Rockwell-automation 57C422B 2 Axis Servo Module Manuale Utente Pagina 6
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Appendices
Appendix A
Technical Specifications ...................................................A-1
Appendix B
Module Block Diagram ......................................................B-1
Appendix C
Field Connections..............................................................C-1
Appendix D
Related Components.........................................................D-1
Appendix E
Register Summary.............................................................E-1
Appendix F
Enhancements................................................................... F-1
Appendix G
Compatibility with Earlier Versions ...................................G-1
Appendix H
Configuration Task Sample ...............................................H-1
Appendix I
Digital Servo Loop Block Diagram...................................... I-1
IV
- 2-Axis Servo Module 1
- Table Of Contents 3
- Appendices 6
- List of Figures 7
- CHAPTER 1 9
- FROM EXTERNAL SOURCES 10
- CHAPTER 2 11
- Figure 2.1 – Module Faceplate 12
- 2.2 Electrical Description 13
- CHAPTER 3 17
- INSTALLATION 19
- 3.3 Module Replacement 27
- CHAPTER 4 29
- 4.1 Configuration 30
- 4.2 Register 0: Encoder Setup 31
- 4.3 Register 1: Drive Setup 32
- 4.4 Register 2: Switch Setup 33
- 4.6 Register 4: Integral Gain 35
- 4.7 Register 5: Velocity Gain 35
- PROGRAMMING 37
- Reference 39
- (encoder counts/sec) * 65.536 40
- Acceleration 41
- Deceleration 42
- 4.21 Register 27: User LEDs 43
- " command 44
- Constant 46
- Constant 46
- Format, Ramp Velocity 48
- Compensation 49
- Detection 50
- 4.34 Register 65: Mode 51
- Figure 4.33 – Mode Register 52
- 4.35 Register 66: Command 55
- 4.36 Register 67: Command 60
- 4.37 Register 72: Status 62
- 4.38 Register 73: Fault 65
- Position 66
- 4.49 Interrupt Registers 70
- (ISCR) Register 75
- 4.50 Cam Registers 77
- Position Cam 78
- 4.50.5 Register 130: Cam Mode 82
- 4.50.7 Cam Data Registers 85
- CHAPTER 5 87
- 5.2.1 Auto-Tuning 88
- 5.2.2 Manual Tuning 88
- APPLYING THE MODULE 89
- 5.3 Initialization 91
- 5.4 Homing 92
- 5.5 Moving 93
- 5.6 Electronic Gearing 94
- 5.7 Velocity 95
- 5.8 Cam Mode 96
- CHAPTER 6 97
- APPENDIX A 99
- APPENDIX B 101
- APPENDIX C 103
- Field Connections (Continued) 104
- APPENDIX D 107
- APPENDIX E 109
- Register Summary 110
- APPENDIX F 111
- M/N 57C422B 112
- APPENDIX G 113
- APPENDIX H 115
- APPENDIX I 119
- For additional information 122
- 1 Allen-Bradley Drive 122
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