Rockwell-automation 57C422B 2 Axis Servo Module Manual de usuario Pagina 117
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H-3
1180 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_UNWINDI[ SLOT =8, REGISTER=36]
1220 IODEF MODES%[ SLOT =8, REGISTER=65]
1230 IODEF CMD66%[ SLOT =8, REGISTER=66]
1240 IODEF CMD67%[ SLOT =8, REGISTER=67]
1250 IODEF STATUS%[ SLOT =8, REGISTER=72]
1260 IODEF HOME_COMPLETE@[ SLOT =8, REGISTER=72,BIT=5]
1270 IODEF CMD_ACK@[ SLOT =8, REGISTER=72,BIT=15]
1280 IODEF AXIS_BUSY@[ SLOT =8, REGISTER=72,BIT=2]
1290 IODEF FAULTS%[ SLOT =8, REGISTER=73]
1300 IODEF ILLEGAL_CMD@[ SLOT =8, REGISTER=73,BIT=10]
1310 IODEF TOTAL_PTS%[ SLOT =8, REGISTER=128]
1320 IODEF STEP_TlME%[ SLOT =8, REGISTER=129]
1330 IODEF CAM_MODE%[ SLOT =8, REGISTER=130]
1340 IODEF CAM_LOOPBACK%[ SLOT =8, REGISTER=131]
1350 IODEF CAM_TABLE%[ SLOT =8, REGISTER=132]
1360 IODEF X_CMD_ACK@[ SLOT =8, REGISTER=104,BIT=15]
1370 IODEF X_AXIS_DONE@[ SLOT =8, REGISTER=104,BIIT=0]
1380 IODEF INT ENA XI [ SLOT =8, REGISTER=68]
1381 ! INT_ENA_X! is a double precision variable (32 bits)
1382 ! assigned to registers 68 and 69
1400 IODEF INT_SRC_X![ SLOT =8, REGISTER=104]
1401 ! INT_SRC_X! is a double precision variable (32 bits)
1402 ! assigned to registers 104 and 105
1410 IODEF ISCR%[ SLOT =8, REGISTER=4095]
1412 ! register 4095 is the interrupt status and control
1413 ! register for both the X axis and Y axis
1420 IODEF REG_64%[ SLOT =8, REGISTER=64]
1430 ! register 64 is the interrupt reset register for both
1440 ! the X and Y axes
20000 END
- 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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