Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 116
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- MARCADORES
Valorado. / 5. Basado en revisión del cliente
H-2
2-Axis Servo Module M/N 57C422B
where:
nnnnn - BASIC statement number. This number may range
from 1-32767.
SYMBOLIC_NAME! - A symbolic name chosen by the user
and ending with (!). This indicates a LONG INTEGER data
type and all references will access registers "r" and "r+ 1 ".
SYMBOLIC_NAME% - A symbolic name chosen by the user
and ending with (%). This indicates an INTEGER data type
and all references will acces register “r”.
SYMBOLIC_NAME@ - A symbolic name chosen by the
user and ending with (@). This iridicates a BOOLEAN data
type and all references will access bit number "b" in register
"r."
SLOT - Slot number that the module is plugged into. This
number may range from 0-15.
REGISTER - Specifies the register that is being referenced.
This number may range from 0-4095.
BIT - Used with boolean data types only. Specifies the bit in
the register that is being referenced. This number may range
from 0-15.
Sample Configuration Task
The following is a sample configuration for the X axis of a
module located in slot 8. Note that version 3.0 or later
Programming Executive software allows you to enter the
variable names and comments below on a customized form
and does not require a separate task.
1000 IODEF ENCODER_SETUP%[ SLOT =8, REGISTER=0]
1010 IODEF DRIVE_SETUP%[ SLOT =8, REGISTER=1]
1020 IODEF SWITCHES%[ SLOT =8, REGISTER=2]
1030 IODEF PGAIN%[ SLOT =8, REGISTER=3]
1040 IODEF IGAIN%[ SLOT =8, REGISTER=4]
1050 IODEF VGAIN%[ SLOT =8, REGISTER=5]
1060 IODEF FGAIN%[ SLOT =8, REGISTER=6]
1070 IODEF DBCOMP%[ SLOT =8, REGISTER=7]
1080 IODEF MAX_FOLL_ERR%[ SLOT =8, REGISTER=8]
1090 IODEF MAX_VEL_ERR%[ SLOT =8, REGISTER=9]
1100 IODEF IN_TOLERANCE%[ SLOT =8, REGISTER=10]
1110 IODEF HOME_SPDI[ SLOT =8, REGISTER=15]
1120 IODEF CMD_POSI[ SLOT =8, REGISTER=17]
1130 IODEF CMD_VELI[ SLOT =8, REGISTER=19]
1140 IODEF CMD_ACC![ SLOT =8, REGISTER=21]
1150 IODEF CMD_DECI[ SLOT =8, REGISTER=23]
1160 IODEF GEAR_RATIO![ SLOT =8, REGISTER=25]
1170 IODEF MAX_VOLTS%[ SLOT =8, REGISTER=31]
- 2-Axis Servo Module 1
- Table Of Contents 3
- Appendices 6
- List of Figures 7
- CHAPTER 1 9
- FROM EXTERNAL SOURCES 10
- CHAPTER 2 11
- Figure 2.1 – Module Faceplate 12
- 2.2 Electrical Description 13
- CHAPTER 3 17
- INSTALLATION 19
- 3.3 Module Replacement 27
- CHAPTER 4 29
- 4.1 Configuration 30
- 4.2 Register 0: Encoder Setup 31
- 4.3 Register 1: Drive Setup 32
- 4.4 Register 2: Switch Setup 33
- 4.6 Register 4: Integral Gain 35
- 4.7 Register 5: Velocity Gain 35
- PROGRAMMING 37
- Reference 39
- (encoder counts/sec) * 65.536 40
- Acceleration 41
- Deceleration 42
- 4.21 Register 27: User LEDs 43
- " command 44
- Constant 46
- Constant 46
- Format, Ramp Velocity 48
- Compensation 49
- Detection 50
- 4.34 Register 65: Mode 51
- Figure 4.33 – Mode Register 52
- 4.35 Register 66: Command 55
- 4.36 Register 67: Command 60
- 4.37 Register 72: Status 62
- 4.38 Register 73: Fault 65
- Position 66
- 4.49 Interrupt Registers 70
- (ISCR) Register 75
- 4.50 Cam Registers 77
- Position Cam 78
- 4.50.5 Register 130: Cam Mode 82
- 4.50.7 Cam Data Registers 85
- CHAPTER 5 87
- 5.2.1 Auto-Tuning 88
- 5.2.2 Manual Tuning 88
- APPLYING THE MODULE 89
- 5.3 Initialization 91
- 5.4 Homing 92
- 5.5 Moving 93
- 5.6 Electronic Gearing 94
- 5.7 Velocity 95
- 5.8 Cam Mode 96
- CHAPTER 6 97
- APPENDIX A 99
- APPENDIX B 101
- APPENDIX C 103
- Field Connections (Continued) 104
- APPENDIX D 107
- APPENDIX E 109
- Register Summary 110
- APPENDIX F 111
- M/N 57C422B 112
- APPENDIX G 113
- APPENDIX H 115
- APPENDIX I 119
- For additional information 122
- 1 Allen-Bradley Drive 122
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