Rockwell-automation 1771-QA Stepper Positioning Assembly User Manual Manual de usuario

UserManualStepperPositioningAssembly(Cat. No. 1771–QA)Allen-Bradley

1–4 IntroductionPublication 1771-UM002A–EN–P – May 2000

4–22 Example ProgramsPublication 1771-UM002A–EN–P – May 2000EN110161101711007Command File (Includes Offset and Preset Data)0035170035DN152811004Axis

4–23Example ProgramsPublication 1771-UM002A–EN–P – May 2000EN1120411205Jog Data Axis 20040170040DN1532EN1121111212Jog Data Axis 30043170043DN1533EN11

4–24 Example ProgramsPublication 1771-UM002A–EN–P – May 2000EN20116Moveset 0 (Axis 1)0034170034DN1537EN20416Moveset 0 (Axis 2)0042170042DN1538EN20716

4–25Example ProgramsPublication 1771-UM002A–EN–P – May 200015LOFF 1644046Axis 1011TON1140600460.1PR 030Block Transfer Time–Out43AC 000450151[ G ]02

4–26 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.11 Example Command File, Axis 112345Counter Addr:Axis No.: File Length:File A: t

4–27Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.13 Example Command File, Axis 312345Counter Addr:Axis No.: File Length:File A: to

4–28 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.15 Example Jog Moveset, Axis 2123456789101112Counter Addr:Axis No.: File Length:

4–29Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.16 Example Jog Moveset, Axis 3123456789101112Counter Addr:Axis No.: File Length:F

4–30 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.17 Example Profile Moveset, 1 Axis 112345678910111213141516171819202122232425262

4–31Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.18 Example Profile Moveset 0 Axis 01234567891011121314151617181920212223242526272

Chapter 2Publication 1771-UM002A–EN–P – May 2000Assembly and InstallationThe stepper positioning assembly can be wired for 1-axis operationwith a ste

4–32 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.19 Example Profile Moveset 1, Axis 212345678910111213141516171819202122232425262

4–33Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.20 Example Profile Moveset O, Axis 2123456789101112131415161718192021222324252627

4–34 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.21 Example Profile Moveset 1, Axis 312345678910111213141516171819202122232425262

4–35Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.22 Example Profile Moveset 0 Axis 31234567891011121314151617181920212223242526272

4–36 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Rungs 1 and 2Controlled stop rungs for axis 1. When user input 110/16 isenergized, bit 22

4–37Example ProgramsPublication 1771-UM002A–EN–P – May 2000Rung 9Offset rung for axis 1. When user input 110/04 is energized, bit212/13 (MCW, offset

4–38 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Rung 37When the first profile moveset is sent to the stepper controllermodule (rung 24),

4–39Example ProgramsPublication 1771-UM002A–EN–P – May 2000Rungs 45 thru 47These rungs display the status of axes 1, 2, and 3. Word 150 isreserved f

4–40 Example ProgramsPublication 1771-UM002A–EN–P – May 20001234567891011121314151617181920212223242526272829303132Counter Addr:Axis No.: File Length

4–41Example ProgramsPublication 1771-UM002A–EN–P – May 2000ALLEN–BRADLEYProgrammable ControllerDATA TABLE WORD MAP(1024 WORD)(Publication 5044 – Febr

2–2 Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000Input switch contacts should be compatible with the voltage andcurrent levels of

4–42 Example ProgramsPublication 1771-UM002A–EN–P – May 2000

Chapter 5Publication 1771-UM002A–EN–P – May 2000Tr oubleshootingA programming error will be reflected in the status word of theaffected axis with the

FF 5–2 TroubleshootingPublication 1771-UM002A–EN–P – May 2000Table 5.A Power-Up TroubleshootingLed Indication Possible Cause Corrective Action

5–3TroubleshootingPublication 1771-UM002A–EN–P – May 2000Table 5.B Operation TroubleshootingStatus Word BitsProgrammingError, Bit 04System Fault,Bi

5–4 TroubleshootingPublication 1771-UM002A–EN–P – May 2000ProgrammingError, Bit 04Corrective ActionPossible CauseSystem Fault,Bit 031 1 Override ramp

5–5TroubleshootingPublication 1771-UM002A–EN–P – May 2000Certain combinations of bits or an illegal bit state entered in themoveset control word, sin

5–6 TroubleshootingPublication 1771-UM002A–EN–P – May 2000

Appendix APublication 1771-UM002A–EN–P – May 2000SpecificationsPulse Output Expander Module Specifications (cat. no. 1771-OJ)Module Location Bulletin

Specifications A–2Publication 1771-UM002A–EN–P – May 2000Agency Certification (when product is marked)• CSA certified• CSA Class 1, Division 2, Groups

Appendix BPublication 1771-UM002A–EN–P – May 2000CSA Hazar dous LocationAppr ovalCSA Hazardous Location Approval Approbation d’utilisation dans des em

2–3Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000Stepper Translator and Power SupplyThe stepper translator and power supply convert

CSA Hazardous Location Approval B–2Publication 1771-UM002A–EN–P – May 2000

Publication 1771-UM002A–EN–P – May 2000Allen-Bradley, a Rockwell Automation Business, has been helping its customers improveproductivity and quality f

2–4 Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000Table 2.A Summary of Internal Switch FunctionsSwitchAssembly Function Descripti

2–5Assembly and InstallationPublication 1771-UM002A–EN–P – May 20004. Set the switches as described in the following sections. Someswitches are labe

2–6 Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000Other translators are designed to receive only one pulse train at asingle “pulse”

2–7Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000Table 2.D Expander Module Address (S3)Switch Assembly S3 ExpanderSwitch 1 Switch

2–8 Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000!ATTENTION: Avoid shorting any of the outputterminals to ground, to the common

2–9Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000• EXPANDER COMMUNICATIONS FAULT (Red)This indicator is normally off. If a communi

Because of the variety of uses for the products described in thispublication, those responsible for the application and use of this controlequipment m

2–10 Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000System Grounding ConsiderationsThe following should be connected to earth ground

2–11Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000The module is slotted in two places on its rear edge. The position ofthe keying

2–12 Assembly and InstallationPublication 1771-UM002A–EN–P – May 2000

Chapter 3Publication 1771-UM002A–EN–P – May 2000Pr ogramming and OperationThe desired motion of the stepper motor can be accelerated,decelerated or m

3–2 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Move DefinitionA move in its simplest form consists of an acceleration of the ste

3–3Programming and OperationPublication 1771-UM002A–EN–P – May 2000In any mode, when the working moveset is finished, the storagemoveset automaticall

3–4 Programming and OperationPublication 1771-UM002A–EN–P – May 2000JogA jog allows an axis to be manually controlled by an operatorindependent of ot

3–5Programming and OperationPublication 1771-UM002A–EN–P – May 2000Continuous ModeThe continuous mode allows moves of the moveset to be blendedcontin

3–6 Programming and OperationPublication 1771-UM002A–EN–P – May 2000A done bit is set for each axis at completion of each positioningprofile. If all

3–7Programming and OperationPublication 1771-UM002A–EN–P – May 2000When using the independent mode and the axes are synchronized, allbut the last axi

Publication 1771-UM002A–EN–P– May 2000Chapter 1Description 1–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Under

3–8 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Words that control the motion of the stepper motor axis, recordposition or monito

3–9Programming and OperationPublication 1771-UM002A–EN–P – May 2000Moveset Control WordA moveset block must contain a moveset control word as the fir

3–10 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Bit 03 Synchronized Axes Bit. If this bit is set for any axis, it must be set f

3–11Programming and OperationPublication 1771-UM002A–EN–P – May 2000When the decel/instantaneous bit is zero, output pulses will ceaseinstantly when

3–12 Programming and OperationPublication 1771-UM002A–EN–P – May 2000The load jog command bit (bit 03 of the single move control word,defined in sect

3–13Programming and OperationPublication 1771-UM002A–EN–P – May 2000Avoid sending multiple commands to the stepper controller moduleat the same time.

3–14 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Figure 3.9 Offset and Preset Words17 10 07 000170Data Table99999999901000000MCWO

3–15Programming and OperationPublication 1771-UM002A–EN–P – May 2000Initialization PresetTypically it may be necessary to jog the machine to a starti

3–16 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Move PresetThe move preset can be used to adjust the starting point value of any

3–17Programming and OperationPublication 1771-UM002A–EN–P – May 2000Move BlockA move block contains ramp, final rate, final position anddeceleration

Table of ContentsiiPublication 1771-UM002A–EN–P– May 2000Independent Mode 3–6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data Blo

3–18 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Bit 02 Skip Bit. The skip bit allows one or more moves of a moveset to be ignor

3–19Programming and OperationPublication 1771-UM002A–EN–P – May 2000Move DataMove data is contained in the remaining five words of the moveblock (Fig

3–20 Programming and OperationPublication 1771-UM002A–EN–P – May 2000In the continuous mode, the decel value is not used in the moveprofile except fo

3–21Programming and OperationPublication 1771-UM002A–EN–P – May 2000The first word in the status block is reserved for future use (Figure3.14). Each

3–22 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Figure 3.15 Status Word17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00Status wor

3–23Programming and OperationPublication 1771-UM002A–EN–P – May 2000Bit 03 System Fault Bit. This bit is set if a system failure such as a communica

3–24 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Bits 10-13 Move in Progress Bits. The bit pattern in Hex shows which move (1-10

3–25Programming and OperationPublication 1771-UM002A–EN–P – May 2000The values shown in the figure are the maximum allowable valuesfor position pulse

3–26 Programming and OperationPublication 1771-UM002A–EN–P – May 2000The data address of a block transfer instruction should be the firstavailable ad

3–27Programming and OperationPublication 1771-UM002A–EN–P – May 2000Two consecutive data addresses must be used in bidirectional blocktransfer. Both

Table of Contents iiiPublication 1771-UM002A–EN–P– May 2000Resonant Frequency 3–54. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Acc

3–28 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Secondly, the block length can be changed alternately in accordancewith the bloc

3–29Programming and OperationPublication 1771-UM002A–EN–P – May 2000Figure 3.17 Example Bidirectional Block Transfer1RBlock length codeData Table1300

3–30 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Programming ConsiderationsThis section describes how block transfer concepts can

3–31Programming and OperationPublication 1771-UM002A–EN–P – May 2000When the block length of the read block transfer instruction is set tothe default

3–32 Programming and OperationPublication 1771-UM002A–EN–P – May 2000 B. Setting the skip bit in the single move control wordscorresponding to unwant

3–33Programming and OperationPublication 1771-UM002A–EN–P – May 2000Jog reverse and Jog forward MCW, bits 14 and 15When either software jog command

3–34 Programming and OperationPublication 1771-UM002A–EN–P – May 2000• 1 write block transfer file - 64 words for the temporary storage ofdata to be

3–35Programming and OperationPublication 1771-UM002A–EN–P – May 2000Important: Increasing the size of the data table by 128-wordsections reduces the

3–36 Programming and OperationPublication 1771-UM002A–EN–P – May 2000The command verify (status) bit will be reset whenever: A. the stepper controlle

3–37Programming and OperationPublication 1771-UM002A–EN–P – May 2000Table 3.B Corresponding Handshake BitsMoveset Control Word Moveset Control Word

Table of ContentsivPublication 1771-UM002A–EN–P– May 2000

3–38 Programming and OperationPublication 1771-UM002A–EN–P – May 2000The method for calculating the worst case time between blocktransfers will be co

3–39Programming and OperationPublication 1771-UM002A–EN–P – May 2000Example Problem 1A PLC-2/30 programmable controller is controlling 4 I/O racks in

3–40 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Processor Scan Time PS = (5ms/lK words x (4K words) =20msProcessor I/O Scan Time

3–41Programming and OperationPublication 1771-UM002A–EN–P – May 20003. Calculate the block transfer time T for the read and writeoperation.T = 0.1ms

3–42 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Processor Scan Time PS = (5ms/lK words) x (4K words) =20ms.Processor I/O Scan Ti

3–43Programming and OperationPublication 1771-UM002A–EN–P – May 2000T = 0.1ms + (.16ms/word x number of words transferred)The same equation is used f

3–44 Programming and OperationPublication 1771-UM002A–EN–P – May 2000The values which can be selected for ramp and decel times, the finalrate, and fi

3–45Programming and OperationPublication 1771-UM002A–EN–P – May 2000The following three examples show how this equation can be used.Example Problem 1

3–46 Programming and OperationPublication 1771-UM002A–EN–P – May 20004(10k + 0)+ 10k+ 0.02 < 26k22420k + 20.2k <26k40.2k <26k This exceeds t

3–47Programming and OperationPublication 1771-UM002A–EN–P – May 2000RT = 3 secondsFR = 10k pulses per secondIR = 2k pulses per second (final rate of

Chapter 1Publication 1771-UM002A–EN–P – May 2000 The Stepper Motor Positioning Assembly (cat. no. 1771-QA) allowsprogrammable control of

3–48 Programming and OperationPublication 1771-UM002A–EN–P – May 2000The parameters of the equation (IR, FR, RT and DELPOS) and asketch of the move a

3–49Programming and OperationPublication 1771-UM002A–EN–P – May 2000Decel and Position Considerations for a 0Hz Rate MoveA 0Hz rate move must be used

3–50 Programming and OperationPublication 1771-UM002A–EN–P – May 2000The parameters of the equation (DELPOS, T and IR) and a sketch ofthe move are sh

3–51Programming and OperationPublication 1771-UM002A–EN–P – May 2000This exceeds 9.99 seconds. Either the position of the 0Hz rate movemust be decre

3–52 Programming and OperationPublication 1771-UM002A–EN–P – May 2000If ORTProg in equation 3a is zero, then ORTAct will be instantaneous(<10ms).T

3–53Programming and OperationPublication 1771-UM002A–EN–P – May 2000Figure 3.24 Override Ramp TimeRateOFRIRORTORTIROFRRateProgNot ExecutedExecutedPro

3–54 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Stepper Motor Acceleration ConsiderationsThe stepper motor specifications will c

3–55Programming and OperationPublication 1771-UM002A–EN–P – May 2000If the resonant frequency is encountered, its effect can be dampenedor eliminated

3–56 Programming and OperationPublication 1771-UM002A–EN–P – May 2000Minimum Move TimeA minimum “move in progress” time is required by the steppercon

Chapter 4Publication 1771-UM002A–EN–P – May 2000Example Pr ogramsTwo example programs are presented in this chapter. The purpose ofthese programs is

1–2 IntroductionPublication 1771-UM002A–EN–P – May 2000Stepper motor positioning assemblies can be used in applicationsrequiring more than three axes

4–2 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Programming a 1-Axis ProfileThe task of programming can be simplified by documenting thede

4–3Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.2 Example 1-Axis Profile Moveset12345678910111213141516171819202122232425262728293

4–4 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.3 Example Jog Moveset with Preset Data123456789101112Counter Addr:Axis No.: File

4–5Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.4 Example 1-Axis ProgramLADDER DIAGRAM DUMPU15061101550007112035000411014500001101

4–6 Example ProgramsPublication 1771-UM002A–EN–P – May 2000EN112001101611201Jog and Preset Data11014Profile Data0036170036DN15EN0033170033DN1511407Bu

4–7Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.5 Example Data Monitor Display and Moveset DataHEXADECIMAL DATA MONITOR FILE-TO-FI

4–8 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Position File A Data File R Data029 C000 C000030 0100 0100 MOVE 5031 0800 0800032 0100 010

4–9Example ProgramsPublication 1771-UM002A–EN–P – May 2000Preset and Jog DataPreset and jog data are programmed in a 10-word moveset. Themoveset dat

4–10 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Move DataThe 10-move 1-axis positioning profile (Figure 4.1) is in thecontinuous mode, re

4–11Example ProgramsPublication 1771-UM002A–EN–P – May 2000PositionNumber 1FunctionWordDescriptionEquivalentWord2055 466 Final Rate zero (ignored by

1–3IntroductionPublication 1771-UM002A–EN–P – May 2000For specific information required by EN 61131-2, see the appropriatesections in this publicatio

4–12 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Rungs 6 and 7These rungs start and stop a jog forward move. When bit 112/00 istrue, bit

4–13Example ProgramsPublication 1771-UM002A–EN–P – May 2000Rung 14This rung contains the block transfer read instruction that receivesstatus from the

4–14 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Commands are transferred to the stepper controller module bysetting a bit in either the m

4–15Example ProgramsPublication 1771-UM002A–EN–P – May 2000The ladder diagram program presented in this section is written for a3-axis machine operat

4–16 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.7 Axis 1 of Example 3-Axis ProfileRateForward0ReverseDT=3.0 SecFR=2000 P/S0 Hz R

4–17Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.8 Axis 2 of Example 3-Axis ProfileRateFR=500 P/SecFR=450 P/SecFR=400 P/SecFR=350

4–18 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.9 Axis 3 of Example 3-Axis ProfileRateForward0ReverseFR=1000 P/SecDT=2.0 SecPosi

4–19Example ProgramsPublication 1771-UM002A–EN–P – May 2000Also note that command bits for each axis are set in thecorresponding control word in file

4–20 Example ProgramsPublication 1771-UM002A–EN–P – May 2000Figure 4.10 Example 3-Axis ProgramLADDER DIAGRAM DUMP16061110STARTStop Axis 121216072110S

4–21Example ProgramsPublication 1771-UM002A–EN–P – May 2000UOFF 1515300112041101511211Unlatch Jog Forward Axis 2051416112Jog Reverse Axis 2224UOFF 14