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Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual manuali

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Rockwell automation 1746-HSRV SLC Servo Control Module User Manual Manuale Utente (224 pagine)


Marchio: Rockwell-automation | Categoria: Apparecchiature | Dimensione: 1.69 MB |

 

Indice

Servo Control

1

Important User Information

2

European Communities (EC)

3

Directive Compliance

3

Chapter 4

5

Chapter 5

5

Chapter 6

5

Setting Up Your SLC Servo

6

Programming the SLC

7

Processor to Run the SLC

7

Servo Module

7

Programming System

8

Variables

8

Input/Output Quick

9

Reference

9

Cable Dimensions and

9

Wiring Diagram

9

Programming Examples

10

Wiring Without the

10

Termination Panel

10

Table of Contents

11

viii

11

Who Should Use this

12

Purpose of this Manual

12

Safety Precautions

12

Contents of this Manual

13

Preface

14

Related Documentation

15

Conventions Used in this

16

Product Receiving and

16

Storage Responsibility

16

Rockwell Automation

17

Support

17

On the Web

18

P-8

19

Overview

20

Operation

21

Configuration Mode Operation

22

Command Mode Operation

22

Specifications and

23

Compatibility

23

Selecting a Power Supply

24

Selecting a User-Side

26

Power Supply

26

Using Fast Inputs and

27

Selecting an Encoder

28

500 µV (max)

30

General Wiring Practices

32

Routing Wires

33

Classifying Your

34

Conductors

34

Placing Your SLC Servo

34

Unpacking and Inspecting

36

Your SLC Servo Module

36

Installing the SLC Servo

37

An invalid configuration is

38

CONFIG INV

38

When: This LED is on:

38

Grounding the SLC Servo

39

Mounting the Termination

40

Connecting the Termination

42

Wiring the SLC Servo Module

44

Wiring Fast Inputs and

45

Wiring Hardware

47

Overtravels

47

Connecting Home Limit

48

Switch as a Fast Input

48

Wiring Estop Connections

49

Wiring for Normal Operation

50

4 form C

51

ATTENTION

52

Wiring Power Supplies

55

Wiring Encoders

56

Differential

57

Line Driver

57

Customer

57

Typical Vendor Encoder Wiring

58

Wiring the SLC Servo to

61

Allen-Bradley Drives

61

M1INPUT FUSING

69

Necessary Figure 5.24

71

Figure 5.25

71

Figure 5.26

71

Not Necessary Figure 5.24

71

1746 HSRV/IMC 110

72

(1746-HT)

72

C #15) wire swapped

73

Connecting the Velocity

75

Powering Up Your SLC

76

Testing Estop Wiring

78

Understanding the Theory

81

Powering Up the SLC Servo

82

Configuring the SLC

82

Processor

82

Software

83

If you are using: Go to:

83

When Working: Go to:

86

The SLC Servo Module

90

Configuring the SLC Servo

90

Before Programming the

91

Communicating Between

92

Entering Encoder Lines and

92

Computing Counts

92

Initializing DAC Output

95

Voltage for Drive Symmetry

95

Setting Initial Loop Type

95

Defining Positive Axis

96

Movement for the SLC

96

Coarse Calibrating

97

Fine Calibrating

97

Computing Excess

98

Following Error Limit

98

Selecting Loop Type

99

Selecting Axis

100

Acceleration Rate

100

Determining Velocity and

102

Acceleration Feedforward

102

Specific Parameters

103

Programming Conventions

103

Setting Axis and Home

103

Configuration Errors

104

Configuration Parameters

105

Servo Loop Parameters

106

Motion Parameters

108

Axis Parameters

109

Homing Parameters

109

System Parameters

110

Homing Options

111

Option 1 Example

112

Option 2 Example

113

Option 3 Example

114

Option 4 Example

115

Homing to a Limit Switch

116

SLC Servo Module

118

XX XXXX XXXX

120

Command and Status

121

Information

121

Module Communication

121

Interface

121

Discrete Bit Commands

122

Word 0 Discrete Bit Commands

123

124

Discrete Block Commands

125

Recovering from Estop

126

Executing Simultaneous Moves

127

Using Simple Move

128

Commands

128

Velocity

131

Using the Speed Move Command

132

Planning a Speed Move

133

Planning a Monitor Move

134

N31:0 16 0 0 0 0 0 1

136

Execute several

139

Blending Speed Moves

141

F47:0 0.75 500.0

143

Word 0 1 2 3 4 5

143

Programming System Variables

144

• Set In-Position Band

145

Using the Set Home Command

146

for word 5, bit 4 appear in

150

XXX XX1X

151

XXXX X1XX

152

Status Information

154

Processor Status

158

Floating-Point Values

159

Troubleshooting

160

Hardware Setup

161

Software Setup

161

If CONFIG INV LED is Lit

162

Troubleshooting

163

Troubleshooting LED

165

Indicators

165

Error Messages and

166

Diagnosis

166

Informational Messages

167

Minor Fault Messages

169

Major Fault Messages

171

Input/Output Quick Reference

174

Word 1 Parameters

177

Word 2 Parameters

178

Multi-Word Parameters

178

Feedback Parameters

180

Word 0

184

Word 1

185

Word 2

185

SLC Servo Module to SLC

186

Processor Discrete Control

186

Blended Configuration

187

Appendix

188

Ladder Rung Examples

191

Rung 2 – Timer Delay

193

Figure C.7 Rung 3

194

Figure C.8 Rung 4

194

Programming Examples

195

Figure C.12 Rung 6

197

Figure C.13 Rung 7

197

Rung 8 – Clear All Faults Bit

198

Rung 9 – Cancel Move

198

Rung 10 – Hold/Unhold

198

Rung 12 – ABSOLUTE Move

199

Rung 13 – INCREMENTAL Move

201

Rung 14 – SPEED Command

203

Rung 15 – MONITOR Move

204

Rung 16 – BLEND Move

205

Rung 17 – Clearing Move Bits

206

Figure C.33 Rung 18

207

Address Command

207

N31:0 0 0

207

Rung 19 – HOME Axis

208

Figure C.35 Rung 19

209

F27:0 1.0 20.0

209

Rung 20 – Final Rung

210

Distances to User Devices

213

Wiring Your User Devices

213

Estop Circuitry Drawings

214

I-2

217

I-4

219

I-6

221

I-8

223




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