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manuais Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Config

Manuais de instruções e guias do utilizador para Equipamento Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Config.
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Rockwell automation 1784-PM16SE SoftLogix Motion Card Setup and Config Manual do Utilizador (451 páginas)


Marca: Rockwell-automation | Categoria: Equipamento | Tamanho: 4.39 MB |

 

Índice

SoftLogix

1

Important User Information

2

European Communities (EC)

3

Directive Compliance

3

Table of Contents

5

ii

6

Chapter 12

7

Chapter 13

7

iv

8

Using This Manual

9

Related Documentation

10

Rockwell Automation

10

On the Web

11

4 Using This Manual

12

SoftLogix Motion Control

13

Components of the

14

SoftLogix Motion System

14

SoftLogix Chassis Monitor

15

The SoftLogix Controller

16

(1784-PMO2AE)

17

The 16 Axis SERCOS interface

17

Module (1784-PM16SE)

17

Developing a Motion

18

Control Application

18

Parameters

19

Handling Motion Faults

20

Minor/Major Faults

20

SoftLogix Controller

21

Accessing the New

22

Controller Dialog

22

Redundancy Enabled

23

Chassis Type

24

Slot Number

24

Create In:

24

Editing Controller

25

Overview

27

Serial Port Tab

28

Baud Rate

28

Data Bits

28

Stop Bits

29

Control Line

29

Continuous Carrier

29

RTS Send Delay

29

RTS Off Delay

29

System Protocol Tab

30

Common Parameters

30

Protocol

30

Station Address

30

Error Detection

31

Enable Duplicate Detection

31

ACK Timeout

31

DF1 Point to Point Parameters

31

DF1 Slave Parameters

32

DF1 Master Parameters

32

Normal Poll Node Tag

33

Normal Poll Group Size

33

Priority Poll Node Tag

33

Active Station Tag

33

DH485 Parameters

33

Token Hold Factor

34

User Protocol Tab

34

Buffer Size

34

Termination Character 1 and 2

35

Append Character 1 and 2

35

Echo Mode

35

Delete Mode

36

Major Faults Tab

36

Recent Faults

37

Clear Majors

37

Minor Faults Tab

37

Clear Minors

38

Fault Bits

38

Date/Time Tab

38

Advanced Tab

40

Memory Used

40

Memory Unused

40

Memory Total

40

Controller Fault Handler

41

Power-Up Handler

41

System Overhead Time Slice

41

SFC Execution Tab

41

Execution Control

42

Restart Position

42

Last Scan of Active Steps

42

File Tab

43

Redundancy Tab

44

Redundancy Status

44

Partner Status

46

Partner Minor Faults

46

Advanced Button

47

Nonvolatile Memory Tab

47

Load Image

50

Load Mode

50

Image Note

50

Load/Store

51

Motion Module

53

New Module

55

Editing Your Motion Module

59

Settings

59

Inhibit Module checkbox

63

Associated Axes Tab

64

Servo Update Period

65

Channel 0

65

Channel 1

65

Motion Modules

68

Adding the 1784-PM16SE

69

4. Select 1784-PM16SE

70

SERCOS interface Motion

74

Card Overview

74

Editing 1784-PM16SE Card

75

SERCOS Interface Tab

80

Data Rate

81

Cycle Time

81

Transmit Power

82

SERCOS Interface Info Tab

82

Ring Comm. Phase

82

Fault Type

83

The Motion Group

87

80 The Motion Group

88

The Motion Group 81

89

Editing the Motion Group

90

The Motion Group 83

91

Coarse Update Period

92

Auto Tag Update

92

General Fault Type

92

Scan Times (elapsed time)

92

Reset Max

92

Tag Type (read-only)

93

Data Type (read-only)

94

Produce this tag for up to

94

Base Tag

94

Naming an Axis

95

Editing Motion Axis

99

General Tab – AXIS_SERVO

102

Axis Configuration

102

Assigned Motion Group

102

Ellipsis (…) button

102

New Group button

103

Module Type

103

General Tab - AXIS_VIRTUAL

105

Motion Planner Tab

106

Output Cam Execution Targets

106

Program Stop Action

107

Units Tab

109

Position Units

109

Average Velocity Timebase

109

Servo Tab - AXIS_SERVO

110

Feedback Tab – (AXIS_SERVO)

112

Feedback Type

112

Drive/Motor Tab

113

(AXIS_SERVO_DRIVE)

113

Amplifier Catalog Number

113

Catalog Number

114

Loop Configuration

114

Drive Resolution

115

Real Time Axis Information

115

Attribute 1/Attribute 2

115

Change Catalog…button

115

Motor Feedback Tab

117

AXIS_SERVO_DRIVE

117

Feedback Type

117

Interpolation Factor

118

Aux Feedback Tab

118

Feedback Ratio

119

Conversion Tab

120

Positioning Mode

121

Conversion Constant

121

Position Unwind

121

Homing Tab - AXIS_SERVO and

122

Position

123

Sequence

124

Limit Switch

124

Direction

124

Return Speed

125

Homing Configurations

125

Homing Tab - AXIS_VIRTUAL

126

Hookup Tab - (AXIS_SERVO)

127

Test Increment

127

Feedback Polarity

128

Output Polarity

128

Test Marker

128

Test Feedback

129

Test Output & Feedback

129

Drive Polarity

130

Test Marker

130

Test Command & Feedback

131

Tune Tab - AXIS_SERVO

131

Travel Limit

131

Damping Factor

132

Start Tuning

133

Dynamics Tab

134

Maximum Velocity

135

Maximum Acceleration

135

Maximum Deceleration

135

Manual Adjust

136

Gains Tab - AXIS_SERVO

137

Velocity Feedforward

138

Acceleration Feedforward

138

Proportional (Position) Gain

139

Integral (Position) Gain

139

Proportional (Velocity) Gain

140

Integral (Velocity) Gain

140

Integrator Hold

141

Gains Tab - AXIS_SERVO_DRIVE

142

Set Custom Gains

148

Attribute

148

Output Tab - AXIS_SERVO

149

Velocity Scaling

150

Torque Scaling

150

Output Tab (AXIS_SERVO_DRIVE)

153

Enable Notch Filter

154

Notch Filter

154

Enable Low-pass Output Filter

154

Limits Tab - AXIS_SERVO

156

Soft Travel Limits

157

Maximum Positive

157

Maximum Negative

157

Position Error Tolerance

157

Position Lock Tolerance

158

Output Limit

158

Hard Travel Limits

161

Attributes

163

Set Custom Limits

163

Offset Tab - AXIS_SERVO

165

Friction Compensation

166

Velocity Offset

166

Torque Offset

166

Output Offset

167

Offset Tab - AXIS_SERVO_DRIVE

168

Drive Fault

172

Feedback Noise

172

Feedback Loss

173

Position Error

173

Soft Overtravel

173

Fault Actions Tab

174

Drive Thermal

175

Set Custom Stop Action

177

Description

178

Assigning Additional

179

Motion Axes

179

System Tag

181

Entering Tag Information

183

New Tag Parameters

183

Tag Type

184

Alias For:

184

Data Type

185

General Wizard Screen

186

Units Wizard Screen

186

Dynamics Wizard Screen

186

Manual Adjust Button

186

Tag Wizard Screen

186

Editing Coordinate System

187

Properties

187

Axis Grid

189

Coordination Units

191

Vector Box

192

Position Tolerance Box

193

Dynamics Tab Manual Adjust

194

Reset Button

194

Right Mouse Click

196

Cut, Copy, Paste, and Delete

197

Behavior

197

Copy/Paste

197

Cut/Paste

198

1784-PM16SE motion module

199

1394x-SJTxx-D Digital

201

Servo Drive Overview

201

General Tab

202

Electronic Keying

204

Connection Tab

205

Requested Packet Interval

205

Inhibit Module Checkbox

206

Module Fault

207

Associated Axes Tab

207

New Axis button

208

Power Tab

209

Bus Regulator ID

209

Module Info tab

210

Identification

210

Module Identity

212

Reset Module

212

Editing the Ultra Drive

219

Connection Tab

222

Inhibit Module

223

Ellipsis (...)

225

New Axis

225

Power Tab - Ultra Drive

226

Module Info Tab

227

Major/Minor Fault Status

228

Internal State Status

228

Configured

229

Editing the Kinetix Drive

233

General Tab

234

Revision

235

Power Tab - Kinetix Drive

240

Bus Regulator Catalog Number

240

Configuring an 8720MC Drive

245

Editing the 8720MC Drive

248

Associated Axes Tab (8720MC

254

Power Tab - 8720MC Drive

255

Motion Instructions

261

Motion Move Instructions

262

Motion Group Instructions

263

Motion Event Instructions

263

Motion Configuration

263

Instructions

263

Motion Coordinated Move

264

Motion Direct Commands

265

Accessing Direct

265

Commands

265

From Group in the Controller

267

Organizer

267

Supported Commands

270

Motion Move

271

Motion Group

271

Motion Event

271

Motion Direct Command

272

Motion Group Shutdown Button

273

Execute Button

273

Close Button

273

Help Button

273

Motion Object Attributes

275

Group Instance

276

Map Instance

276

Module Channel

276

Module Class Code

276

C2C Map Instance

276

C2C Connection Instance

277

Memory Use

277

Memory Usage

277

Axis Data Type

277

Motion Object Status

278

Motion Status Attributes

279

Command Position

280

Strobe Position

280

Start Position

281

Average Velocity

281

Actual Velocity

282

Command Velocity

282

Actual Acceleration

283

Command Acceleration

283

Watch Position

283

Registration Position

284

Registration Time

285

Interpolation Time

285

Interpolated Actual Position

285

Interpolated Command Position

285

Master Offset

285

Strobe Master Offset

286

Start Master Offset

286

Motion Status Bit Attributes

287

Position Cam Pending Status

289

Time Cam Pending Status

289

Gearing Lock Status

289

Position Cam Lock Status

289

Master Offset Move Status

289

Axis Status Bit Attributes

290

Servo Action Status

290

Drive Enable Status

290

Shutdown Status

290

Axis Fault Bit Attributes

291

Physical Axis Fault

291

Configuration Fault

291

Module Fault Bit Attribute

291

Control Sync Fault

292

Axis Event Bit Attributes

292

Home Event Status

294

Output Cam Status

294

Output Cam Pending Status

294

Output Cam Lock Status

294

Motion Object

295

Configuration Attributes

295

Motion Unit Configuration

295

Motion Conversion

296

Configuration

296

Motion Homing

297

Absolute

298

Active Homing

299

Active Immediate Home

299

Passive Homing

304

Passive Immediate Home

304

Passive Home with Switch

304

Passive Home with Marker

304

Home Configuration Bits

305

Home Switch Normally Closed

305

Home Position

305

Home Offset

306

Home Speed

306

Home Return Speed

306

Motion Dynamics

307

Programmed Stop Mode

308

Fast Stop

308

Fast Disable

308

Hard Disable

308

Fast Shutdown

308

Servo Status Attributes

309

Position Command

310

Position Feedback

310

Aux Position Feedback

311

Position Integrator Error

311

Velocity Command

311

Velocity Feedback

312

Velocity Error

312

Velocity Integrator Error

312

Acceleration Command

312

Acceleration Feedback

313

Servo Output Level

313

Marker Distance

313

Servo Status Bit Attributes

314

Servo Fault Bit Attributes

318

Feedback Loss Fault

319

Feedback Noise Fault

319

Position Error Fault

320

Drive Fault

320

Module Fault Bit Attributes

320

Module Sync Fault

321

Timer Event Fault

322

Module Hardware Fault

322

Attribute Error Code

322

Commissioning Status

323

Test Status

324

Test Direction Forward

324

Tune Status

324

Tune Speed Scaling

325

Tune Rise Time

325

Tune Inertia

326

Servo Configuration

327

Servo Loop Configuration

328

External Drive Type

328

Fault Configuration Bits

329

Soft Overtravel Checking

329

Hard Overtravel Checking

329

Drive Fault Checking

329

Drive Fault Normally Closed

330

Axis Info Select

330

Servo Polarity Bits

330

Feedback Polarity Negative

331

Servo Polarity Negative

331

Servo Loop Block Diagrams

331

Servo Config = Position

332

Servo Config = Velocity Servo

333

Servo Config = Position Servo

334

Velocity Feedforward Gain

337

Acceleration Feedforward Gain

338

Position Proportional Gain

339

Loop Gain Method

339

Bandwidth Method

339

Maximum Bandwidth

340

Position Integral Gain

340

Velocity Proportional Gain

341

Velocity Integral Gain

343

Servo Limits

345

Servo Offsets

348

Servo Fault Configuration

350

Commissioning

351

Tuning Travel Limit

352

Tuning Speed

352

Tuning Torque

353

Drive Model Time Constant

353

Velocity Servo Bandwidth

354

Position Servo Bandwidth

355

Tuning Configuration Bits

355

Tuning Direction Reverse

355

Servo Drive Status

356

Torque Command

360

Torque Feedback

360

DC Bus Voltage

362

Torque Limit Source

362

Drive Status Bit Attributes

363

Change Pos Reference

368

Drive Fault Bit Attributes

368

Ground Short Fault

371

Drive Hardware Fault

371

Overspeed Fault

371

Overload Fault

371

Power Phase Loss Fault

373

SERCOS Fault

373

SERCOS Ring Fault

374

Drive Warning Bit Attributes

375

Overload Warning

375

Drive Overtemperature Warning

375

Motor Overtemperature Warning

375

Cooling Error Warning

375

Attribute Error ID

376

SERCOS Error Code

376

Servo Drive Configuration

380

Drive Configuration

381

Drive Axis ID

381

Axis Type

381

Advanced Servo Configuration

382

Drive Scaling Bits

384

Custom Scaling

384

Advanced Scaling Attributes

385

Custom Polarity

386

Positive/Negative Polarity

386

Advanced Polarity Attributes

387

Motor and Feedback

388

Motor Data

389

Feedback Resolution

389

Aux Feedback Ratio

389

Motor Position Servo

391

Auxiliary Position Servo

392

Dual Position Servo

393

Motor Dual Command Servo

394

Auxiliary Dual Command Servo

395

Velocity Servo

396

Torque Servo

397

Drive Gains

397

Output LP Filter Bandwidth

404

Output Notch Filter Frequency

404

Integrator Hold Enable

405

Drive Limits

406

Figure 13.25 Position Error

407

Drive Offsets

408

Drive Fault Actions

409

Shutdown

410

Disable Drive

410

Stop Command

410

Status Only

411

Brake Engage Delay

411

Drive Power Attributes

412

Tune Output Low-Pass Filter

418

Troubleshooting

419

SERCOS interface LED

420

Indicators

420

The OK LED

421

The SERCOS Ring Status LED

422

The Communication Phase LED

423

416 Troubleshooting

424

Appendix

425

1784-PM02AE Motion Card

425

Specifications

425

1784-M16SE Motion Card

426

Wiring Diagrams

429

Torque Servo Drive

430

424 Wiring Diagrams

432

P3 and P4

433

1784-PM02AE-TP0x Cable

434

Sync Cable

435

428 Wiring Diagrams

436

Numerics

437

430

438

431

439

432

440

433

441

434

442

435

443

436

444

437

445

438

446

439

447

440

448

441

449




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