Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual Manuale Utente Pagina 1

SLCtm Servo Control Module(Catalog No. 1746-HSRV)User Manual

Publication 1746-6.1.2 - July 2000 Table of Contents viiProgramming ExamplesAppendix CSLC Servo Module. . . . . . . . . . . . . . . . . . . . .

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-21To monitor and adjust the position loop gain, you must do the followin

Publication 1746-6.1.2 - July 2000 7-22 Setting Up Your SLC Servo Module2. Set the SLC Servo Module in Estop.3. Toggle the bit (word 0, bit 15

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-23For example, the current value for time to maximum speed is 0.2 second

Publication 1746-6.1.2 - July 2000 7-24 Setting Up Your SLC Servo ModuleSetting Axis and Home Specific ParametersThe rest of the parameters ar

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-25Figure 7.2 Typical Ladder Program In the ladder above, the floating

Publication 1746-6.1.2 - July 2000 7-26 Setting Up Your SLC Servo ModuleConfiguration ParametersThis section provides information to help you

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-27Servo Loop Parameters Servo loop parameters specify the followi

Publication 1746-6.1.2 - July 2000 7-28 Setting Up Your SLC Servo ModuleFigure 7.5 Servo Loop Parameters in a Velocity Feedforward LoopThe fol

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-29 Motion Parameters Use the motion parameters in the following table

Publication 1746-6.1.2 - July 2000 7-30 Setting Up Your SLC Servo Module Axis Parameters Use the axis parameters in the following t

Publication 1746-6.1.2 - July 2000 Table of Contents viii

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-31 System Parameters Use the system parameters in the following tab

Publication 1746-6.1.2 - July 2000 7-32 Setting Up Your SLC Servo Module1 A small number of Fits per CIT cause a fast servo loop closure time

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-33whether the final move to the marker is required. Four options are out

Publication 1746-6.1.2 - July 2000 7-34 Setting Up Your SLC Servo Module If the current axis position is x, then the following occurs: • Th

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-35If the current axis position is x, then the following occurs: • The ax

Publication 1746-6.1.2 - July 2000 7-36 Setting Up Your SLC Servo ModuleIf the current axis position is x, the following occurs: • The axis mo

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-37If the current axis position is x, the following occurs: • The axis mo

Publication 1746-6.1.2 - July 2000 7-38 Setting Up Your SLC Servo ModuleThe current position of the axis is set to the configured Home Positio

1 Publication 1746-6.1.2 - July 2000 Chapter 8Programming the SLC Processor to Run the SLC Servo ModuleOverviewThis chapter provides configuration inf

Publication 1746-6.1.2 - July 2000 8-2 Programming the SLC Processor to Run the SLC Servo ModuleYou can download to the module using two copy f

1 Publication 1746-6.1.2 - July 2000 PrefaceRead this preface to familiarize yourself with the rest of the manual. This preface covers the following t

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-31 Nn -Source N file number containing the modul

Publication 1746-6.1.2 - July 2000 8-4 Programming the SLC Processor to Run the SLC Servo Modulecorrupt the M File data before it gets transfer

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-5Figure 8.2 SLC Processor/Servo Module Communica

Publication 1746-6.1.2 - July 2000 8-6 Programming the SLC Processor to Run the SLC Servo ModuleWord 0 Discrete Bit Commands 1 s = Slo

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-7 1 s = Slot number for the SLC S

Publication 1746-6.1.2 - July 2000 8-8 Programming the SLC Processor to Run the SLC Servo Module Word 1 Discrete Bit Commands 1 s = Slot

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-9As each block command is executed, the SLC Serv

Publication 1746-6.1.2 - July 2000 8-10 Programming the SLC Processor to Run the SLC Servo ModuleThe Incremental Position command is active all

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-11Simple Move Commands All simple moves are

Publication 1746-6.1.2 - July 2000 8-12 Programming the SLC Processor to Run the SLC Servo Moduleposition, causing a positive or negative move,

Publication 1746-6.1.2 - July 2000 Preface P-2 Contents of this ManualThis manual provides specific information relevant to the SLC Servo M

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-13The Absolute/Incremental move ends if any one

Publication 1746-6.1.2 - July 2000 8-14 Programming the SLC Processor to Run the SLC Servo ModuleThe example initiates an absolute move:• To 20

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-15Typically, the absolute and incremental moves

Publication 1746-6.1.2 - July 2000 8-16 Programming the SLC Processor to Run the SLC Servo ModuleThe speed move ends if any one of the followin

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-17The example initiates a speed move:• At 10 pos

Publication 1746-6.1.2 - July 2000 8-18 Programming the SLC Processor to Run the SLC Servo ModuleFigure 8.8 Monitor Move Command Block Diagram

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-19The Run Blend Move Profile ends if any one of

Publication 1746-6.1.2 - July 2000 8-20 Programming the SLC Processor to Run the SLC Servo ModuleExecuting a Run Blend Move ProfileTypically, a

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-21Figure 8.11 Speed Increases, Direction Same, E

Publication 1746-6.1.2 - July 2000 8-22 Programming the SLC Processor to Run the SLC Servo ModuleFigure 8.13 Speed Increases, Direction Opposit

Publication 1746-6.1.2 - July 2000 Preface P- 3 Chapter Title Contents1 Overview of the SLC Servo ModuleOverview information about the product, i

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-23Figure 8.14 Speed Decreases, Direction Same, P

Publication 1746-6.1.2 - July 2000 8-24 Programming the SLC Processor to Run the SLC Servo ModuleBlending Incremental Moves Blending Speed

Publication 1746-6.1.2 - July 2000 Programming the SLC Processor to Run the SLC Servo Module 8-25Figure 8.18 Speed Increases, Direction Same

Publication 1746-6.1.2 - July 2000 8-26 Programming the SLC Processor to Run the SLC Servo ModuleThe Plan Synchronized Move bit:• Can be set al

1 Publication 1746-6.1.2 - July 2000 Chapter 9Programming System VariablesOverviewThis chapter provides information to help you program the module for

Publication 1746-6.1.2 - July 2000 9-2 Programming System VariablesThe Speed/Direction to Start Homing Axis value is signed. The sign specifies

Publication 1746-6.1.2 - July 2000 Programming System Variables 9-3A home axis move is initiated if the float data table is: And the integer d

Publication 1746-6.1.2 - July 2000 9-4 Programming System VariablesTypical Set Home Move Data Tables Before executing a Set Home move, set Sour

Publication 1746-6.1.2 - July 2000 Programming System Variables 9-5After the Set Retract Position is executed, the position is valid for perfor

Publication 1746-6.1.2 - July 2000 9-6 Programming System VariablesThis command is useful when you want to set the current position of the axis

Publication 1746-6.1.2 - July 2000 Preface P-4Related DocumentationThe following documents contain additional information concerning Allen-Bradle

Publication 1746-6.1.2 - July 2000 Programming System Variables 9-7successfully homed. Set Offset parameters for word 5, bit 4 appear in the ta

Publication 1746-6.1.2 - July 2000 9-8 Programming System VariablesIf the Set In-Position Band command fails, the SLC processor is notified wit

Publication 1746-6.1.2 - July 2000 Programming System Variables 9-9Typical Set Excess FE Limit Move Data Tables Before executing a Set Excess F

Publication 1746-6.1.2 - July 2000 9-10 Programming System VariablesFor example, the following three tables show how the gain can be manipulate

Publication 1746-6.1.2 - July 2000 Programming System Variables 9-11Using the Set VFF CommandThe Set VFF command specifies the amount of positi

Publication 1746-6.1.2 - July 2000 9-12 Programming System VariablesWord 0 Discrete Bit Status SpecificationsThe bit specifications, given in t

Publication 1746-6.1.2 - July 2000 Programming System Variables 9-13Word 1 Discrete Bit Status Specifications 1 s = Slot number for the SLC

Publication 1746-6.1.2 - July 2000 9-14 Programming System VariablesWord 2 Discrete Bit Status Specifications SLC Servo Module 1 s = Slot numbe

Publication 1746-6.1.2 - July 2000 Programming System Variables 9-15Word 3 Discrete Bit Status Specifications 1 s = Slot number for the SLC

Publication 1746-6.1.2 - July 2000 9-16 Programming System Variables 1 s = Slot number for the SLC Servo ModuleFloating-Point ValuesThree flo

Publication 1746-6.1.2 - July 2000 Preface P- 5Conventions Used in this ManualThe following conventions are used throughout this manual:• Bullete

1 Publication 1746-6.1.2 - July 2000 Chapter 10TroubleshootingOverviewThis chapter contains information that helps you to perform the troubleshooting

Publication 1746-6.1.2 - July 2000 10-2 TroubleshootingHardware SetupCheck wiring to diagram, get the FDBK/UPWR light out. This insures that yo

Publication 1746-6.1.2 - July 2000 Troubleshooting 10-3You can download to the module using two copy file instructions to the M0 file of the SL

Publication 1746-6.1.2 - July 2000 10-4 TroubleshootingThe following diagram shows the Data Table with the values in file F8.Figure 10.2 Data

Publication 1746-6.1.2 - July 2000 Troubleshooting 10-5Jog the AxisUsing the Speed Move CommandThe speed move command generates a move at the s

Publication 1746-6.1.2 - July 2000 10-6 TroubleshootingFigure 10.6 Data table for File N31 The above configuration is for a SPEED move at 100%

Publication 1746-6.1.2 - July 2000 Troubleshooting 10-7The following table shows the status indicators for the LEDs and what action might need

Publication 1746-6.1.2 - July 2000 10-8 TroubleshootingInformational Messages Informational Message No.Potential Cause Possible Resolution2 T

Publication 1746-6.1.2 - July 2000 Troubleshooting 10-918 Speed move was attempted in Estop. 1. Reset Estop.2. Reinitiate the command.19 Monito

Publication 1746-6.1.2 - July 2000 10-10 TroubleshootingMinor Fault Messages 45 Manufacturing test command was issued. Verify that the SLC pro

Publication 1746-6.1.2 - July 2000 Preface P-6Leave the product in its shipping container prior to installation. If you are not going to use the

Publication 1746-6.1.2 - July 2000 Troubleshooting 10-111040 Speed of move off the limit switch is out of range. If the speed specified is less

Publication 1746-6.1.2 - July 2000 10-12 TroubleshootingMajor Fault Messages 1063 The excess follower error is out of range. If the excess FE

Publication 1746-6.1.2 - July 2000 Troubleshooting 10-132051 No communication with the SLC Servo Module has occurred within the last 5 seconds.

Publication 1746-6.1.2 - July 2000 10-14 Troubleshooting

1 Publication 1746-6.1.2 - July 2000 Appendix AInput/Output Quick ReferenceConfiguration Output Bit ParametersUse the following tables to locate word

Publication 1746-6.1.2 - July 2000 A-2 Input/Output Quick ReferenceLoop Type(Servo Loop)M0:s.0/5,M0:s.0/400 - Open Loop,(5=0, 4=0)Standard The

Publication 1746-6.1.2 - July 2000 Input/Output Quick Reference A-3 1 s = Slot number for the SLC Servo Module01 – Homing to a Marker, (10=0

Publication 1746-6.1.2 - July 2000 A-4 Input/Output Quick Reference Word 1 Parameters 1 s = Slot number for the SLC Servo Module.Paramet

Publication 1746-6.1.2 - July 2000 Input/Output Quick Reference A-5Word 2 Parameters 1 s = Slot number for the SLC Servo Module.2A small

Publication 1746-6.1.2 - July 2000 A-6 Input/Output Quick ReferencePositive Overtravel Limit (Axis)M0:s.8,s.9 Negative Overtravel Limit to +axi

Publication 1746-6.1.2 - July 2000 Preface P- 7On the WebFor information about Allen-Bradley, visit the following World Wide Web site:http://www.

Publication 1746-6.1.2 - July 2000 Input/Output Quick Reference A-7Output Voltage at + Max Speed – Volts(Servo Loop)M0:s.24,s.25 0.0 to 10.0 10

Publication 1746-6.1.2 - July 2000 A-8 Input/Output Quick ReferenceVelocity Feed Forward Constant(Servo Loop)M0:s.32,s.33 0.0 to 1.0 0.0 This p

Publication 1746-6.1.2 - July 2000 Input/Output Quick Reference A-9 1 s = Slot number for the SLC Servo Module.CommandsOutput CommandsUse the

Publication 1746-6.1.2 - July 2000 A-10 Input/Output Quick ReferenceDiscrete Bit Output Command (Word 0) 1 s = Slot number for the SLC Serv

Publication 1746-6.1.2 - July 2000 Input/Output Quick Reference A-11Block Output Command (Word 4) 1 s = Slot number for the SLC Servo M

Publication 1746-6.1.2 - July 2000 A-12 Input/Output Quick Reference1 s = Slot number for the SLC Servo Module.Word 1 1 s = Slot number

Publication 1746-6.1.2 - July 2000 Input/Output Quick Reference A-13Word 3 1 s = Slot number for the SLC Servo Module.SLC Servo Module t

Publication 1746-6.1.2 - July 2000 A-14 Input/Output Quick ReferenceBlended Configuration Use the table below with the Blend Move Output Profil

1 Publication 1746-6.1.2 - July 2000 Appendix BCable Dimensions and Wiring Diagram1746-HCA CableThis appendix contains the dimensions and wiring diagr

Publication 1746-6.1.2 - July 2000 B-2 Cable Dimensions and Wiring DiagramFigure B.1 1746-HCA Cable Dimensions and Wiring Diagram 1325

Publication 1746-6.1.2 - July 2000 Preface P-8

1 Publication 1746-6.1.2 - July 2000 Appendix CProgramming ExamplesThis appendix provides ladder rung diagrams and any associated data tables that can

Publication 1746-6.1.2 - July 2000 C-2 Programming ExamplesThe following table for a typical I/O configuration used in the previous diagram sho

Publication 1746-6.1.2 - July 2000 Programming Examples C-3Figure C.3 Rung 1This table contains floating-point configuration data for rung 1 a

Publication 1746-6.1.2 - July 2000 C-4 Programming ExamplesThis table shows the integer configuration data for rung 1 as it would appear when a

Publication 1746-6.1.2 - July 2000 Programming Examples C-5Rung 3 – Checking For Successful ConfigurationRung 3 is an example of checking for a

Publication 1746-6.1.2 - July 2000 C-6 Programming ExamplesData for the blend move in rung 4 appear in the following tables. The figure below s

Publication 1746-6.1.2 - July 2000 Programming Examples C-7Figure C.10 File N50 Data Table The following table shows the binary data for the va

Publication 1746-6.1.2 - July 2000 C-8 Programming ExamplesRung 6 – Error Checking For Successful DownloadRung 6 is an example of error checkin

Publication 1746-6.1.2 - July 2000 Programming Examples C-9Rung 8 – Clear All Faults BitThis rung is an example of a Clear all Faults bit comma

Publication 1746-6.1.2 - July 2000 C-10 Programming ExamplesFor more detailed information on putting a move on Hold/Unhold using discrete bit c

Important User InformationBecause of the variety of uses for the products described in this publication, those responsible for the application and use

1 Publication 1746-6.1.2 - July 2000 Chapter 1Overview of the SLC Servo ModuleThis chapter explains the basic functions of the SLC Servo Module, and

Publication 1746-6.1.2 - July 2000 Programming Examples C-11Figure C.18 Rung 12 Data for the absolute move in rung 12 appear in the following t

Publication 1746-6.1.2 - July 2000 C-12 Programming ExamplesFigure C.20 Data Table for File N31 The following is a table representation of the

Publication 1746-6.1.2 - July 2000 Programming Examples C-13The following diagram shows what the data table for file F43 looks like when access

Publication 1746-6.1.2 - July 2000 C-14 Programming ExamplesRung 14 – SPEED CommandRung 14 is an example of how to enter a SPEED command in you

Publication 1746-6.1.2 - July 2000 Programming Examples C-15This diagram shows the N31 Data table as it appears when accessed from within the p

Publication 1746-6.1.2 - July 2000 C-16 Programming ExamplesFigure C.28 Data table for File N31 This table shows the incremented value as rep

Publication 1746-6.1.2 - July 2000 Programming Examples C-17Figure C.30 Blend Move Data Table for File N52 The following is a table representa

Publication 1746-6.1.2 - July 2000 C-18 Programming ExamplesFigure C.32 Data Table for File N31 The table below is a table of the values shown

Publication 1746-6.1.2 - July 2000 Programming Examples C-19Figure C.34 File F48 Data TableThe following table shows the data with the appropr

Publication 1746-6.1.2 - July 2000 C-20 Programming ExamplesFigure C.35 Rung 19 Data for the home axis move in rung 19 appear in the following

Publication 1746-6.1.2 - July 2000 1-2 Overview of the SLC Servo ModuleFigure 1.1 Example of an SLC Wiring SLC Servo Module OperationThe SLC

Publication 1746-6.1.2 - July 2000 Programming Examples C-21Figure C.37 Home Command Data Table The following is a table representation of the

Publication 1746-6.1.2 - July 2000 C-22 Programming Examples

1 Publication 1746-6.1.2 - July 2000 Appendix DWiring Without the Termination PanelOverviewThis appendix covers how to wire your SLC Servo Module with

Publication 1746-6.1.2 - July 2000 D-2 Wiring Without the Termination PanelFigure D.1 Circuitry in the SLC Servo Module for Fast Inputs and Out

Publication 1746-6.1.2 - July 2000 Wiring Without the Termination Panel D-3Wiring diagrams supplied in this manual appear in the table below.

Publication 1746-6.1.2 - July 2000 D-4 Wiring Without the Termination Panel

Publication 1746-6.1.2 - July 2000 AAbsolute/Incremental Moveblock command parameters 8-12typical data table 8-13algorithmcamming 8-9gearing 8-9interp

Publication 1746-6.1.2 - July 2000 I-2 simple move 8-11Words 0 and 1 8-8Words 2 and 3 8-8Words 4 through 11 8-8documentationrelated P-4drivecon

Publication 1746-6.1.2 - July 2000 I- 3Word 0 A-10Word 1 A-10Word 4 A-11Word 5 A-11Words 2 and 3 A-10configuration output bit parametersWord 0

Publication 1746-6.1.2 - July 2000 I-4 Limit Source 7-30Speed/Direction of Move Off the Limit Switch 7-31Speed/Direction of Move to the Marker

Publication 1746-6.1.2 - July 2000 Overview of the SLC Servo Module 1-3The SLC Servo Module operates in two modes:• Configuration • Command Whe

Publication 1746-6.1.2 - July 2000 I- 5typical data table 8-19SSafety Precautions P-1servo loop parametersAcceleration Feedforward Constant 7-2

Publication 1746-6.1.2 - July 2000 I-6 grounding 4-4diagram, typical 4-4earth ground 4-4EGND terminal 4-4specifications for Estop relay 5-6SLC

Publication 1746-6.1.2 - July 2000 I- 7minor fault messages 10-10HSRV Quick Check 10-1Hardware Setupbattery box test 10-2Check wiring to diagra

Publication 1746-6.1.2 - July 2000 I-8

Publication 1746-6.1.2 - July 2000 22 PN 40072-030-01(D)Supersedes Publication 1746-6.1.2 - March 1999 Copyright © 2007 Rockwell Automation, Inc. All

Publication 1746-6.1.2 - July 2000 1-4 Overview of the SLC Servo ModuleSLC Servo Module Specifications and CompatibilitySelected specifications

1 Publication 1746-6.1.2 - July 2000 Chapter 2Selecting Power Supplies, Encoders, and DrivesOverviewIn this chapter we explain how to select the hardw

Publication 1746-6.1.2 - July 2000 2-2 Selecting Power Supplies, Encoders, and DrivesExample of Calculations for Backplane Current Requirements

Publication 1746-6.1.2 - July 2000 Selecting Power Supplies, Encoders, and Drives 2-3Use the table below to find the power supplies Allen-Bradl

Publication 1746-6.1.2 - July 2000 2-4 Selecting Power Supplies, Encoders, and DrivesExample of the Calculations for User-Side Current Requirem

Publication 1746-6.1.2 - July 2000 Selecting Power Supplies, Encoders, and Drives 2-524V DC I/O devices for compatibility with the electrical s

Publication 1746-6.1.2 - July 2000 2-6 Selecting Power Supplies, Encoders, and Drives Specification RatingMaximum channel frequencyIncoming

European Communities (EC) Directive ComplianceIf this product has the CE mark it is approved for installation within the European Union and EEA region

Publication 1746-6.1.2 - July 2000 Selecting Power Supplies, Encoders, and Drives 2-7 Selecting a DriveThe SLC Servo Module supports Allen-Brad

Publication 1746-6.1.2 - July 2000 2-8 Selecting Power Supplies, Encoders, and Drives

1 Publication 1746-6.1.2 - July 2000 Chapter 3Planning Hardware InstallationThis chapter provides guidelines regarding your hardware installation and

Publication 1746-6.1.2 - July 2000 3-2 Planning Hardware InstallationCut the shield wires on the opposite end at the cable jacket and tape it t

Publication 1746-6.1.2 - July 2000 Planning Hardware Installation 3-3Classifying Your ConductorsUse the table below for cable routing guideline

Publication 1746-6.1.2 - July 2000 3-4 Planning Hardware Installation•Place the SLC Servo Module on the left side of the chassis along with oth

1 Publication 1746-6.1.2 - July 2000 Chapter 4Installing Your SLC Servo ModuleThis chapter provides guidelines for installing your SLC Servo Module an

Publication 1746-6.1.2 - July 2000 4-2 Installing Your SLC Servo ModuleTo verify that you received what you ordered:1. Check the label on each

Publication 1746-6.1.2 - July 2000 Installing Your SLC Servo Module 4-3 To insert a module into an I/O chassis:1. Remove backplane pow

Publication 1746-6.1.2 - July 2000 4-4 Installing Your SLC Servo ModuleGrounding the SLC Servo ModuleBefore you install the rest of the system,

i Publication 1746-6.1.2 - July 2000 Table of ContentsUsing This ManualPrefaceWho Should Use this Manual. . . . . . . . . . . . . . . . . . . . . . .

Publication 1746-6.1.2 - July 2000 Installing Your SLC Servo Module 4-5Mounting the Termination PanelRefer to the Figure 4.3 and Figure 4.4 whe

Publication 1746-6.1.2 - July 2000 4-6 Installing Your SLC Servo ModuleFigure 4.4 Termination Panel and its Dimensions DRIVEDRIVEDR RETSHLDA

Publication 1746-6.1.2 - July 2000 Installing Your SLC Servo Module 4-7Connecting the Termination PanelAfter mounting the termination panel, co

Publication 1746-6.1.2 - July 2000 4-8 Installing Your SLC Servo ModuleFigure 4.5 Connecting the 1746-HCA-Cable 1746-HCACableOPENConnecting t

1 Publication 1746-6.1.2 - July 2000 Chapter 5Wiring the SLC Servo ModuleOverviewAfter mounting and connecting the termination panel, you wire fast in

Publication 1746-6.1.2 - July 2000 5-2 Wiring the SLC Servo ModuleWiring Fast Inputs and OutputsOn the termination panel, the +24V DC fast inpu

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-3Figure 5.1 Typical Fast I/O Connections GNDFAST I/ORETFI.1+24VFI.2FO.1

Publication 1746-6.1.2 - July 2000 5-4 Wiring the SLC Servo ModuleFigure 5.2 Equivalent Fast Input Circuit Figure 5.3 Equivalent Fast Outp

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-5Software Overtravel Limits Software overtravel limits appear in the table

Publication 1746-6.1.2 - July 2000 5-6 Wiring the SLC Servo Modulebackplane input. Though the exact position of home is not important, it is im

Publication 1746-6.1.2 - July 2000 Table of Contents iiRouting Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2C

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-7Wiring the Estop for a One-Axis System To wire the Estop for a one-axis syste

Publication 1746-6.1.2 - July 2000 5-8 Wiring the SLC Servo ModuleFigure 5.5 Ladder Diagram for a One-Axis System Specifications for t

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-9 Figure 5.6 Estop Circuitry Diagram for a One-Axis System ATTENTI

Publication 1746-6.1.2 - July 2000 5-10 Wiring the SLC Servo ModuleFigure 5.7 String Pilot Connection To wire Estop connections, refer to wir

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-11Figure 5.8 Ladder Diagram for a Two-Axes or Three-Axes System Specifi

Publication 1746-6.1.2 - July 2000 5-12 Wiring the SLC Servo ModuleFigure 5.9 Estop Circuitry Diagram for a Two-Axes or Three-Axes System

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-13Figure 5.10 Wiring a +5V, ±15V, and a +24V Power Supply Wiring Enco

Publication 1746-6.1.2 - July 2000 5-14 Wiring the SLC Servo Moduleby the manufacturer. Those limits for the 845H are a minimum voltage require

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-15To operate the encoder, wire the encoder so that marker Z is true at the sam

Publication 1746-6.1.2 - July 2000 5-16 Wiring the SLC Servo ModuleFigure 5.12 Typical Vendor Encoder Timing Diagram E

Publication 1746-6.1.2 - July 2000 Table of Contents iiiTesting Estop Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3Sett

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-17Figure 5.13 5V Encoder Feedback Connections 1 Use three pair 22 gauge in

Publication 1746-6.1.2 - July 2000 5-18 Wiring the SLC Servo ModuleWiring the SLC Servo to Allen-Bradley DrivesThe SLC Servo Module supports 13

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-19Figure 5.15 Wiring Diagram for 1386 Drives ATTENTION!To avoid damage

Publication 1746-6.1.2 - July 2000 5-20 Wiring the SLC Servo ModuleFigure 5.16 Wiring Diagram for 1388 Drives DRIVEENABLE+2 4VRES.PBR

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-21Figure 5.17 Wiring Diagram for 1389 Drives DRIVEENABLEESTOP+2 4VR

Publication 1746-6.1.2 - July 2000 5-22 Wiring the SLC Servo ModuleFigure 5.18 Wiring Diagram for 1389 Drives (continued) T1T2ChassisGround

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-23Figure 5.19 Wiring Diagram for 1391 Drives DRIVEENABLEESTOP+2 4VRE

Publication 1746-6.1.2 - July 2000 5-24 Wiring the SLC Servo ModuleFigure 5.20 Wiring Diagram for 1391 Drives (continued) ControllerMain

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-25Figure 5.21 Wiring Diagram for 1392 Drives MotorThermalSwitchTransf

Publication 1746-6.1.2 - July 2000 5-26 Wiring the SLC Servo ModuleFigure 5.22 Wiring Diagram for 1394 Systems TB1+2 4STRING INRES. PBR

Publication 1746-6.1.2 - July 2000 Table of Contents iv Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30Homing Pa

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-27Figure 5.23 Wiring Diagram for 1394 Systems (continued) To perform a 1394

Publication 1746-6.1.2 - July 2000 5-28 Wiring the SLC Servo Modulebecause it directly affects how the 1398 is wired to the SLC Servo Module. W

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-29Figure 5.24 Wiring Diagram for ULTRA 100 When Not Homing to a Marker andfor

Publication 1746-6.1.2 - July 2000 5-30 Wiring the SLC Servo ModuleFigure 5.25 Wiring Diagram for F, H, and S series ULTRA 100/200 When Homing

Publication 1746-6.1.2 - July 2000 Wiring the SLC Servo Module 5-31Figure 5.26 Wiring Diagram for Y series ULTRA 100/200 When Homing to a Mark

Publication 1746-6.1.2 - July 2000 5-32 Wiring the SLC Servo ModuleConnecting the Velocity CommandUse 18 through 22 gauge shielded/twisted pair

1 Publication 1746-6.1.2 - July 2000 Chapter 6Testing Your SLC Servo Module HardwareOverviewThis chapter includes the following topics:• Powering up

Publication 1746-6.1.2 - July 2000 6-2 Testing Your SLC Servo Module Hardware3. Apply power to the SLC Rack with the SLC Servo Module installed

Publication 1746-6.1.2 - July 2000 Testing Your SLC Servo Module Hardware 6-3Testing Estop WiringBefore you test your Estop wiring: 1. Test

Publication 1746-6.1.2 - July 2000 6-4 Testing Your SLC Servo Module Hardware4. Short the (machine tool) hardware Estop string.5. Press and hol

Publication 1746-6.1.2 - July 2000 Table of Contents vPlan Synchronized Move . . . . . . . . . . . . . . . . . . . . . . . 8-25Programming Syst

1 Publication 1746-6.1.2 - July 2000 Chapter 7Setting Up Your SLC Servo ModuleOverviewBefore performing the procedures given in this chapter, follow

Publication 1746-6.1.2 - July 2000 7-2 Setting Up Your SLC Servo ModuleUnderstanding the Theory of Motion ControlThe major components of a mot

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-3position loop gain) sets the response on the position loop and scales t

Publication 1746-6.1.2 - July 2000 7-4 Setting Up Your SLC Servo ModuleConfiguring Your Processor Using AI-500 SoftwareConfiguring your proces

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-57. Press Enter.8. Press ESC three times to return to the top screen of

Publication 1746-6.1.2 - July 2000 7-6 Setting Up Your SLC Servo Module10. Select OTHER. In the Module ID Code area, type 10114. The ID of th

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-7Configuring Your Processor Using RSLogix 500 SoftwareUse the table belo

Publication 1746-6.1.2 - July 2000 7-8 Setting Up Your SLC Servo Module6. In the navigator window, double-click on I/O Configuration. The I/O

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-92. Select New. The Select Processor Type window appears.3. Assign a nam

Publication 1746-6.1.2 - July 2000 7-10 Setting Up Your SLC Servo Module8. Select slot 1. The column line of slot 1 is highlighted. 9. In the

Publication 1746-6.1.2 - July 2000 Table of Contents viDo a battery box test. (If unable to control drive) . . . . . 10-2Software Setup . . . .

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-1112. Select Adv Config. The Advanced I/O Configuration window appears s

Publication 1746-6.1.2 - July 2000 7-12 Setting Up Your SLC Servo Moduleresume until the SLC processor has transferred the information to the

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-132. Verify that the SLC Servo Module is in an Estop state.3. Copy the M

Publication 1746-6.1.2 - July 2000 7-14 Setting Up Your SLC Servo ModuleTo enter encoder lines:1. Refer to the encoder manufacturer’s specific

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-15AC line conditions. If you don’t meet these conditions, you experience

Publication 1746-6.1.2 - July 2000 7-16 Setting Up Your SLC Servo ModuleIn the example below, if you want a maximum operating speed of 170 ipm

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-17Defining Positive Axis Movement for the SLC Servo ModuleTo define posi

Publication 1746-6.1.2 - July 2000 7-18 Setting Up Your SLC Servo ModuleCoarse CalibratingPerform the following steps to coarse calibrate the

Publication 1746-6.1.2 - July 2000 Setting Up Your SLC Servo Module 7-195.6. 7. Enter output voltage at the positive maximum speed in config

Publication 1746-6.1.2 - July 2000 7-20 Setting Up Your SLC Servo ModuleTo calculate the initial following error limit:1.2. Enter the followin