Rockwell-automation 1784-PM16SE SoftLogix Motion Card Setup and Config Manual de usuario Pagina 7
- Pagina / 451
- Tabla de contenidos
- SOLUCIÓN DE PROBLEMAS
- MARCADORES
Valorado. / 5. Basado en revisión del cliente
Publication 1784-UM003A-EN-P – June 2003
iii
Chapter 12
Motion Instructions
Motion State Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
Motion Move Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
Motion Group Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Motion Event Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Motion Configuration Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Motion Coordinated Move Instructions . . . . . . . . . . . . . . . . . . . . . . . 256
Motion Direct Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Accessing Direct Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Supported Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
Motion Direct Command Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Chapter 13
Motion Object Attributes
Object Support Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Motion Object Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Motion Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Motion Status Bit Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Motion Object Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . 287
Motion Unit Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . . 287
Motion Conversion Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
Motion Homing Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Motion Dynamics Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Servo Status Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Servo Status Bit Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Commissioning Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
Servo Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Servo Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Servo Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
Servo Fault Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342
Commissioning Configuration Attributes. . . . . . . . . . . . . . . . . . . . . . 343
Servo Drive Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
Commissioning Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Servo Drive Configuration Attributes. . . . . . . . . . . . . . . . . . . . . . . . . 372
Motor and Feedback Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Servo Loop Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Drive Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
Drive Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400
Drive Fault Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401
Drive Power Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
Commissioning Configuration Attributes. . . . . . . . . . . . . . . . . . . . . . 405
- 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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