Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario

Instruction Manual2-Axis Servo ModuleM/N 57C422BJ-3642-7

1-2 2-Axis Servo Module M/N 57C422B• IEEE-518 GUIDE FOR THE INSTALLATION OFELECTRICA

A-2 2-Axis Servo Module M/N 57C422BRegistration Input Specifications• Signal type: E

B-1APPENDIX BModule Black Diagram

B-2 2-Axis Servo Module M/N 57C422B

C-1APPENDIX CField ConnectionsX and Y AxisConnNo.FunctionTermNo.Wire Color: Main (Stripes)1 Encoder Power Common 1 Black28 +Ve: Encoder Power (5 Volt

C-2 2-Axis Servo Module M/N 57C422BField Connections (Continued)Conn No.FunctionTerm

C-3Field Connections (Continued)ConnNo.FunctionTermNo.Wire Color: Main (Stripes)1 Encoder Power Common 1 Wht28 Encoder Power (from 5 Volt DC P/S) 2 Or

C-4Field Connections (Continued)Conn No.FunctionTerm No.Wire Color: Main (Stripes)29 Drive Reference Power Supply(12/15 VDC)21 Red (Wht)30 Drive Refer

D-1APPENDIX DRelated Components57C377 - Terminal Strip/Cable AssemblyThis model number consists of two assemblies. Each assembly consists of two termi

D-2 2-Axis Servo Module M/N 57C422B

E-1APPENDIX ERegister Summary

MECHANICAL / ELECTRICAL DESCRIPTION2-1CHAPTER 2MECHANICAL /ELECTRICALDESCRIPTIONThe following is a description of the faceplate LEDs, field terminatio

E-2 2-Axis Servo Module M/N 57C422BRegister Summarycontinued

F-1APPENDIX FEnhancementsThis appendix lists the features that were added to the module in versions 57C422A and 57C422B.Note that some modules which d

F-2 2-Axis Servo Module M/N 57C422BM/N 57C422BIf the "B/M" designation on

G-1APPENDIX GCompatibility with Earlier VersionsStop Motion CommandIf you are replacing a 57C422 module with a different version of the same module, t

G-2 2-Axis Servo Module M/N 57C422Bthere is a mode of homing in which the axis does

H-1APPENDIX HConfiguration Task SampleThis appendix describes how to configure the module in systems using AutoMax Programming Executive software vers

H-2 2-Axis Servo Module M/N 57C422Bwhere:nnnnn - BASIC statement number. This number

H-31180 IODEF P_CONST%[ SLOT =8, REGISTER=32]1190 IODEF N_CONST%[ SLOT =8, REGISTER=33]1200 IODEF FDBK_UNWINDI[ SLOT =8, REGISTER=34]1210 IODEF GEAR_U

H-4

I-1APPENDIX IDigital Servo Loop Block Diagram

2-2 2-Axis Servo Module M/N 57C422BFigure 2.1 – Module Faceplate

I-2 2-Axis Servo Module M/N 57C422B

For additional information1 Allen-Bradley DriveMayfield Heights, Ohio 44124 USATel: (800) 241-2886 or (440) 646-3599http://www.reliance.com/automaxCop

MECHANICAL / ELECTRICAL DESCRIPTION2-3Signals are brought into the module via a multi-conductor cable (M/N 57C377). One end of this cable attaches to

2-4 2-Axis Servo Module M/N 57C422B Each axis contains two registration inputs which

MECHANICAL / ELECTRICAL DESCRIPTION2-5Each axis on the module contains digital inputs for the home L/S, drive fault, positive overtravel L/S, and nega

2-6 2-Axis Servo Module M/N 57C422BIn order to provide a current or velocity referen

INSTALLATION3-1CHAPTER 3INSTALLATIONThis section describes how to install and remove the module and its cable assembly.3.1 WiringTo reduce the possibi

3-2 2-Axis Servo Module M/N 57C422BStep 2. Take the module out of its shipping conta

INSTALLATION3-3Fasten the field wires from the encoder to the terminal strip. Typical field connections are shown in figure 3.2. If you are not using

The information in this manual is subject to change without notice.Rellance® and AutoMax@ are trademarks of Reliance Electric Company or itssubsidiari

3-4 2-Axis Servo Module M/N 57C422B.Use twisted pair cabling, connected as shown in

INSTALLATION3-5Step 8. Mount the registration sensors on your machine if your application requires them. Fasten the field wires from the sensors to th

3-6 2-Axis Servo Module M/N 57C422Bin the software. If your application has unusuall

INSTALLATION3-7The hardwired E-STOP ensures that you can disconnect the drive under all conditions. The contacts controlled by a DCS or AutoMax digita

3-8 2-Axis Servo Module M/N 57C422BStep 13. Verify power supply connections by perfo

INSTALLATION3-9c. Verify that you can read 5 volts on the proper pins of the encoder connector (at the encoder).d. Turn off power and attach the conne

3-10 2-Axis Servo Module M/N 57C422Be. Move the cable from the programming port on t

INSTALLATION3-113.3 Module ReplacementUse the following procedure to replace a module:Step 1. Turn off power to the rack and all connections.Step 2. R

3-12 2-Axis Servo Module M/N 57C422B

PROGRAMMING4-1CHAPTER 4PROGRAMMINGThis section describes how the data is organized in the module and provides examples of how the module is accessed b

Table Of Contents1.0 Introduction ...1-1 2.0 Mechanical/Electrical Description...

4-2 2-Axis Servo Module M/N 57C422Bregisters with individual bit descriptions are sh

PROGRAMMING4-34.2 Register 0: Encoder SetupRegister 0 is used to configure the gearing reference and feedback encoder inputs for the axis. Refer to fi

4-4 2-Axis Servo Module M/N 57C422BIf the *4 quadrature mode is selected, both edges

PROGRAMMING4-5The output polarity bit is used to alter the sign of the drive reference for a given error. This is analogous to swapping the wires for

4-6 2-Axis Servo Module M/N 57C422BIf you intend to use the feedback marker during t

PROGRAMMING4-7You should enable the gearing marker pulse if you intend to use it to initialize the home position of the gearing encoder. Refer to sect

4-8 2-Axis Servo Module M/N 57C422B4.8 Register 6: Feedforward GainRegister 6 contai

PROGRAMMING4-94.10 Register 8: Maximum Position ErrorRegister 8 contains the maximum allowable position error that is used to determine faults. Positi

4-10 2-Axis Servo Module M/N 57C422B4.12 Register 10: In-Position ToleranceRegister

PROGRAMMING4-11feedforward" (register 66) commands.4.14 Registers 13,14: Negative Overtravel LimitRegisters 13,14 define the negative overtravel

4.23 Registers 29, 30: Sync Position ... 4-164.24 Register 31: Maximum Voltage Reference ... 4-174.25 Register 32: Po

4-12 2-Axis Servo Module M/N 57C422B(encoder counts/sec) * 65.5364.16 Registers 17,1

PROGRAMMING4-134.17 Registers 19, 20: Command VelocityRegisters 19, 20 contain the command velocity. This value is read by the module whenever the fol

4-14 2-Axis Servo Module M/N 57C422B 4.19 Registers 23, 24: Command DecelerationRegi

PROGRAMMING4-154.20 Registers 25, 26: Gear RatioRegisters 25,26 contain the gear ratio between the feedback and gearing reference axes. This value is

4-16 2-Axis Servo Module M/N 57C422Bsame user LEDs when the “update LEDs" comma

PROGRAMMING4-17position registers is changed, the "position >=" and "position <" bits in register 72 are undefined until ano

4-18 2-Axis Servo Module M/N 57C422BWhen the drive is configured as a velocity regul

PROGRAMMING4-19insure that the velocity output is linearly related to the number computed by the software. Initially, this value should be set to -1.

4-20 2-Axis Servo Module M/N 57C422Bin register 0 (Encoder Setup). This value is rea

PROGRAMMING4-21Note that the strobed gearing registration position (registers 86,87) and the current gearing position (registers 76, 77) data are not

4.50 Cam Registers...4-494.50.1 Register 125: Master Axis Position Increment ...

4-22 2-Axis Servo Module M/N 57C422B4.31 Register 41: Registration Input EdgeDetecti

PROGRAMMING4-23need only wait for the value in registers 66 and 67 to be zero before issuing the next command.4.33 Register 64: Interrupt ResetTo rese

4-24 2-Axis Servo Module M/N 57C422B The enable control loop bit commands the module

PROGRAMMING4-25decelerate to a stop. If the position is not beyond the distance required to decelerate, the axis will overshoot.The velocity control b

4-26 2-Axis Servo Module M/N 57C422BThe stop action bit defines the way that the dri

PROGRAMMING4-27must connect the encoder to the proper inputs on the terminal strip. If you want to gear to the opposite axis command position, set bit

4-28 2-Axis Servo Module M/N 57C422BThe index/move command will cause the axis to mo

PROGRAMMING4-29is saved and used for the "stop motion" command if the "stop action" bit is set in register 65.1. No home limit swi

4-30 2-Axis Servo Module M/N 57C422BThe self-tuning of an axis should always be done

PROGRAMMING4-31The tune feedforward gain command will self-tune the feedforward gain. The feedforward gain can be used whenever the reference to the d

AppendicesAppendix ATechnical Specifications ...A-1Appendix BModule Block Diagram ...

4-32 2-Axis Servo Module M/N 57C422BThe change default setups command is used to loa

PROGRAMMING4-33Feedback registration enable and/or gearing registration enable is used to sense the respective registration digital input. If the enab

4-34 2-Axis Servo Module M/N 57C422BThe enable relative change to feedback position

PROGRAMMING4-35has been completed. It does not necessarily mean that the axis is at the commanded position.Axis locked is set whenever the absolute va

4-36 2-Axis Servo Module M/N 57C422Bset by the next occurrence of the gearing regist

PROGRAMMING4-374.38 Register 73: FaultRegister 73 is the fault register. This register is updated continuously by the module except during an auto-tun

4-38 2-Axis Servo Module M/N 57C422Bposition error specified in register 8. Note tha

PROGRAMMING4-394.40 Registers 76, 77: Current Gearing PositionRegisters 76, 77 contain the current gearing position. Registers 76, 77 are only updated

4-40 2-Axis Servo Module M/N 57C422Bthe application software interrogates it.4.43 Re

PROGRAMMING4-414.45 Register 83: Current Velocity StatusUpdate PeriodRegister 83 contains the current velocity status update period. This value is the

List of FiguresFigure 2.1 - Module Faceplate ...2-2Figure 2.2 - Encoder Input Circuit ...

4-42 2-Axis Servo Module M/N 57C422Bregister 72, bit 9.This data always originates f

PROGRAMMING4-43Block tasks.Note that two of the registers used to implement interrupts, 64 (described in section 4.33) and 4095, are used for both the

4-44 2-Axis Servo Module M/N 57C422BFigure 4.48 – Interrupt Enable Masking Register

PROGRAMMING4-45Bits in 68/69 can be set in one of two ways. All bits in the registers can be defined separately in configuration and set to 1 in appli

4-46 2-Axis Servo Module M/N 57C422Bby the allowable velocity error being exceeded (

PROGRAMMING4-474.49.3 Register 4095: Interrupt Status and Control (ISCR) RegisterRegister 4095 is the interrupt status and control register for both t

4-48 2-Axis Servo Module M/N 57C422B4.49.4 Sample Application Task with InterruptThe

PROGRAMMING4-4915014 ! line 15010 ORs INT_ENA_X! with 80000000H15020 ! to enable interrupts from bit 15 of register 7215030 CMD66% = COMMAND% \! loads

4-50 2-Axis Servo Module M/N 57C422BIn order to select the value format (bytes or wo

PROGRAMMING4-51When the master axis moves past the master reference position, the following axis saves its own current position as the base position.

Figure 4.27 - Gearing Unwind Constant Registers... 4-20Figure 4.28 - Gearing Mode, Ratio Format, and RampVelocity Control Register

4-52 2-Axis Servo Module M/N 57C422BOnce Only Rotary Mode: When the master axis and

PROGRAMMING4-53master reference position. Each point in the position cam table consists of four bytes (double precision integers). There are a maximum

4-54 2-Axis Servo Module M/N 57C422Bcam will never be started. The value is in count

PROGRAMMING4-55lowest register (132) in sequence. As a general rule, the table should be accessed forward unless it is necessary to exactly reverse a

4-56 2-Axis Servo Module M/N 57C422B4.50.6 Register 131: Loop Back Point in Cam Tabl

PROGRAMMING4-574.50.7 Cam Data RegistersCam data is stored in registers 132-2046 for the X axis and in registers 2180-4094 for the Y axis. The number

4-58 2-Axis Servo Module M/N 57C422BFigure 4.57 – Time Cam Data RegistersFigure 4.58

APPLYING THE MODULE5-1CHAPTER 5APPLYING THE MODULE5.1 Required System InformationBefore attempting to use this module you will need to know the follow

5-2 2-Axis Servo Module M/N 57C422Bsoftware.5.2.1 Auto-TuningThe auto-tuning procedu

APPLYING THE MODULE5-3value.1. Initialize the axis using either the Resource application software (see step 16 in section 5.3) or by following the exa

INTRODUCTION1-1CHAPTER 1INTRODUCTIONThe 2-Axis Servo Module, in conjunction with external motor drive systems and electronic encoders, provides two ax

5-4 2-Axis Servo Module M/N 57C422B4. Next, adjust the velocity gain. Continue to in

APPLYING THE MODULE5-55.3 InitializationThe following example illustrates the software required to initialize one axis. The variables reference the co

5-6 2-Axis Servo Module M/N 57C422B5.4 HomingThe following is a sample routine that

APPLYING THE MODULE5-75.5 MovingThe following example illustrates the software required to move the axis. The move could be either an incremental or a

5-8 2-Axis Servo Module M/N 57C422B5.6 Electronic GearingThe following example illus

APPLYING THE MODULE5-95.7 VelocityThe following example illustrates the software necessary to use the axis in the velocity mode. Three examples are pr

5-10 2-Axis Servo Module M/N 57C422B5.8 Cam ModeThe following example illustrates th

RESTRICTIONS6-1CHAPTER 6RESTRICTIONSThis section describes limitations and restrictions on the use of this module.6.1 Remote RacksThis module must not

6-2 2-Axis Servo Module M/N 57C422B

A-1APPENDIX ATechnical SpecificationsAmbient Conditions• Storage Temperature: -40oC - 85oC• Operating Temperature: 0oC - 60oC• Humidity: 5-90% non-