Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual Manual do Utilizador Página 131
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Publication 1746-6.1.2 - July 2000
8-14
Programming the SLC Processor to Run the SLC Servo Module
The example initiates an absolute move:
• To 20.0 position units
• At 500.0 position units per time base
• At 100% of the maximum acceleration specified in the
configuration
The absolute move described above occurs if:
• The module is out of Estop
• The maximum speed configured is more than 500.0 position
units per minute
• The axis is homed
The speed profile for the move is trapezoidal or triangular as shown
in Figure 8.5 and Figure 8.6.
Figure 8.5 Trapezoidal
Figure 8.6 Triangular
Velocity
Trapezoidal velocity profiles
with programmable acceleration/
deceleration pulse rates.
Time
0
0
Velocity
Time
0
0
- 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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