feedback ulator Gain ulator e Position Integrator Error Position Feedback Coarse 4 Velocity Integrator Error Motor zk Feedback Polarity Motor Feedback Hardware Channel iaa Feedback ___ faaea Feedback Aux Position Accum Publication LOGIX UM002D EN P July 2008 ulator a H Feedback 7 Hardware Channel as Feedback lt Posila Feedback 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 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
223. e X1b available for the three dimensional Delta robot geometry Enter the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints End effector offsets The two end effector offsets available for the three dimensional Delta robot geometry ate as follows Offset values are always positive numbers X1e is the distance from the center of the moving plate to the lower spherical joints of the parallel arms X3e is the distance from the base plate to the TCP of the gripper Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Configuring the Base Offset and End effector Offsets for a Three dimensional Delta Robot Coordinate System Propertics Delta General Goomcty Unite Offsets Joints Tag Type Delta Top View Transform Dimension 3 e7 End Effector Offsets Xie x4 xb S Ge 00 Side Views Rase Mffsets xib 1300 tee kr gt Hib A Me X3e TSA a _ Configure a Delta Two dimensional Robot This illustration shows a two dimensional Delta robot that moves in two dimensional Cartesian space Two dimensional Delta Robot Joints for axes 1 2 This robot has two rotary joints that move the gripper in the X1 X2 plane Two forearm assemblies attach a fixed top plate to a movable bottom plate A gripper is attached to the movable bottom plate The
224. e 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 This attribute is derived from the Drive Polarity attribute See IDN 85 in IEC 1491 Publication LOGIX UM002D EN P July 2008 Attribute Torque Scaling Axis Attributes Appendix C Axis Type Data Type Access Description AXIS_SERVO REAL AXIS_SERVO_DRIVE GSV SSV Position Units Per Second 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 loop s 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 AXIS_SERVO The Torque Scaling value is typically established by the MAAT instruction as part of the controller s automatic tuning procedure AXIS_SERVO_DRIVE The Torque Scaling value is typically established by the drive s automatic tuning procedure The value can be manually calculated if necessary using the following guidelines Torque Scaling
225. e Deceleration Time 371 Tune Inertia 372 Tune Rise Time 373 Tune Speed Scaling 373 Tune Status 373 Marker Distance 330 Position Command 347 Position Error 348 Position Feedback 349 Position Integrator Error 350 Servo Fault Bit Attributes 359 Servo Output Level 362 Servo Status Bit Attributes 363 Velocity Command 376 Velocity Error 376 Publication LOGIX UM002D EN P July 2008 Velocity Feedbac 377 Velocity Integrator Error 379 Status Attributes Output Cam Lock Status 343 Output Cam Pending Status 343 Output Cam Status 343 Output Cam Transition Status 344 Motion Axis Fault Reset 34 Motion Axis Gear 34 Motion Axis Home 34 Motion Axis Jog 34 Motion Axis Move 34 Motion Axis Position Cam 34 Motion Axis Shutdown 34 Motion Axis Shutdown Reset 34 Motion Axis Stop 34 Motion Axis Time Cam 34 Motion Calculate Cam Profile 34 Motion Calculate Slave Values 34 Motion Change Dynamics 34 motion control add axis 20 choose a motion module 15 coarse update period 18 coordinate system 30 execution 18 overview 13 program 28 set the coordinated system time master 14 set up an axis 22 status information 30 Motion Coordinated Change Dynamics 36 Motion Coordinated Circular Move 36 Motion Coordinated Linear Move 36 Motion Coordinated Shutdown 36 Motion Coordinated Shutdown Reset 36 Motion Coordinated Stop 36 Motion Direct Commands 31 Error Process 39 Transition States 42 Motion Direct Drive Off 34 Motion Direct Drive On 34 Motion
226. e Feedback Offset 174 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 This checkbox allows you to either enable checked or disable unchecked the Absolute Feedback feature The default is enabled If Enable Absolute 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 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 p
227. e 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 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 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 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 Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Drive Enable Status AXIS_CONSUMED BOOL AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Tag AXIS_SERVO If this bit is
228. e Maximum Acceleration and Maximum Deceleration attributes for the axis The Maximum Acceleration and Maximum Deceleration values 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 Maximum AXIS_GENERIC REAL GSV Position Units Sec Deceleration AXIS_SERVO SSV ste Rect EEN 7 e Maximum Acceleration and Deceleration attribute values are AKIS PERVO DRIVE frequently used by motion instructions such as MAJ MAM MCD and AXIS_VIRTUAL so on 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 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
229. e Maximum Negative limit must always be less than the Maximum Positive limit 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 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 150 to 200 of the position error while the axis is running at its maximum speed 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 231 Appendix A 232 Axis Properties Output Limit Manual Adjust Provides a method of limiting the maximum servo output voltage of a physical axis
230. e 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 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 While the Vel I Gain if employed is typically established by the automatic servo tuning procedure in 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
231. e attribute value specifies how much position error the motion 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 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 0 1 Position Error Position Polarity AXIS SERVO_DRIVE Publication LOGIX UM002D EN P July 2008 INT GSV This attribute is derived from the Drive Polarity attribute See IDN 55 in IEC 1491 351 Appendix C Attribute Position Proportional Gain 352 Axis Attributes Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Data Type Access REAL GSV SSV Description 1 Sec The Position Error is multiplied by the Position Proportional Gain Pos P Gain to produce a component to the Velocity Command that tries to correct for the position error Increasing this gain 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 i
232. e 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 Torque Level The torque level with units continuous torque that the axis motor must reach to complete the Home to Torque sequence This feature is only available on the Kinetix family of drives Return Speed The speed of the jog profile used in the return leg s of an active homing sequence The home return speed specified should be less than the maximum speed and greater than zero 196 Publication LOGIX UM002D EN P July 2008 Homing Tab AXIS_VIRTUAL Mode Position Sequence Active Axis Properties Appendix A Use this tab to configure the attributes related to homing an axis of the type AXIS_VIRTUAL e Axis Properties myvirtualaxis Iof x General Motion Planner Units Conversion Homing Dynamics Tag a Position Units Immediate Mode Position Publication LOGIX UM002D EN P July 2008 Cancel
233. e 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 Publication LOGIX UM002D EN P July 2008 151 Chapter8 Troubleshoot Axis Motion Corrective action Use the same deceleration rate in the instruction that starts the axis and the instruction that stops the axis Jog_PB sLocat4 Data 0 gt My_Axis_OK AJ e Motion Axis Jog EN Axis My_Axis Motion Control 1 ON Direction 0 ER Speed _1_Speed 60 0 P Speed Units Units per sec Accel Rate Jog_1_Accel Use the same deceleration rate _1_Decel in both instructions Jog_PB lt Local 4 Data O gt Axis ECON Jog P gt Yes In a MAS instruction set Change Dece to Yes The axis uses the Decel Rate of the instruction 152 Publication LOGIX UM002D EN P July 2008 Chapter 9 Introduction Guidelines for Homing Guideline 1 To move an axis to the home position use Active homing Configure Homing Homing puts your equipment at a specific starting point for operation This starting point is called the home position Typically you home your equipment when you reset it for operation Details Active homing turns on the servo loop and moves the axis to the home position Active homing also Stops any other motion Uses a trapezoidal profile 2 For a Feedbac
234. e axis is disabled that is Drive Enable is disabled and Servo Action is disabled Fast Shutdown The axis is decelerated to a stop using the current configured value for maximum deceleration Once the axis motion is stopped the axis is placed in the shutdown state that is 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 that is 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 Hard Shutdown The axis is immediately placed in the shutdown state Unless the drive is 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 Use this checkbox to Enable Disable Master Delay Compensation Master Checkbox Delay Compensation is used balance the delay time between reading the Publication LOGIX UM002D EN P July 2008 master axis command position and applying the associate
235. e 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 be softened by reducing the value of the Position Servo Bandwidth before executing the MAAT instruction 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 0 25 1 22 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 Position Units AX IS_CONSUMED STRING MSG Fixed length string of 32 characters AXIS_GENERIC be x The Position Units attribute can support an ASCII text string of up to 32 AXIS_SERVO characters This string is used by RSLogix 5000 software in the axis AXIS_SERVO_DRIVE configuration dialogs to request values for motion related parameters in AXIS_VIRTUAL the specified Positi
236. e is Enabled Position AXIS GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Command Position in Position Units AXIS_VIRTUAL 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 to any previous motion Position Control instruction Command Position data is transferred by the controller 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 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 for example 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 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 tha
237. e speed of the axis it is initially set to Tuning Speed by the tuning process This value is typically set to about 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 The Maximum Speed value entered is used when the motion instruction is set with Speed Units of Maximum If a motion instruction has a Speed Units units per sec value entered then the speed is taken from the motion instruction faceplate The maximum acceleration rate of the axis in Position Units second it is initially set to about 85 of the measured tuning acceleration rate by the tuning process If set manually this value should typically be set to about 85 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 The Maximum Acceleration value entered is used when the motion instruction is set with Accel Units of Maximum When a motion instruction is configured with Accel Units units per sec field then the Maximum Acceleration is taken from the motion instruction faceplate The maximum deceleration rate of the axis in Position Units second it is initially set to approximately 85 of the measured tuning deceleration rate by Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A the tuning process If set manually
238. e the servo axis state by executing motion instructions Steady green The axis is in the normal servo loop active state None You can change the servo axis state by executing motion instructions Flashing red The axis servo loop error tolerance has been Correct the source of the problem exceeded Clear the servo fault using a fault reset instruction Resume normal operation Solid red An axis encoder feedback fault has occurred Correct the source of the problem by checking the encoder and power connections Clear the servo fault using the MAFR instruction Resume normal operation DRIVE Light State Description Recommended Action Off The axis is not used None if you are not using the axis or have configured it as a The axis is a position only axis type position only axis Otherwise make sure you have configured the module associated an axis tag with the module and configured the axis as a servo axis Flashing green Steady green The axis drive is in the normal disabled state The axis drive is in the normal enabled state None You can change the servo axis state by executing a motion instruction None You can change the servo axis state by executing a motion instruction Flashing red The axis drive output is in the Shutdown state Check for faults that may have generated this state Execute the shutdown reset motion instruction Resume normal operation Solid red
239. e this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Marker Distance in Position Units 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 331 AppendixC Axis Attributes Attribute Master Input Configuration Bits 332 Axis Type AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type Access Description DINT GSV SSV Bits 0 Master Delay Compensation 1 Master Position Filter 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 The Master Delay Compensation algo
240. e 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 Update Publication LOGIX UM002D EN P July 2008 183 AppendixA Axis Properties 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 iol x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Feedback Type TTL with Hall Cycles 2000 per Rev v Interpolation Factor a Cancel Apply Help 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 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 fee
241. e2 3 1 5 1 5 The configured value for X3e is 1 5 Example of End effectors for an Articulated Independent Robot Enter the end effector offset values For the robot shown in our example the end effector values are X1e 2 0 lt X3e 1 5 Publication LOGIX UM002D EN P July 2008 x Coordinate System Properties Articulated_Independent General Geometyy Units Offsets Joints Tag Type Articulated Independent Transform Dimension 3 r End Effector Offsets Mle 20 X2e 0 0 X3e a5 Base Offsets xib 3 0 x2b 10 0 x3b 4 0 Top View Side View coe r J e 91 Chapter6 Kinematics in RSLogix 5000 Software Configure an Articulated Dependent Robot 92 The Articulated Dependent robot has motors for the elbow and the shoulder located at the base of the robot The dependent link controls J3 at the elbow Use these guidelines when configuring an Articulated Dependent robot WARNING O Before turning ON the Transform and or establishing the reference frame be sure to do the following for the joints of the A target coordinate system Set and enable the soft travel limits Enable the hard travel limits Failure to do this can allow the robot to move outside of the work envelope causing machine damage and or serious injury or death to personnel Establish the Reference Frame for an Articulated Dependent Robot The reference frame is the Cartesian typical
242. ect of drive offset Cumulative offsets 241 AppendixA Axis Properties Manual Adjust 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 cause problems with the Hookup Diagnostic and Tuning procedures as well as result in a steady state nonzero position error when the servo loop is closed 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 Manual Adjust myservolaxis X Dynamics Gains Output Limits Ottset m Friction Deadband Compensation Friction Compensation 10 0 Heset m Window 0 0 Position Units Backlash Compensation Reversal Offset 0 0 j Position Units Stabilization Window 0 0 e Position Units Velocity Offset joo I Position Units s Torque Offset 0 0 4e Dutput Offset p 0 aj Volts x Offset Tab AXIS_SERVO_ DRIVE 242 OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Use this tab to make offline adjustments to the following Servo Output values Friction Compensation Velocity Offset and Torque
243. ed 1 Cycle power to the module Publication LOGIX UM002D EN P July 2008 2 If the lights keep turning solid red contact your distributor Rockwell Automation representative or Rockwell Automation support 141 Chapter 7 Interpret Module Lights LEDs Notes 142 Publication LOGIX UM002D EN P July 2008 Chapter 8 Troubleshoot Axis Motion Introduction 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 143 Why does my axis overshoot its target speed 145 Why is there a delay when stop and then restart a jog 148 Why does my axis reverse direction when stop and start it 150 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 m Motion Axis Jog Axis My_Axis Motion Control Jog_1 Direction 0 Speed Jog_1_Speed S Curve profile in the ice fs 60 0 instruction that start peed Units nits per sec SS th ais ti Accel Rate Jog_1_Accel e motion me Accel Units Units per sec2 Decel Rate Jog_1_Decel 2
244. edforward 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 Dynamics tab Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk Maximum Deceleration Jerk Output tab Torque Scaling Velocity Scaling AXIS_SERVO only Low Pass Output Filter Limits Position Error Tolerance 204 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A The Tune Bandwidth dialog opens for Servo drives where you can tweak bandwidth values 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 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 Dynamics Tab 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 Servo AXIS_SERVO AXIS_SERVO operations in the General tab of this dialog box or AXIS_VIRTUAL _DRIVE AXIS_VIRTUAL Axis Properties axis_servo General Motion Planner Units Servo Feedback Conversion Homing
245. egral Velocity Gain 213 219 Integrator Hold 220 Manual Tune 220 Proportional Position Gain 218 Proportional Velocity Gain 213 219 Set Custom Gains 221 Velocity Feedforward 214 217 Homing Tab AXIS_VIRTUAL 193 Mode 197 Position 197 Sequence 198 Homing Tab SERVO_AXIS and SERVO_AXIS_DRIVE 188 Direction 191 196 Limit Switch 191 195 Mode 189 193 Offset 191 195 Position 190 194 Return Speed 192 196 Sequence 191 195 Speed 192 196 Hookup Tab AXIS_SERVO 198 Feedback Polarity 198 Output Polarity 199 Test Feedback 199 Test Increment 198 Test Marker 199 Test Output amp Feedback 199 Hookup Tab Overview AXIS_SERVO_DRIVE 200 Drive Polarity 200 Test Feedback 201 Test Increment 200 Test Marker 201 Test Output amp Feedback 201 Limits Tab AXIS_SERVO 229 Manual Tune 232 Maximum Negative 231 Maximum Positive 231 Output Limit 232 Position Error Tolerance 231 Soft Travel Limits 231 Limits Tab AXIS_SERVO_DRIVE 233 Continuous Torque Force Limit 235 Hard Travel Limits 234 Manual Tune 236 Maximum Negative 234 Maximum Positive 234 Peak Torque Force Limit 235 Position Error Tolerance 234 Position Lock Tolerance 235 Set Custom Limits 236 Soft Travel Limits 234 Motor Feedback Tab AXIS_SERVO_DRIVE 184 Motor Cycles 184 Motor Feedback Type 184 Motor Interpolation Factor 184 Per 184 Offset Tab AXIS_SERVO 239 Backlash Compensation 241 Reversal Offset 241 Stabilization Window 241 Friction Deadband Compensat
246. em 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 SERCOS Ring Drive Motor Controller Motion Module y SERCOS Ring 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 AXIS_SERVO AXIS_SERVO_DRIVE AXIS_GENERIC_DRIVE 70 Publication LOGIX UM002D EN P July 2008 Inhibit an Axis Chapter 5 To inhibit all of the axes of a motion Do you want to inhibit all of the axes of a motion module module inhibit the module instead YES Inhibit the motion module instead NO Inhibit the individual axes It s OK to inhibit all of the axes of a module one by one It s just easier to inhibit the module Example Suppose your motion module has two axes and you want to inhibit both of those axes In that case just inhibit the module ao ad My_Controller E Module Properties Local 2 1756 L60MO3SE SERCOS 15 1 as oe iar Groups General Connection SERCOS Interface SERCOS Interface Info Module Info Backplan rends
247. en axis first encounters a home limit switch then encounters an encoder marker Torque Level Sets the Hom Torque level i e Position when the specified Homing s achieved on the assigned axis Torque Level marker Sets the Hom Torque level i the axis enco e Position when the specified Homing s achieved on the assigned axis only after unters an encoder marker Refer to the section Homing Configurations for a detailed description of each combination of homing mode sequence and direction Limit Switch 1f a limit switch is used indicate the normal state of that switch that is before being engaged by the axis during the homing sequence Publication LOGIX UM002D EN P July 2008 Normally Open Normally Closed 195 AppendixA Axis Properties Direction For active homing sequences except for the Immediate Sequence type select the desired homing direction Direction Forward Uni directional Description 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 negativ
248. ence Group Direction Forward Bi directional v Torque Level o o Continuous Torque Speed o o Position Units s Return Speed o o Position Units s OK Comet Amy Hee Mode Select the homing mode 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 selections the only valid Home Sequences for Homing Mode are immediate or switch as no physical marker exists for the LDT or SSI feedback devices 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 LOGIX UM002D EN P July 2008 193 Appendix A 194 Axis Properties 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 Po
249. er current limit amplifier thermal limit and motor thermal limit 342 Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Data Type Access Neg Hard AXIS_SERVO_DRIVE BOOL Tag Overtravel Fault Neg Overtravel AXIS_SERVO BOOL Tag Input Status AXIS_SERVO_DRIVE Neg Soft AXIS_SERVO BOOL Tag Overtravel Fault AXIS_SERVO_DRIVE Axis Attributes Appendix C Description Set if the axis moves beyond the negative direction position limits as established by hardware overtravel limit switches mounted on the equipment 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 attempt 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 equipment and the limit switch closed This fault condition is latched and requires execution of an Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear Any attempt to clear the fault while the overtravel limit switch is still open and the drive is enabled is unsuccessful If this bit is ON The Negative Overtravel input is active OFF The Negati
250. erance value the recommended setting is 150 to 200 of the position error while the axis is running at its maximum speed 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 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 150 shall limit the current delivered to the motor to 1 5 times the continuous current rating of the motor 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 150 limits the continuous current delivered to the motor to 1 5 times the continuous current rating of the motor 235 AppendixA Axis Properties 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 Peak Torque Force Limit and Continuous Torque Force Limit parameters Manual Adjust mysercos1laxis Dynamics Gains Output Limits O
251. eriod of the 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 Publication LOGIX UM002D EN P July 2008 389 Appendix D Servo Loop Block Diagrams AXIS_SERVO_DRIVE 390 Topic Page Motor Position Servo 391 Auxiliary Position Servo 392 Dual Feedback Servo 393 Motor Dual Command Servo 394 Auxiliary Dual Command Servo 395 Dual Command Feedback Servo 395 Velocity Servo 396 Torque Servo 396 Drive Gains 397 Publication LOGIX UM002D EN P July 2008 Servo Loop Block Diagrams Appendix D Motor Position Servo Servo Config Motor Position Servo Torque Offset Velocity fiset Output Output L Notch Pos Neg Pite Filter Torque BW BW Limit Accel Command Torque Position Command Command Coarse Notch Filter Velocit i Command Velocity Position Error Low Pass Filter Fine Interpolator Position Command 2 Velocity Position Feedback Feedback ulator ulator Position Integrator Error Velocity Integrator Error Low Pass Filter Feedback Polarity Motor Feedback Channel Hardware Feedback Position Motor Feedback 1 1 Aux Feedback The Motor Position Servo configuration provides full
252. ero 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 See the section Homing Configurations below for a detailed description of each combination of homing mode sequence and direction Limit Switch 1f a limit switch is used indicate the normal state of that switch that is before being engaged by the axis during the homing sequence Normally Open Normally Closed Direction For active homing sequences except for the Immediate Sequence type select the desired homing direction Direction Description 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 Uni directional Publication LOGIX UM002D EN P July 2008 191 Appendix A 192 Axis Properties Direction Description Forward Bi directional The axis jogs in the positive axial direction until a homing event switch or marker is encountered then reverses direction
253. es dialog You can also use the Coordinate System Properties dialogs to edit an existing Coordinate System tag These have a 51 Chapter4 Create and Configure a Coordinate System 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 Click Apply to save your selections TIP When you configure your coordinate system some fields may be unavailable dimmed because of choices you made in the New Tag dialog In the Controller Organizer right click the coordinate system to edit and select Coordinate System Properties from the pull down menu f myservolaxis i ee myvirtualaxis mycoordsyst E Ungrouped Axes Monitor Coordinate System Tag i Trends 8 6 Data Types Fault Help oe User Defined Clear Coordinate System Faults iar Strings g Predefined amp Cut Oi Module Defined Copy Sa I O Configuration B i f 1 1756 mo3se nfl 1 2094 ACOS fl 2 2098 D5D fl 3 8720MC BC Sl 10 1394 5 Al 21 1756 MN2AF wee Associated Axes Paste Delete Cross Reference Print 52 Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 Publication LOGIX UM002D EN P July 2008 The Coordinate System Properties General dialo
254. es displayed on drives and or multi axis motion control systems Information Publication Publication Number Kinetix 2000 Multi Axis Drive User Manual 2093 UM001 Kinetix 6000 Multi Axis Drive User Manual 2094 UM001 Kinetix 7000 High Power Servo Drive User Manual 2099 UM001 Publication LOGIX UM002D EN P July 2008 385 AppendixC Axis Attributes Publication Publication Number Ultra 3000 Digital Servo Drive Installation Instructions 2098 IN003 8720 High Performance Drive Installation Instructions 8720MC IN001 1394 SERCOS Interface Multi Axis Motion Control System Installation Manual 1394 IN002 386 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Notes Publication LOGIX UM002D EN P July 2008 387 AppendixC Axis Attributes 388 Publication LOGIX UM002D EN P July 2008 Appendix D Introduction Interpreting the Diagrams Publication LOGIX UM002D EN P July 2008 Servo Loop Block Diagrams This appendix shows the servo loop block diagrams for common motion configurations Topic Page Interpreting the Diagrams 387 AXIS_SERVO 388 AXIS_SERVO_DRIVE 390 The diagrams use these labels for axes attributes Label AXIS Attribute Acc FF Gain AccelerationFeedforwardGain Friction Comp FrictionCompensation Output Filter BW OutputFilterBandwidth Output Limit OutputLimit Output Offset OutputOffset Output Scaling OutputScaling Pos G
255. esolution limit on actual velocity is 1 feedback counts per coarse update period per coarse update period Actual Position AX S_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS GENERIC Tag for the motion group default setting Otherwise you won t see the right R value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Actual Position in Position Units AXIS_VIRTUAL 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 controller as part of an ongoing synchronous data transfer process which results in a delay of one coarse update period Thus the Actual Position value that is obtained is the actual position of the axis one coarse update period ago Actual Velocity AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS GENERIC Tag for the motion group default setting Otherwise you won t see the right a value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Actual Velocity in Position Units Sec AXIS_VIRTUAL Publication LOGIX UM002D EN P July 2008 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 si
256. essary to satisfy the MRHD initiated test process This value is typically set to approximately a quarter of a revolution of the motor rest Seats AXIS_SERVO INT GSV 0 test process successful AXIS_SERVO_DRIVE Publication LOGIX UM002D EN P July 2008 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 More for AXIS_SERVO_DRIVE data type 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 This attribute returns the status of the last run MRHD Motion Run Hookup Diagnostic instruction that initiates a hookup diagnostic process on the axis Use this attribute to determine when the MRHD initiated operation has successfully completed Conditions may occur however that make it impossible to properly perform the operation When that happens the test process is automatically aborted and a test fault reported that is stored in the Test Status output parameter 367 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Time Cam AXIS_CONSUMED BOOL Tag Set if a Time Cam motion profile is currently pending the completion of a Pending Status AXIS GENERIC currently executing cam profile This would be initiated by exe
257. et FaultActions Taq General Motion Planner Units Servo Feedback Conversion Homing Hookup Test Increment joo Position Units Feedback Polarity Positive Negative Output Polarity Positive Negative Test Output amp Feedback 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 Cancel Help A 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 Positive Negative 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 LOGIX UM002D EN P July 2008 Axis Properties Appendix A condition resulting in unexpected motion damage to the Modifying automatically input polarity values by running the Feedback or Output amp Feedback Tests can cause a runaway AN equipment and physical injury or death Output Polarity The polarity o
258. et true the tuning motion profile is first initiated in the specified tuning direction and then is repeated in the opposite direction Information returned by the Bidirectional Tuning profile can be used to tune Friction Compensation and Torque Offset When configured for a hydraulics External Drive Type the bidirectional tuning algorithm also computes the Directional Scaling Ratio Tune Friction Compensation This tuning configuration is only valid if configured for bidirectional tuning If this bit is ON The tuning procedure calculates the Friction Compensation Gain OFF The Friction Compensation Gain is not affected Tune Torque Offset This tuning configuration is only valid if configured for bidirectional tuning If this bit is ON The tuning procedure calculates the Torque Offset OFF The Torque Offset is not affected Position Units Sec The Tuning Speed attribute sets the maximum speed of the tuning procedure This attribute should be set to the desired maximum operating speed of the motor before you run the tuning procedure 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 AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE SSV Tuning Torque 376 The Tuning Torque attribute
259. eters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run The 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 243 AppendixA Axis Properties Friction Compensation Window 244 Backlash Compensation Reversal Offset 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 nonzero 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 that is move rapidly back and forth about the commanded position 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 Friction Compensation value is applied t
260. eters can be edited and the program saved to disk using either the Save command or by clicking on the Apply button You must re download the edited program to the controller before it can be run The 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 nonzero 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 that is move rapidly back and forth about the commanded position 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 Friction Compensation value is applied to the Servo Output but scaled by the ratio of the position error to the Friction Compensation Window Within
261. f Contents Inhibit an Axis Kinematics in RSLogix 5000 Software Interpret Module Lights LEDs Troubleshoot Axis Motion Chapter 5 Tntrodycion soup Hal ie weed Beet eRe BUA Rae a NO AS a 69 When t Inhibit an AS aso ih arent ao rewek iad ee waar eerie 69 Before YOu Begim nry ei eene dale tee a ed Tu ale oan a 70 Example Inhibit at Axisa irese NAL EE a wa ahi ds Be 73 Example Umnbibitan AG tists lds saene e Whe Go hai tun ay 74 Chapter 6 Tntroduc on Sco hott hetei aea el aaa aches nae be a H 75 Controllers that Support Kinematics Functionality 75 Overview of Kinematics Functionality in RSLogix 5000 Software 75 isefal Rens iit een awed MRA pana ee Unease oun a Mewes 77 Gather Information about Your Robot 0000000005 ca Summary of Kinematic Steps soci iedtee rect ee ee teers ws 78 Determine the Coordinate System yperh cit idee daa 80 Configure an Articulated Independent Robot 82 Configure an Articulated Dependent Robot 04 92 Configure a Cartesian Gantry Robot 0 000000 0 eee 101 Configure a Cartesian H bot piais fo wa eae PM e anes bho 102 Configure a SCARA Independent osc cscsa taku iteia wield oy 104 Configure Delta Robot Geometries ia hGwn cheese 108 Configure a SCARA Delta Robot 5 tn tibet ein i tees 122 Arm SON ON Sas Sse ed dae Rr eee ees de Me PR a a SY 127 Solution Mirroring for Three dimensional Robots 127 Activating ICI
262. f the servo output to the drive this field is automatically set by executing the Output amp Feedback Test lt Positive Negative 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 polarity of the servo output to the drive the Output Polarity setting for an axis configured for Servo operation in the General tab Executing any test operation automatically saves all changes to axis propertie
263. f the type AXIS_SERVO configured as a Servo drive in the General tab of this dialog e Axis Properties myservyolaxis EE X General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Friction Deadband Compensation hss Manual Adjust Friction Compensation m r4 Window joo Position Units m Backlash Compensation Reversal Offset foo Position Units Stabilization Window a0 Pasition Units Velocity Offset joo Position Units s Torque Offset joo Output Offset 0 0 Volts x Cancel Apply Help 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 The parameters on this tab become tead 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 Publication LOGIX UM002D EN P July 2008 239 AppendixA Axis Properties Friction Deadband Compensation Friction Compensation Friction Compensation Window 240 When RSLogix 5000 software is offline the following param
264. fect 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 Master Offset AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS_ GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS_SERVO_DRIVE Master Offset in Master Position Units AXIS_VIRTUAL 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 Master Offset AXIS_CONSUMED BOOL Tag Set if a Master Offset Move motion profile is currently
265. ference from logix Once the axis is stopped or the stopping limit is exceeded the servo and power structure are disabled 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 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 a dangerous condition Keep clear of moving machinery Drive Thermal Specifies the fault action to be taken when a Drive Thermal Fault is detected Motor Thermal Feedback Noise Publication LOGIX UM002D EN P July 2008 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 Specifies the fault action to be taken when a Motor Thermal F
266. ffset Position Error Tolerance oo Position Units Reset e Position Lock Tolerance 0 01 Position Units PeakT orque Force Limit 0 0 Rated Continuous Torque Force Limit fi 00 0 4 e Rated OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software 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 mme poe we fe VelociyLiniipolr 00 Postion Unts e REAL AccelerationLimitBipolar 0 0 Postion Unts s REAL VeloctyLimtPostive 0 0 Postion Untsis REAL VeloctyLimtNegetive 00 Postion Unts s REAL 0 0 0 0 0 0 VelocityThreshold Position Units s REAL Velocityvvindow 1 0 Position Units s REAL VelocityStandstil vindow 1 0 Position Units s REAL AccelerationLimitPositive 0 0 Position Units s REAL 0 Close Cancel Help __ Close cma AccelerationLimitNegative Position Units s REAL i From this dialog box you can monitor and edit the limit related attributes 236 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 save
267. figuring the RSLogix 5000 Kinematics for motion control Robot geometry type Publication LOGIX UM002D EN P July 2008 71 Chapter6 Kinematics in RSLogix 5000 Software Zero angle orientation Work envelope Link lengths Base offsets End effector offsets Arm solution Summary of Kinematic After you create a Joint target coordinate system tag for your Motion control Steps project there are general steps to follow for Kinematics 1 Determine and then configure the type of coordinate system you need for your robot For help in determining your coordinate system type refer to page 80 2 Establish the Joint to Cartesian reference frame relationship For more information regarding the joint to Cartesian reference frame refer to the section about the type of robot you are using WARNING The correct relationship between the Joint reference frame and the Cartesian reference frame must be established Failure to do this can allow your robot to move to unexpected positions causing machine damage and or injury or death to personnel 3 Calibrate your robot if applicable 4 Identify your robot work envelope 5 Determine and then configure the following parameters link lengths base offsets end effector offsets 78 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 6 Create the source and target coordinate systems Typical Cartesian Coordinate System
268. for the last run tuning procedure These values are used to calculate the Tune Acceleration and Tune Deceleration attributes 372 Publication LOGIX UM002D EN P July 2008 Attribute Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Tune Inertia Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Data Type Access Description REAL GSV MegaCounts Per Sec The Tune Inertia value represents the total inertia for the axis as calculated from the measurements made during the tuning procedure In actuality the units of Tune Inertia are not industry standard inertia units but rather in terms of percent 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 If the Tune Inertia value exceeds 100 Rated 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 h
269. g Delta Robot Zero Angle Orientation illustration Publication LOGIX UM002D EN P July 2008 111 Chapter 6 112 Kinematics in RSLogix 5000 Software Delta Robot with Joints Homed at 30 30 degrees os Pen te Be sO L2 a Wy Ss er Configuring Delta Robot Zero Angle Orientation Coordinate System Properties DeltaCoordSystem General Geometry Units Offsets Joints Tag Type Delta Transform Dimension 3 i Link Lengths r a i L1 350 0 5 Xi 4X2 L2 800 0 Zero Angle Orientations oN z1 30 0 Degrees Nin z2 30 0 Degrees z3 30 0 Degrees Identify the Work Envelope for a Delta Three dimensional Robot The work envelope is the three dimensional region of space that defines the reaching boundaries for the robot arm The typical work envelope for a Delta robot can be described as looking similar to plane in the upper region with sides similar to a hexagonal prism and the lower portion similar to a sphere For more detailed information regarding the work envelope of your Delta three dimensional robot refer to the documentation provided by the robot manufacturer We recommend that you program the robot within a rectangular solid defined inside the robots work zone The rectangular solid can be defined by the positive and negative dimensions of the X1 X2 X3 virtual source axes Be Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Softw
270. g 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 oOo N DO oO FP 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 2 Disable drive power structure Drive Enable Status bit is cleared 3 Turn off brake output to engage brake 4 Turn off RBM output to disconnect motor from drive Publication LOGIX UM002D EN P July 2008 Attribute Rotary Axis Axis Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type Access SINT GSV SSV Axis Attributes Appendix C Description 0 Linear 1 Rotary When the Rotary Axis attribute is set true 1 it lets the axis unwind This gives 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 For Linear operation the counts don t roll over They are limited to 2 billion Safe Off Mode Active Status SERCOS Error Code SERCOS Fault AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE BOOL GSV Tag INT GSV Tag BOOL Tag This bit is the status indication of the Kinetix Drive s Safe Off circu
271. g an analog command to an external drive that is 1756 M02AE 1756 HYDO2 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 that is 1756 M03SE 1756 MO8SE and 17556 M16SE SERCOS interface Generic Drive An axis of a SERCOS interface drive that is Extended Pack Profile compliant and on the ring of a 1756 MO8SEG module 287 AppendixC Axis Attributes Attribute Axis Event Axis Type Data Type Access Description AXIS_CONSUMED DINT Tag Lets you access all the event status bits in one 32 bit word This tag is the same as the Axis Event Bits attribute AXIS_GENERIC PASERO Event Status Bit AXIS_SERVO_DRIVE Watch Event Armed Status 0 AXIS_VIRTUAL Watch Event Status 1 Reg Event 1 Armed Status 2 Reg Event 1 Status 3 Reg Event 2 Armed Status 4 Reg Event 2 Status 5 Home Event Armed Status 6 Home Event Status 7 Axis Event Bits AX S_CONSUMED DINT GSV Lets you access all the event status bits in one 32 bit word This AXIS GENERIC attribute is the same as the Axis Event tag PAS RERVO Event Status Bit AXIS_SERVO_DRIVE Watch Event Armed Status 0 AXIS_VIRTUAL Watch Event Status 1 Reg Event 1 Armed Status 2 Reg Event 1 Status 3 Reg Event 2 Armed Status 4 Reg Event 2 Status 5 Home Event Armed Statu
272. g appears The name of the Coordinate System tag that is being edited appears in the title bar to the right of Coordinate System Properties The General tab dialog for a Cartesian coordinate system is shown below Coordinate System Properties cartesian_coordinate_system General Geometry Units Offsets Dynamics Tag Motion Group kinematics_motion_group v fal Type Cartesian x Dimension 2 a Transform Dimension 2 Axis Name lea Mode IV Enable Coordinate System Auto Tag Update OK Cancel Apply _ He 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 e Choose the type of coordinate system you ate configuring e Change the number of dimensions that is the number of axes e Specify the number of axes to transform e Assign axes to the coordinate system tag e Enable Disable automatic updating of the tag RSLogix 5000 software supports only one Motion Group tag per controller 53 Chapter 4 54 Create and Configure a Coordinate System Motion Group The Motion Group button 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 lt none gt terminates the Motion Group
273. g 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 The optimal value for Acceleration Feedforward 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 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 217 AppendixA Axis Properties 218 Proportional Position Gain Integral 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 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
274. geometry Units Wizard Dialog The Units dialog lets you determine the units that define the coordinate system At this dialog you define the Coordination Units and the Conversion Ratios This dialog has the same fields as the Units tab found under Coordinate System Properties Dynamics Wizard Dialog Use the Dynamics dialog 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 dialog 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 dialogs It is active on the Dynamics tab of the Coordinate System Properties dialog It is described in detail in the Editing Coordinate System Properties later in this chapter Tag Wizard Dialog The Tag dialog lets you rename your Tag edit your description and review the Tag Type Data Type and Scope information The only fields that you can edit on the Tag dialog are Name and Description These are the same fields as on the New Tag dialog and the Coordinate System Properties Tag tab Create your Coordinate System in the New Tag dialog then configure it If you did not use the Wizard dialogs available from the Configure button on the New Tag dialog you can make your configuration selections from the Coordinate System Properti
275. ges any parameter value 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 software 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 LOGIX UM002D EN P July 2008 Axis Properties Appendix A Soft Travel Limits Maximum Positive Maximum Negative Position Error Tolerance Position Lock Tolerance Publication LOGIX UM002D EN P July 2008 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 Type the maximum positive position to be used for software overtravel checking in position units The Maximum Positive limit must always be greater than the Maximum Negative limit Type the maximum negative position to be used for software overtravel checking in position units Th
276. gn or depends on which direction the axis is currently moving Actual 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 actual velocity is 1 feedback counts per coarse update 279 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Analog Inputl AXIS_SERVO_DRIVE REAL GSV This attribute applies only to an axis associated with a Kinetix 7000 SSV drive Analog Input 2 This attribute has an integer range 16384 representing the analog value of an analog device connected to the Kinetix 7000 drive analog input These inputs are useful for web converting applications with load cell measuring web force on a roller or dancer measuring web force position directly that can be directly connected to the drive controlling the web Attribute Error AX S_SERVO INT GSV CIP Error code returned by erred set attribute list service to the module fone eae Tag When an Axis Configuration Fault occurs one or more axis parameters associated with a motion 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 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
277. gs and routines can be created A Coordinate System Tag can only be configured at the 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 these options 49 Chapter4 Create and Configure a Coordinate System Coordinate System Wizard Dialogs 50 e Clicking OK creates the tag and automatically places it in the Ungrouped Axes folder or the Motion Group if the tag was initiated from the Motion Group menu e Clicking 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 Open COORDINATE_SYSTEM Configuration When checked displays the wizard screens that guide you through the process of configuring a coordinate system The Coordinate System Wizard dialogs are the same dialogs that appear when you access Coordinate System Properties but instead of appearing as tabbed dialogs they advance you through the process by individual dialogs At the bottom of each dialog is a series of buttons To advance to the next dialog click Next and the information you entered is saved and you advance to the next Wizard dialog To end your progression through the Wizard dialogs click Finish The information entered to this point is saved and the coordinate system is stored in the Controller Organizer under either the Ungrouped Axes folder or the Motion Group
278. gs for the axes must read as Figure 2 Articulated Independent J1 0 J2 0 J3 0 Figure 3 Articulated Independent J1 0 J2 90 J3 90 83 Chapter6 Kinematics in RSLogix 5000 Software Figure 3 Articulated Independent X47 Side View If your robot s physical position and joint angle values cannot match those shown in Figure 2 Articulated Independent or Figure 3 Articulated Independent then use one of the Alternate Methods for Establishing the Joint to Cartesian reference frame relationship Alternate Methods for Establishing the Reference Frame for an Articulated Independent Robot The folowing methods let you establish a reference frame for an Articulated Independent robot For each Use one of these methods to establish the reference frame Incremental axis Each time the robot s power is cycled Absolute axis Only when you establish absolute home Method 1 establishes a Zero Angle Orientation and allows the configured travel limits and home position on the joint axes to remain operational Use this method if you are operating the axes between the travel limits determined prior to programming a Motion Redefine Position MRP instruction and want these travel limits to stay operational Method 2 uses a MRP instruction to redefine the axes position to align with the Joint reference frame This method may require the soft travel limits to be adjusted to the new reference frame 84 Publicatio
279. hat case you may need to rename components change locations or make other modifications as necessary You can use the RSLogix 5000 Compare utility included on your RSLogix 5000 software CD to compare the sample project file with an empty Le new project file This will help you to identify the components you need to modify Refer to the onlne help included with the RSLogix 5000 Compare utility for more information on performing the comparison Fi New Project fi Open Sample Project B Open Vendor Sample Project Sample Projects Click on any of the individual vendor names to see the list of sample projects they have provided for this release DVT Corporation Hardy Incmumente HiProm ProSoft Technology Inc Spectrum Controls Rockwell Automation Q Vendor Sample Projects Attachments Publication LOGIX UM002D EN P July 2008 11 P Preface Notes 12 Publication LOGIX UM002D EN P July 2008 Chapter 1 Start Introduction Use this chapter for step by step procedures on how to set up motion control If you aren t using SERCOS interface drives and modules skip tasks 3 and 4 Topic See page 1 Make the Controller the Master Clock 14 2 Add the Motion Modules 15 3 Add SERCOS interface Drives 16 4 Set Up Each SERCOS Interface Module 17 5 Add the Motion Group 18 6 Add Your Axes 20 7 Set Up Each Axis 22 8 Check the Wiring of Each Drive 25 9 Tune Each
280. he values on the Feedback tab Clicking on the Calculate Button recalculates the Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 updated automatically Drive Motor Tab Use this tab to configure the servo loop for an AXIS_SERVO_DRIVE axis AXIS_SERVO_ DRIVE and open the Change Catalog dialog box Axis Properties MySafetyAxis Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Amplifier Catalog Number RSS Motor Catalog Number lt none gt Change Cataloa Catalog Loop Configuration Dual Command Servo 7 Drive Resolution 200000 Drive Counts Motor Rev 7 Calculate IV Drive Enable Input Checking Drive Enable Input Fault m Real Time Axis Information Attribute 1 Position Feedback Attribute 2 Guard Status o YS OK Cancel Apply Help ok 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 Publication LOGIX UM002D EN P July 2008 177 Appendix A 178 fo
281. he 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 you configure the axis For this Axis type Details AXIS_SERVO This value is only used by MRAT when the axis is configured for an External Torque Servo Drive AXIS_SERVO_DRIVE 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 Drive AXIS_SERVO_DRIVE BOOL Tag Set when drive output current exceeds the predefined operating limits Overcurrent for the drive Fault Drive AXIS_SERVO_DRIVE BOOL Tag Set when the drive s temperature exceeds the drive shutdown Overtemp Fault temperature Drive AXIS_SERVO_DRIVE BOOL Tag Set when drive DC bus voltage exceeds the predefined operating limits Overvoltage for the bus Fault Publication LOGIX UM002D EN P July 2008 305 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Drive Polarity AXIS_SERVO_DRIVE DINT GSV 0 Custom Polarity SSV 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 Interface standa
282. he axis as a function of position servo error both with and without servo output limiting is shown below Without Servo Output Limiting With Servo Output Limiting Servo Amplifier Output Position Error 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 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 Output Limit Status Publication LOGIX UM002D EN P July 2008 AXIS_SERVO BOOL Tag If this bit is ON The servo output is at or past the Output Limit value OFF The servo output is within the Output Limit value 345 AppendixC Axis Attributes Attribute Axis Type Data Type Access Output LP AXIS_SERVO REAL GSV Filter AXIS_SERVO_DRIVE SSV Bandwidth Description Hertz The Output LP Low Pass Filter Bandwidth controls the bandwidth of the
283. he axis position units to coordination units used The Axis Position units are defined in the Axis Properties Units dialog and the coordination units are defined in Coordinated System Properties Units dialog These values are dynamically updated when changes are made to either axis position units ot coordination units Click Apply to preserve your edits or Cancel to discard your changes 59 Chapter4 Create and Configure a Coordinate System Click the Offsets tab to access the Coordinate System Properties Offset dialog Coordinate System Properties joint_coordinate_system General Geometry Units Offsets Joints Tag Type Articulated Independent Top View Transform Dimension 3 End Effector Offsets xte o o x2e 10 0 X3e o o a Base Offsets xib 10 0 x2b 10 0 x3b 0 0 Cancel Soply Help Offsets Tab The Offsets tab of the Coordinate System Properties dialog is where you define the end effector and base offset values for the robotic arm This tab shows the top and or sides view of a typical robotic arm based on the type of coordinate system and coordinate Transform dimension values specified on the General tab The number of available offset fields in each box is determined by the number of axes associated with the coordinate system When specifying the end effector and base offset values be sure that the values are calculated using the same measurement units as the linked Cartesia
284. he bit is cleared when the axis acknowledges completion of the reference position change by clearing its Change Position Reference bit 286 Publication LOGIX UM002D EN P July 2008 Attribute Axis Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis Data Type Publication LOGIX UM002D EN P July 2008 Data Type Access SINT MSG Axis Attributes Appendix C Description Associated motion axis tag data type 0 Feedback 1 Consumed 2 Virtual 3 Generic 4 Servo 5 Servo Drive 6 Generic Drive 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 Feedback A feedback only axis associated with feedback only modules like PLS II and CFE supporting quadrature encoder resolver HiperFace and so on Consumed A consumed axis which consumes axis motion data produced by a motion axis on another controller 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 sendin
285. he commanded acceleration to the velocity servo loop input is greater than the configured Velocity Limit Accel Status AX S_CONSUMED BOOL Tag AXIS_GENERIC S_SERVO S_SERVO_DRIVE S_VIRTUAL Publication LOGIX UM002D EN P July 2008 Set if the axis is currently being commanded to accelerate Use the Accel Status bit and the Decel Status bit to see if the axis is accelerating or decelerating If both bits are off then the axis is moving at a steady speed or is at rest 275 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO REAL GSV Important To use this attribute choose it as one of the attributes for Co AXIS_SERVO_DRIVE Tag Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Acceleration Command in Position Units Sec2 Acceleration Command is the current acceleration reference to the output summing junction in the configured axis Position Units per Second2 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 Acceleration AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute See IDN 160 in Data Scaling IEC 1491 Acceleration AXIS_SERV
286. he origin and the three primary axes X1 X2 and X3 These axes are used to measure the real Cartesian positions A Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions causing machine damage and or injury or death to personnel The reference frame for an Articulated Independent robot is located at the base of the robot as shown in the figure below Figure 1 Articulated Independent Xa Before you begin establishing the Joint to Cartesian reference frame relation ship it is important to know some information about the Kinematic mathe Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 matical equations used in the ControlLogix 1756 L6xx controllers The equations were written as if the Articulated Independent robot joints were positioned as shown in Figure 2 Articulated Independent to X1 X2 plane link L1 J1 is measured counterclockwise around the X3 axis starting at an angle of J1 0 when L1 and L2 are both in the X1 X2 plane J2 is measured counterclockwise starting with J2 0 when L1 is parallel J3 is measured counterclockwise with J3 0 when L2 is aligned with Figure 2 Articulated Independent Side View When your robot is physically in the The RSLogix 5000 Actual Position position illustrated in ta
287. he positive direction and when L1 moves upward the J1 is assumed to be moving in the negative direction When the left hand link L1 moves downward joint J2 is assumed to be rotating in the positive direction and when left hand L1 moves upward the J2 is assumed to be moving in the negative direction Establishing the Two dimensional Delta Robot Reference Frame Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Calibrate a Delta Two dimensional Robot l The method used to calibrate a Delta two dimensional robot is the same as the method used for calibrating a Delta three dimensional robot The only difference is the number of axes used For more information about calibration refer to the section entitled Calibrate a Delta Three dimensional Robot on page 110 of this manual Identify the Work Envelope for a Delta Two dimensional Robot The work envelope is the two dimensional region of space that defines the reaching boundaries for the robot arm The typical working envelope for a two dimensional Delta robot is a boundary composed of circular arcs Work Envelope for Two dimensional Delta Robot We recommend that you define the program parameters for the two dimensional Delta robot within a rectangle dotted lines in the figure above inside the robots work zone The rectangle can be defined by the positive and negative dimensions of the X1 X2 virtual
288. ice 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 rollover The Home Sequence to Marker must be used to allow feedback to travel until the rollover that is 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 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 in 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 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Offset Type the desired offset if any in position units the axis is to move upon completion of the homing sequence to reach the home position In most cases this value is z
289. if the physical axes are connected Tool Center Point All Kinematics programmed position motion is based on the Tool Center Point TCP To determine the TCP you must enter information on the following RSLogix 5000 tabs e Geometry Enter values for Link Length linear displacement Zero Angle Orientation angular rotation and Base Offsets These values in combination with the selected Geometry type defines the resulting Geometry s end of arm position e Offsets Enter value for End effector offset these are included when establishing the finalTCP position Transform General term for conversion equations which map values in one coordinate space to values in another coordinate space Translation Robotic term for a linear movement or offset in Cartesian three dimensional space Translation describes the distance between two Cartesian points Zero Angle Offset Offset on a rotary axis in the Joint Coordinate system between where the Kinematics equations were Gather Information about Your Robot derived and where you want your zero position to be Before you begin the configuration steps for the Kinematics transformation function you need to gather specific information about your robot and application parameters Specifications for your robot can be found in the documentation provided by the manufacturer while other required information is application dependent You should know this information before you begin con
290. igh 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 that is 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 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 action to limit high frequency noise injection to the motor 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
291. 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 stays through any attempt to clear it while the axis position is still beyond the specified travel limits while the axis is enabled 347 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Position Cam AXIS_CONSUMED BOOL Tag Set whenever the master axis satisfies the starting condition of a Lock Status AXIS GENERIC currently active Position Cam motion profile The starting condition is established by the Start Control and Start Position parameters of the AXIS_SERVO MAPC instruction This bit is bit is cleared when the current position AXIS_SERVO_DRIVE cam profile completes or is superseded by some other motion AXIS VIRTUAL operation In unidirectional master direction mode the Position Cam g Lock Status bit is cleared when moving in the wrong direction and sets when moving in the correct direction Position Cam AXIS_CONSUMED BOOL Tag Set if a Position Cam motion profile is currently pending the completion Pending Status AXIS GENERIC of a currently executing cam profile This would be initiated by executing 7 an MAPC instruction with Pending execution selected This bit is cleared AXIS_SERVO when the current position cam profile completes initiating the start of AXIS_SERVO_DRIVE
292. inated moves cannot be initiated while this bit is set Stopping Status BOOL Tag The stopping bit is set when a MCS instruction is executed The bit will remain set until all coordinated motion is stopped The bit is cleared when all coordinated motion has stopped Transform Source Status BOOL Tag If the bit is ON The coordinate system is the source of an active transform OFF The coordinate system isn t the source of an active transform Transform Target Status BOOL Tag If the bit is ON The coordinate system is the target of an active transform OFF The coordinate system isn t the target of an active transform Publication LOGIX UM002D EN P July 2008 419 Appendix F Coordinate System Attributes Notes 420 Publication LOGIX UM002D EN P July 2008 Symbols 89 Numerics 1394C Drive module inhibit an axis 72 1394 CFLAExx Cable Pinouts 264 Wiring Diagram 264 1398 CFLAExx Cable Diagram 260 Pinouts 260 1756 HYD02 add to controller 15 1756 M02AE add to controller 15 1756 M02AE servo module Block diagrams Torque servo drive 388 Velocity servo drive 389 Features 9 Loop and interconnect diagrams 387 Troubleshooting 133 Wiring diagrams 1394 drive 263 Servo module RTB 258 Ultra 100 drive 259 Ultra 200 drive 259 Ultra3000 drive 261 1756 M02AS add to controller 1 1756 M03SE add to controller 1 set up 17 1756 M08SE add to controller 1 set up 17 1756 M16SE add to controller 1 set up
293. inetix BUUU ZSUVAL AM YA Cont 1 4 Peak Allen bradley 2034 AM0zZ Kinetix 6000 230 AC AM 15A Cont 304 Peak 2034 AM03 Kinetix 6000 230 AC AM 248 Tont 498 Peak New Module 2094 AMOS Kittelix 6000 Z30VAC AM 49A Curl 964 Peck Type 2094 AC09 M02 Kinetix 6000 230VAC IAM 6kw PS 154 Cont 304 F Allen Bradle Find Vendor 5 6 Node number of the drive on the SERCOS ring 7 C Open Module Properties Publication LOGIX UM002D EN P July 2008 Start Chapter 1 Set Up Each SERCOS Set the data rate and cycle time for each SERCOS interface module in your project Interface Module 1 CompactLogix controller ControlLogix controller Controller My_Controller 9 Controller My_Controller G Tasks Tasks C3 Motion Groups Motion Groups C3 Trends CI Trends Data Types Data Types 3 63 1 0 Configuration 3 8 1 0 Configuration sii 1768 Bus 1756 Backplane 1756 47 Simi 1 1768 M045E My_SERCOS_Module 3 0 1 1756 MO8SE My_SERCOS_Module SERCOS Network x SERCOS Network N Cross Reference Ctrl E Properties N E Module Properties Local 1 1756 MO8SE 15 1 2 Generat Connection SERCOS Interface SERCOS Interface Info Module Info Backplane 3 Auto Detect v Mb 4 Cycle Time Transmit Power High S Transition To Phase 4 5 Status Offline Cancel Help Baud Rate of Drives Number of Drives on the Ring Type of Dr
294. inish Help Publication LOGIX UM002D EN P July 2008 19 Chapter 1 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 MO8SE 1756 M16SE 1756 L60M03SE 1768 MO04SE 1756 MO2AE AXIS_SERVO 1756 HYD02 1756 M02AS No hardware AXIS_VIRTUAL 20 Publication LOGIX UM002D EN P July 2008 Start Chapter 1 Action 2 Add an axis 5 Tasks amp Motion Groups gt My_Axis_ QD My_Axis_ Ungrouped Axes CI Trends 5 Data Types E 1 0 Configuration Publication LOGIX UM002D EN P July 2008 EJ Controller My_Controller Details Analog SERCOS interface New Axi AXIS_CONSUMED New Coorad ate System AXIS_SERVO a 7 AXIS_SERVO_DRIVE 7 Monitor Group Tag AXIS_GENERIC Fault Help AXIS_GENERIC_DRIVE Clear MotionGroup Faults AXIS_VIRTUAL fey Cut Ctrl x No Hardware New Tag Sz C Name My_Axis_ 2 Description Cancel Help Usage gt Type Base v Alias For Data Type JAXIS_SERYO_DRIVE iy Scope i My_Controller v Style C Open AXIS_SERVO_DRIVE Configuration 21 Chapter 1 Start Set Up Each Axis Action The following steps show how to set up the axis of a SERCOS interface drive The steps are slightl
295. ion 240 Friction Compensation 240 Friction Compensation Window 240 Manual Tune 242 Output Offset 241 Torque Offset 241 Velocity Offset 241 Offset Tab AXIS_SERVO_DRIVE 242 Backlash Compensation 244 Reversal Offset 244 Stabilization Window 245 Friction Compensation 243 Friction Compensation Window 244 Manual Tune 245 Torque Offset 245 Velocity Offset 245 Output Tab SERVO_AXIS 222 Enable Low pass Output Filter 224 Low pass Output Filter Bandwidth 224 Manual Tune 225 Torque Scaling 223 Velocity Scaling 223 Index 423 Output Tab Overview AXIS_SERVO_DRIVE 225 Enable Low pass Output Filter 228 Enable Notch Filter 227 Load Inertia Ratio 227 Low pass Output Filter Bandwidth 228 Manual Tune 229 Motor Inertia 227 Notch Filter 227 Torque Scaling 227 Servo Tab AXIS_SERVO 170 Direct Drive Ramp Rate 171 Drive Fault Input 171 Enable Direct Drive Ramp Control 171 Enable Drive Fault Input 171 External Drive Configuration 170 Hydraulic 170 Torque 170 Velocity 170 Loop Configuration 170 Real Time Axis Information 171 Attribute 1 Attribute 2 171 Tag Tab 254 Data Type 256 Description 255 Name 255 Scope 256 Style 256 Tag Type 255 Tune Tab AXIS_SERVO AXIS_SERVO_DRIVE 202 Damping Factor 203 Direction 203 Speed 202 Start Tuning 204 Torque AXIS_SERVO 203 Torque Force AXIS_SERVO_DRIVE 202 Travel Limit 202 Tune 204 AXIS Structures 273 AXIS_ CONSUMED 273 AXIS_SERVO 273 AXIS_SERVO_DRIVE 273 AXIS_VIRTUAL 273 Axis Tag
296. ion Error 4 Position Integrator Error Position Integrator Error 5 Velocity Command Velocity Command 6 Velocity Feedback Velocity Feedback 7 Velocity Error Velocity Error 8 Velocity Integrator Error Velocity Integrator Error 9 Acceleration Command Acceleration Command 10 Acceleration Feedback Acceleration Feedback 11 Servo Output Level 12 Marker Distance Marker Distance 13 Torque Command 14 Torque Feedback 15 Positive Dynamic Torque 16 Limit Negative Dynamic Torque 17 Limit Motor Capacity 18 Drive Capacity 19 Power Capacity 20 Bus Regulator Capacity 21 Motor Electrical Angle 22 Torque Limit Source 23 DC Bus Voltage 24 Absolute Offset 25 289 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Axis Instance AXIS_CONSUMED INT GSV Instance Number assigned to Axis AXIS_GENERIC The Axis Instance attribute is used to return the instance number of an AXIS_SERVO axis Major fault records generated for an axis major fault contains only AXIS_SERVO_DRIVE the instance of the offending axis This attribute would then typically be AXIS_VIRTUAL used by a user to determine if this was the offending axis that is if the instance number matches Axis Response AXIS_SERVO DINT GSV Bits Bits AXIS_SERVO_DRIVE 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 Abort Process Acknowledge
297. is 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 is increased Whether to use the Coordinate System Auto Tag Update feature depends upon the trade offs between ease in programming 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 Enabling this feature may result in some performance penalty Click Apply to implement your entries or cancel to not save the new entries To edit the Geometry parameters for the robotic arm select the Geometry tab Coordinate System Properties source General Geometry Units Offsets Joints Tag Type Articulated Dependent Transform Dimension 3 Link Lengths u a L2 o o r Zero Angle Orientations Zi foo Degrees 22 o o Degrees 23 o o Degrees Cancel Apply Help 56 Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 Geometry Tab The Geometry tab of the Coordinate System Properties is where you can Publication LOGIX UM002D EN P July 2008 specify the link lengths and zero angle orientation values for articulated robotic arms The graphic displayed on this
298. is the interpolation of the commanded a E position based on past axis trajectory history at the time specified by Benen AXIS_SERVO the Interpolated Time attribute AXIS_SERVO_DRIVE AXIS_VIRTUAL Interpolation AXIS_CONSUMED DINT GSV CST time to interpolate to i AXIS_GENERIC T N i iae 3y Interpolated Time is the 32 bit CST time used to calculate the AXIS_SERVO interpolated positions When this attribute is updated with a valid CST AXIS_SERVO_DRIVE value the Interpolated Actual Position and Interpolated Command AXIS VIRTUAL Position values are automatically calculated Publication LOGIX UM002D EN P July 2008 329 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Jog Status AXIS_CONSUMED BOOL Tag Set if a Jog motion profile is currently in progress Cleared when the Jog AXIS GENERIC is complete or is superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL LDT AXIS_SERVO REAL GSV This attribute provides for setting a calibration constant for LDT devices Calibration This attribute is only active if the Transducer Type is set to LDT Constant LDT AXIS_SERVO SINT GSV 0 m sec Calibration Constant Units 1 Usec in 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 LDT Length AXIS_SERVO REAL GSV This attribute provides for setting the length of an L
299. ition 1 controller lt download 2 RUN REM PROG 3 drive 4 Controller My_Controller Tasks 38 Motion Groups My_Motion_Group Motion Direct Commands Cross Reference Ctrl E 2D My_Axis_ cc C Ungrouped Axes Print gt Trends m Data Types Properties N 1 0 Configuration 6 Type how far you want the axis to move during the tests Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Homing Test Increment 1 0 Revs 7 Drive Polarity 8 est Command amp Feedback 9 Publication LOGIX UM002D EN P July 2008 25 Chapter 1 Start 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 controller download RUN REM PROG 4 Controller My_Controller Tasks Motion Groups I 3g My_Motion_Group i Motion Direct Commands Cross Reference Ctrl E x5 My_Axis_ Ungrouped Axe Print gt Trends es Data Types Properties N 1 0 Configura
300. ition 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 ate derived from the current value of the corresponding attributes These offset attributes 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 392 Publication LOGIX UM002D EN P July 2008 Servo Loop Block Diagrams Appendix D Torque Offset Dual Feedback Servo Servo Config Dual Feedback Acc P didt gt FF Velocity Gain Offset e Output Output Low Pass Noteh Pona Vel Filter Filter Lan oe didt gt FF BW BW Gain Position Velocity j Command Command Command command Coarse Position Velocity Error Error Low Pos P Vel P Torque Frict Notch Torque Torque S gt interpolator Gain Gain Scaling Comp gt Pass gt Fiter gt Limit gt Ampiitier Position Command Velocity Feedback Position p Pos p vel Feedbac
301. itry If this bit is the following state e ON The Drive s Safety monitor cicuitry has encountered a loss of signal from Enable_1 or Enable_2 e OFF The Drive s Safety monitor circuitry has no fault from Enable_1 or Enable_2 For the Kinetix Drive to pass back this status to the controller via this bit the Drive must have fimrware version 1 85 or higher Error code returned by SERCOS module indicating source of drive parameter update failure 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 Set when either a requested SERCOS procedure fails to execute properly or the associated drive node has detected a SERCOS communication fault SERCOS Ring Fault AXIS_SERVO_DRIVE BOOL Tag If this bit is set there is a problem on the SERCOS ring that is the light has been broken or a drive has been powered down Servo Action Status Publication LOGIX UM002D EN P July 2008 AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL BOOL Tag If this bit is ON The axis is under servo control OFF Servo action is disabled 359 AppendixC Axis Attributes Attribute Servo Fault Servo Fault Bits 360 Axis Type AXIS_SERVO AXIS_SERVO Data Type Access Description DINT DINT Tag
302. ity Feedback 377 Velocity Integrator Error 379 Servo Fault Configuration Servo Fault Actions 302 320 321 325 348 363 Servo Gains Acceleration Feedforward Gain 273 277 413 Bandwidth Method 351 Integrator Hold Enable 328 Loop Gain Method 351 Maximum Bandwidth 351 Position Differential Gain 347 Position Integral Gain 349 Position Proportional Gain 351 Velocity Feedforward Gain 377 Velocity Integral Gain 378 Velocity Proportional Gain 380 Backlash Reversal Error 292 Backlash Stabilization Window 293 Index 429 Directional Scaling Ratio 299 Maximum Bandwidth 380 Output LP Filter Bandwidth 345 Torque Scaling 370 Velocity Scaling 382 Servo Limits Direct Drive Ramp Rate 299 Friction Compensation 321 Friction Compensation Window 322 Maximum Negative Travel 333 Maximum Positive Travel 334 Output Limit 344 Output Offset 345 Position Error Tolerance 348 Position Lock Tolerance 350 Torque Offset 369 Velocity Offset 379 Servo Loop Block Diagrams 388 Position Servo with Torque Servo Drive 388 Position Servo with Velocity Servo Drive 389 Servo Status Attributes Acceleration Command 276 Acceleration Feedback 276 Attribute Error Code 280 Attribute Error ID 280 Aux Position Feedback 284 Axis Response Bit Attributes Zero DAC Request Acknowledge 290 Commissioning Status Attributes Test Direction Forward 366 Test Status 366 Tune Acceleration 371 Tune Acceleration Time 371 Tune Deceleration 371 Tun
303. ive 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 you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value Passive Home with Switch then Marker Publication LOGIX UM002D EN P July 2008 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 you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value 157 Chapter9 Configure Homing Notes 158 Publication LOGIX UM002D EN P July 2008 Appendix A Axis Properties Introduction Use this appendix for a description of the properties of an axis General Tab AXIS SERVO The General screen depicted below is for an AXIS_SERVO data type e Axis Properties myservyolaxis _ OF X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Axis Configuration Servo b Motion Group mymotiongroup o H New Group gt As
304. ive 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 Fractional Unwind 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 integer 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 Continued on next page 307 Appendix C Attribute Drive Resolution cont 308 Axis Attributes Axis Type Data Type Access Description 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 U
305. ives Cycle Time 4 Mb 1or2 Kinetix 6000 0 5 ms NOT Kinetix 6000 1ms 3or4 p Ims 5 8 p 2ms 9 16 gt Canido 8 Mb 1 4 Kinetix 6000 0 5 ms NOT Kinetix 6000 1 ms 5 8 p ms 9 16 p 2ms Publication LOGIX UM002D EN P July 2008 17 Chapter 1 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 And So On 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 Add only one motion group for the project RSLogix 5000 software doesn t let you add more than one motion group Action Details 1 Choose your coarse update period The coarse update period is a trade off between updating positions of your axes and scanning your code Use these guidelines as a rough starting point A How many axes do you have Less than 11 axes Set the coarse update period to 10 ms 11 axes or more Set the coarse update period to 1 ms per axis Lea
306. k 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 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 Servo Status AXIS_SERVO Publication LOGIX UM002D EN P July 2008 DINT Tag Lets you access the status bits for your servo loop in one 32 bit word This tag is the same as the Servo Status Bits attribute Bit Servo Action Status 0 Servo Status Drive Enable Status Shutdown Status Process Status Output Limit Status Position Lock Status Home Input Status Reg 1 Input Status Reg 2 Input Status Resevered gt CO N DM oY A wr N Resevered Drive Fault Input Status 363 Appendix C Attribute Servo Status Bits Axis Attributes Axis Type AXIS_SERVO Data Type Access DINT GSV
307. k om ulator Gain y Position Velocity Integrator Integrator Motor Error Error Low Pass Filter x Feedback Polarity Motor Feedback Yy Channel Motor faama Feedback Position H pee i Feedback H Coarse H paner v Position Hardware res 4 Accum j Feedback Mii Position Publication LOGIX UM002D EN P July 2008 ulator 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 attributes These offset attributes 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 393
308. k only device use Passive homing Passive homing doesn t move the axis Use passive homing to calibrate a Feedback only axis to its marker If you use passive homing on a servo axis turn on the servo loop and use a move instruction to move the axis 3 If you have an absolute feedback device consider Absolute homing If the motion axis hardware supports an absolute feedback device Absolute Homing Mode may be used The only valid 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 4 For single turn equipment consider homing to a marker The marker homing sequence is useful for single turn rotary and linear encoder applications because these applications have only one encoder marker for full axis travel 5 For multi turn equipment home to a switch or switch and marker These homing sequences use a home limit switch to define the home position You need a home limit switch if the axis moves more than one revolution when it runs Otherwise the controller can t tell which marker pulse to use For the most precise homing use both the switch and marker 6 If your equipmen
309. l Time Constant AXIS_SERVO_DRIVE Max Velocity Servo Bandwidth Hz 0 159 0 25 i 1 22 1 Drive Model Time Constant The factor of 0 159 represents the 1 2PI factor required to convert Radians per Second units to Hertz Velocity Standstill Status AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is less than the configured Velocity Standstill Window Velocity Standstill Window AXIS_SERVO_DRIVE REAL GSV SSV Position Units sec This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Threshold 384 AXIS_SERVO_DRIVE REAL GSV SSV Position Units sec This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Velocity AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is less Threshold than the configured Velocity Threshold Status Velocity AXIS_SERVO_DRIVE REAL GSV Position Units sec Window SSV This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually d
310. le 9 1756 MO02AE Motion Module 9 1756 M02AS Motion Module 9 1756 MO3SE 1756 MO8SE amp 1756 M16SE Motion Module 9 structures AXIS 273 T Troubleshooting 133 1756 HYD02 Module LED 138 DRIVE Indicator 140 1756 M02AE LED 133 DRIVE LED indicator 134 1756 M02AS LED 135 FDBK Indicator 136 1756 MO8SE LED SERCOS interface LED 141 1756 M16SE LED SERCOS interface LED 141 SERCOS interface LED Indicators 141 tune axis 26 Publication LOGIX UM002D EN P July 2008 432 Index U Units 51 W Wiring connections 266 Connecting LDTs to the 1756 HYD02 module 266 268 Example diagram of 1756 HYD02 wiring 267 wiring connections home limit switch input 271 OK contacts 271 Wiring diagrams 1394 drive 263 Publication LOGIX UM002D EN P July 2008 registration sensor 270 Servo module RTB 258 Ultra 100 drive 259 Ultra 200 drive 259 Ultra3000 Drive 261 wiring diagrams 257 home limit switch 271 OK contacts 271 Wizard dynamics 51 general 50 geometry 51 offset 51 tag 51 units 51 How Are We Doing Your comments on our technical publications will help us serve you better in the future Thank you for taking the time to provide us feedback You can complete this form and mail or fax it back to us or email us at RADocumentComments ra rockwell com Pub Title Type Motion Modules in Logix5000 Control Systems Cat No 1756 HYDOZ Pub No LOGIX UMO002D EN P Pub Date July 2008 PartNo 953030 71 1756 L60
311. leration and Tune Deceleration attributes return the measured acceleration and deceleration values for the last run tuning procedure 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 Tune AXIS_SERVO REAL GSV Sec i AXIS_SERVO_DRIVE eee a aaa E 7 The Tune Acceleration Time and Tune Deceleration Time attributes ime return acceleration and deceleration time in seconds for the last run tuning procedure These values are used to calculate the Tune Acceleration and Tune Deceleration attributes Tune AXIS_SERVO REAL GSV Position Units Sec2 i AXIS_SERVO_DRIVE ue Decelerauos a The Tune Acceleration and Tune Deceleration attributes return the measured acceleration and deceleration values for the last run tuning procedure 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 Tune AXIS_SERVO REAL GSV Sec i AXIS_SERVO_DRIVE nae g T The Tune Acceleration Time and Tune Deceleration Time attributes ime return acceleration and deceleration time in seconds
312. liary feedback device and the motor For a rotary auxiliary feedback device this attribute s 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 selected motor s specifications The value is also used by the drive when running the dual feedback servo loop configuration 282 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Aux Feedback AXIS_SERVO_DRIVE DINT GSV Cycles per Aux Feedback Unit 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 unit These parameters provide the SERCOS drive with critical information needed to compute scaling factors used to convert Drive Counts to Feedback counts Aux Feedback AXIS_SERVO_DRIVE INT GSV The Motor and Aux Feedback Type attributes are used to identify the Hype motor mounted or auxiliary feedback device connected to the drive Feedback Type Code Rotary Linear Rotary Only Only or Linear lt None gt 0x0000 SRS Ox0001 X SRM
313. linear axis Stopping Status AXIS_CONSUMED BOOL Tag Set if there is a stopping process currently in progress Cleared when the AXIS GENERIC stopping process is complete The stopping process is used to stop an J axis initiated by an MAS MGS Stop Motion fault action or mode AXIS_SERVO change AXIS_SERVO_DRIVE AXIS_VIRTUAL Limit SSV Publication LOGIX UM002D EN P July 2008 This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it 365 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Stopping AXIS_SERVO_DRIVE REAL GSV Rated Torque SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Strobe Actual AXIS_CONSUMED REAL GSV Strobe Actual Position in Position Units Position AXIS GENERIC Tag Strobe Actual Position and Strobe Command Position are used to 7 simultaneously store a snap shot of the actual command position and AXIS_SERVO master offset position of an axis when the MGSP Motion Group Strobe AXIS_SERVO_DRIVE Position instruction is executed The values are stored in the configured AXIS VIRTUAL Position Units of the axis Since the MGSP instruction simultaneously stores the actual and command positions for all axes in the specified group of axes
314. ller enables the Low Pass Output Filter and calculates and sets a value for 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 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 LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 Notch Filter Frequency Low pass Wutput Filter bandwidth The Manual Adjust button is
315. llowing values using among other values the default Damping Factor of 0 8 On this tab or dialog Motor Feedback tab Gains tab These attributes are recalculated Motor Feedback Type Motor Feedback Resolution 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 The Associated Module selection selected on the General tab determines available catalog numbers Loop Configuration Select the configuration of the servo loop Motor Feedback Only Displayed when Axis Configuration is Feedback only Aux Feedback Only Displayed when Axis Configuration is Feedback only Position Servo Aux Position Servo not applicable to Ultra3000 drives Publication LOGIX UM002D EN P July 2008 Drive Resolution Drive Enable Input Checking Drive Enable Input Fault Real Time Axis Information Attribute 1 Attribute 2 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Dual P
316. low K 1000 Lines Rev 4 Counts Line 5 Revs Inch 20 000 Counts Inch Attention If Conversion Constant is changed it invalidates all of the settable attributes with Position Unit conversions in Description column To be valid the Conversion Constant must be set to the desired value prior to setting including defaulting any of the affected attributes Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Data Type Access Coordinated AXIS_CONSUMED DINT GSV Motion Status AXIS_GENERIC Tag AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Axis Attributes Appendix C Description Set if any coordinated motion profile is currently active upon the axis It is cleared as soon as Coordinated Motion is complete or stopped Motion Status Bit Accel Status 0 i Decel Status Actual Pos Tolerance Status Command Pos Tolerance Status Stopping Status Reserved Move Status Transition Status Move Pending Status oj CO N Dm of A j N Move Pending Queue Full Status Reserved 10 Reserved 11 Reserved Coordinate System in a Source CS e j N Coordinate System in a Target CS AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE SSV 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 Facto
317. lt 18 Drive Cooling Fault 19 Drive Control Voltage Fault 20 Feedback Fault 21 Commutation Fault 22 Drive Overcurrent Fault 23 Drive Overvoltage Fault 24 Drive Undervoltage Fault 25 Power Phase Loss Fault 26 Position Error Fault 27 SERCOS Fault 28 Overtravel Fault 29 Reserved 30 Manufacturer Specific Fault 31 Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults For more information about error codes displayed on drives and or multi axis motion control systems see page 385 Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Drive Fault AXIS_SERVO Action Publication LOGIX UM002D EN P July 2008 Data Type Access Description SINT GSV SSV Axis Attributes Fault Action Value Shutdown 0 Disable Drive 1 StopMotion 2 Status Only 3 Appendix C 303 AppendixC Axis Attributes Attribute Drive Fault Bits 304 Axis Type AXIS_SERVO_DRIVE Data Type Access Description DINT GSV Lets you access all the drive fault bits in one 32 bit word This attribute is the same as the Drive Fault tag Tag Bit Pos Soft Overtravel Fault 0 Neg Soft Overtravel Fault 1 Pos Hard Overtravel Fault 2 Neg Hard Overtravel Fault 3 Mot Feedback Fault 4 Mot Feedback Noise Fault 5
318. ludes 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 ditect Tag access which when used in conjunction with future Function Block programs provides custom outer control loop capability Publication LOGIX UM002D EN P July 2008 Servo Loop Block Diagrams Appendix D Drive Gains 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 Publication LOGIX UM002D EN P July 2008 397 Appendix D Servo Loop Block Diagrams Notes 398 Publication LOGIX UM002D EN P July 2008 Introduction AXIS_CONSUMED Publication LOGIX UM002D EN P July 2008 Axis Data Types Appendix E When you add an axis to your pr
319. lution of Inches iis Inches l 0 012 0 25 x 20000 Second Minute 284 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Average AXIS_CONSUMED REAL GSV Sec j AXIS_GENERIC SSV PEE To The Average Velocity Timebase attribute is used to specify the desired ORENS AXIS_SERVO time in seconds to be used for calculating the Average Velocity of the AXIS_SERVO_DRIVE axis When the Average Velocity Value is requested the value is AXIS VIRTUAL computed by taking the total distance traveled by the axis in the amount T of time given by the Average Velocity Timebase and dividing this value by the timebase 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 Axis Address AXIS_CONSUMED GSV Used for debugging AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL ees AXIS_CONSUMED SINT GSV State of the axis configuration state machine AXIS_GENERIC oe p The Axis Configuration State attribute is used for debugging to indicate rate AXIS_SERVO where in the axis configuration state machine this axis presently is AXIS_SERVO_DRIVE Even consumed and virtual axes will utilize this attribute AXIS_VIRTUAL Publicatio
320. ly the source coordinate frame that defines the origin and the three primary axes X1 X2 and X3 These are used to measure the real Cartesian positions WARNING Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions causing machine damage and or injury or death to personnel The reference frame for an Articulated Dependent robot is at the base of the robot as shown in the figure below Figure 1 Articulated Dependent Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Before you begin establishing the Joint to Cartesian reference frame relationship it is important to know some information about how the Kinematic mathematical equations in the ControlLogix 1756 L6xx controllers were written The equations were written as if the Articulated Dependent robot joints were positioned as shown in Figure 2 Articulated Dependent e J1 is measured counterclockwise around the X3 axis starting at an angle of J1 0 when L1 and L2 are both in the X1 X2 plane e J2 is measured counterclockwise starting with J2 0 when L1 is parallel to X1 X2 plane e J3 is measured counterclockwise with J3 0 when L2 is parallel to the X1 X2 plane Figure 2 Articulated Dependent Side View When your robot is physically in the position illustrated in The RSLogix 5000 Actual Position tags for the axes must read a
321. ly useful in high inertia applications where mechanical resonance behavior can severely restrict the maximum bandwidth capability of the servo loop Output Offset AXIS_SERVO REAL GSV SSV Overload Fault AXIS_SERVO_DRIVE BOOL Tag 10V 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 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 When the load limit of the motor drive is first exceeded the Overload warning bit is set If the condition persists the Overload fault is set Often this bit is tied into the IT limit of the drive Overspeed Fault AXIS_SERVO_DRIVE BOOL Tag 346 Set when the speed of the axis as determined from the feedback has exceeded the overspeed limit which is typically set to 150 of configured velocity limit for the motor Publication LOGIX UM002D EN P July 2008 Axis Attributes
322. m negative joint limits For More Information About See Page Maximum positive joint limits 114 Maximum negative joint limits 114 Homing or moving a joint axis to a position beyond a computed joint limit and then invoking a MCT instruction results in an error 67 Invalid Transform position For more information regarding error codes refer to the Logix5000 Controllers Motion Instructions Reference Manual publication 1756 RM007 113 Chapter6 Kinematics in RSLogix 5000 Software Maximum Positive Joint Limit Condition The derivations for the maximum positive joint applies to the condition when L1 and L2 are collinear Maximum Positive Joint Limit Condition L1 and L2 are Collinear Maximum Positive Joint Limit Position 7 P I R absolute value of X1b X1e JmaxPositve R j 1 f Q cos r k L1 L2 l i I I f J fi J Zo o f I es Jmax Positive 180 O fi I leat f I RAES fi i fi J J J I J J 1 j J 1 j j Maximum Negative Joint Limit Condition The derivations for the maximum negative joint limit applies to the condition when L1 and L2 are folded back on top of each other R is computed using the base and end effector offsets values X1b and X1e 114 Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Maximum Negative Joint Limit Condition L1 and L2 are Folded Back on Top
323. mal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal 404 Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Axis Data Types Appendix E Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommandPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float ServoStatus DINT Hex ProcessStatus BOOL Decimal OutputLimitStatus BOOL Decimal PositionLockStatus BOOL Decimal HomelnputStatus BOOL Decimal Reg1InputStatus BOOL Decimal Reg2InputStatus BOOL Decimal DriveFaultInputStatus BOOL
324. 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 a motor with a Tune Inertia value of 213 and a Vel Servo BW of 41 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 is a good noise free gain set 373 AppendixC Axis Attributes Attribute Tune Rise Time Axis Type AXIS_SERVO Data Type Access REAL GSV Description Sec The Tune Rise Time attribute returns the axis rise time as measured during the tuning procedure 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 Tune Speed Scaling AXIS_SERVO REAL GSV KiloCounts Per Sec The Tune Speed Scaling attribute returns the axis drive scaling factor measured during the tuning procedure This value is only applicable to axes configured for interface to an external velocity servo drive In this case the Tune Speed Scaling attribute value is directly applied to the Velocity Scaling attribute by a subsequent MAAT Motion Apply Axis Tune instruction Tune Status 374 AXIS_SERVO AXIS_SERVO_DRIVE INT GSV 0 tune process successful
325. mand dialog the operands are verified If any operand fails verification an error message Failed to Verify is displayed on the dialog and a detailed error message is displayed in the error result window describing the fault indicating the instance of Motion Direct Command that the results apply to This allows multiple verification errors to be displayed and provides navigation to the error source that is double clicking the error in the results window will navigate to the appropriate Motion Direct Command dialog Anis my_virtual_axis zi E Label Operand U 1 Label Accellerk Accel Jerk ooo SSCS all MAP A Mation Bronn Ti a DANGER Pressing Execute may cause motion Failed to Verify Motion Group Shutdown Motion Direct Commands my_virtual_axis 6 Failed to Verify MAJ Speed String invalid Complete 1 error s 0 warning s Close Help Errors Search Resuts_ Watch y 4 If no errors are detected during verification then nothing is displayed Publication LOGIX UM002D EN P July 2008 Test an Axis with Motion Direct Commands Chapter 2 Motion Direct Command Execution Error When you select Execute from a Motion Direct Command dialog and the operands are verified as valid then the command is executed If the command fails immediately then an error message Execution Error is displayed on the dialog Whether or not an error is de
326. mber corresponds with the execution target number One bit per execution target AXIS_SERVO The Output Cam Status bit is set when an Output Cam has been AXIS_SERVO_DRIVE initiated The Output Cam Status bit is reset when the cam position AXIS VIRTUAL 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 344 Publication LOGIX UM002D EN P July 2008 Attribute Output Cam Transition Status Axis Type AXIS_CONSUMED AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Data Type Access DINT GSV Tag Axis Attributes Appendix C Description A set of bits that are set when the transition from the current armed Output Cam to the pending Output Cam is in process The bit number corresponds with the execution target number One bit per execution target The Output Cam Transition Status bit is set when a transition between the 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 Output Limit AXIS_SERVO REAL GSV SSV 0 0 10 0V 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 t
327. mber 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 2094Acosmo2 xl Motor Catalog Number MPLASIOPM Loop Configuration Position Sevo x Drive Resolution 200000 Drive Counts per MotorRev v Cal V Drive Enable Input Checking F Drive Enable Input Fault s Axis Properties My_Axis_X A Homing Hookup Tune Dynamics Gains Output Limits Offset Actions Taa G General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion B Select whether this is a rotary or linear axis Positioning Mode x f Drive Counts 1 0 Revs C Type the number of drive counts that Conversion Constant 200000 0 Based on 200000 Counts Motor Rev equal one unit from step 3B Position Unwind D If this is a rotary axis type the number of drive counts that you want to unwind after 000 Drive Counts Unwind 200000 Based on 200000 Counts Motor Rev 6 Set up the homing sequence B Select the type of homing sequence that you want C Type homing speeds 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
328. me 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 dialog displays the axis names associated with the coordinate system the conversion ratio and the units used to measure the conversion ratio Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 Publication LOGIX UM002D EN P July 2008 Axis Name The Axis Name column contains the names of the axes assigned to the coordinate system in the General dialog These names appear in the order that they were configured into the current coordinate system This column is not editable from this dialog 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 The numerator can be entered as a float or an integer The denominator must be entered as an integer only Conversion Ratio Units The Conversion Ratio Units column displays t
329. me that the Process AXIS_VIRTUAL Dp Complete bit is set for the instruction that armed the home event This attribute is set through internal communication from the user Task object to the Axis object when the Task trigger attribute is set to 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 Home Input AXIS_SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE ON The home input is active OFF The home input is inactive Home Mode AXIS_GENERIC SINT GSV 0 passive AXIS_SERVO SSV S 1 active default AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 absolute Home Offset AXIS_GENERIC REAL GSV Position Units AXIS_SERVO SSV i When applied to an active or passive Homing Mode using a AXIS_SERVO_DRIVE non immediate Home Sequence the Home Offset is the desired position AXIS_VIRTUAL offset of the axis Home Position from the position at which the home Publication LOGIX UM002D EN P July 2008 event occurred The Home Offset is applied at the end of the specified homing sequence before the axis moves to the Home Position In most cases Home Offset is set to zero After an active bidirectional 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
330. mensional Articulated Independent robot there are four possible solutions for the same point Left Arm Right Arm Left Arm Mirror Right Arm Mirror For example consider the Cartesian point XYZ 10 0 15 The joint position corresponding to this point has four joint solutions Two of the solutions are 127 Chapter6 Kinematics in RSLogix 5000 Software Activating Kinematics 128 the same as the solutions for the two dimensional case The other two solutions are mirror image solutions where J1 is rotated 180 Right Arm Right Arm Mirror z is J3 J2 J3 ris 2 Left Arm Left Arm Mirror A ES ee Se a Oe SY OO WARNING Be sure to choose an arm solution before activating the Kinematic function Failure to do so can result in machine A damage and or serious injury or death to personnel Before activating Kinematics the robot should be in a left arm or right arm solution The robot stays in the same configuration in which it was activated as it is moved in Cartesian or source coordinate mode If activated in a fully extended arm mode this is neither a left arm nor a right arm solution the system chooses a left arm solution Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Change the Robot Arm You can switch the robot from a left arm solution to a right arm solution or Solution vice versa This is done automatically when a joint move
331. motion status bits in one 32 bit word This tag is the same as the Motion Status Bits attribute Motion Status Bit Accel Status 0 Decel Status Move Status 2 Jog Status 3 Gearing Status 4 Homing Status 5 Stopping Status 6 Homed Status 7 Position Cam Status 8 Time Cam Status 9 Position Cam Pending Status 10 Time Cam Pending Status 11 Gearing Lock Status 12 Position Cam Lock Status 13 Reserved 14 Master Offset Move Status 15 Coordinated Motion Status 16 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Motion Status AX S_CONSUMED DINT GSV Lets you access all the motion status bits in one 32 bit word This Bits AXIS GENERIC attribute is the same as the Motion Status tag eee Motion Status Bit AXIS_SERVO_DRIVE Accel Status 0 AXIS_VIRTUAL Decel Status 1 Move Status 2 Jog Status 3 Gearing Status 4 Homing Status 5 Stopping Status 6 Homed Status 7 Position Cam Status 8 Time Cam Status 9 Position Cam Pending Status 10 Time Cam Pending Status 11 Gearing Lock Status 12 Position Cam Lock Status 13 Reserved 14 Master Offset Move Status 15 Coordinated Motion Status 16 Motor Capacity AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for i Tag Real Time Axis Information for the axis Otherwise you won t see the righ
332. mple using a MAM E OAT the value of the axis command AXIS_SERVO position and actual position is stored at the precise instant the motion AXIS_SERVO_DRIVE begins These values are stored as the Start Command Position and AXIS VIRTUAL Start Actual Position respectively in the configured Position Units of the axis 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 Start Mast t AXIS_CONSUMED REAL GSV Start Master Offset in Master Position Units Offset AXIS_GENERIC Tag 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 AXIS_SERVO instruction with the move type set to Absolute Master Offset or AXIS_SERVO_DRIVE Incremental Master Offset was executed The Start Master Offset is AXIS VIRTUAL returned in master position units The Start Master Offset will show the hae same unwind characteristic as the position of a
333. n AXIS_VIRTUAL only Do you want this fault to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults Module Fault AXIS_CONSUMED DINT GSV Lets you access the module fault bits in one 32 bit word This attribute is Bits AXIS_SERVO AXIS_SERVO_DRIVE the same as the Module Faults tag Module Fault Bit Control Sync Fault 0 Module Sync Fault 1 Timer Event Fault Module Hardware Fault SERCOS Ring Fault Inter Module Sync Fault ony gt wy N These faults have module scope instead of axis scope These faults show up in all the axes that are connected to the motion module The motion planner updates these fault bits every coarse update period Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults 336 Publication LOGIX UM002D EN P July 2008 Attribute Module Faults Axis Attributes Appendix C Axis Type Data Type Access Description AXIS_SERVO DINT AXIS_SERVO_DRIVE Tag Lets you access the module fault bits in one 32 bit word This tag is the same as the Module Fault Bits attribute Module Fault Bit Control Sync Fault 0 Module Sync Fault 1 Timer Event Fault Module Hardware Fault SERCOS Ring Fault Inter Module Sync Fault or
334. n coordinate system For example if the manufacturer specifies the robot offset using millimeter units and you want to configure the robot using inches then you must convert the millimeter link measurements to inches and enter the values in the appropriate offset fields End Effector Offsets Box The end effector offset value specifies the dimensions of the end effector The correct end effector offsets are typically available from the manufacturer The end effector indicators are Xle X2e and X3e in the corresponding graphic Base Offsets Box 60 Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 The RSLogix 5000 Kinematics internal equations define the robot origin relative to the first joint of the robotic arm The robot manufacturer may specify the origin at a different location The difference between these two locations is the base offsets value The correct base offset values are typically available from the robot manufacturer The base offset indicators are X1b X2b and X3b in the corresponding graphic If you are configuring an articulated coordinate system click the Joints tab to access the Coordinate System Properties Joints dialog Coordinate System Properties joint_coordinate_system General Geometry Units Offsets Joints Tag Axis Name Joint Ratio Joint Units J1_axis 4 Position Units Degrees J2_axis 4 Position Units Degrees J3_axis i 44 Position Units
335. n LOGIX UM002D EN P July 2008 If the attribute is 128 the axis is configured and ready for use Not 128 the axis isn t configured 285 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Axis Control AXIS_SERVO DINT GSV Bits Bits AXIS_SERVO_DRIVE 0 Abort Process Request 1 Shutdown Request 2 Zero DAC Request 3 Abort Home Request 4 Abort Event Request 5 14 Reserved 15 Change Cmd Reference Abort Process If this bit is set any active tuning or test process on the axis is aborted Shutdown Request If this bit is set the axis is forced into the shutdown state For an AXIS_SERVO data type the OK contact opens and the DAC output goes to 0 Zero DAC Request Only for AXIS_SERVO Data Type If this 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 action Abort Home Request If this bit is set any active homing procedures are cancelled Abort Event Request If this bit is set any active registration or watch event procedures are cancelled Change Cmd Reference If this bit is set the controller switches to a new position coordinate system for command position The servo module or drive uses this bit when processing new command position data from the controller to account for the offset implied by the shift in the reference point T
336. n LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Method 1 Establishing a Reference Frame Each axis for the robot has the mechanical hard stop in each of the positive and negative directions Manually move or press each axes of the robot against its associated mechanical hard stop and redefine it to the hard limit actual position provided by the robot manufacturer J1 is the axis at the base of the robot that rotates around X3 When the robot is moved so that Link is parallel to the X3 axis and Link2 is parallel to X1 axis as shown in Figure 2 Articulated Independent the RSLogix 5000 Actual Position tag values should be equal to J1 0 J2 90 J3 90 If the RSLogix 5000 Positions tags do not correspond to these values configure the Zero Angle Orientation for the joint or joints that do not correspond lf the RSLogix 5000 software read out Set the Zero Angle Orientations on the values are Coordinate System Properties dialog to J1 10 Z1 10 J2 80 22 10 J3 85 Z3 5 The Joint to Cartesian reference frame relationship is automatically established by the 1756 L6xx controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled 85 Chapter 6 86 Set the Zero Angle Orientations Kinematics in RSLogix 5000 Software Setting the Ze
337. n 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 Z2 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 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 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Position Servo AXIS_SERVO REAL GSV Bandwidth AXIS_SERVO_DRIVE SSV Hertz The value for the Position Servo Bandwidth represents 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 valu
338. n actual position avoids the introduction of cumulative errors due to the position error of the axis at the time the calculation is performed AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled AXIS_ GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs Command Velocity AXIS_SERVO AXIS SERVO DRIVE Command Velocity in Position Units Sec AXIS_VIRTUAL 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 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 Common Bus AXIS_SERVO_DRIVE BOOL Tag The drive shuts down if you give it 3 phase power while it s configured Fault for Common Bus Follower mode If that happens this bit turns on 296 Publication LOGIX UM002D EN P July 2008 Attribute Commutation Fault Axis Type AX S_SERVO_DRIVE Data Type Access DINT BOOL Axis Attributes Appen
339. n configure an axis and monitor the behavior 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 tasks include Home to establish initial conditions Incrementally Move to a physical position Monitor system dynamics under specific conditions 31 Chapter2 Test an Axis with Motion Direct Commands Access Motion Direct Access the Motion Direct Commands for the Motion Group Commands To access the Motion Direct Commands for the motion group right click the group in the Controller Organizer 2 RSLogix 5000 FredsStructure in Fredstest ACD 1756 L55 File Edit View Search Logic Communications Tools Window F alaju Hae Sit Offline J M RUN EJ Path AB No Forces b aN i Arl No Edits Es io l KI JE Redundancy wi 4 7 Favorite 3 MainT ask oS MainProgram j A Program Tags a MainRoutine e MSO o E Unscheduled Programs wl MSF 6 Motion Groups owl MASD B ea myt otionGroup i i Re MASR gt MyConsume Mew Axis t Re MDO AD MyServadx 0 Re MDF D gt myservoci OO Qe MAFR i myservodriv Fault Help Moti
340. n excessively compliant or mushy axis behavior Too large a Pos P Gain results in axis oscillation due to servo instability A well tuned system moves and stops quickly and shows little or no ringing during constant velocity or when the axis stops If the response time is poor or the motion sloppy or slow you may need to increase the proportional gain If excessive ringing or overshoot is observed when the motor stops you may need to decrease the proportional gain While the tuning procedure sets the Pos P Gain you can also set it manually You can compute the Pos P Gain 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 A loop gain of 1 IPM mil Pos P gain 16 7 Sec gives stable positioning for most axes However 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 Position servo systems typically run with at least a unity gain bandwidth of 16 Hertz The typical value for the Positio
341. n 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 Motor Overtemperature Warning When the over temperature limit of the motor is exceeded the Motor Overtemperature Warning bit is set If the condition persists a 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 Cooling 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 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Dynamics AXIS_CONSUMED Configuration AXIS_ GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Publication LOGIX UM002D EN P July 2008 Data Type Access DINT GSV SSV Description Revision 16 improved how the controller handles changes to an S curve profile Do you want to return to revision 15 or earlier behavior for S curves NO Leave these bits ON default Y
342. nal velocity servo drive the External Drive Type should be configured for velocity servo This disables the servo module s internal digital velocity loop If the External Drive Type attribute is set to torque servo 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 the hydraulic External Drive Type configures the servo loop the same as selecting the velocity servo External Drive Type Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Data Type Access Fault AXIS_SERVO DINT GSV Configuration AXIS_SERVO_DRIVE Ssv Bits Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Description Axis Type Fault Configuration Bit AXIS_SERVO Soft OvertravelChecking 0 Reserved 1 Drive Fault Checking 2 Drive Fault Normally Closed 3 AXIS_SERVO_DRIVE Soft Overtravel Checking 0 Hard Overtravel Checking 1 Reserved 2 Reserved 3 Drive Enable Input Fault Handling 4 Drive Enable Input Checking 5 Change to rotary or Overtravel Checking requires Home range checks Soft Overtravel Checking Soft overtravel checking is only available for a linear axis Do you want a Positive Soft Overtravel Fault or Negative Soft Overtravel Fault t
343. nchronous Serial Interface SSI Some servo modules like the 1756 M02AS provide an interface to transducers with Synchronous Serial Interface SSI 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 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 and 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 Continued on next page Publication LOGIX UM002D EN P July 2008 361 AppendixC Axis Attributes Attribute Servo Feedb
344. nd stops 2 The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch 3 The axis keeps moving at the Home Return Speed until it gets to the marker 4 The axis moves back to the marker or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than 1 2 revolution If the axis is past the home limit switch at the start of the homing sequence the axis reverses direction and starts the return leg of the homing sequence Active home to switch in forward unidirectional This active homing sequence is useful for when an encoder marker is not available and either unidirectional motion is required or proximity switch is being used During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch 2 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Active home to marker in forward unidirectional 156 This active homing sequence is useful for single turn rotary and linear encoder applications when unidirectional motion is required During the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker 2 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Publication LOGIX UM002D EN P July 2008 Config
345. nd Above Velocity Limit VelocityLimitStatusBit of the DriveStatus attribute is set This attribute has a value range of 0 to 2 14748x10 2 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 Publication LOGIX UM002D EN P July 2008 237 Appendix A 238 Axis Properties Attribute Description VelocityThreshold This attribute displays the velocity threshold limit If the motor velocity is less than this limit VelocityThresholdStatus 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 VelocityStandstillWindow AccelerationLimitPositive This attribute displays the velocity limit for the standstill window If the motor velocity is less than this limit VelocityStandStillStatus of the DriveStatus bit is set This attribute has a value range of 0 to 2 14748x10 2 This attribute limits the maximum acceleration abili
346. nd clear the axis faults Motion Coordinated Shutdown Reset Start a transform that links two coordinate systems peT No together Motion Coordinated Transform Calculate the position of one coordinate system with ycTp No respect to another coordinate system Motion Calculate Transform Position Vou can use this instruction only with 1756 L6x controllers Publication LOGIX UM002D EN P July 2008 Test an Axis with Motion Direct Commands Chapter 2 ou must be online to execute a Motion Direct Command The online dialo otion Direct Comman Y be onli Motion Direct C d The online dialog Dialo has the Motion Group Shutdown and Execute buttons active If you click g either of these action is taken immediately Instance Designation Active Command Axis or Group Designation Commands eRe MSO le MSF Command oe MASD Tree le MASA alle MDO Re MDF fe MAFR 2a Motion Move Re MAS CC oo ga Mation Braun w A DANGER Pressing Execute may cause motion Status Text Display Area Motion Group Shutdown Execute Help Action Buttons 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 down the list to select a command Click the desired command and its dialog displays At the top of the dialog in the title bar there is a number at the e
347. nd of the axis ot 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 software Located at the bottom of the dialog are the following buttons Motion Group Shutdown Execute Close and Help Publication LOGIX UM002D EN P July 2008 37 Chapter 2 38 Test an Axis with Motion Direct Commands 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 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
348. nd see if it is available as a Motion Direct Command If you want to And Use this instruction Motion direct Command Change the state of an axis Enable the servo drive and activate the axis servo MSO Yes loop Motion Servo On Disable the servo drive and deactivate the axis servo MSF Yes loop Motion Servo Off Force an axis into the shutdown state and block any MASD Yes instructions that initiate axis motion Motion Axis Shutdown Transition an axis to the ready state If all of the axes MASR Yes of a servo module are removed from the shutdown Motion Axis Shutdown Reset state as a result of this instruction the OK relay contacts for the module close Enable the servo drive and set the servo output MDO Yes voltage of an axis Motion Direct Drive On Disable the servo drive and set the servo output MDF Yes voltage to the output offset voltage Motion Direct Drive Off Clear all motion faults for an axis MAFR Yes Motion Axis Fault Reset Control axis position Stop any motion process on an axis MAS Yes Motion Axis Stop Home an axis MAH Yes Motion Axis Home Jog an axis MAJ Yes Motion Axis Jog Move an axis to a specific position MAM Yes Motion Axis Move Start electronic gearing between 2 axes MAG Yes Motion Axis Gear Change the speed acceleration or deceleration ofa MCD Yes move or a jog that is in progress Motion Change Dynamics Change the command or actual position of an axis MRP Yes Mo
349. ndixA Axis Properties Click on the Apply button to accept your changes Servo Tab AXIS SERVO Click on the Servo tab from the Axis Properties for AXIS_SERVO to access gt the Servo dialog e Axis Properties myservolaxis lel X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup External Drive Configuration Torque 7 Loop Configuration Position Servo x IV Enable Drive Fault Input Drive Fault Input Normally Open Closed MV Enable Direct Drive Ramp Control Direct Drive Ramp Rate 50 0 Yolts Second Real Time Axis Infomation Attribute 1 Position Command 7 Attribute 2 Position Feedback 7 OK Cancel Help External Drive Configuration Select the drive type for the servo loop Velocity disables the servo module s internal digital velocity loop 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 170 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Enable Drive Fault Input Check this box if you wish to enable the Drive Fault Input When active the moti
350. ne 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 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 limit 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 Absolute Reference Status AXIS_SERVO_DRIVE BOOL Tag Ifthe bitis Then ON An absolute homing procedure happend The bit stays set until either of these happen The drive resets its configuration parameters to default values The axis does an active or passive home or redefine position OFF The position of the axis has not been or is no longer referenced to the absolute machine reference system established by an absolute homing procedure Accel Limit Status AX S_SERVO_DRIVE BOOL Tag Set when the magnitude of t
351. near the boundary of its workspace An error condition is generated when a singularity position is reached WARNING Avoid programming your robot towards a singularity position when programming in Cartesian mode The velocity of the robot increases very rapidly as it approaches a singularity position and can result in injury or death to personnel increases very rapidly as it approaches this position and can result in injury or death to personnel WARNING Avoid programming your robot towards a no solution position when programming in Cartesian mode The velocity of the robot When a robot is programmed to move beyond its work envelope there is no mathematical joint position for the programmed Cartesian position The system forces an error condition For example if an Articulated Independent robot has two 10 inch arms the maximum reach is 20 inches Programming to a Cartesian position beyond 20 inches produces a condition where no mathematical joint position exists Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Error Conditions Kinematics error conditions are detected upon activation of a transformation by executing a MCT instruction in some movement conditions Errors can occur for certain movement conditions for either the source or target coordinate system after a transformation has been established These type of errors are reported in the MCT instruction error
352. nertia 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 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 Motor AXIS_SERVO_DRIVE BOOL Tag Set when the motor s temperature exceeds the motor shutdown Overtemp Fault temperature Motor Thermal AXIS_SERVO_DRIVE SINT GSV Fault Acton SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Move Status AXIS_CONSUMED BOOL Tag Set if a Move motion profile is currently in progress Cleared when the AXIS GENERIC Move is complete or is superseded by some other motion operation AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Neg Dynamic AXIS_SERVO_DRIVE REAL Tag The currently operative negative positive torque current limit Torque Limit magnitude It should be the lowest value of all torque current limits in the drive at a given time including amplifier peak limit motor peak limit us
353. ng 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 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 that is a move of 1 output shaft revolution would move the output shaft exactly 1 revolution Continued on next page Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Drive Resolution cont Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Data Type A
354. nit 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 you 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 that is a move of 1 output shaft revolution would move the output shaft exactly 1 revolution Linear Ball Screw 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 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 in Rotary Gear Head WITHOUT Aux Feedback Device Rotary Gear Head WITH Aux Feedback Device Based ona 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 accordi
355. nized with a master Duplicate master detected Timer hardware faulted Cancel Apply Help If you have more than one controller in the chassis If you have more than one controller in the chassis choose one of the controllers to be the CST master You can t have mote than one CST master for the chassis Publication LOGIX UM002D EN P July 2008 Start Chapter 1 Add the Motion Modules IMPORTANT For your motion modules use the firmware revision that goes with the firmware revision of your controller See the release notes for your controller s firmware 1 CompactLogix controller ControlLogix controller Controller My_Controller Controller My_Controller H E Tasks Tasks Motion Groups Motion Groups E3 Trends C3 Trends a Data Types Data Types 3 6 1 0 Configuration 5 6 1 0 Configuration DEM s caciclane 1756 47 H E 1769 Bus N N S amt E Select Module x Description Vendor Communications Controllers Digital 2 Motion 1756 HYDOZ2 2 Axis Hydraulic Servo Allen Bradley 1756 M02AE 2 Axis Analog Encoder Servo Allen Bradley 3 1756 M0245 2 Axis Analog SSI Servo farsa 1756 M03SE 3 Axis SERCOS Interface New Module 1756 M085E 8 Axis SERCOS Interface 4 pga Paes RT Type 1756 M08SE 8 Axis SERCOS Interface Other Vendor Allen Bradle a ma E Name K My_SERCOS_Module Slot Desgfiption Revision fis fi Electronic Ke
356. nk lengths base offsets and end effector offsets are entered into the Configuration Parameters dialog using the same measurement units Link lengths Links are the rigid mechanical bodies attached at joints The two dimensional Delta geometry has two link pairs each with the same lengths The link attached to each actuated joint J1 and J2 is L1 The parallel bar assembly attached to link L1 is link L2 Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Two dimensional Delta Robot Link Lengths Configuration Screen Coordinate System Properties Delta2D General Geometry Units Offsets Joints Tag Type Delta Transform Dimension 2 Link Lengths u a t2 esoo Zero Angle Orientations Zi 100 Degrees z2 joo Degrees Base offsets There is one base offset X1b available for the two dimensional Delta robot geometry Enter the value equal to the distance from the origin of the robot coordinate system to one of the actuator joints End effector offsets There are two end effector offsets available for the two dimensional Delta robot geometry The value for X1e is the offset distance from the center of the lower plate to the lower spherical joints of the parallel arms The distance from the lower plate to the TCP of the gripper is the value for X2e Delta Two dimensional Robot Base and End effector
357. nning 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 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 ahead 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 Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units sec Limit Bipolar SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Acceleration AXIS_SERVO_DRIVE REAL GSV Position Uni
358. ntStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal 411 AppendixE Axis Data Types Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DINT Decimal InterpolationTime DINT Decimal InterpolatedActualPosition REAL Float MasterOffset REAL Float StrobeMasterOffset REAL Float StartMasterOffset REAL Float CommandPosition REAL Float StrobeCommandPosition REAL Float StartCommancPosition REAL Float CommandVelocity REAL Float CommandAcceleration REAL Float InterpolatedCommandPosition REAL Float 412 Publication LOGIX UM002D EN P July 2008 Appendix F Coordinate System Attributes Use that attributes of a coordinate system for information about the coordinate system How to Access Attributes The Access column shows how to access the attribute Example Use a Get System Value GSV instruction to get the value
359. o 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 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 Drive Unit rev inch or mm 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 Drive Travel Range Limit 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 Dr
360. o find new and updated f information look for change bars as shown next to this paragraph Updated Information This document has these changes Change See Updated screen graphics to coincide with software release Chapter 4 and Chapter 6 Updated Kinematics chapter to include information regarding Delta Chapter 6 two dimensional Delta three dimensional SCARA Independent and SCARA Delta information Publication LOGIX UM002D EN P July 2008 3 Summary of Changes Notes 4 Publication LOGIX UM002D EN P July 2008 Preface Start Test an Axis with Motion Direct Commands Handle Faults Create and Configure a Coordinate System Publication LOGIX UM002D EN P July 2008 Table of Contents Tottodu chome saei Ses coke E A A ata te a ae E a r AN Gab tee 9 Description of the Modules n ica oo 5 Ps ee SN as So Re CI 9 Additional Resources 0 0 cette nen eens 10 Help for Selecting Drives and Motors 00000 eee 10 Where to Find Sample Projects wt eu ewoihtaivadnid clasts Se atttasion i 10 Chapter 1 Tatrod c ona ssis a alot Pesce NAE aa eels 13 Make the Controller the Master Clock nnna nnnan cece eens 14 Add the Motion Modules 0 0 0 0c ccc teens 15 Add SERCOS interface Drives 00 0 cee eae 16 Set Up Each SERCOS Interface Module 00 0c cece ee eee ee 17 Add the Motion Group 344 oss one hom eaa nese one hua eas 18 Add Yo r Axesa oer ae ge watson et Binh Renee EIR E
361. o get the value Use a Set System Value SSV instruction to set or change the value Attribute Axis Type Acceleration Feedforward Gain Accel Status Actual Acceleration Use the tag for the axis to get the value value It s easier to use the tag Publication LOGIX UM002D EN P July 2008 Use the tag for the axis or a GSV instruction to get the 273 AppendixC Axis Attributes Axis Attributes Attribute Axis Type Absolute AXIS_SERVO Feedback Enable 274 This table describes each attribute of an axis Data Type Access Description SINT GSV SSV Important Use this attribute only for an axis of a 1756 HYDO2 or 1756 M02AS module This attribute controls whether or not the servo module uses 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 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
362. o happen if the axis goes outside the configured travel limits YES Set this bit NO Clear this bit The Maximum Positive Travel and Maximum Negative Travel attributes set the travel limits This check supplements but doesn t replace hardware overtravel fault protection that uses hardware limit switches to directly stop axis motion at the drive and deactivate power to the system Hard Overtravel Checking Hard overtravel checking is only available for a linear axis Do you want a Positive Hard Overtravel Fault or Negative Hard Overtravel Fault to happen if the axis activates the positive or negative overtravel limit switch inputs YES Set this bit NO Clear this bit Drive Fault Checking The motion module provides a dedicated drive fault input for each axis These inputs may be connected to fault outputs on the external drive if 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 Continued on next page 319 AppendixC Axis Attributes Attribute Fault Configuration Bits cont 320 Axis Type Data Type Access DINT GSV SSV Description Drive Fault Normally Closed The Drive Fault Normally Closed bit attribute controls the sense of the Drive Fault input to the servo mo
363. o 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 nonzero 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 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 and so on 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
364. 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 lets the following error of the servo system during the acceleration and deceleration phases of motion be reduced to nearly zero This is important in applications such as electronic gearing and synchronization where the actual axis position must not significantly lag behind the commanded position at any time When you connect to a velocity servo drive use Acceleration Feedforward 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 shows a steady state velocity error during acceleration and deceleration The best value for Acceleration Feedforward depends on the drive configuration Excessive Acceleration Feedforward values tend to produce axis overshoot For torque servo drive applications the best value for Acceleration Feedforward is theoretically 100 However the value may need to be increased slightly to accommodate servo loops with non infinite loop gain and other application considerations For velocity servo drive applications the best value for Acceleration Feedforward is highly dependent on the drive s speed scaling an
365. oject RSLogix 5000 software makes a tag for the axis The tag stores status and fault information for the axis The layout of the tag depends on the type of axis For This Type of Axis See Page AXIS_CONSUMED 399 AXIS_GENERIC 402 AXIS_SERVO 404 AXIS_SERVO_DRIVE 407 AXIS_VIRTUAL 411 Member Data Type Style AxisFault DINT Hex PhysicalAxisFault BOOL Decimal ModuleFault BOOL Decimal ConfigFault BOOL Decimal AxisStatus DINT Hex ServoActionStatus BOOL Decimal DriveEnableStatus BOOL Decimal ShutdownStatus BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal 399 AppendixE Axis Data Types Member Data Type Style PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedsStatus BOOL Decimal WatchEventStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal
366. ommand 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 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 access which when used in conjunction with future Function Block programs provides custom outer control loop capability Torque Servo The Torque Servo configuration provides torque servo control using only the motor mounted feedback device for commutation Synchronous input data to the servo loop inc
367. on t have to change it Watch Event AXIS_CONSUMED BOOL Tag Set when a watch event has been armed through execution of the MAW Armed Status AXIS GENERIC Motion Arm Watch instruction Cleared when either a watch event 3 occurs or a MDW Motion Disarm Watch instruction is executed AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Watch Event AXIS_CONSUMED BOOL Tag Set when a watch event has occurred Cleared when either another Status AXIS_GENERIC MAW Motion Arm Watch instruction or a MDW Motion Disarm Watch instruction is executed AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Witch Event AXIS_CONSUMED DINT MSG Shows which task is triggered when the watch event happens Task AXIS_GENERIC An instance of 0 means that no event task is configured to be AXIS SERVO triggered by the watch event AXIS SERVO DRIVE The task is triggered at the same time that the Process Complete bit z is set for the instruction that armed the watch event AXIS_VIRTUAL i i The controller sets this attribute Don t set it by an external device Watch Position AXIS_CONSUMED REAL GSV Watch Position in Position Units AXIS GENERIC Tag Watch Position is the current set point position of an axis in the configured axis Position Units as set up in the last most recently AXIS_SERVO executed MAW Motion Arm Watch instruction for that axis AXIS_SERVO_DRIVE AXIS_VIRTUAL Additional Error Code See these manuals for more information about error cod
368. on information from the feedback interface This selection minimizes the display of axis properties tabs and parameters The tab for Dynamics is not available 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 lt none gt terminates the Motion Group association and moves the axis to the Ungrouped Axes sub branch of the Motions Groups branch Publication LOGIX UM002D EN P July 2008 165 Appendix A Axis Properties Module Selects and displays the name of the motion module to which the axis is associated Displays lt none gt 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 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 e Axis P
369. on Mo i 4D MyServoDri Clear Motoneroup Faults Te MAS 2 MyVirtualy MAH Ungrouped Axe Cut Re MAJ servodrivea Copy MAM x E Trends Paste Re MAG Data Types Delete Re MCD fl User Defined er Me MAP ope Strings hintinn Gre PoE STRING Cross Reference ar Predefined Pant Module Definec B 1 0 Configuration Motion Group Properties Marcuneh 32 Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Test an Axis with Motion Direct Commands Access the Motion Direct Commands for an Axis Chapter 2 To access the Motion Direct Commands for an axis right click the axis in the Controller Organizer Offline 0 E RUN aE No Forces gt ve No Edits a F 0 Redundancy Ba MainT ask ao MainProgram Program Tags Ef MainRoutine Unscheduled Programs B 63 Motion Groups E myMotionGroup gt MyConsumedAxis T MyServadnis gt myservodrive2 gt myservodrived 2 MyServoDrivedxis 2D MyVirtualdxis H 6 Ungrouped Axes GE Trends Goto Module EJ Data Types Monitor Axis T ag car User De Ga Strings Fault Help STR Wear Avis Faults H Predefir i Ep Module Cut 1 0 Configu Copy gl racer PESE Motion Direct Commands Cross Reference Print Axis Properties Define Expression 33 Chapter2 Test an Axis with Motion Direct Commands Choose a Command Use this table to choose an instruction a
370. on Units Position AXIS_CONSUMED DINT GSV Counts per Revolution i AXIS_GENERIC SSV E ne D If the axis is configured as a rotary axis by setting the corresponding AXIS_SERVO Rotary Axis bit Servo Configuration Bit word a value for the Position AXIS_SERVO_DRIVE Unwind attribute is required This is the value used to perform automatic AXIS VIRTUAL electronic unwind of the rotary axis Electronic unwind allows infinite Publication LOGIX UM002D EN P July 2008 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 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 353 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Positive AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Dinimi Tag Real Time Axis Information for the axis Otherwise you won t see the y oe right value as
371. on 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 Normally Open when a drive fault is detected it opens its drive fault output contacts Normally Closed when a drive fault is detected it closes its drive fault output contacts Enable Direct Drive Ramp Clicking on the Enable Direct drive Ramp Control check box lets you set the Control Direct Drive Ramp Rate in volts per second for when an MDO instruction is executed Direct Drive Ramp Rate 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 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 Publication LOGIX UM002D EN P July 2008 1
372. on 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 nonzero 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 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 Provides a dynamic velocity correction to the output of the position servo loop in position units per second Provides a dynamic torque command correction to the output of the velocity servo loop as a percentage of velocity servo loop output 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 eff
373. one 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 Publication LOGIX UM002D EN P July 2008 Proportional Velocity Gain Integral Velocity Gain Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 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 th
374. onsidered mutually exclusive If Integral Gain is needed for the application use one or the other 213 AppendixA Axis Properties 214 Velocity Feedforward Acceleration Feedforward Integrator Hold 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 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 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 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
375. ookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag 4 Pasition Units s Manual Adjust Torque Scaling a Position Units s 2 Direction Scaling Ratio fi 0 Forward Reverse Scaling MV Enable Low pass Output Filter Low pass Output Filter Bandwidth fi 000 0 Hertz Velocity Scaling 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 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 222 Publication LOGIX UM002D EN P July 2008 Velocity Scaling Torque Scaling Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A When RSLogix 5000 software 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 The Velocity Scaling attribute is used to convert the output of the servo loop into equivalent voltage to an external velocity ser
376. oordinate Instruction Source System 1 lt p Instruction lt p System 2 Target Cartesian CS1 CS2 Joint Virtual Machine The MCTP instruction is a calculate instruction that transforms a specified position from the source coordinate system into the target coordinate system and vice versa This instruction can also be used for position recovery and teach position routines The RSLogix 5000 integrated Kinematics function provides you with an easy to use interface for forward Kinematics Joint coordinates are transformed to Cartesian coordinates inverse Kinematics Cartesian coordinates are transformed to Joint coordinates In RSLogix 5000 software Cartesian space is typically configured by using virtual axes and joint space is usually configured by using real axes Robot geometries supported for two and three axes are Cartesian Articulated Dependant Articulated Independent Selective Compliant Assembly Robot Arm SCARA Independent Delta three dimensional Delta two dimensional SCARA Delta 76 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Useful Terms Term Understanding the terms used in this chapter enables you to properly configure your robot Definition Forward Kinematics The solution of source positions given the target positions In practice this would be computing the Cartesian positions given the Joint position
377. oordinate system dimensions and transform dimensions The link identifiers are L1 and L2 in the corresponding graphic These fields are not configurable for a Cartesian coordinate system Zero Angle Orientations Box The zero angle orientation is the rotational offset of the individual joint axes If applicable enter the offset value in degrees for each joint axis The number of available fields is determined by the coordinate dimension value entered on the General tab The angle identifiers are Z1 Z2 and Z3 in the corresponding graphic 57 Chapter 4 Create and Configure a Coordinate System 58 To edit the Units properties select the Units tab to access the Coordinate System Properties Units dialog x Coordinate System Properties cartesian_coordinate_ system General Geometry Units Offsets Dynamics Tag Coordination Units Coordination Units Axis Name Conversion Ratio Conversion Ratio Units x_axis l t1 Position Units Coordination Units y_axis f4 Position Units Coordination Units Units Tab The Units tab of the Coordinate System Properties is where you determine the units that define the coordinate system This dialog 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 related values such as position and velocity The coordination units do not need to be the sa
378. op Motion 2 Status Only 3 Drive AXIS_SERVO_DRIVE BOOL Tag Set when drive DC bus voltage is below the predefined operating limits Undervoltage for the bus Fault 314 Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Drive Unit AXIS_SERVO_DRIVE Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Data Type Access Description INT GSV The D to the rive Unit attribute establishes the unit of measure that is applied 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 auxiliary feedback 0 m otor revs 1 aux revs otor inches 3 aux inches 4 m otor mm 5 aux mm 315 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description AXIS_SERVO_DRIVE DINT GSV Drive Warning Bits 316 Warning Bit Drive Overload Warning 0 Drive Overtemperature Warning 1 Motor Overtemperature Warning 2 Cooling Error Warning 3 Drive 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 Whe
379. op is maintained The axis slows to a stop at the Maximum Deceleration rate without disabling the drive Use this fault action only when the standard fault actions are not appropriate With this fault action you must write code to handle the motion faults For Stop Motion or Status Only the drive must stay enabled for the controller to continue to control the axis Selecting Status Only only lets motion continue if the drive itself is still enabled and tracking the command reference 45 Chapter3 Handle Faults Set the Fault Action for an Use the following steps to set the fault actions for an axis Axis A Controller My_Controller Tasks 5 Motion Groups My_Motion_Group gt Rae N Motion Direct Commands A H My_Axis_Y Cross Reference Ctrl E Ungrouped Axes E Trends Print gt 5 Data Types 2 i 1O Configuration N I 2 2 Avis Properties My_Axis_X EE General Motion Planner Units Drive Motor stor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Drive Enable Input Disable Dive O Set Custom Stop Action Drive Thermal Disable Drive x Motor Thermal Disable Drive Feedback Noise Disable Drive gt 3 Feedback Disable Drive xl Position Error Disable Drive x Hard Overtravel Disable Drive x Soft Overtravel Disable Drive gt 4 Cancel
380. or the Feedback Type Type 0 A Quadrature B AQB 1 Synchronous Serial Interface SSI 2 Linear Displacement Transducer LDT A Quadrature B Encoder Interface AQB Servo modules such as the 175 6MO2AE 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 bidirectional 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 interrupt 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 The delta position value represents velocity feedback which when configured to do so may be filtered and applied to the inner velocity servo loop Sy
381. ortion the module icon is red in color to signify its safety significance Following is a sample of thhe module icon from the I O configuration folder in RSLogix 5000 for e Kinetix 6000 Advanced Safety Drive S1 e Kinetix 6000 Enhanced Safe Torque Off Drive S0 3 6 1 0 Configuration 1756 Backplane 1756 410 fa 0 1756 L63 InterimAdvancedSafetyPFSD A 3 1756 M165E M16 as SERCOS Network PL 13 2094 SE02F M00 51 2094 4C09 M02 M MySafetyDrive a 14 2094 SE02F M00 50 2094 4M01 M MySafeOffDrive Node Displays the base node of the associated SERCOS drive Disabled when the axis is not associated with any drive Publication LOGIX UM002D EN P July 2008 161 AppendixA Axis Properties Node with a Kinetix 6000 Drive 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 i i l N LU e Axis Properties My_Feedback_Axis Eg al Conversion Homing Hookup Fault Actions Tag 5 General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Feedback Only x Motion Group My Motion Group x Hl New Gro Associated Module Module My Kinetix 6000_Drve1 Module Type 2094 4C09 M02 Node 129 Ausiliary L Controller My_Controller H E Tasks aed Ml Module Properties My_SERCOS_Ring 2094
382. osition Error Tolerance Fault AXIS_SERVO_DRIVE This fault can only occur when the drive is in the enabled state The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Position Error AXIS_SERVO SINT GSV Fault Action Value Fault Action AXIS_SERVO_DRIVE SSV Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Position Error AXIS_SERVO REAL GSV Position Units Tolerance AXIS_SERVO_DRIVE Ssv Publication LOGIX UM002D EN P July 2008 The Position Error Tolerance parameter specifies how much position error the servo or 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 Position Error Normal System Position Error Fault Operation Fault 10 05 00 Q05 1 0 Position Error 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 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
383. osition Servo Dual Command Servo Aux Dual Command Servo Velocity Servo Torque Servo Dual Command Feedback Servo Type in the number of counts per motor revolution motor 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 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 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 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 Select up to
384. osition Unit Scaling and Position Range for Linear Positioning mode If you 181 AppendixA Axis Properties 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 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 fi o Position Units per fi Ki Motor Inch Position Range fi o Position Units Calculate Parameters Calculate Drive Resolution Conversion Constant Update Drive Counts Motor Inch Drive Counts Position Units Close Help Position Unit Scaling Per Position Range Position Unit Unwind 182 Position Unit Scaling defines the relationship between the Position Units defined on the Units tab and the units selected to measure position The units used for Position Unit Scaling The options are Motor Inch Motor Millimeter or Motor Rev Maximum travel limit that your system can go 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 LOGIX UM002D EN P July 2008 Axis Properties Appendix A Calculate Parameters The Calculate Parameters shows the values that are to be calculated based upon th
385. osition 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 establish the absolute machine reference position The Absolute Home Mode is invalid If using Single turn or Multi turn Absolute SSI Feedback transducers see the Homing tab information for important details concerning Absolute feedback tranducet s marker reference Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 Eie X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Serva Feedback Conversion Homing Hookup Feedback Type LDT Linear Displacement Transducer LDT Type Pid ha Recirculations 1 Conversion Constant 1080 00 Calibration Constant 3 0 us in 7 Length 36 0 in bz Calculate Scaling f 0 Position Units in Calculated Values 5 Minimum Servo Update Period 349 000000 M Enable Absolute Feedback Absolute Feedback
386. ot For configuration information go to page 102 lt Sliding rail E Tee a Net Stationary Rails _ Stationary Motors A Stationary Motors B 80 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 If your robot looks similar to Your Coordinate System type is SCARA Independent For configuration information go to page 104 Three dimensional Delta For configuration information go to page 108 mz o J222 E al RQ i L2 4 4 tei Two dimensional Delta For configuration information go to page 117 X1 J2 7z2 a J1 Z1 SCARA Delta x3 x2 For configuration information go to page 122 J1 Z1 oy a a eI ji SS L N L2 N Publication LOGIX UM002D EN P July 2008 81 Chapter6 Kinematics in RSLogix 5000 Software Configure an Articulated Independent Robot 82 Use these guidelines when configuring an Articulated Independent robot A Before turning ON the Transform and or establishing the reference frame be sure to do the following for the joints of the target coordinate system Set and enable the soft travel limits Enable the hard travel limits Failure to do this can allow the robot to move outside of the work envelope causing machine damage and or serious injury or death to personnel Establish the Reference Frame for an Articulated Independent Robot The reference frame is the Cartesian coordinate frame that defines t
387. oth 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 Executing any test operation automatically saves all changes to axis properties 201 AppendixA Axis Properties Tune Tab AXIS_ SERVO Use this tab to configure and initiate the axis tuning sequence for an axis of the e Axis Properties sercosaxis1 0 x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit 10 0 Position Units Start Tuning Speed 20 0 Position Units s DANGER This tuning AN procedure may cause axis Torque Force hoo Rated E Direction Forward Bi directional gt Damping Factor fos Tune IV Position Error Integrator elocity Error Integrator IV Friction Compensation IV Velocity Feedforward Acceleration Feedforward M Torque Offset V Output Filter OK Cancel Help 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 se
388. owing 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 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 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 application considerations 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 durin
389. pe Hydraulic E75 CHASSIS Cylinder and LDT gt 15V de Power Supply for LDTs A Earth Ground 43474 266 Publication LOGIX UM002D EN P July 2008 i General cable C0720 General cable C0721 General cable C0720 m General cable C0720 m General cable C0722 General cable C0720 1756 HYD02 Module 0UT 0 20 1 tOUT 1 OUT 0 l4 S 1 OUT 1 ENABLE 0 ifs J ENABLE 1 ENABLE 0 lfs j ENABLE 1 DRVFLT 0 10S DRVFLT 1 CHASSIS 2S CHASSIS IN_COM H49 0 IN_COM HOME 0 Ife HOME 1 REG24V 0 fS REG24V 1 REGSV 0 209 1 REGSV 1 0K 220 40K CHASSIS 240 CHASSIS INT 0 6 j INT 1 INTO 220 j INT 1 RET 0 00 I RET 1 RET O s26 j RET 1 LDT CMN 16 J LDT CMN CHASSIS j CHASSIS Notes Publication LOGIX UM002D EN P July 2008 Wiring Diagrams Appendix B To valve driver amplifier To hydraulic control unit or To valve or pump To LDT To home limit switch To registration sensor To e stop relay coil e This example shows the wiring for Axis 1 Wire Axis 0 the same way e Use transducers that use an external interrogation signal Do not exceed the specified isolation voltage between power sources 267 AppendixB Wiring Diagrams LDTs These diagrams show
390. pe 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 Publication LOGIX UM002D EN P July 2008 185 AppendixA Axis Properties Feedback Ratio Represents the quantitative relationship between the auxiliary feedback device and the motor Click on the Conversion tab to access the Axis Properties Conversion dialog e Axis Properties myseryolaxis lel X Tune Dynamics Gains Dutput Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Positioning Mode Conversion Constant e000 0 Feedback Counts 1 0 Position Units Position Unwind e000 Feedback Counts Unwind Cancel Apply Help 186 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 e Axis Properties mysercoslaxis jel 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 Drive Counts
391. period is vital Some applications don t need 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 controller generates the command position directly there is no intrinsic master position delay to compensate for Continued on next page Publication LOGIX UM002D EN P July 2008 Attribute Master Input Configuration Bits cont Axis Type Data Type Access Axis Attributes Appendix C Description Master Position Filter The Master Position Filter bit controls the activity of an independent single pole low pass filter that effectively filters the specified master axis position input to the slave s gearing or position camming operation When enabled bit set this filter has the ef
392. position servo control using only the motor mounted feedback device to provide position and velocity feedback This servo configuration is a good choice 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 when used in conjunction with future Function Block programs provides custom outer control loop capability Position Feedback Coarse Aux Feedback Channel Position Accum ulator Hardware Feedback Position Publication LOGIX UM002D EN P July 2008 391 AppendixD Servo Loop Block Diagrams Auxiliary Position Servo Servo Config Aux Position Servo Torque Offset
393. propriate drive enable output is deactivated The OK contact of the servo module opens Use this to open the E Stop string to the drive power supply AXIS_SERVO_DRIVE Axis servo action and drive power structure are immediately disabled The axis coasts to a stop unless you use some form of external braking For this axis type When the fault happens AXIS_SERVO Axis servo action is disabled The servo amplifier output is zeroed The appropriate drive enable output is deactivated AXIS_SERVO_DRIVE The drive switches to local servo loop control and the axis is Slowed to a stop using the Stopping Torque If the axis doesn t stop in the Stopping Time the servo action and the power structure are disabled Leave the servo loop on and stop Stop Motion the axis at its Maximum Deceleration rate Write your own applicationcode Status Only to handle the fault Publication LOGIX UM002D EN P July 2008 Use this fault action for less severe faults It is the gentlest way to stop Once the axis stops you must clear the fault before you can move the axis The exception is Hardware Overtravel and Software Overtravel faults where you can jog or move the axis off the limit For this axis type When the fault happens AXIS_SERVO The axis slows to a stop at the Maximum Deceleration Rate without disabling servo action or the servo module s Drive Enable output AXIS_SERVO_DRIVE Control of the drive s servo lo
394. provided by the external drive is insufficient for good position Gai servo loop performance additional damping may be achieved via the gm Position Loop Differential Gain Assuming a non zero Position Loop Differential Gain value the difference between the current Position Error value 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 348 Publication LOGIX UM002D EN P July 2008 Attribute Position Error Axis Type Data Type Access AXIS_SERVO REAL GSV Axis Attributes Appendix C Description Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the AXIS_SERVO_DRIVE Tag i right value as the axis runs See Axis Info Select 1 Position Error in Position Units Position Error is the difference in configured axis Position Units between the command and actual positions of an 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 Position Error AXIS_SERVO BOOL Tag Set when the axis position error exceeds the P
395. que 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 100 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 100 rated torque to protect the motor from overheating The Continuous Torque Limit specifies the maximum percentage of the motor s 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 Control Syne Fault Publication LOGIX UM002D EN P July 2008 AXIS_CONSUMED AXIS_SERVO AXIS_SERVO_DRIVE BOOL Tag If this bit is set the controller lost communication with the motion module and missed several position updates in a row The controller can miss up to 4 position updates After that the Control Sync Fault bit is set The motion module may fault later or may already be faulted For a consumed axis this bit means that communication is lost with the producing controller This bit clears when communication is reestablished 297 AppendixC Axis Attributes Attribute Controlled By Transform Sta
396. r Disable Drive Phase Loss Disable Drive Cancel pply Help 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 software 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 lt 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 LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 applying the Stopping Torque for up to the Stopping Time Limit During this period the servo is active but no longer tracking the command re
397. r 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 system step response that has no overshoot but has a significantly lower servo bandwidth The default value for the Damping Factor of 0 8 should work fine for most applications DC Bus Voltage AXIS_SERVO_DRIVE DINT GSV Tag Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Volts This parameter is the present voltage on the DC Bus of the drive Decel Status AXIS_CONSUMED BOOL Tag AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Publication LOGIX UM002D EN P July 2008 Set if the axis is currently being commanded to decelerate Use the Accel Status bit and the Decel Status bit to see if the axis is accelerating or decelerating If both bits are off then the axis is moving at a steady speed or is at rest 299 Appendix C Attribute Direct Drive Ramp Rate Axis Attributes Axis Type AXIS_SERVO Data Type Access REAL GSV SSV Description Volts Second The Direct Drive Ramp Rate attribute contains a slew rate for changing the output voltage when the Direc
398. r 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 203 AppendixA Axis Properties 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 Velocity Feedforward determines whether or not to calculate a value for the Velocity Feedforward Gain 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 Friction Compensation determines whether or not to calculate a value for the Friction Compensation Gain Torque Offset determines whether or not to calculate a value for the Torque Offset This tuning configuration is only valid if configured for bidirectional tuning Output Filter determines whether or not to calculate a value for the Output Filter Bandwidth 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 These attributes are set Gains tab Velocity Feedforward Gain if checked under Tune above Acceleration Fe
399. rd 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 306 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Drive AXIS_SERVO_DRIVE Resolution Publication LOGIX UM002D EN P July 2008 Data Type Access Description DINT GSV Drive Counts Drive Unit 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 t
400. re you save your changes all pending changes revert to their previously saved state Name Name 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 OK or Apply Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 Description 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 OK or Apply Tag Type Tag Type indicates the type of the current Coordinate System tag This type may be e Base e Alias The field is not editable and is for informational purposes only Data Type Data Type displays the data type of the current Coordinate System tag which is always COORDINATE_SYSTEM This field cannot be edited and is for informational purposes only Scope Scope displays the scope of the current Coordinate System tag The scope for a Coordinate System tag can be only controller scope This field is not editable and is for informational purposes only 67 Chapter4 Create and Configure a Coordinate System Notes 68 Publication LOGIX UM002D EN P July 2008 Chapter 5 Introduction When to Inhibit an A
401. rect for the position error The characteristic of Pos 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 Gain makes it invaluable in applications where positioning accuracy or tracking accuracy Is critical The higher the Pos Gain value the faster the axis is driven to the zero Position Error condition Unfortunately Pos Gain control is intrinsically unstable Too much Pos Gain results in axis oscillation and servo instability If the axis is configured for an external velocity loop servo drive the Pos Gain should be zero most analog velocity loop servo amplifiers have integral gain of their own and do not tolerate any amount of Pos Gain in the position loop without producing severe oscillations If Pos Gain is necessary for the application the velocity integrator in the drive must be disabled In certain cases Pos 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 Gain if employed is typically established by the automatic servo tuning procedure the Pos Gain value may also be set manually
402. requency 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 Frequency Select 0 low frequency default 1 high frequency Publication LOGIX UM002D EN P July 2008 355 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Reg 1 Input AXIS_SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE ON Registration 1 input is active OFF Registration 1 input is inactive Reg 2 Input AXIS_SERVO BOOL Tag If this bit is Status AXIS_SERVO_DRIVE ON Registration 2 input is active OFF Registration 2 input is inactive Reg Event 1 AXIS_CONSUMED BOOL Tag Set when a registration checking has been armed for registration input 1 Armed Status AXIS GENERIC through execution of the MAR Motion Arm Registration instruction 7 Cleared when either a registration event occurs or a MDR Motion AXIS_SERVO Disarm Registration instruction is executed for registration input 1 AXIS_SERVO_DRIVE AXIS_VIRTUAL Reg Event 1 AXIS_CONSUMED BOOL Tag Set when a registration event has occurred on registration input 1 Status AXIS
403. 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 Type the maximum positive position to be used for software overtravel checking in position units The Maximum Positive limit must always be greater than the Maximum Negative limit Type the maximum negative position to be used for software overtravel checking in position units The Maximum Negative limit must always be less than the Maximum Positive limit 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 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 Publication LOGIX UM002D EN P July 2008 Position Lock Tolerance Peak Torque Force Limit Continuous Torque Force Limit Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A or stall condition without nuisance faults during normal operation If you need to change the calculated position error tol
404. revision 15 or earlier behavior for S curves NO Leave these bits ON default YES Turn OFF one or more of these bits To turn off this change Turn off this bit Reduced S curve Stop Delay 0 This change applies to the Motion Coordinated Stop MCS instruction It lets you use a higher deceleration jerk to stop an accelerating coordinate system more quickly The controller uses the deceleration jerk of the stopping instruction if it is more than the current acceleration jerk Reduced S curve Velocity Reversals 1 Before revision 16 you could cause a coordinate system to momentarily reverse direction if you decreased the deceleration jerk while the coordinate system was decelerating This typically happened if you tried to restart a move with a lower deceleration rate while the coordinate system was stopping This change prevents the coordinate system from reversing in those situations Reduced S curve Velocity Overshoots 2 You can cause a coordinate system to overshoot its programmed speed if you decrease the acceleration jerk while the coordinate Maximum Acceleration REAL GSV SSV Coordination Units Sec The Maximum Acceleration attribute value is used by motion instructions such as MCLM MCCM and so on to determine the acceleration rate to apply to the coordinate system vector when the acceleration is specified as a percent of the Maximum Maximum Deceleration REAL GSV SSV Coordination
405. ribute other than Upon project verification a warning is issued Guard Status Cha nge Catalog button The Change Catalog button accesses the motor database and provides for 180 selecting a new motor catalog number There are three boxes that can be used for refine the selection process Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Change Catalog Number x Catalog Number MPLA330PM Ss OK Cancel Help Filters Voltage Family Feedback Type 230 0 x H x SRM 7 Catalog Number Lists the available catalog numbers from the Motor Database based on any Filters Calculate button Publication LOGIX UM002D EN P July 2008 selection criteria from the Filters fields 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 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 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 P
406. rithm 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 has 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 controller uses 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 of the total position update delay time From both a noise and acceleration error perspective minimizing the coarse update
407. rity 305 Advanced Polarity Attributes 350 369 379 Custom Polarity 305 Negative Polarity 305 Positive Polarity 305 Drive Resolution 306 Drive Travel Range Limit 306 Drive Units 314 Fault Configuration Bits 318 Drive Enable Input Checking 319 Drive Enable Input Fault Handling 319 Hard Overtravel Checking 318 Soft Overtravel Checkin 318 Fractional Unwind 306 Linear Ball Screw WITHOUT Aux Feedback Device 307 Linear Ball Screw Ball Screw Combination WITH Aux Feedback Device 308 Rotary Gear Head WITH Aux Feedback Device 307 Rotary Gear Head WITHOUT Aux Feedback Device 307 Servo Loop Configuration 361 Servo Loop Block Diagrams 390 Auxiliary Dual Command Servo 395 Auxiliary Position Servo 392 Dual Command Feedback Servo 395 Dual Feedback Servo 393 Motor Dual Command Servo 394 Motor Position Servo 391 Torque Servo 396 Velocity Servo 396 Servo Drive Status Attributes Acceleration Command 276 Acceleration Feedback 276 Aux Position Feedback 284 Bus Regulator Capacity 294 295 DC Bus Voltage 299 Drive Capacity 299 Drive Status Bit Attributes 311 Marker Distance 330 Motor Capacity 338 Motor Electrical Degrees 338 Negative Dynamic Torque Limi 342 Position Command 347 Position Error 348 Position Feedback 349 Position Integrator Error 350 Positive Dynamic Torque Limit 353 Power Capacity 353 Torque Command 367 Torque Feedback 367 Torque Limit Source 369 Velocity Command 376 Velocity Error 376 Veloc
408. rives require non zero command input to generate 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 we 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 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
409. rmally closed and 24V dc is applied this is the normal condition 137 Chapter 7 Interpret Module Lights LEDs 1756 HYD02 Module OK Light HYDRAULIC AXO AX1 FDBK FDBK DRIVE DRIVE OK State Description Off The module is not operating Recommended Action Apply chassis power Verify the module is completely inserted in chassis and backplane Flashing green The module has passed internal diagnostics but it is not communicating axis data over the backplane Steady green One of the following Module is exchanging axis data The module is in the normal operating state None if you have not configured the module If you have configured the module check the slot number in the 1756 HYDO02 Properties dialog box None Flashing red One of the following A major recoverable failure has occurred A communication fault timer fault or non volatile memory storage NVS update is in progress The OK contact has opened If an NVS update is in progress complete the NVS update If an NVS update is not in progress Check the Servo Fault word for the source of the error Clear the servo fault condition via Motion Axis Fault Reset instruction Resume normal operation If the flashing persists reconfigure the module Steady red One of the following A potential non recoverable fault has occurred The OK con
410. ro Angle Orientations e Coordinate System Properties Articulated Independent General fienmeny Unite Utteate Joints tag Tyve Ailiculated Independent Transtoem Dimension 3 Link Lengths u e 12 fio Zein Angle Orientations z 100 Devices ze 100 Degrees z3 an Deaiees Method 2 Establishing a Reference Frame Position the robot so that Link is parallel to the X3 axis Link2 is parallel to X1 axis Program a MRP instruction for all three axes with the following values J1 0 J2 90 J3 90 The Joint to Cartesian reference frame relationship is automatically established by the 1756 L6xx controller after the Joint coordinate system parameters link lengths base offsets and end effector offsets are configured and the MCT instruction is enabled Publication LOGIX UM002D EN P July 2008 If the range of motion values for the articulated robot are Kinematics in RSLogix 5000 Software Chapter 6 Identify the Work Envelope for an Articulated Independent Robot The work envelope is the three dimensional region of space that defines the reaching boundaries for the robot arm The work envelope for an articulated robot is ideally a complete sphere having an inner radius equal to L1 L2 and outer radius equal to L1 L2 Due to the range of motion limitations on individual joints the work envelope may not be a complete sphere Typically the work envelope would be J1 17
411. rom 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 you 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 Enable axis is initiated via MSO or MAH instruction Turn on RBM output to connect motor to drive Wait for Resistive Brake Contact Delay while RBM contacts close 1 2 3 4 Drive power structure enabled Drive Enable Status bit is set 5 Turn on motor brake output to release brake 6 Wait Brake Release Delay Time while motor brake releases 7 Track Command reference Servo Action Status bit is set Case 2 Disable Category 1 Stop Disable axis is initiated via an MSF instruction or a drive disable fault action N Drive stops tracking command reference Servo Action Status bit is cleared Apply Stopping Torque to stop motor Wait for zero speed or Stoppin
412. roperties myseryol axis 10 X Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Output Cam Execution Targets 0 a Program Stop Action Fast Stop z V Master Delay Compensation JV Enable Master Position Filter Master Position Filter Bandwidth foi Hertz Cancel Apply Help Output Cam Execution Targets Determines how many Output Cam execution nodes instances are created 166 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 Publication LOGIX UM002D EN P July 2008 Program Stop Action Master Delay Compensation Axis Properties Appendix A 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 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 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 th
413. rpolation factors as high as 2048 Counts per Cycle The product of 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 Factor Aux Feedback AXIS_SERVO_DRIVE BOOL Tag Set when there is noise on the feedback device s signal lines Noise Fault For example simultaneous transitions of the feedback A and B channels of an A Quad B is referred to generally as feedback noise 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 You can see both of these on an oscilloscope ma HL PL To troubleshoot the loss of channel quadrature look for physical misalignment of the feedback transducer components excessive capacitance or other delays on the encoder signals Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Aux Feedback AXIS_SERVO_DRIVE FLOAT GSV Aux Feedback Units per Motor Feedback Unit Rae The Aux Feedback Ratio attribute represents the quantitative relationship between auxi
414. rtesian x Dinersion Transform Dimension 2 4 IV Enable Coordinate System Auto Tag Update Source Coordinate System Configuration w Coordinate System Properties SCAKAIndependent General Geometry Unite Joints Tag Motion Group lype Dimension Coordinate Axis Name Coordination Mode o aT 1 wa 1 J32 J32 2 J Z z ae 2i I Enable Coordinate System Auto Tag Update Ok Canel Ay He Target Coordinate System Configuration Identify the Work Envelope for a SCARA Independent Robot The work envelope is the three dimensional region of space that defines the reaching boundaries for the robot arm The work envelope for the SCARA Independent robot should be a hollow cylinder with a height equal to the travel limit of the J3 axis an inner radius R1 equal to L1 L2 an outer radius R2 equal to L1 L2 Example Work Envelope for a SCARA Independent Robot 106 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Define Configuration Parameters for a SCARA Independent Robot RSLogix 5000 software can be configured for control of robots with varying reach and payload capacities As a result it is very important to know the configuration parameter values for your robot including link lengths base offsets end effector offsets The configuration information is available from the robot manufacturer IMPORTANT Be sure th
415. ruction 1756 RMO003 MSO Motion Servo On N gt Axis t No Motion control tag Motion control f RE Use the tag for the motion control operand of motion instruction only once Unintended operation of the control variables may happen if you re use of the A 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 Initialize_Pushbutton My_Axis_ ServadctionStatus MSO Motion Servo On Axis My_Axis_ E Motion Control My Axis x _On 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 AxisHomedStatus MAH E Motion Axis Home Axis My_Axis_ E Motion Control My_Axis_X Home 28 Publication LOGIX UM002D EN P July 2008 Start Chapter 1 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 ServadctionStatus Motion Axis Jog Axis My Axis x E Motion Control My_Axis_X_Jog Direction My Asis Jog Direction pe Speed My_Axis_X_SetUp ManuaWlogSpeed 80e Speed Units Units per sec More gt gt If Jog_Pushbutton off then The MAS instru
416. s Figure 2 Articulated Dependent J1 0 J2 0 J3 0 Figure 3 Articulated Dependent J1 0 J2 90 J3 0 Publication LOGIX UM002D EN P July 2008 93 Chapter 6 94 Kinematics in RSLogix 5000 Software Figure 3 Articulated Dependent AX Side View If your robot s physical position and joint angle values cannot match those shown in Figure 2 Articulated Dependent or in Figure 3 Articulated Dependent then use one of the methods outlined in this section to establish the Joint to Cartesian reference frame relationship WARNING Failure to properly establish the correct reference frame for your robot can cause the robotic arm to move to unexpected positions potentially resulting in damage to property or injury to personnel Alternate Methods for Establishing the Reference Frame for an Articulated Dependent Robot The following methods let you establish a reference frame for an Articulated Independent robot For each Use one of these methods to establish the reference frame Incremental axis Each time the robot s power is cycled Absolute axis Only when you establish absolute home Method 1 establishes a Zero Angle Orientation and allows the configured travel limits and home position on the joint axes to remain operational Use this method if you are operating the axes between the travel limits determined prior to programming a Motion Redefine Position MRP instruction an
417. s Forward Transform Inverse Kinematics The solution of source positions given target positions The solution of joint positions given Cartesian positions Typically converts Cartesian positions to joint positions Inverse Transform The solution of target positions given source positions Joint axis A rotary robotic coordinate axis typically having overtravel rather than rollover limits Kinematics The family of mathematical equations that convert positions back and forth between two linked geometries Orientation Robotic term for directional attitude or rotation about a point in Cartesian 3D space Orientation is expressed as three ordered rotations around the X Y and Z Cartesian axes Reference frame An imaginary Cartesian coordinate system used to define a Cartesian origin and reference orientation Source system Target system One of two coordinate systems used in a Kinematics transform and having special properties When connected to a target system by means of a Kinematics transform motion commanded at the source system s inputs produces motion at both the source and target system s outputs if the physical axes are connected One of two coordinate systems used in a Kinematics transform and having special properties When connected to a source system by means of a Kinematics transform motion commanded at the target system s inputs produces motion in both the source and target system s outputs
418. s Publication LOGIX UM002D EN P July 2008 199 AppendixA Axis Properties Hookup Tab Overview Use this tab to configure and initiate axis hookup and marker test sequences AXIS SERVO DRIVE for an axis of the type AXIS_SERVO_DRIVE e Axis Properties sercosaxis1 0 X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Ottset Fault Actions Tag Test Increment 10 0 Pasition Units Test Marker Test Feedback Test Command amp Feedback Drive Polarity 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 A Cancel Apply Help 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 position units Drive Polarity The polarity of the servo loop of the drive set by executing the Command amp Feedback Test Positive Negative Proper wiring guarantees that the servo loop is closed with negative feedback However there is no guarantee tha
419. s 6 Home Event Status 7 Axis Fault AXIS_CONSUMED DINT Tag The axis faults for your axis AXIS_GENERIC z Type of Fault Bit AXIS_SERVO Sa AXIS_SERVO_DRIVE Physical Axis Fault 0 Config Fault 2 This attribute is the same as the Axis Fault Bits attribute Axis Fault Bits AXIS CONSUMED DINT GSV The axis faults for your axis AXIS_GENERIC Type of Fault Bit AXIS_SERVO fae AXIS SERVO_DRIVE Physical Axis Fault 0 Config Fault 2 This attribute is the same as the Axis Fault tag 288 Publication LOGIX UM002D EN P July 2008 Attribute Axis Type Axis Info Select AXIS_SERVO 1 AXIS_SERVO_DRIVE Axis Info Select 2 Publication LOGIX UM002D EN P July 2008 Data Type Access DINT GSV SSV Description An axis has a group of attributes that don t get updated by default Axis Attributes Appendix C To use one of them you must choose it for Real Time Axis Information for the axis Otherwise its value won t change and you won t see the right value as the axis runs You can choose up to 2 of these attributes To use a GSV instruction to choose an attribute for Real Time Axis Information set the Axis Info Select 1 or Axis Info Select 2 attribute AXIS_SERVO AXIS_SERVO_DRIVE Value None default None default 0 Position Command Position Command 1 Position Feedback Position Feedback 2 Aux Position Feedback Aux Position Feedback 3 Position Error Posit
420. s 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 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 software 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 LOGIX UM002D EN P July 2008 211 AppendixA Axis Properties 212 Proportional Position Gain Integral 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 m
421. s have not yet been saved or applied Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Limits Tab Use this tab to make the following offline configurations AXIS_SERVO_DRIVE enable and set maximum positive and negative software travel limits and configure both Position Error Tolerance and Position Lock Tolerance 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 ioj x General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag F Hard Travel Limits Manual Adjust J Soft Travel Limits Set Custom Limits Maximum Positive foo Pasition Units Mavimum Negative foc Position Units Position Error Tolerance Position Units Position Lock Tolerance pao Position Units Peak Torque Force Limit foo Rated Continuous Torque Force Limit f 00 0 Rated Cancel Apply Help 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
422. s is off the axis My_Axis_X_Uninhibit My_Axis_X_Inhibit All_Axes_Off PS SR One Shot Rising Storage Bit My_Axi Output Bit My_Axi Uninhibit_SB _ _Uninhibit_Cmd 3 Uninhibit the axis The uninhibit command turns on Uninhibit this axis My_Axis_X_Uninhibit_Cmd SSY Set System Yalue Class Name AXIS Instance Name My_Axis_X Attribute Name InhibitAxis Uninhibit the axis Source 4 Wait for the inhibit process to finish All of these have happened ee This axis is on The axis is uninhibited All uninhibited axes are ready The connections to the motion module are running again This axis is OK to run For a SERCOS ring the SERCOS ring has phased up again My_Axis_XInhibittStatus My_Axis_X ServoActionStatus My_Axis_ X_OK poe a 74 Publication LOGIX UM002D EN P July 2008 Chapter 6 Kinematics in RSLogix 5000 Software Introduction This chapter provides you with the information you need when using the Kinematics functionality within RSLogix 5000 software This chapter also provides you with guidelines for robot specific applications Controllers that Support These controllers support Kinematics functionality Kinematics Functionality ControlLogix 1756 L6x e GuardLogix 1756 L6xS Overview of Kinematics RSLogix 5000 software provides built in Kinematics transforma
423. s support of a maximum of 3 axes The number of axes that you transform must be equal to or less than the specified coordinate system dimensions The transform function always begins at the first axis For example if you have specified that the coordinate system has 3 axes but indicate only that 2 axes be transformed then axes 1 and 2 will Publication LOGIX UM002D EN P July 2008 Create and Configure a Coordinate System Chapter 4 Publication LOGIX UM002D EN P July 2008 be transformed In other words you cannot specify that only axes number 2 and number 3 be transformed 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 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 pull down lists display all of the Base Tag axes defined in the project Alias Tag axes do not display in
424. s the Axis Status Bits attribute AXIS_SERVO Axis Status Bit AXIS_SERVO_DRIVE Servo Action Status 0 AXIS_VIRTUAL Drive Enable Status 1 Shutdown Status 2 Config Update In Process 3 Inhibit Status 4 Axis Status Bits AXIS CONSUMED DINT GSV Lets you access all the axis status bits in one 32 bit word This attribute AXIS GENERIC is the same as the Axis Status tag AXIS_SERVO Axis Status Bit AXIS_SERVO_DRIVE Servo Action Status 0 AXIS_VIRTUAL Drive Enable Status 1 Publication LOGIX UM002D EN P July 2008 Shutdown Status Config Update In Process Inhibit Status A wy N 291 AppendixC Axis Attributes Attribute Axis Type Backlash Reversal Offset 292 Axis Type AXIS_GENERIC AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO AXIS_SERVO_DRIVE Data Type Access Description INT REAL GSV SSV GSV SSV The Axis Type attribute is used to establish the intended use of the axis If Then set the attribute to The axis is unused in the application whichisa 0 common occurrence when there are an odd number of axes in the system You only want the position information from the 1 feedback interface The axis is intended for full servo operation 2 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
425. s the drive from receiving accurate or reliable position information from the feedback device Set when one of the feedback sources for the axis can t send accurate or reliable position information because there is a problem For AXIS_SERVO axis possible problems are The differential electrical signals for one or more of the feedback channels for example A and A B and B or Z and Z 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 common electrical connection between the servo module or drive and the feedback device The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Feedback Fault AXIS_SERVO SINT GSV Action AXIS_SERVO_DRIVE SSV Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Publication LOGIX UM002D EN P July 2008 321 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Feedback Noise AXIS_SERVO BOOL Tag Fault Set when there is noise on the feedback device s 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 Feedback noise shown below is mos
426. s tracking command reference Servo Action Status bit clears Disable drive power structure Drive Enable Status bit clears Turn off brake output to engage brake Brake Release AXIS_SERVO_DRIVE REAL GSV Sec gt Ti SSV l Dey time The Brake Release Delay attribute controls the amount of time that the drive holds off tracking command reference changes after the brake output is changed to release the brake This gives time for the brake to release This is the sequence of events associated with engaging the brake Enable axis is initiated via MSO or MAH Drive power structure enabled Drive Enable Status bit sets Turn motor brake output on to release the brake Wait Brake Release Delay Time Track command reference Servo_Action_Status bit sets The drive does not release the brake unless there is holding torque Bus Ready AXIS_SERVO_DRIVE BOOL Tag If the bit is Status ON The voltage of the drive s dc bus is high enough for operation OFF The voltage of the drive s dc bus is too low 294 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Bus Regulator AXIS_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Casas Tag Real Time Axis Information for the axis Otherwise you won t see the ose right value as the axis runs See Axis Info Select 1 The present utilization of the
427. sable Drive Stop Motion and Status Only Specifies the fault action to be taken when a phase loss situation occurs for an axis configured as Servo on the General tab of this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only The default is Shutdown When Status Only is chosen Logix 5000 motion commands continue and the drive uses available stored DC bus energy to operate the axes Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Set Custom Stop Action Opens the Custom Stop Action Attributes dialog Custom Stop Action Attributes X Nene e S StoppingTorque __s C0 0 Rated REAL StoppingTimeLimi woos Re Publication LOGIX UM002D EN P July 2008 BrakeEngageDelayTime O0s REAL BrakeReleaseDelayTime OOjs REAL ResistiveBrakeContactDelay O0s REAL Close Cancel Help 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 software 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 vie
428. sed to allow feedback to travel until the rollover that is 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 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 in 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 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Offset Sequence Type the desired offset if any in position units the axis is to move upon completion of the homing sequence to reach the home position In most cases this value is zero 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 Switch Marker marker Sets the Hom e Position wh
429. sion that is a move of 10 cm would move the actuator exactly 10 cm 309 Appendix C Attribute Drive Scaling Bits 310 Axis Attributes Axis Type AXIS_SERVO_DRIVE Data Type Access Description DINT GSV The Drive Scaling Bits attribute configuration is derived directly from the Drive Units attribute Bits 0 Scaling type 0 standard 1 custom Scaling unit 0 rotary 1 linear 2 Linear scaling unit 0 metric 1 english 3 Data Reference 0 motor 1 load 1 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 Scaling Unit The Scaling Unit attribute is used to determine whether the controller scales position velocity and acceleration attributes based on rotary or linear 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
430. sition 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 using the MAH instruction the axis must be in the Axis Ready state with the setvo loop disabled For the SSI feedback transducer no physical marker pulse exists However a pseudo marker reference is established by the M02AS 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 rollover 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 rollover The Home Sequence to Marker must be u
431. sociated Module Module mymO2module Module Type 1756 M024E Channel hoo YS Cancel Apply Help Axis Configuration Selects and displays the intended use of the axis 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 Servo If the axis is to be used for full servo operation This selection maximizes the display of axis properties tabs and parameters Publication LOGIX UM002D EN P July 2008 159 Appendix A Axis Properties Module Channel General Tab AXIS_SERVO_DRIVE Axis Properties MySafetyAxis ioj x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion 160 Axis Configuration Motion Group Selects and displays the name of the motion module to which the axis is associated Displays lt none gt if the axis is not associated with any motion module Selects and displays the 1756 MO02AE motion module channel either 0 or 1 to which the axis is assigned Disabled when the axis is not associated with any motion module The General screen shown below is for an AXIS_SERVO DRIVE Data Type Servo X MG pd E New Group
432. st myservolaxis X Dynamics Gains Output Limits Offset Position Gains Proportional oo 1 s Integral ao 1 ms s Differential ao e Velocity Gains Feedforward Gains Proportional 1 s Velocity 0 0 Ir e fo 0 Integral oo 1 ms s Acceleration joo x OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when you have not yet saved or applied your offline edits to the above parameters Gains Tab Use this tab to perform the following offline functions AXIS_SERVO_DRIVE Adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog Manually configure gains for the velocity and position loops for an axis of the type AXIS_SERVO_DRIVE Publication LOGIX UM002D EN P July 2008 215 AppendixA Axis Properties e Axis Properties mysercos1laxis Miel X General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Ottset Fault Actions Tag Position Gains Proportional Integral i Manual Adjust Set Custom Gains Velocity Gains Proportional Integral Feedforward Gains 260 41 666 12s Velocity fo 0 p 0 1 ms s Acceleration fo 0 x x Integrator Hold Enabled a
433. st 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 that is Drive Enable disabled and Servo Action disabled Hard Disable 2 When configured for Hard Disable the axis is immediately disabled that is 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 3 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 that is 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 instructions MASR or MGSR Hard Shutdown 4 When configured for Hard Shutdown the axis is immediately placed in the Shutdown state that is 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 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 PWM AXIS_SERVO_DRIVE SINT GSV The PWM Frequency Select attribute controls the f
434. stallation Manual 2094 IN001 Kinetix 6000 Integration Manual 2094 IN002 8720MC High Performance Drive Installation Manual 8720MC IN001 8720MC High Performance Drive Integration Manual 8720MC IN002 The Motion Analyzer utility helps you select the appropriate Rockwell drives and motors based upon your load characteristics and typical motion application cycles The Motion Analyzer guides you through wizard like screens to collect information specific to your application After you enter the information such as load inertia gear box ratio feedback device and brake requirements all available through the robot manufacturer the Motion Analyzer generates an easy to read list of recommended motors drives and other support equipment to interface with the type of robot you are using Sample projects from Rockwell Automation as well as other vendors are available from the RSLogix 5000 software Help system menu Publication LOGIX UM002D EN P July 2008 Preface P io RSLogix 5000 File Edit View Search Logic Communications Tools Window Help Contents Tetructiun Help FE Learning Center E Resuurve Cer iler GI About RSLogix 5000 C gt Controller Projects olb a Recent Projects M Open Project If you are copying into an existing project conflicts may occur with components that already exist or if the location or type of modules does not match the location assumed in the sample project In t
435. storage NVS update is in progress Clear the servo fault condition via Motion Axis Fault Reset instruction Check the Servo Fault word for the source of the error The OK contact has opened Resume normal operation If the flashing persists reconfigure the module Steady red One of the following A potential non recoverable fault has occurred Reboot the module The OK contact h d sia ae aa al If the solid red persists replace the module Publication LOGIX UM002D EN P July 2008 135 Chapter 7 Interpret Module Lights LEDs State Off FDBK Light Description The axis is not used Recommended Action 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 green The axis is in the normal servo loop inactive state None The servo axis state can be changed by executing motion instructions Steady green The axis is in the normal servo loop active state None The servo axis state can be changed by executing motion instructions Flashing red The axis servo loop error tolerance has been Correct the source of the problem exceeded Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation Steady red An axis SSI feedback fault has occurred Correct the source of the problem by checking the SSI device and power connections
436. struction 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 gee la My_Axis_X_Inhibt My_Axis_X_Uninhibitt All_Axes_Off SS el One Shot Rising Storage Bit My_4 4is_X_Inhibit_SB Output Bit My_Axis_X_Inhibit_Cmd 3 Inhibit the axis The inhibit command turns on My_A amp xis_X_Inhibit_Cmd SSY Set System Yalue Class Name AXIS Instance Name My_Axis_X Attribute Name Inhibit4xis Source One 4 Inhibit the axis 4 Wait for the inhibit process to finish All of these have happened The axis is inhibited All uninhibited axes are ready The connections to the motion module are running again For a SERCOS ring the SERCOS ring has phased up again What you want to do next My_Axis_X InhibitStatus S NOP Publication LOGIX UM002D EN P July 2008 73 Chapter5 Inhibit an Axis Example Uninhibit an Axis 1 Make sure all axes are off This axis is off And this axis is off All axes are off My_Axis_X ServoActionStatus My_Axis_Y ServoActionStatus All_Axes_Off ie _ 4 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 axi
437. t To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Error in Position Units Sec Velocity Error is the difference in configured axis Position Units per Second between the commanded and actual velocity of an 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 377 Appendix C Axis Attributes Attribute Velocity Feedback Axis Type AXIS_SERVO AXIS_SERVO_DRIVE Data Type Access Description REAL GSV Tag Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Velocity Feedback in Position Units Sec Velocity Feedback is the actual velocity of the axis as estimated by the motion module in the configured axis Position Units per second The estimated velocity 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 Velocity Feedforward Gain 378 AXIS_SERVO AXIS_SERVO_DRIVE REAL GSV SSV Servo D
438. t to the desired maximum operating speed of the motor in engineering units prior to running the tune test Torque Force The maximum torque of the tune test Force is used only when a linear motor AXIS_SERVO_DRIVE 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 100 which yields the most accurate measure of the acceleration and deceleration capabilities of the system 202 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Torque AXIS_SERVO Direction 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 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 100 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 tuning procedure In this case the acceleration and deceleration capabilities of the system are extrapolated based
439. t 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 Directional Scaling Ratio Drive Axis ID Drive Capacity AXIS_SERVO AXIS_SERVO_DRIVE AXIS_SERVO_DRIVE REAL INT REAL GSV SSV GSV GSV Tag 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 Velocity Scaling based on the sign of the Servo Output Specifically the Velocity 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 Velocity Scaling in the positive direction positive servo output to the Velocity 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 Product Code of Drive Amplifier 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 d
440. t button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Fault Actions Tab Use this tab to specify the actions that are taken in response to these faults AXIS_SERVO Drive Fault Feedback Noise Fault Feedback Loss Fault Position Error Fault Soft Overtravel Fault 246 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A e Axis Properties myservolaxis _ 0 X 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 x Feedback Disable Dive x Position Error Disable Drive Soft Overtravel Disable Drive Cancel Apply Help 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 software 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
441. t can t back up use unidirectional homing Publication LOGIX UM002D EN P July 2008 With unidirectional homing the axis doesn t reverse direction to move to the Home Position For greater accuracy consider using an offset Use a Home Offset that is in the same direction as the Home Direction Use a Home Offset that is greater than the deceleration distance If the Home Offset is less than the deceleration distance The axis simply slows to a stop The axis doesn t reverse direction to move to the Home Position In this case the MAH instruction doesn t set the PC bit Ona rotary axis the controller adds 1 or more revolutions to the move distance This makes sure that the move to the Home Position is unidirectional 153 Chapter9 Configure Homing Guideline 7 Choose a starting direction for the homing sequence Examples Sequence Active immediate home Details Which direction do you want to start the homing sequence in Positive direction choose a Forward direction Negative direction choose a Negative direction Active Homing Description This sequence sets the axis position to the Home Position without moving the axis If feedback isn t enabled this sequence enables feedback Active home to switch in forward bidirectional 154 The switch homing sequence is useful for multi turn rotary and linear applications Huning GREE i fds veidi Axa P oaio Rem GEE
442. t 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 You can see both of these on an oscilloscope ox LPL AP FL To troubleshoot the loss of channel quadrature look for physical misalignment of the feedback transducer components excessive capacitance or other delays on the encoder signals Proper grounding and shielding usually cures radiated noise problems The controller latches this fault Use a Motion Axis Fault Reset MAFR or Motion Axis Shutdown Reset MASR instruction to clear the fault Feedback Noise AX S_SERVO SINT GSV Fault Action AXIS_SERVO_DRIVE ssy Fault Action Value Shutdown 0 Disable Drive 1 Stop Motion 2 Status Only 3 Prcdon AX S_SERVO REAL GSV Compensation AXIS_SERVO_DRIVE SSV 322 0 100 It is not unusual for an axis to have enough static friction sticktion that even with a significant position error it won t move 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 v
443. t setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS_SERVO_DRIVE Average Velocity in Position Units Sec AXIS_VIRTUAL 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 Average velocity is a signed value The sign doesn t necessarily show the direction that the axis is currently moving It shows the direction the average move is going The axis may be currently moving in the opposite direction The resolution of the Average Velocity variable is determined by the current value of the Averaged Velocity Timebase parameter and the configured Conversion Constant 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 minimum Average Velocity Timebase value is the Coarse Update period of the motion group The Average Velocity resolution in Position Units per second may be calculated using the equation below Feedback Counts il Average Velocity Timebase Seconds x K Pe Position Unit 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 reso
444. t the cost of a small steady state error 323 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Guard Status AXIS_SERVO_DRIVES DINT Tag GSV Tag Bit Guard OK 0 Guard Config Locked 1 Guard Gate Drive Output 2 Guard Stop Input 3 Guard Stop Request 4 Guard Stop in Progress 5 Guard Stop Decel 6 Guard Stop Standstill 7 Guard Stop Output 8 Guard Limited Speed Input g Guard Limited Speed Request 10 Guard Limited Speed Monitor in Progress 11 Guard Limited Speed Output 2 Guard Max Speed Monitor in Progress 3 Guard Max Accel Monitor in Progress 14 Guard Direction Monitor in Progress 5 Guard Door Control Lock 16 Guard Door Control Output 17 Guard Door Monitor Input 18 Guard Door Monitor In Progress 19 Guard Lock Monitor Input 20 Guard Enabling Switch Input 21 Guard Enabling Switch in Progress 22 Guard Reset Input 23 Guard Reset Required 24 Guard Stop Input Cycle Required 25 Reserved 26 Reserved 27 Reserved 28 Reserved 29 Reserved 30 Reserved 31 324 Publication LOGIX UM002D EN P July 2008 Appendix C Axis Attributes Attribute Axis Type Data Type Access Description Guard Faults AXIS_SERVO_DRIVES DINT Tag Bey Tag Bit Reserved 0 Guard Internal Fault 1 Guard Configuration Fault 2 Guard Gate Drive Fault 3 Guard Reset Fault 4 Guard Feedback 1 Fa
445. t the servo drive has the same sense of forward direction as the user for a given application Negative Polarity inverts 200 Publication LOGIX UM002D EN P July 2008 Test Marker Test Feedback Test Command amp Feedback Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 runaway condition A 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 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 Runs the Command amp Feedback Test which checks and if necessary reconfigures b
446. t to Hard Run mode or if a Feedback On condition exists When RSLogix 5000 software 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 te download the edited program to the controller before it can be run Publication LOGIX UM002D EN P July 2008 Motor Inertia Load Inertia Ratio Torque Scaling Enable Notch Filter Notch Filter Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A The Motor Inertia value represents the inertia of the motor without any load attached to the motor shaft in Torque Scaling units The Load Inertia Ratio value represents the ratio of the load inertia to the motor inertia 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 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 100 Rated Torque Acceleration 100 Rated Torque For example if this axis is using position units of motor revolutions revs with 100 rated torque applied
447. t to the same controller using RSLogix 5000 software 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 Attribute The following attribute value can be monitored and edited in this dialog box Publication LOGIX UM002D EN P July 2008 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 nonzero value eliminates servo hunting due to load stick friction effects This parameter only has effect if VelocitylntegralGain is not zero Its value ranges from 0 to 2 14748x10 12 This value is not applicable for Ultra3000 drives 221 AppendixA Axis Properties Output Tab AXIS SERVO Use this dialog for offline configuration of scaling values which are used to generate gains and 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 Axis Properties myseryolaxis General Motion Planner Units Servo Feedback l Conversion Homing H
448. t value as the axis runs See Axis Info Select 1 The present utilization of motor capacity as a percent of rated capacity Motor Data AXIS_SERVO_DRIVE Struct MSG Struct length datal INT The Motor Data attribute is a structure with a length element and an array of bytes that contains important motor configuration information SINT needed by an A B SERCOS drive to operate the motor The length element represents the number of valid data elements in the data array 256 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 Motor Electrical AX S_SERVO_DRIVE REAL GSV Important To use this attribute choose it as one of the attributes for Angle Tag Real Time Axis Information for the axis Otherwise you won t see the Publication LOGIX UM002D EN P July 2008 right value as the axis runs See Axis Info Select 1 Degrees The present electrical angle of the motor shaft 339 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Motor Feedback AX S_SERVO_DRIVE INT GSV The controller and drive use this for scaling the feedback device counts Conficutation These attributes are derived from the corresponding Motor and Auxiliary 8 Feedback Unit attributes Bit 0 Feedback type 0 rotary default linear 1 reserved 2 Linear feedback unit 0 metric
449. tact has opened 138 Reboot the module If the solid red persists replace the module Publication LOGIX UM002D EN P July 2008 Interpret Module Lights LEDs Chapter 7 FDBK Light State Description Off The axis is not used Recommended Action 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 green The axis is in the normal servo loop inactive state Steady green The axis is in the normal servo loop active state None The servo axis state can be changed by executing motion instructions None The servo axis state can be changed by executing motion instructions Flashing red The axis servo loop error tolerance has been exceeded Correct the source of the problem Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation Steady red An axis LDT feedback fault has occurred y Publication LOGIX UM002D EN P July 2008 Correct the source of the problem by checking the LDT and power connections Clear the servo fault condition using the Motion Axis Fault Reset instruction Resume normal operation 139 Chapter 7 State Off Interpret Module Lights LEDs DRIVE Light Description One of the following The axis is not used The axis is a position only axis type Flashing green The axis drive is in
450. tected a detailed message is displayed to the Error result window describing the immediate results of the executed command 400 9 of Maximum 100 0 0 S Curve 400 0 100 0 gt amp DANGER Pressing Execute may couse motion Going online with controller Complete 0 error s 0 varning s Motion Direct Commands nmy_virtual_axis 4 MAJ 160000 No Error Motion Direct Commands ny_virtual_axis 4 Execution Error MAM 16 000d The con The message Execution Error is cleared on subsequent command execution ot if a new command is selected from the command list The information pumped to the Error result window after an execution is not cleared This allows for a history of what has been executed from a given instance of the Motion Direct Command dialog Publication LOGIX UM002D EN P July 2008 41 Chapter2 Test an Axis with Motion Direct Commands What If the Software Goes Offline or the Controller Changes Modes Can Two Workstations Give Motion Direct Commands 42 If RSLogix 5000 software transitions to offline Hard Program mode PROG ot Hard Run mode RUN then any executing Direct Command instruction continues execution and the Execute button is disabled Whenever the Execute button is enabled and commands can be executed from a workstation the group is locked This means that another workstation cannot execute commands while this lock is in place The lock stays in place until the
451. terface 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 M02AS motion module the only Feedback Type available is SSI Synchronous Serial Interface and the Feedback tab dialog looks like the following illustration e Axis Properties ssiaxis EIT x Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Servo Feedback Conversion Homing Hookup Feedback Type ssi Synchronous Serial Interface x Code Type C Binan Gray Data Length j3 bits Clock Frequency 208 kHz IV Enable Absolute Feedback Absolute Feedback Offset oo Position Units Cancel Apply Help 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 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 Publication LOGIX UM002D EN P July 2008 173 AppendixA Axis Properties Clock Frequency Enable Absolute Feedback Absolut
452. termines 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 100 80 60 speed goes down 40 until acceleration acceleration The axis speeds back up as soon as you start the jog The axis continues to slow 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 LOGIX UM002D EN P July 2008 149 Chapter8 Troubleshoot Axis Motion 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 Why does my axis reverse direction when stop and start it then reverse direction Eventually the axis changes direction again and moves in the programmed direction Example 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 Loo k for lt Local 4 Data 0 gt My_Axis_OK Motion Axis Jog Axis My_Axis Motion Control Jog_1 S Cur
453. the Execute button verifies the operands and initiates the current Motion Direct Command Publication LOGIX UM002D EN P July 2008 Test an Axis with Motion Direct Commands Chapter 2 Motion Direct Command Whenever a Motion Direct Command is executed there are two levels of error detection that are presented The first level is verification of the command s Error Process operands If a verification error is detected a message Failed to Verify is posted on the dialog and an appropriate message is posted to the error result window The second level is the initial motion direct command s error response return code If an error code is detected a message Execution Error is posted on the dialog 7 J C a of Maximum oS Softmcmwm CC 100 0 100 0 a DANGER Pressing Execute may cause motion Incremental 0 0 100 S Curve Execwe Chose Hep Going online with controller Complete 0 error s 0 varning s Motion Direct Commands ny_virtual_axis 4 MAJ 160000 No Error Motion Direct Commands ny_virtual_axis 4 Execution Error MAM 16 000d The com Whether or not an error is detected a detail message is displayed to the Error result window describing the results of the executed command Publication LOGIX UM002D EN P July 2008 Chapter 2 40 Test an Axis with Motion Direct Commands Motion Direct Command Verification When you select Execute from a Motion Direct Com
454. the normal disabled state Recommended Action None if the axis is not used or is a position only type Otherwise make sure the module is configured an axis tag has been associated with the module and the axis type is servo None The servo axis state can be changed by executing motion instructions Steady green The axis drive is in the normal enabled state None The servo axis state can be changed by executing motion instructions Flashing red Steady red 140 The axis drive output is in the shutdown state The axis drive is faulted 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 Publication LOGIX UM002D EN P July 2008 SERCOS interface Module Interpret Module Lights LEDs Chapter 7 1756 M03SE 1756 MO08SE 1756 M16SE 1768 M04SE SERCOS Phase SERCOS Phase m SERCOS Ring Status SERCOS Ring Status Haa Module Statis 0o00 Module Status CP OOK
455. 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 nonzero 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 Publication LOGIX UM002D EN P July 2008 Backlash Compensation Reversal Offset Stabilization Window Velocity Offset Torque Offset Output Offset Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A 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 and so on may result in a small amount of motor moti
456. then L1 of one of the link pairs will be aligned along the X1 positive axis as shown Moving in the counter clockwise direction from Joint 1 to Joint 2 the X2 axis will be orthogonal to the X1 axis Based on the right hand rule X3 positive will be the axis pointing up out of the paper Calibrate a Delta Three dimensional Robot Use these steps to calibrate your robot 1 Obtain the angle values from the robot manufacturer for J1 J2 and J3 at the calibration position These values are used to establish the reference position 2 Move all joints to the calibration position by either jogging the robot under programmed control or manually moving the robot when the joint axes are in an open loop state 3 Do one of these a Use a Motion Redefine Position instruction MRP to set the positions of the joint axes to the calibration values obtained in step 1 b Set the configuration value for the joint axes home position to the calibration values obtained in step 1 and execute a Motion Axis Home instruction MAH for each joint axis 110 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 4 Move each joint to an absolute position of 0 0 Verify that each joint position reads 0 and that the respective L1 is in a horizontal position If L1 is not in a horizontal position then refer to the alternate method for calibrating a Delta three dimensional robot Alternate Method for Calibrating a Delt
457. this dialog The available actions for this fault are Shutdown Disable Drive Stop Motion and Status Only The Soft Overtravel field lets you specify the fault action to be taken when a software overttavel 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 Drive Thermal Fault Motor Thermal Fault Feedback Noise Fault Feedback Fault Position Error Fault Hard Overtravel Fault Soft Overtravel Fault Phase Loss 249 Appendix A 250 Axis Properties for an axis of the type AXIS_SERVO_DRIVE Axis Properties axis_servo_drive General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag rive Enable Inpu Disable Drive Y Set Custom Stop Action Drive Thermal Disable Drive Motor Thermal Disable Drive bd Warning Modifying fault actions Feedback Noise Disable Drive m A requires user to ensure axis is stopped and disabled to protect Feedback Disable Drive personnel machine and property Please reference user manual for additional information Position Erro
458. tion s Axis Properties My_Axis_X a Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag Travel Limit 1 0 Revs Speed 10 0 6 Type the limit of movement for the axis during the tuning procedure SS SS DANGER This tuning procedure may cause axis motion with the controller in program mode 7 Type the maximum speed for your equipment b Torque Force Rated Direction J Position Error Integrator Velocity Error Integrator Friction Compensation Velocity Feedforward I Acceleration Feedforward D 26 Publication LOGIX UM002D EN P July 2008 Start Chapter 1 Get Axis Information You can get information about an axis in several ways Use the Axis Properties window to configure the axis fs RSLogix 5000 My_Controller in Inhibit_Axis ACD 1 756 L60MO3SE MainProgram Inhibit_Axes Er E File Edit view Search Logic Communications Tools Window Help A X alsa S sael oma A sael e aal Omne DF pun p von EE a amp ani No Forces m oK A I No Edits a sf Hla deff orfw o lil 4 gt Favorites amp Bit Timer Counter Input Output Compare Compute Ma Controller My_Controller a Hl ren ES A Controller Tags E3 Controller Fault Handler A 3 Power
459. tion LOGIX UM002D EN P July 2008 209 AppendixA Axis Properties S cutve The units for programming Jerk limiting are more easily expressed in terms of of Time rather than Position Units s Calculate Maximum Acceleration Jerk Maximum Acceleration Jerk 3000 0 Position Units s73 Cancel Help Gains Tab AXIS SERVO Use this tab to perform these offline functions adjust or tweak gain values that have been automatically set by the tuning process in the Tune tab of this dialog manually configure gains for the velocity and position loops 210 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A for an axis of the type AXIS_SERVO which has been configured for Servo operations set in the General tab of this dialog box with Position Loop Configuration e Axis Properties myservolaxis Iof x General Motion Planner Units Servo Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Position Gains Manual Adjust Proportional po l s Integral fo 0 1 ms s Differential oo EE m Velocity Gains AA Feedforward Gains Proportional oo l s Velocity oo Integral a0 T ms s Acceleration ao Integrator Hold Enabled x t Cancel Apply Help The drive module uses a nested digital servo control loop consisting of a position loop with proportional integral and feed forward gain
460. tion Redefine Position Calculate a Cam Profile based on an array of cam MCCP No points Motion Calculate Cam Profile Start electronic camming between 2 axes MAPC No Motion Axis Position Cam Start electronic camming as a function of time MATC No Motion Axis Time Cam Calculate the slave value slope and derivative of MCSV No the slope for a cam profile and master value Motion Calculate Slave Values 34 Publication LOGIX UM002D EN P July 2008 Test an Axis with Motion Direct Commands Chapter 2 If you want to And Use this instruction Motion direct Command Initiate action on all axes Stop motion of all axes MGS Yes Motion Group Stop Force all axes into the shutdown state MGSD Yes Motion Group Shutdown Transition all axes to the ready state MGSR Yes Motion Group Shutdown Reset Latch the current command and actual position of all MGSP Yes axes Motion Group Strobe Position Arm and disarm special event Arm the watch position event checking for an axis MAW Yes checking functions such as Motion Arm Watch Position registration and watch position Disarm the watch position event checking for an MDW Yes axis Motion Disarm Watch Position Arm the servo module registration event checking MAR Yes for an axis Motion Arm Registration Disarm the servo module registration event checking MDR Yes for an axis Motion Disarm Registration Arm an output cam for an axis and output MAOC No Motion
461. tion Time 371 Tune Deceleration 371 Tune Deceleration Time 371 Tune Inertia 372 Tune Status 373 Drive Fault Bit Attributes 303 Drive Gains 397 Advanced Drive Gain Attributes 376 Output Notch Filter Frequency 345 Velocity Proportional Gain Maximum Bandwidth 381 Drive Limits Advanced Drive Limits 278 279 368 370 379 383 384 Continuous Torque Limit 297 Torque Limit 368 Drive Offsets Backlash Reversal Error 292 Backlash Stabilization Window 293 Drive Fault Actions 300 313 341 Advanced Stop Action Attributes 364 365 Brake Engage Delay 294 Brake Release Delay 294 Resistive Brake Contact Delay 357 Drive Power Attributes Bus Regulator ID 295 Power Supply ID 353 PWM Frequency Select 354 Drive Warning Bit Attributes 315 Cooling Error Warning 315 Drive Overtemperature Warning 315 Motor Overtemperature Warning 315 Overload Warning 315 Module Fault Bit Attributes 335 Module Hardware Fault 335 336 Timer Event Fault 335 336 Motor and Feedback Configuration Aux Feedback Ratio 282 Feedback Configuration 281 339 Feedback Polarity 281 339 Feedback Interpolation 282 339 Feedback Resolution 283 340 Feedback Type 283 340 Feedback Units 283 340 Motor Data 338 Motor ID 341 SERCOS Error Code 358 Servo Drive Configuration Attributes Advanced Scaling Attributes 309 Data Reference 310 Linear Scaling Unit 310 Scaling Type 309 Scaling Unit 309 Advanced Servo Configuration Attributes 353 365 Drive ID 299 Drive Pola
462. tion capability os for controlling non Cartesian robots The Kinematics function provides Functionality in RSLogix seamless transformation of Cartesian coordinates to joint coordinates enabling 5000 Software the movement of rotating bases elbows and shoulders found in robotic arms The benefits of RSLogix 5000 Kinematics integrated motion include implementation of both sequential and robot arm control within one controller no synchronization or handshake code required to link the robot arm to the controller all data is available via the controller resulting in one HMI for both the controller and robot arm consistent hardware solution that reduces the need for spare parts and operator training You program the RSLogix 5000 Kinematics function by using the standard motion instruction set in RSLogix 5000 software and these instructions e Motion Coordinated Transform MCT e Motion Calculate Transform Position MCTP MCT and MCTP instructions are only supported on 1756 L6x and 1756 L6xS controllers The MCT instruction binds two coordinate systems and establishes a coordinate transformation between two coordinate systems After the MCT Publication LOGIX UM002D EN P July 2008 75 Chapter6 Kinematics in RSLogix 5000 Software instruction is configured and executed you can program the robotic arm in the Cartesian coordinate system or the Joint coordinate system Any Motion Any Motion Instruction Coordinate C
463. 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 Punction Block programs provides custom outer control loop capability 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 395 Appendix D 396 Servo Loop Block Diagrams 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 motor mounted feedback device is still required to provide motor position information necessary for commutation Synchronous input data to the servo loop includes Position C
464. to operate at all times within the acceleration and deceleration limits of the drive and motor Maximum AXIS_SERVO REAL GSV Position Units Negative Travel _AXIS_SERVO_DRIVE SSV aioe l l ee 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 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 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 334 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Maximum AXIS_SERVO REAL GSV Position Units Positive Travel AXIS_SERVO_DRIVE SSV 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 and the axis passes outside these maximum travel limits a Software Overtravel Fault is
465. to the condition where the velocity feedback is equal to the velocity command Velocity Limit AXIS_SERVO_DRIVE REAL GSV Position Units sec j SSV Piet This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE REAL GSV Position Units sec j SSV l Nepatve This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE REAL GSV Position Units sec iti SSV Positive This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Velocity Limit AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the commanded velocity to the velocity servo Status loop input is greater than the configured Velocity Limit Velocity Lock AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the physical axis Velocity Feedback is within Status the configured Velocity Window of the current velocity command Velocity Offset AXIS_SERVO REAL GSV Velocity Offset in Position Units Sec AXIS SERVO DRIVE ssy Velocity Offset compensation can be used to give a dynamic velocity z correction to the output of the position servo loop Since this value is Tag updated
466. tor driven These un actuated joints are typically spherical joints Configure a Delta Three dimensional Robot This illustration shows a four axes Delta robot that moves in three dimensional Cartesian X1 X2 X3 space This type of robot is often called a spider or umbrella robot Publication LOGIX UM002D EN P July 2008 Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 Delta Three dimensional Robot Baseplate Actuator for a axis 4 p 1471 A r o Forearm NG assembly gt Actuators for axes 1 3 a Ae P ia gt ta Gripper Ss od The Delta robot in the above illustration is a three degree of freedom robot with an optional fourth degree of freedom used to rotate a part at the tool tip In RSLogix 5000 software the first three degrees of freedom are configured as three joint axes J1 J2 J3 in the robots coordinate system The three joint axes are either directly programmed in joint space automatically controlled by the embedded Kinematics software in RSLogix5000 software from instructions programmed in a virtual Cartesian coordinate system This robot contains a fixed top plate and a moving bottom plate The fixed top plate is attached to the moving bottom plate by three link arm assemblies All three of the link arm assemblies are identical in that they each have a single top link arm L1 and a parallelogram two bar link assembly L2
467. ts sec Limit Negative SSV This attribute maps directly to a SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it 278 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units sec Limit Positive SSV This attribute maps directly toa SERCOS IDN See the SERCOS Interface standard for a description This attribute is automatically set You usually don t have to change it Reveal AXIS_CONSUMED REAL GSV Important To use this attribute make sure Auto Tag Update is Enabled ee ers AXIS_ GENERIC Tag for the motion group default setting Otherwise you won t see the right value as the axis runs AXIS_SERVO AXIS SERVO DRIVE Actual Acceleration in Position Units Sec2 AXIS_VIRTUAL 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 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 r
468. ts state prior to being engaged by the axis during the homing sequence For example if the Home Switch Normally Closed bit 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 Home Direction AAS GENERIC SINT GSV 0 unidirectional forward AXIS_SERVO V 93 1 bidirectional forward AXIS_SERVO_DRIVE AXIS_VIRTUAL 2 unidirectional reverse 3 bidirectional reverse 326 Publication LOGIX UM002D EN P July 2008 Axis Attributes Appendix C Attribute Axis Type Data Type Access Description Home Event AXIS_CONSUMED BOOL Tag Set when a home event has been armed through execution of the MAH Armed Status AXIS_ GENERIC Motion Axis Home instruction Cleared when a home event occurs AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL Home Event AXIS_CONSUMED BOOL Tag Set when a home event has occurred Cleared when another MAH Status AXIS_ GENERIC Motion Axis Home instruction is executed AXIS_SERVO AXIS_SERVO_DRIVE AXIS_VIRTUAL a ee eee AXIS_CONSUMED DINT MSG User Event Task that is triggered to execute when a Home event occurs Task AXIS_GENERIC An instance value of 0 indicates that no event task has been configured to be triggered by the Home Event AXIS_SERVO AXIS_SERVO_DRIVE This attribute indicates which user Task is triggered when a home event occurs The user Task is triggered at the same ti
469. tus Conversion Constant 298 Axis Type AX AX AX S_CONSUMED S_GENERIC S_SERVO S_SERVO_DRIVE S_VIRTUAL S_CONSUMED S_GENERIC S_SERVO S_SERVO_DRIVE S_VIRTUAL Data Type Access BOOL REAL Tag GSV SSV Description If the bit is ON A transform is moving the axis OFF A transform isn t moving the axis Counts Position Unit Range 0 1 1e12 Default 8000 0 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 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 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 be
470. two axis attributes whose status are transmitted along with the actual position data to the Logix processor You can access the values of the selected attributes using a GSV command or from the axis tag itself This data is transmitted at a rate equal to the servo status data update time 179 Appendix A Axis Properties If you issue a GSV command for servo status attribute or use the value from the axis tag 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 If the AXIS_SERVO_DRIVE is associated with a Kinetix Enhanced Safe Torque Off or Advanced Safety Drive these two additional Real Time Axis attributes are available Guard Status Guard Faults If a AXIS_SERVO_DRIVE is associated with a Kinetix Advanced Safety Drive we recommend that you configure the Guard Status attribute Otherwise you will receive a warning when verifying your project If the AXIS_SERVO_DRIVE is associated with a Kinetix Advanced Then Safety Drive and Either Attribute 1 or Attribute 2 is populated as Guard Status No action is taken Neither Attribute 1 or Attribute 2 is populated as Guard Status Attribute 2 is populated as Guard Status Attribute 2 is populated with an attribute other than Guard Status and Attribute 1 is populated as Guard Status Attribute 1 is undefined Both Attribute 1 and Attribute 2 are populated with an att
471. ty 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 14748x10 AccelerationLimitNegative TorqueLimitPositive 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 14748x10 to 0 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 of 0 to 1000 Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A Offset Tab AXIS SERVO Use this tab to make offline adjustments to the following Servo Output values Friction Compensation Velocity Offset Torque Offset Output Offset for an axis o
472. types alias tag 48 base tag 48 Publication LOGIX UM002D EN P July 2008 424 Index Base Offsets definition of 89 Block diagrams for a 1756 M02AE module 387 With a torque servo drive 388 With a velocity servo drive 389 C Cartesian Gantry configuration parameters 101 configure 101 establish reference frame 101 identify the work envelope 101 Cartesian H bot base offsets 104 configuration parameters 104 configure 102 end effector offsets 104 establish reference frame 103 identify the work envelope 104 link lengths 104 Catalog 181 coarse update period set 18 Configure 108 111 configure SERCOS interface module 17 coordinate system overview 30 Coordinate System Properties Dynamics Tab 62 Manual Adjust 65 Reset Button 66 Manual Adjust Button 65 Position Tolerance Box 64 Actual 65 Command 65 Vector Box 62 Maximum Acceleration 63 Maximum Deceleration 63 Maximum Speed 63 Editing 51 General Tab 53 Axis Grid 55 Axis Name 55 Coordinate 55 Coordination Mode 55 Ellipsis Button 55 Dimension 54 Ellipsis button 54 Enable Coordinate System Auto Tag Publication LOGIX UM002D EN P July 2008 Update 56 Motion Group 54 New Group button 54 Transform Dimension 54 Type 54 Geometry Tab 57 Link Lengths 57 zero angle orientations box 57 Joints Tab 61 Joint Ratio 61 Joint Units 62 Offsets Tab 60 Base Offsets 60 Tag Tab 66 Data Type 67 Description 67 Name 66 Scope 67 Tag Type 67 Units Tab Axis Grid 58 Axis Name
473. ult 5 Guard Feedback 2 Fault 6 Guard Feedback Speed Compare Fault 7 Guard Feedback Position Compare Fault 8 Guard Stop Input Fault 9 Guard Stop Output Fault 10 Guard Stop Decel Fault 11 Guard Stop Standstill Fault 12 Guard Stop Motion Fault 13 Guard Limited Speed Input Fault 14 Guard Limited Speed Output Fault 15 Guard Limited Speed Monitor Fault 16 Guard Max Speed Monitor Fault 17 Guard Max Accel Monitor Fault 18 Guard Direction Monitor Fault 19 Guard Door Monitor Input Fault 20 Guard Door Monitor Fault 21 Guard Door Control Output Fault 22 Guard Lock Monitor Input Fault 23 Guard Lock Monitor Fault 24 Guard Enabling Switch Monitor Input Fault 25 Guard Enabling Switch Monitor Fault 26 Guard Feedback 1 Voltage Monitor Fault 27 Guard Feedback 2 Voltage Monitor Fault 28 Reserved 29 Reserved 30 Reserved 31 Publication LOGIX UM002D EN P July 2008 Do you want any of these faults to give the controller a major fault YES Set the General Fault Type of the motion group Major Fault NO You must write code to handle these faults For more information about error codes displayed on drives and or multi axis motion control systems see page 385 325 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Gearing Lock AXIS_CONSUMED BOOL Tag Set whenever the slave axis is locked to the master axis in a gearing Status AXIS GENERIC relationship according to the specified gear ratio
474. ure If this bit is set true motion is initiated in the reverse or negative direction Tune Position Error Integrator If this bit is ON The tuning procedure calculates the Position Integral Gain OFF The tuning procedure sets the Position Integral Gain to 0 Tune Velocity Error Integrator If this bit is ON The tuning procedure calculates the Velocity Integral Gain OFF The tuning procedure sets the Velocity Integral Gain to 0 Tune Velocity Feedforward If this bit is ON The tuning procedure calculates the Velocity Feedforward Gain OFF The tuning procedure sets the Velocity Feedforward Gain to 0 Tune Acceleration Feedforward If this bit is ON The tuning procedure calculates the Acceleration Feedforward Gain OFF The tuning procedure sets the Acceleration Feedforward Gain to 0 Tune Output Low Pass Filter If this bit is ON The tuning procedure calculates the Output Filter Bandwidth OFF The tuning procedure sets the Output Filter Bandwidth to 0 which disables the filter Continued on next page Publication LOGIX UM002D EN P July 2008 375 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Tuning Configuration Bits cont AXIS_SERVO REAL GSV AXIS_SERVO_DRIVE SSV Tuning Speed Bidirectional Tuning The Bidirectional Tuning bit determines whether the tuning procedure Is unidirectional or bidirectional If this bit is s
475. ure Homing Chapter 9 Sequence Active home to switch and marker in forward unidirectional Sequence Passive Immediate Home Description This active homing sequence is useful for multi turn rotary applications when unidirectional motion is required During the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch 2 The axis keeps moving at the Home Speed until it gets to the marker 3 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Passive Homing Description 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 you are using a Home Offset 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 applications When this sequence is performed in the Pass
476. uring the configuration process Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 The present utilization of drive capacity as a percent of rated capacity Drive Control Voltage Fault AXIS_SERVO_DRIVE BOOL Set when the power supply voltages associated with the drive circuitry fall outside of acceptable limits Drive Cooling Fault 300 AXIS_SERVO_DRIVE BOOL Set when the ambient temperature surrounding the drive s control circuitry temperature exceeds the drive ambient shut down temperature Publication LOGIX UM002D EN P July 2008 Attribute Drive Enable Input Fault Drive Enable Input Fault Action Axis Type AXIS_SERVO_DRIVE BOOL AXIS_SERVO_DRIVE SINT Tag GSV SSV Axis Attributes Appendix C Data Type Access Description 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 Enabl
477. urrent limit amplifier thermal limit and the motor thermal limit 343 AppendixC Axis Attributes Attribute Axis Type Data Type Access Description Output Cam AXIS_CONSUMED DINT GSV Represents the number of Output Cam nodes attached to this axis Valid Soar AXIS GENERIC range 0 8 with default of 0 Targets AXIS_SERVO The Output Cam Execution Targets attribute is used to specify the AXIS_SERVO_DRIVE number of Output Cam nodes attached to the axis This attribute can AXIS VIRTUAL only be set as part of an axis create service and dictates how many E 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 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 Output Cam AXIS_CONSUMED DINT GSV Set of Output Cam Lock Status bits AXIS_GENERIC Ta ae Popes rams 3 g The Output Cam Lock Status bit is set when an Output Cam has been AXIS_SERVO armed This would be initiated by executing an MAOC instruction with AXIS_SERVO_DRIVE Immediate execution selected when a pending output cam changes to
478. us BOOL Decimal ConfigUpdatelnProcess BOOL Decimal InhibitStatus BOOL Decimal MotionStatus DINT Hex AccelStatus BOOL Decimal DecelStatus BOOL Decimal MoveStatus BOOL Decimal JogStatus BOOL Decimal GearingStatus BOOL Decimal Homingstatus BOOL Decimal StoppingStatus BOOL Decimal AxisHomedStatus BOOL Decimal PositionCamStatus BOOL Decimal TimeCamStatus BOOL Decimal PositionCamPendingstatus BOOL Decimal TimeCamPendingStatus BOOL Decimal GearingLockStatus BOOL Decimal PositionCamLockStatus BOOL Decimal MasterOffsetMoveStatus BOOL Decimal CoordinatedMotionStatus BOOL Decimal AxisEvent DINT Hex WatchEventArmedstatus BOOL Decimal WatchEventStatus BOOL Decimal RegEvent1ArmedStatus BOOL Decimal RegEvent1 Status BOOL Decimal RegEvent2ArmedStatus BOOL Decimal RegEvent2Status BOOL Decimal HomeEventArmedStatus BOOL Decimal 407 AppendixE Axis Data Types Member Data Type Style HomeEventStatus BOOL Decimal OutputCamStatus DINT Hex OutputCamPendingStatus DINT Hex OutputCamLockStatus DINT Hex OutputCamTransitionStatus DINT Hex ActualPosition REAL Float StrobeActualPosition REAL Float StartActualPosition REAL Float AverageVelocity REAL Float ActualVelocity REAL Float ActualAcceleration REAL Float WatchPosition REAL Float Registration Position REAL Float Registration2Position REAL Float Registration Time DINT Decimal Registration2Time DIN
479. used with the example above is shown below Coordinate System Properties Delta2D General Geometry Unite Miffsets Joints Tag Typa Delta Transtoem Dimension 2 Lnd Lttector Uttsets Xle Re Base Uiocts Xib fann w w This negative offset description also applies for Delta 3D and SCARA Delta Configurations Publication LOGIX UM002D EN P July 2008 Arm Solutions Solution Mirroring for Three dimensional Robots Publication LOGIX UM002D EN P July 2008 Kinematics in RSLogix 5000 Software Chapter 6 A Kinematic arm solution is the position of all joints on the robot that correspond to a Cartesian position When the Cartesian position is inside the workspace of the robot then at least one solution will always exist Many of the geometries have multiple joint solutions for a single Cartesian position Two axis robots two joint solutions typically exist for a Cartesian position Three axis robots four joint solutions typically exist for a Cartesian position Left Arm and Right Arm Solutions for Two Axes Robots A robot having an arm configuration has two Kinematics solutions when attempting to reach a given position point A shown on the figure below One solution satisfies the equations for a right armed robot the other solution satisfies the equations for a left armed robot Right Arm and Left Arm Solutions Left Arm Solution A Right Arm Solution Por a three di
480. 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 The Drive Fault field lets you specify 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 The Feedback noise field lets you specify 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 The Feedback Loss field lets you specify 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 Position Error The Position Error field lets you specify the fault action to be taken when position error exceeds the position tolerance set for the axis for an axis 248 Publication LOGIX UM002D EN P July 2008 Soft Overtravel Fault Actions Tab AXIS SERVO_DRIVE Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A configured as Servo in the General tab of
481. ust first set the appropriate output scaling factor either 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 gain Pos P Gain Bandwidth Hertz 6 28 The typical value for the Position Proportional Gain is 100 Sec 1 The Integral that is 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 exacerb
482. uts 250 us position and velocity loop updates 1756 HYDO02 The 1756 HYD02 is a two axis servo module for hydraulic actuators that need a 10V velocity reference Use the 1756 HYD02 when your equipment has magnostrictive linear transducer LDT feedback The module is similar to the 1756 M02AE with these exceptions Feed Forward adjust in addition to single step Auto Tune 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 1756 M02AS The 1756 M0Z2AS is a two axis servo module for drives actuators that need a 10 volt velocity or torque reference input Use the 1756 M02AS when your equipment has Serial Synchronous Input SSI position feedback The module is similar to the 1756 M02AE with these exceptions 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 SSI interface consisting of Differential Clock output and Data return signals replaces the differential encoder interface 1756 MO3SE Use a SERCOS interface module to connect the controller to SERCOS interface drives 1756 MO8SE The SERCOS interface lets you control digital drives using high speed real time serial 1756 M16SE communication 1768 MO4SE SERCOS is the I
483. ve Overtravel input is inactive If this bit is ON The axis moved or tried to move past the Maximum Negative travel limit OFF The axis moved back within the Maximum Negative travel limit This fault can only happen when the drive is enabled and you configure the axis for Soft Travel Limits 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 stays through any attempt to clear it while the axis position is still beyond the specified travel limits while the axis is enabled Negative AXIS_SERVO_DRIVE REAL GSV Dynamic Tag Torque Limit Publication LOGIX UM002D EN P July 2008 Important To use this attribute choose it as one of the attributes for Real Time Axis Information for the axis Otherwise you won t see the right value as the axis runs See Axis Info Select 1 Rated The currently operative maximum negative torque current limit magnitude The value should be the lowest value of all torque current limits in the drive at a given time This limit includes the amplifier peak limit motor peak limit user c
484. ve at least half the controller s time for the scan of all your code O ww 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 and so on 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 18 Publication LOGIX UM002D EN P July 2008 Start Chapter 1 Action Details 2 Add the motion group E Controller My_Controller Controller Tags E3 Controller Fault Handler C3 Power Up Handler 3 6 Tasks MainTask E3 Unscheduled Programs Phases Pa A H 6 E Trends BE EG Copy Ctrl C Ctrl V Sa B C Name My_Motion_Group Description Cancel C Help Usage Type Alias For Data Type MOTION_GROUP Bj Scope j My_Controller X Style C M Open MOTION_GROUP Configuration _ 3 Set the coarse update period Read Only Motion Group Wizard My _Mofion Groun Axis Assi x Read Only Motion Group Wizard My_Motion_Group Attribute amp Unassigned in 0 5 increments General Fault Type Non Major Fault x Scan Times elapsed time Max us f Mar Last us Cancel F
485. ve profile in the instruction that starts the motion Stop Typeis set to a specific type Direction Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Merge Merge Speed 0 Jog_1_Speed 60 06 Units per sec Jog_1_Accel 20 0 Units per sec2 Jog_1_Decel 20 0 Units per sec Curve Disabled Programmed of motion such as Jog or Move Jog_PB lt Locat 4 1 Data O gt The stopping instruction changes the deceleration For example the Change Dece operand of an MAS instruction is set to Vo This means the axis uses its maximum deceleration rate 150 Publication LOGIX UM002D EN P July 2008 Troubleshoot Axis Motion Chapter 8 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 If you reduce the acceleration it takes longer to get acceleration to 0 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 100 80 speed overshoots 0 20 ek and axis goes in opposite direction The axis speeds back up as soon as you start the jog The jog instruction reduces the deceleration of th
486. vo 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 in 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 100 for example 10 Volts the motor goes 5 000 RPM or 83 3 RPS the Velocity Scaling attribute value would be calculated as Velocity Scaling 100 83 3 RPS 1 2 Revs Per Second 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 The Torque Scaling value is typically established by the controller s automatic tuning procedure but the value can
487. w the changes from that workstation but not edit them 253 AppendixA Axis Properties Attributes The following attribute or parameter values can be monitored and edited in this dialog box Attribute Description Stopping Torque This attribute displays the amount of torque available to stop the motor This attribute has a value range of 0 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 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 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 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 Tag Tab Use this t
488. workstation executing commands relinquishes the lock Publication LOGIX UM002D EN P July 2008 Chapter 3 Handle Faults Introduction The controller has these types of motion faults Type Description Example Instruction error Caused by a motion instruction A Motion Axis Move MAM Instruction errors do not impact controller operation instruction with a parameter out of Look at the error code in the motion control tag to see why range an instruction has an error Fix instruction errors to optimize execution time and make sure that your code is accurate Fault Caused by a problem with the servo loop Loss of feedback You choose whether or not motion faults give the controller Actual position exceeding an major faults overtravel limit Can shutdown the controller if you do not correct the fault condition To handle motion faults Choose If Motion Faults Shut Down the Controller Choose the Fault Actions for an Axis Set the Fault Action for an Axis Publication LOGIX UM002D EN P July 2008 43 Chapter3 Handle Faults Choose If Motion Faults Shut Down the Controller Action 1 Choose a General Fault Type By default the controller keeps running when there is a motion fault As an option you can have motion faults cause a major fault and shut down the controller Details Do you want any motion fault to cause a major fault and shut down the controller YES Choose Major Fault
489. xis Publication LOGIX UM002D EN P July 2008 Inhibit an Axis Use this chapter to block the controller from using an axis Use the following information to determine when to inhibit an axis 5 Controller My_Controller Tasks C Motion Groups ce My_Motion_Group You want to block the controller from using an gt My _Axis_X axis because the axis is faulted or not installed i My Axis Y tee Ungrouped Axes You want to let the controller use the other axes Trends 2 Data Types J 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 two production lines that use the same SERCOS tring And suppose one of the lines gets a fault In that case inhibit the axes on that line This lets you run the other line while you take care of the fault 69 Chapter5 Inhibit an Axis Before You Begin Before you inhibit or uninhibit an axis Before you inhibit or uninhibit an axis turn off all of 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 th
490. y different if you have a different type of drive Details 1 Open the properties for the axis 5 Controller My_Controller Tasks 38 Motion Groups H My_Motion_Group amp L a My_Axis_ H E Ungrouped Axes Trends 5 Data Types 1 0 Configuration Motion Direct Commands Cross Reference Ctrl E _ Print gt Properties N 2 Select the drive for the axis Axis Properties My_Axis_X Homina Hookup Tune Dynamics Gains Output Limits Oftset Fault Ax General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Axis Configuration Y Motion Group My_Motion_Group xl ja M u Associated Module Select the name that you gave to the drive for this Module My Drivex axis Module Type 2094 AC09 M02 Node hoo SY 3 Set the units that you want to program in e Axis Properties My_Axis_X B Type the units that you want to use for programming such as revs degrees inches or millimeters 22 Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Ac General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Revs Average Velocity Timebase 0 25 Seconds Position Units Publication LOGIX UM002D EN P July 2008 Start Chapter 1 Action Details 4 Select the drive and motor catalog numbers s Axis Properties My_Axis_X B Select the catalog nu
491. y the value of the tag Note that style is only applicable to an atomic tag a structure tag does not have a display style Publication LOGIX UM002D EN P July 2008 Appendix B Introduction Publication LOGIX UM002D EN P July 2008 Wiring Diagrams Use the diagrams in this appendix to wire the motion control equipment of your control system To wire this See page 1756 M02AE Module 258 Ultra 100 Series Drive 259 Ultra 200 Series Drive 259 Ultra3000 Drive 261 1394 Servo Drive in Torque Mode only 263 1756 M02AS Module 265 1756 HYDO02 Application Example 266 1756 HYD02 Module 267 LDTs 268 Temposonic GH Feedback Device 269 24V Registration Sensor 270 5V Registration Sensor 270 Home Limit Switch Input 271 OK Contacts 271 257 AppendixB Wiring Diagrams 1756 M02AE Module 2a O17 N Uo a F Hl 0UT 0 0UT 1 General Cable T i eivoidiiv uO O3 C0720 0UT 0 OUT 1 Iso osf A ENABLE 0 ENABLE 1 f Ort ENABLE O ENABLE 1 General Cable To servo drive 1O Og C0721 DRVFLT O DRVFLT 1 20 ou CHASSIS l CHASSIS A WMO si m IN_COM FIN com Wi General Cable To home PSO Onl z C0720 limit switch HOME 0 HOME 1 i8 O O17 l A REG24V 0 REG24V 1
492. ying Compatible Keying By Category By Veriton 5 6 h Can 8 Publication LOGIX UM002D EN P July 2008 15 Chapter 1 Start Add SERCOS interface Add SERCOS interface drives to the I O configuration of the controller This lets you use RSLogix 5000 software to set up the drives Drives 5 i Ji CompactLogix controller ControlLogix controller Controller My_Controller Controller My_Controller H E Tasks Tasks Motion Groups Motion Groups C3 Trends C3 Trends Data Types Data Types 16 E 1 0 Configuration E 1 0 Configuration 1768 Bus 1756 Backplane 1756 47 f 1 1768 M045E My_SERCOS_Module f 1 1756 M085E My_SERCOS_Module a aE N a SERCOS Network N wl mata E Select Module Vendor Description Other a 1394C SJT05 D 1394 460 AC SERCOS System Module Skw PS Allen Bradley 1394C 5JT10 D 1394 460 AC SERCOS System Module 10kW PS Allen Bradley 1394C 5JT22 D 1394 460 AC SERCOS System Module 22kW PS Allen Bradley Kinetix 6000 230VAC IAM 3KW P5 9A Cont 17A Peak Allen Bradley 2094 4C05 MP5 Kinetix 6000 230VAC IAM 3KW P5 5A Cont 10A Peak Allen Bradley 2094 A009 M02 Kinetix 6000 230VAC IAM 6KW PS 15A Cont 304 Peak Allen Bradley 2094 AC16 M03 Kinetix 6000 230VAC IAM 15kW PS 244 Cont 49A P Allen Bradley 2UYF ACSZ MUS Kinetix BUUU Z3UVAL 1AM ZW PS 498 Cont YAP Allen Bradley 2U94 AMUL K
493. ynamics tab of the Manual Adjust dialog for online editing of the Maximum Speed Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk and Maximum Deceleration Jerk When values are changed on this dialog either by manually changing the spin Publication LOGIX UM002D EN P July 2008 Axis Properties Appendix A control or entering numeric values the new values are instantaneously sent to the controller Manual Adjust axis_vitual x Dynamics Maximum Speed 10 0 Sj Position Units s Reset e Maximum Acceleration hoo ed Position Units s 2 Maximum Deceleration hoo ad Position Units s 2 Maximum Acceleration Jerk 30000 O H Position Units s 3 Maximum Deceleration Jerk 00 H e Position Units s 3 Cancel Help The Manual Adjust button is disabled when RSLogix 5000 software is in Wizard mode and when offline edits to the above parameters have not yet been saved or applied Calculate Button This dialog lets you set and view the Maximum Acceleration or Deceleration Jerk in Jerk Units of Time Use the slider to select the value unit of Time The numeric value in the Maximum Accel Decel Jerk status box updates as the slider is moved Click on the OK button to accept the new value or click the Cancel button to leave without changing the value The Unit of Time is allowed for Jerk limiting only via the Instruction Faceplate Only the Profile S curve allows Jerk control Programmable Publica
494. 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 LOGIX UM002D EN P July 2008 Axis Properties Appendix A Manual Adjust Click on this button to access the Output tab of the Manual Adjust dialog for online editing Manual Adjust myservolaxis x Dynamics Gains Output Limits Offset Velocity Scaling a0 foal Paosition Units s Heset e Torque Scaling joo Pasition Units s 2 Direction Scaling Ratio f 0 e Forward Reverse Scaling IV Enable Low pass Output Filter Low pass Output Filter Bandwidth fio00 0 H Hertz OK Cancel Apply Help The Manual Adjust button is disabled when RSLogix 5000 software 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 set the torque scaling value which is used to generate

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