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Chapter
2
21
Positioning Concepts
This chapter explains concepts and principles of axis positioning. If you are
thoroughly familiar with the concepts of closed-loop servo positioning, you can
go on to Chapter 3.
Figure 2.1 illustrates a typical method of converting the flow of fluid into a
linear displacement.
Figure 2.1
PistonType
Hydraulic Cylinder
50032
SERVO VALVE
Electric
Control
Hydraulic
Fluid
Hydraulic
Fluid
Hydraulic fluid Hydraulic fluid
Axis
Motion
The servo valve controls the flow of hydraulic fluid into or out of the hydraulic
cylinder. Adding fluid to the left side of the cylinder extends the rod; adding
fluid to the right side retracts it.
Axis Motion
- Linear Positioning Module 1
- Important User Information 2
- Table of Contents 3
- Table of Contentsii 4
- Table of Contents iii 5
- Table of Contentsiv 6
- Table of Contents v 7
- Table of Contentsvi 8
- Organization of the Manual 9
- Audience 10
- Related Publications 10
- Related Software 10
- Frequently Used Terms 11
- Chapter 1 13
- Transducers 13
- Product Compatibility 13
- Servo and Proportional Valves 14
- System Overview 15
- Positioning Concepts 17
- Chapter 2 18
- ClosedLoop Positioning 18
- A Simple Positioning Loop 19
- Proportional Gain 20
- Feedforwarding 21
- Deadband 23
- PID Band 23
- How the Module Fits in a 25
- Positioning System 25
- Chapter 3 27
- Setpoints 28
- Commanding Motion 28
- Motion Blocks 29
- Hardware Description 30
- Chapter 4 31
- Wiring Arm Terminals 31
- Number of Circulations 32
- Transducer Interface 32
- Determining the Optimum 32
- Discrete Inputs 34
- Auto/Manual Input 35
- Hardware Start Input 35
- Discrete Outputs 37
- OUTPUT 1 38
- OUTPUT 2 38
- Power Supplies 38
- Planning Module Location 40
- Chapter 5 41
- Electrostatic Discharge 41
- Setting Analog Output 41
- Switches 41
- Inserting the Module 44
- Using Shielded Cables 45
- Wiring Guidelines 45
- Using Twisted Wire Pairs 47
- Connecting AC Power 47
- Connecting the Transducer 49
- Interface 49
- Power Supply 50
- Jog Forward Input 54
- Jog Reverse Input 55
- General Purpose Inputs 55
- Connecting Multiple Modules 55
- Connecting the Analog 57
- Analog Output 58
- Connecting the Discrete 59
- PLC Communication Overview 62
- Chapter 6 63
- Word Assignment 63
- Status Word 1 (words 2 and 6) 64
- Status Word 2 (words 3 and 7) 68
- Analog Range (words 2 and 31) 84
- Transducer 87
- PID Band (words 12 and 41) 93
- Deadband (words 13 and 42) 94
- Gain Factor (words 19 and 48) 99
- Chapter 7 100
- Setpoint Block 106
- Setpoint Position 109
- Local Velocity 110
- Command Block 111
- Chapter 119
- Before You Begin 119
- 5 12 Application dependent 121
- 0 700 Application dependent 121
- (LS) Zeroposition offset 122
- Figure 8.2 123
- Block Data T 123
- Chapter 8 124
- Analog Calibration Constants 128
- Axis Tuning 128
- Feedforward Gain 129
- PID Loop Gains 130
- Advanced Features 132
- Chapter 9 133
- Motion Block Control Word 135
- Programmable I/O Control Word 136
- Programmable Input and 136
- Default I/O Configuration 139
- Motion Segment Control Words 139
- Motion Segments 139
- Using the Motion Block 143
- Sample Application Programs 145
- Chapter 10 146
- Block Transfer Sequencing 146
- PLC5 Block Transfer 147
- Instructions 147
- Application Program #1 147
- Figure 10.5 151
- Application Program #2 155
- Figure 10.10 157
- Troubleshooting 163
- Chapter 11 164
- Module Fault Indicator 164
- Loop Active Indicators 164
- Troubleshooting Feedback 165
- Troubleshooting Flowchart 166
- Flowchart Notes 169
- Appendix 170
- Appendix A 171
- Status Block 175
- Appendix B 176
- Parameter Block 183
- Appendix C 184
- BCD or binary 186
- Appendix D 195
- Appendix E 198
- Motion Block 201
- Appendix F 202
- Hexadecimal Data Table Forms 206
- (LS) Zero 207
- + Software travel limit 207
- Appendix G 213
- Appendix G 214
- Description 216
- Data Formats 218
- Appendix H 219
- Bit Inversion Method 219
- Subtraction Method 219
- Implied Decimal 219
- Position Format 220
- Double Word Position Format 221
- Product Specifications 222
- With major offices worldwide 226
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