Rockwell Automation 1746-HSRV User Manual

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SLC

Servo Control

Module

(Catalog No. 1746-HSRV)

User Manual

Important User Information

Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.

The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for purposes of example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication.

Allen-Bradley publication SGI-1.1, Safety Guidelines for the

Application, Installation and Maintenance of Solid-State Control

(available from your local Allen-Bradley office), describes some important differences between solid-state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication.

Reproduction of the contents of this copyrighted publication, in whole or part, without written permission of Rockwell Automation, is prohibited.

Throughout this manual we use notes to make you aware of safety considerations:

ATTENTION

Identifies information about practices or circumstances that can lead to personal injury or death, property damage or economic loss

Attention statements help you to:

• identify a hazard

• avoid a hazard

• recognize the consequences

IMPORTANT

Allen-Bradley is a trademark of Rockwell Automation

Identifies information that is critical for successful application and understanding of the product.

European Communities (EC) Directive Compliance

If this product has the CE mark it is approved for installation within the European Union and EEA regions. It has been designed and tested to meet the following directives.

EMC Directive

This product is tested to meet the Council Directive 89/336/EC Electromagnetic Compatibility (EMC) by applying the following standards, in whole or in part, documented in a technical construction file:

• EN 50081-2 EMC — Generic Emission Standard, Part 2 —

Industrial Environment

• EN 50082-2 EMC — Generic Immunity Standard, Part 2 —

Industrial Environment

This product is intended for use in an industrial environment.

Low Voltage Directive

This product is tested to meet Council Directive 73/23/EEC Low Voltage, by applying the safety requirements of EN 61131-2 Programmable Controllers, Part 2 - Equipment Requirements and Tests. For specific information required by EN 61131-2, see the appropriate sections in this publication, as well as the Allen-Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity, publication 1770-4.1.

This equipment is classified as open equipment and must be mounted in an enclosure during operation to provide safety protection.

Table of Contents

Using This Manual

Overview of the SLC Servo Module

Preface

Who Should Use this Manual. . . . . . . . . . . . . . . . . . . . . . . P-1

Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Contents of this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . P-4

Conventions Used in this Manual. . . . . . . . . . . . . . . . . . . . P-5

Product Receiving and Storage Responsibility. . . . . . . . . . . P-5

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . P-6

Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-6

Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-6

On the Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-7

Chapter 1

SLC Servo Module Overview . . . . . . . . . . . . . . . . . . . . . . . 1-1

SLC Servo Module Operation. . . . . . . . . . . . . . . . . . . . . . . 1-2

Configuration Mode Operation . . . . . . . . . . . . . . . . . . . 1-3

Command Mode Operation . . . . . . . . . . . . . . . . . . . . . 1-3

SLC Servo Module Specifications and Compatibility . . . . . . 1-4

Selecting Power Supplies,

Chapter 2

Encoders, and Drives

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Selecting a Power Supply for the Backplane. . . . . . . . . . . . 2-1

Calculations for Backplane Current Requirements . . . . . 2-2

Selecting a User-Side Power Supply . . . . . . . . . . . . . . . . . . 2-3

Calculations for User-Side Current Requirements . . . . . . 2-4

Using Fast Inputs and Outputs. . . . . . . . . . . . . . . . . . . . . . 2-4

Selecting an Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

Selecting a Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

Planning Hardware

Chapter 3

Installation

General Wiring Practices . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Using Shielded Cables . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

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Table of Contents

Routing Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

Classifying Your Conductors . . . . . . . . . . . . . . . . . . . . . . . 3-3

Placing Your SLC Servo Module. . . . . . . . . . . . . . . . . . . . . 3-3

Installing Your SLC Servo Module

Wiring the SLC Servo Module

Chapter 4

Unpacking and Inspecting Your SLC Servo Module System. 4-1

Installing the SLC Servo Module. . . . . . . . . . . . . . . . . . . . . 4-2

Grounding the SLC Servo Module . . . . . . . . . . . . . . . . . . . 4-4

Mounting the Termination Panel . . . . . . . . . . . . . . . . . . . . 4-5

Connecting the Termination Panel . . . . . . . . . . . . . . . . . . . 4-7

Chapter 5

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Complying with European Union Directives. . . . . . . . . . . . 5-1

EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Wiring Fast Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . 5-2

Wiring Hardware Overtravels. . . . . . . . . . . . . . . . . . . . . . . 5-4

Software Overtravel Limits . . . . . . . . . . . . . . . . . . . . . . 5-5

Connecting Home Limit Switch as a Fast Input. . . . . . . . . . 5-5

Wiring Estop Connections . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Wiring the Estop for a One-Axis System . . . . . . . . . . . . 5-7

Wiring for Normal Operation . . . . . . . . . . . . . . . . . . . . . . 5-7

Maintaining Electrical Continuity . . . . . . . . . . . . . . . . . . . 5-7

Verifying Connections and Operation . . . . . . . . . . . . . . . . 5-7

Wiring the Estop for System with Two or More Axes. . . 5-10

Wiring Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12

Wiring Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

Typical Vendor Encoder Wiring . . . . . . . . . . . . . . . . . . 5-15

Encoder Feedback Direction . . . . . . . . . . . . . . . . . . . 5-16

Wiring the SLC Servo to Allen-Bradley Drives. . . . . . . . . . . 5-18

Wiring the SLC Servo Module to 1398 ULTRA 100/200. . 5-27

Wiring the SLC Servo Module – Homing to a Marker . . 5-28

Connecting the Velocity Command . . . . . . . . . . . . . . . . . . 5-32

Testing Your SLC Servo Module Hardware

Publication 1746-6.1.2 - July 2000

Chapter 6

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Powering Up Your SLC Servo Module . . . . . . . . . . . . . . . . 6-1

Table of Contents

Testing Estop Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

iii

Setting Up Your SLC Servo Module

Chapter 7

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

Understanding the Theory of Motion Control . . . . . . . . . . . 7-2

Machine Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Velocity Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Position Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

Powering Up the SLC Servo Module. . . . . . . . . . . . . . . . . . 7-3

Configuring the SLC Processor. . . . . . . . . . . . . . . . . . . . . . 7-3

Configuring Your Processor Using AI-500 Software . . . . 7-4

Configuring Your Processor Using APS Software . . . . . . 7-5

Configuring Your Processor Using RSLogix 500 Software 7-7

Automatically Configuring the SLC Servo Module . . . . . 7-7

Manually Configuring the SLC Servo Module. . . . . . . . . 7-8

The SLC Servo Module Interface . . . . . . . . . . . . . . . . . . . . 7-11

Configuring the SLC Servo Module. . . . . . . . . . . . . . . . . . . 7-11

Data Type Conversions . . . . . . . . . . . . . . . . . . . . . . . . 7-12

Before Programming the SLC Servo Module . . . . . . . . . . . . 7-12

Communicating – SLC Processor & SLC Servo Module . . . . 7-13

Entering Encoder Lines and Computing Counts . . . . . . . . . 7-13

Computing Counts Per Position Unit . . . . . . . . . . . . . . 7-14

Computing Maximum Speed Scaler . . . . . . . . . . . . . . . 7-14

Initializing DAC Output Voltage for Drive Symmetry. . . . . . 7-16

Setting Initial Loop Type . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16

Defining Positive Axis Movement for SLC Servo Module . . . 7-17

Coarse Calibrating. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18

Fine Calibrating. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18

Computing Excess Following Error Limit . . . . . . . . . . . . . . 7-19

Selecting Loop Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20

Selecting Axis Acceleration Rate. . . . . . . . . . . . . . . . . . . . . 7-21

Determining Velocity and Acceleration Feedforward. . . . . . 7-23

Velocity Feedforward. . . . . . . . . . . . . . . . . . . . . . . . . . 7-23

Acceleration Feedforward. . . . . . . . . . . . . . . . . . . . . . . 7-23

Setting Axis and Home Specific Parameters . . . . . . . . . . . . 7-24

Programming Conventions . . . . . . . . . . . . . . . . . . . . . . . . 7-24

Downloading Your Configuration. . . . . . . . . . . . . . . . . 7-24

Configuration Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25

Configuring the M0 File Data Tables. . . . . . . . . . . . . . . 7-25

Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 7-26

Feedback Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 7-26

Servo Loop Parameters. . . . . . . . . . . . . . . . . . . . . . . . . 7-27

Motion Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29

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Table of Contents

Axis Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30

Homing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-30

System Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-31

Homing Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-32

Homing Without a Limit Switch or Marker . . . . . . . . . . 7-32

Homing to a Marker. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-32

Option 1 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-33

Option 2 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-34

Option 3 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-35

Option 4 Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-36

Homing to a Limit Switch . . . . . . . . . . . . . . . . . . . . . . 7-37

Homing to a Limit Switch and Marker . . . . . . . . . . . . . 7-38

Programming the SLC Processor to Run the SLC Servo Module

Chapter 8

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

Blend Move Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

Downloading Your Blend Move Profiles . . . . . . . . . . 8-1

Understanding Configuration Errors . . . . . . . . . . . . . . . . . 8-2

Command and Status Information . . . . . . . . . . . . . . . . . . . 8-4

Module Communication Interface . . . . . . . . . . . . . . . . . . . 8-4

Discrete Bit Commands from the SLC Processor . . . . . . . . . 8-5

Word 0 Discrete Bit Commands . . . . . . . . . . . . . . . . . . . . 8-6

Word 1 Discrete Bit Commands. . . . . . . . . . . . . . . . . . . . 8-8

Discrete Block Commands from the SLC Processor. . . . . . . 8-8

Recovering from Estop. . . . . . . . . . . . . . . . . . . . . . . . . 8-9

Incremental Position Command . . . . . . . . . . . . . . . . . . 8-9

Executing Simultaneous Moves. . . . . . . . . . . . . . . . . . . . 8-10

Simple Move Commands . . . . . . . . . . . . . . . . . . . . . . . 8-11

Using Simple Move Commands . . . . . . . . . . . . . . . . . . . . 8-11

Using the Absolute/Incremental Move Command . . . . . 8-11

Planning an Absolute/Incremental Move. . . . . . . . . . . . . 8-13

Using the Speed Move Command. . . . . . . . . . . . . . . . . 8-15

Planning a Speed Move . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16

Using the Monitor Move Command . . . . . . . . . . . . . . . 8-17

Planning a Monitor Move . . . . . . . . . . . . . . . . . . . . . . . . 8-17

Using the Run Blend Move Profile Command . . . . . . . . 8-18

Planning the Run Blend Move Profile Command . . . . . . 8-19

Executing a Run Blend Move Profile . . . . . . . . . . . . . . . 8-20

Executing Several Blend Moves . . . . . . . . . . . . . . . . . . . 8-21

Blending Moves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22

Blending Absolute Moves . . . . . . . . . . . . . . . . . . . . . . . . 8-22

Blending Incremental Moves. . . . . . . . . . . . . . . . . . . . . . 8-24

Blending Speed Moves . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24

Publication 1746-6.1.2 - July 2000

Table of Contents

Plan Synchronized Move . . . . . . . . . . . . . . . . . . . . . . . 8-25

Programming System Variables

Chapter 9

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1

Using Position Initialization Commands . . . . . . . . . . . . . . 9-1

Using the Home Axis Command. . . . . . . . . . . . . . . . . . 9-1

Planning a Home Axis Move. . . . . . . . . . . . . . . . . . . . . . 9-2

Using the Set Home Command. . . . . . . . . . . . . . . . . . . 9-3

Typical Set Home Move Data Tables . . . . . . . . . . . . . . . 9-4

Using the Set Retract Position Command. . . . . . . . . . . . 9-4

Typical Set Retract Position Move Data Tables . . . . . . . 9-5

Using the Preset Position Command . . . . . . . . . . . . . . . 9-5

Typical Preset Position Move Data Tables . . . . . . . . . . . 9-6

Using Online Configuration Commands . . . . . . . . . . . . . . 9-6

Using the Set Offset Command. . . . . . . . . . . . . . . . . . . 9-6

Typical Set Offset Move Data Tables . . . . . . . . . . . . . . . 9-7

Using the Set In-Position Band Command. . . . . . . . . . . 9-7

Typical Set In-Position Band Move Data Tables. . . . . . . 9-8

Using the Set Excess FE Limit Command. . . . . . . . . . . . 9-8

Typical Set Excess FE Limit Move Data Tables. . . . . . . 9-9

Using the Set Axis Gain Command . . . . . . . . . . . . . . . . 9-9

Typical Set Axis Gain Move Data Tables . . . . . . . . . . . . 9-9

Using the Set VFF Command . . . . . . . . . . . . . . . . . . . . 9-11

Typical Set VFF Move Data Tables . . . . . . . . . . . . . . . . 9-11

Status Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11

Word 0 Discrete Bit Status Specifications. . . . . . . . . . . . 9-12

Blend Move Profile Segment Number. . . . . . . . . . . . . . . 9-12

Word 1 Discrete Bit Status Specifications . . . . . . . . . . . 9-13

Word 2 Discrete Bit Status Specs SLC Servo Module . . . 9-14

Word 3 Discrete Bit Status Specifications . . . . . . . . . . . 9-15

SLC Servo Module Processor Status . . . . . . . . . . . . . . . . . . 9-15

Informational Message or Fault Code . . . . . . . . . . . . . . 9-15

Floating-Point Values . . . . . . . . . . . . . . . . . . . . . . . . . . 9-16

Troubleshooting

Chapter 10

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

HSRV Quick Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

Check wiring to diagram . . . . . . . . . . . . . . . . . . . . . . . 10-2

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Table of Contents

Do a battery box test. (If unable to control drive) . . . . . 10-2

Software Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

Configure the HSRV module. . . . . . . . . . . . . . . . . . . . . 10-2

Downloading Your Configuration. . . . . . . . . . . . . . . . . . 10-2

If CONFIG INV LED is Lit. . . . . . . . . . . . . . . . . . . . . . . 10-3

Configuration Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

Jog the Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5

Using the Speed Move Command . . . . . . . . . . . . . . . . . . 10-5

Troubleshooting LED Indicators. . . . . . . . . . . . . . . . . . . . . 10-6

Error Messages and Diagnosis . . . . . . . . . . . . . . . . . . . . . . 10-7

Informational Messages . . . . . . . . . . . . . . . . . . . . . . . 10-8

Minor Fault Messages . . . . . . . . . . . . . . . . . . . . . . . . 10-10

Major Fault Messages . . . . . . . . . . . . . . . . . . . . . . . . 10-12

Input/Output Quick Reference

Appendix A

Configuration Output Bit Parameters . . . . . . . . . . . . . . . . . A-1

Word 0 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Word 1 Parameters . . . . . . . . . . . . . . . . . . . . . . . A-4

Word 2 Parameters . . . . . . . . . . . . . . . . . . . . . . . A-5

Multi-Word Parameters . . . . . . . . . . . . . . . . . . . . . A-5

Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9

Output Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9

Discrete Bit Output Command (Word 0) . . . . . . . . . . . . A-10

Discrete Bit Output Command (Word 1). . . . . . . . . . . . . A-10

Incremental Position Output Cmnd (Words 2 & 3). . . . .A-10

Block Output Command (Word 4). . . . . . . . . . . . . . . . . .A-11

Block Output Command (Word 5). . . . . . . . . . . . . . . . . .A-11

Discrete Bit Input Status Specifications . . . . . . . . . . . . A-11

Word 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-11

Word 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-12

Word 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12

Word 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .A-13

SLC Servo Module to SLC Processor Discrete Control Status A-13

Blended Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . A-14

Cable Dimensions and Wiring Diagram

Publication 1746-6.1.2 - July 2000

Appendix B

1746-HCA Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1

Table of Contents

vii

Programming Examples

Appendix C

SLC Servo Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1

Ladder Rung Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2

Rung 0 – Manual Triggering Configuration . . . . . . . . . . C-2

Rung 1 – Download Configuration . . . . . . . . . . . . . . . . C-2

Rung 2 – Timer Delay . . . . . . . . . . . . . . . . . . . . . . . . . C-4

Rung 3 – Checking For Successful Configuration. . . . . . C-5

Rung 4 – Downloading Blend Profiles . . . . . . . . . . . . . C-5

Rung 5 – Setting the Timer Delay . . . . . . . . . . . . . . . . . C-7

Rung 6 – Error Checking For Successful Download . . . . C-8

Rung 7 – Clear Fault Bits Command . . . . . . . . . . . . . . . C-8

Rung 8 – Clear All Faults Bit. . . . . . . . . . . . . . . . . . . . . C-9

Rung 9 – Cancel Move . . . . . . . . . . . . . . . . . . . . . . . . . C-9

Rung 10 – Hold/Unhold. . . . . . . . . . . . . . . . . . . . . . . . C-9

Rung 11 – Program an Estop Request . . . . . . . . . . . . . C-10

Rung 12 – ABSOLUTE Move. . . . . . . . . . . . . . . . . . . . C-10

Rung 13 – INCREMENTAL Move. . . . . . . . . . . . . . . . . C-12

Rung 14 – SPEED Command . . . . . . . . . . . . . . . . . . . C-14

Rung 15 – MONITOR Move . . . . . . . . . . . . . . . . . . . . C-15

Rung 16 – BLEND Move. . . . . . . . . . . . . . . . . . . . . . . C-16

Rung 17 – Clearing Move Bits. . . . . . . . . . . . . . . . . . . C-17

Rung 18 – Copying Status Information . . . . . . . . . . . . C-18

Rung 19 – HOME Axis . . . . . . . . . . . . . . . . . . . . . . . . C-19

Rung 20 – Final Rung. . . . . . . . . . . . . . . . . . . . . . . . . C-21

Wiring Without the Termination Panel

Appendix D

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1

Using Fast Inputs and Outputs. . . . . . . . . . . . . . . . . . . . . . D-1

Distances to User Devices . . . . . . . . . . . . . . . . . . . . . . . . . D-2

Wiring Your User Devices . . . . . . . . . . . . . . . . . . . . . . . . . D-2

Estop Circuitry Drawings . . . . . . . . . . . . . . . . . . . . . . . D-3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .I-1

Index

Publication 1746-6.1.2 - July 2000

Table of Contents

viii

Publication 1746-6.1.2 - July 2000

Preface

Read this preface to familiarize yourself with the rest of the manual. This preface covers the following topics:

• who should use this manual

• purpose of this manual

• safety precautions

• contents of this manual

• related documentation

• conventions used in this manual

• receiving and storage information

• Allen-Bradley support

Who Should Use this Manual

Purpose of this Manual

Use this manual if you are responsible for designing, installing, programming, or troubleshooting the SLC™ Servo Module (catalog number 1746-HSRV).

If you do not have a basic understanding of SLC 500™ products, understand programmable controllers or cannot interpret the ladder logic instructions required to control your application, contact your local Allen-Bradley representative for information on available training courses before using this product.

We recommend that you review one of the following before using the software:

Publication Publication Number

Getting Results with RSLogix 500 AI Series Installation Guide

This manual is a user guide for the SLC Servo Module (catalog number 1746-HSRV). It gives you an overview of the SLC Servo Module and describes the procedures you use to install, set up, use, and troubleshoot the SLC Servo Module.

9399-RL50GR 9399

-AIIG

Safety Precautions

1 Publication 1746-6.1.2 - July 2000

The following general precautions apply to the SLC Servo Control Module.

Preface

P-2

ATTENTION

Only those familiar with the SLC Servo Control Module and associated machinery should plan or implement the installation, start-up, and subsequent maintenance of the system. Failure to comply can result in personal injury and/or equipment damage.

This product contains stored energy devices. To avoid hazard of electrical shock, verify that all voltage on the capacitors has been discharged before attempting to service, repair, or remove this unit. You should only attempt the procedures in this manual if you are qualified to do so and familiar with solid-state control equipment and the safety procedures in publication NFPA 70E.

The system integrator is responsible for local safety and electrical codes.

An incorrectly applied or installed controller can result in component damage or a reduction in product life. Wiring or application errors, such as undersizing the motor, incorrect or inadequate AC supply, or excessive ambient temperatures can result in malfunction of the drive.

Contents of this Manual

Publication 1746-6.1.2 - July 2000

This product contains ESD (Electrostatic Discharge) sensitive parts and assemblies. Static control precautions are required when installing, testing, servicing, or repairing this assembly. Component damage can result if ESD control procedures are not followed. If you are not familiar with static control procedures, refer to Allen-Bradley publication 8000-4.5.2, Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook.

This manual provides specific information relevant to the SLC Servo Module. The following table identifies the chapters, titles, and contents.

Chapter Title Contents

1 Overview of the SLC Servo

Module

Overview information about the product, its operation and hardware features. Describes interface selection, the module’s use of inputs and outputs, and operating modes.

Preface

P- 3

2 Selecting Power Supplies,

Encoders and Drives

3 Planning Hardware

Installation

4 Installing Your SLC Servo

Module

5 Wiring the SLC Servo

Module

6 Testing Your SLC Servo

Module Hardware

7 Setting Up and Configuring

Your SLC Servo Module

Information about selecting the hardware to support an SLC Servo Module.

Interconnection diagrams for various hardware interfaces for communication with the SLC Servo Module.

Installation information.

Information about wiring fast inputs, outputs, Estop connections, power supplies, encoders and drive connections.

Information about powering up the SLC Servo Module, testing the Estop and the fast I/O, integrating the axis and testing the homing function.

Information about applying power and configuring the SLC Servo Module using command parameters.

8 Programming the SLC

Processor to Run the SLC Servo Module

9 Programming System

Variables

Information about blend move profiles, module communication interface, command, and status information. Describes discrete bit and block commands from the SLC Servo Module.

Describes discrete block commands for programming position and online system variables from the SLC processor. Information to understand servo module and processor status information.

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Preface

P-4

Chapter Title Contents

10 Troubleshooting Information about

troubleshooting and error handling.

Appendix A Input/Output Quick

Reference

Appendix B Cable Specifications Specifications and wiring

Appendix C Application Examples Applications examples for

A quick reference of parameters, commands, status specifications, and move profiles.

diagram for 1746-HCA cable.

constructing programs using the SLC processor.

Related Documentation

Appendix D Wiring Without the

Termination Panel

The following documents contain additional information concerning

Information you need to wire the SLC Servo Module without a termination panel.

Allen-Bradley SLC Servo and SLC products. To obtain a copy, contact your local Allen-Bradley office or distributor.

For: Read this Document: Document

Number:

An overview of the SLC 500 family of products SLC 500 Controller System Overview 1747-2.30 A description of how to install and use your Modular SLC 500

programmable controller A description of how to install and use your Fixed SLC 500

programmable controller A training and quick reference guide for APS SLC 500 Software Programmer’s Quick Reference

In-depth information on grounding and wiring Allen-Bradley programmable controllers

SLC 500 Modular Hardware Style Installation & Operation Manual

SLC 500 Fixed Hardware Style Programmable Controllers Installation & Operation Manual

Guide Industrial Automation Wiring and Grounding

Guidelines

1747-6.2

1747-621

ABT-1747-TSG001

1770-4.1

An article on wire sizes and types for grounding electrical equipment

A complete listing of current Allen-Bradley documentation, including ordering instructions. Also indicates whether the documents are available on CD-ROM or in multiple languages

A glossary of industrial automation terms and abbreviations Allen-Bradley Industrial Automation Glossary AG-7.1

Publication 1746-6.1.2 - July 2000

National Electrical Code Published by the

National Fire Protection Association of Boston, MA

Allen-Bradley Publication Index SD499

Preface

P- 5

Conventions Used in this Manual

The following conventions are used throughout this manual:

• Bulleted lists provide information, not procedural steps.

• Numbered lists provide sequential steps or hierarchical

information.

• Words that you type or select appear in bold.

• Key names match the names shown and appear in capital

letters.

• We use this symbol to represent a twisted pair:

Figure 0.1 Twisted Pair Symbol

Twisted Pair

• We use this symbol to represent a shielded twisted pair:

Figure 0.2 Shielded Twisted Pair Symbol

Shielded Twisted Pair

Product Receiving and Storage Responsibility

You are responsible for thoroughly inspecting the equipment before accepting the shipment from the freight company. Check the item(s) you receive against your purchase order. If any items are obviously damaged, it is your responsibility to refuse delivery until the freight agent has noted the damage on the freight bill. Should you discover any concealed damage during unpacking, you are responsible for notifying the freight agent. Leave the shipping container intact and request that the freight agent make a visual inspection of the equipment.

Publication 1746-6.1.2 - July 2000

Preface

P-6

Leave the product in its shipping container prior to installation. If you are not going to use the equipment for a period of time, store it:

• in a clean, dry location

• within an ambient temperature range of 0° to 65°C (32° to

149°F)

• within a relative humidity range of 5% to 95%, non-condensing

• in an area where it cannot be exposed to a corrosive

atmosphere

• in a non-construction area

Rockwell Automation Support

Rockwell Automation offers support services worldwide, with over 75 sales/support offices, 512 authorized distributors, and 260 authorized systems integrators located throughout the United States. In addition, Rockwell Automation representatives are located in every major country in the world.

Local Product Support

Contact your local Rockwell Automation representative for:

• sales and order support

• product technical training

• warranty support

• support service agreements

Technical Product Assistance

If you need to contact Rockwell Automation for technical assistance, please review the information in the Troubleshooting chapter first. Then call your local Rockwell Automation representative. For the quickest possible response, we recommend that you have the catalog number of your products available when you call. The Rockwell Automation Technical Support number is:

Publication 1746-6.1.2 - July 2000

1-603-443-5419

Preface

P- 7

On the Web

For information about Allen-Bradley, visit the following World Wide Web site:

http://www.ab.com/

Publication 1746-6.1.2 - July 2000

Preface

P-8

Publication 1746-6.1.2 - July 2000

Chapter

Overview of the SLC Servo Module

This chapter explains the basic functions of the SLC Servo Module, and its hardware requirements. This chapter includes the following SLC Servo Module topics:

• Overview

• Operation

• Specifications and compatibility

SLC Servo Module Overview

The SLC Servo Module (catalog number 1746-HSRV) is compatible with the SLC 500 family and only used with SLC 5/03 5/04

™, or SLC 5/05™

programmed for incremental, absolute or speed moves, depending on the application.

IMPORTANT

SLC Servo Modules. The SLC Servo Module is

Place the SLC Servo Module as close to the SLC processor as possible

FRN 5.0, SLC

™

1 Publication 1746-6.1.2 - July 2000

1-2

Overview of the SLC Servo Module

Figure 1.1 Example of an SLC Wiring

SLC Servo Module Operation

1746IW16

Drive

Amplifier

CR-LPS-0503 +5V & –12V DC Power Supply

CR-IOPS-241 +24V DC Power Supply

SLC 5/04

A-B 845 Encoder

1746HSRV

1746-HCA Cable

1746-HT

Termination Panel

Motor

Tach

The SLC Servo Module, compatible with the SLC family, is used with SLC 5/03 FRN 5.0 (and above) processors using RSLogix 500, AI500 or APS (version 5.0 or higher) software. Once the SLC processor is initiated, the execution of the motion block is independent of the scan time of the processor. Blended motion allows for complicated move profiles consisting of two to thirty-two segments. The blended move profiles are stored in the SLC Servo Module’s memory as a series of absolute moves and can be executed more than once. Other move or homing operations can be performed between blended move profiles.

Publication 1746-6.1.2 - July 2000

The SLC Servo Module controls absolute position over a range of

32 bits. The SLC Servo Module performs an origin search (also called homing) and automatically resets the absolute position to the home position when the SLC processor requests a search function after detecting one of the following:

• Encoder marker

• Limit switch

• Limit switch and marker

Overview of the SLC Servo Module

The SLC Servo Module operates in two modes:

• Configuration

• Command

When operating in the configuration or the command mode, the status of the module is reported to the SLC processor.

1-3

Configuration Mode Operation

You can enter configuration mode only if the system is in Estop. In the SLC Servo Module, you configure the SLC Servo Module by using M files containing data provided by the SLC 5/03 (or versions listed above) processors. All configuration parameters are internal to the SLC Servo Module and stored in non-battery backed RAM.

In configuration mode, you select the proper setup configuration to match the servo drive and motor without setting switches and without special software. If you do not set up your own configuration, the configuration is set to the default setting.

Command Mode Operation

Motor operations are performed in command mode. To operate in this mode, set the mode flag (bit 15 in output word 0) to 0. In the command mode, the SLC processor issues commands and activates the following operations or moves:

• Absolute moves

• Incremental moves

• Speed moves

• Monitor moves

• Hold moves

• Unhold moves

• Blend moves

• Emergency stop operations

• Homing operations

• Preset operations

• Clear faults

• Alternate home moves

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Overview of the SLC Servo Module

SLC Servo Module Specifications and Compatibility

Selected specifications for the SLC Servo Module appear in the table below.

SLC Servo Module Specification

Class 3 Number of Input

Words Number of Output

Words Selection for

Configuration Configuration Mode Uses M files Recommended I/O

Slot in SLC Rack

Number of HSRVs in one rack

There must not be other modules that generate module interrupts. Also, the STI and FAULT routines execute at a

higher priority than the module interrupt routine that is linked to the SLC Servo Module interrupt.

The SLC Servo Module does not function in a remote I/O rack.

OTHER (with 10114 as the number specified)

Slot 1 or the lowest numbered I/O slot for SLC applications using the module interrupt option.

12 with proper power supply

1,2

The SLC Servo Module is compatible with:

• SLC 5/03 FRN 5.0 (and above) processors.

• RSLogix 500, AI500, or APS (version 5.0 or higher) software.

Publication 1746-6.1.2 - July 2000

Chapter

Selecting Power Supplies, Encoders, and Drives

Overview

In this chapter we explain how to select the hardware you need to support an SLC Servo Module system. This chapter includes the following topics:

• Selecting a power supply for the backplane

• Selecting a user-side power supply

• Using fast inputs and outputs

• Selecting an encoder

• Selecting a drive

The amount of hardware you need depends on how many axes your application uses. Consult your local Allen-Bradley sales engineer or distributor to help you select the equipment for your application.

IMPORTANT

The term user-side refers to the control circuitry on the SLC Servo Module card that is powered by customer-supplied power sources and isolated from the control circuitry that is powered by the backplane of an SLC rack.

Selecting a Power Supply for the Backplane

1 Publication 1746-6.1.2 - July 2000

Before you select a power supply, calculate the current requirements for your backplane. Use the table below for SLC Servo Module backplane current requirements:

Voltage Current Requirement

+5V .300A +24V .104A

In your calculations, include the current requirements of the I/O modules in your chassis. Refer to your SLC 500 documentation.

2-2

Selecting Power Supplies, Encoders, and Drives

Example of Calculations for Backplane Current Requirements

In this example, the system includes:

• One seven-slot modular rack

• One 1747-L543 CPU module

• One 1746-IB8 DC input module with eight inputs @ +24V

• One 1746-OV8 DC output module with eight outputs @ +24V

• An SLC Servo Module system that contains:

• SLC Servo Modules

• Termination panels

• Allen-Bradley 845H encoders

• Fast inputs

• Fast outputs

Use the table below to find the current requirements of the devices using backplane power. Those devices that are not included in the backplane calculations are included in the example’s user-side calculations.

Device +5V +24V

1746-L543 processor 1A .200A SLC Servo Module .300A 0 1746-IB8 .040A 0 1746-OV8 .125A 0

Total = 1.465A Total = .200A

If optional processor is used:

Device +5V +24V

1747-L532 processor .500A .175A SLC Servo Module .300A 0 1746-IB8 .040A 0 1746-OV8 .125A 0

Total = .965A Total = .175A

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Selecting Power Supplies, Encoders, and Drives

2-3

Use the table below to find the power supplies Allen-Bradley recommends for the backplane:

Selecting a User-Side Power Supply

Power Supply Operating

Voltage Requirements

1746-P1 85-130V AC or

170-265V AC

1746-P2 85-130V AC or

170-265V AC 1746-P3 19.2-28.8 DC 3.6A .87A 1746-P4 85-132V AC or

170-265V AC

Output Capacity 5V DC 24V DC

2A .46A

5A .96A

10.0A 2.88A

You must provide a power supply that meets your system requirements. The following devices require user-side power:

• SLC Servo Module

• Encoders

• I/O modules

• Estop circuitry

• Fast inputs and outputs

You must select a power supply that meets the specifications of a NEC class 2 power supply. The power supply must have +5V, ±15V capacity, and +24V capacity for fast I/O and Estop circuitry.

IMPORTANT

We recommend that you do not use the +24V included with the 1746-P1, P2, P3, or P4 to power your Estop or fast I/O.

Before you select a power supply, calculate the system’s user-side current requirements.

IMPORTANT

The user-side power must be present for the SLC processor to communicate with the SLC Servo Module.

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Selecting Power Supplies, Encoders, and Drives

Example of the Calculations for User-Side Current Requirements

In this example, the system includes:

• One seven-slot modular rack

• One 1747-L541 CPU module

• One 1746-IB8 DC input module with eight inputs @ +24V

• One 1746-OV8 DC output module with eight outputs @ +24V

• An SLC Servo Module system that contains:

• Two SLC Servo Modules

• Two termination panels

• Two Allen-Bradley 845H encoders

• Six fast inputs

• Two fast outputs

Use the table below to find the current requirements of the devices that draw user-side power.

Using Fast Inputs and Outputs

Device +5V +15V –15V +24V

1746-IB8 0 0 0 .064A 1746-OV8 0 0 0 .800A SLC Servo

Module Estop circuitry 0 0 0 .100A 6 fast inputs 0 0 0 .015A 2 fast outputs 0 0 0 .100A 845H encoder .200A 0 0 0 845H encoder .200A 0 0 0

.150A .030A .030A 0

Total = .700A Total = .060A Total = .060A Total = 1.079A

The fast I/O (FIN1through FIN3, and FOUT1) are 24V DC compatible and are used with a user-side +24V power supply. Review potential

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Selecting Power Supplies, Encoders, and Drives

2-5

24V DC I/O devices for compatibility with the electrical specifications as shown in the table below.

Outputs (source drivers) Specification Rating

(high-level, on-state output

voltage)

(high-level, on-state output current

for each output)

Turn on time 500 µs Turn off time 500 µs

Inputs Specification Rating

VT (input low/high trip threshold) 10.51V (min)

VT (input high/low trip threshold) 6.4V (min)

HYST

@ 27V 2.5 mA (max)

PD+

(input low/high debounce filter) .2 msec (typ)

PD-

(input low/high debounce filter) .2 msec (typ)

VIN (absolute max.) +75V (max)

Refer to the specifications for your user-side power supply

+24V @ .20A (for resistive and inductive loads); +24V @ .10A (for capacitive loads)

12.5V (typ)

14.61V (max)

8.3V (typ)

10.3V (max)

1.9V (min)

4.1V (typ)

6.5V (max)

Selecting an Encoder

The SLC Servo Module system supports Allen-Bradley 845H encoders. Other encoders are compatible if they comply with the specifications listed in the following table.

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Selecting Power Supplies, Encoders, and Drives

Specification Rating

Maximum channel frequency

Maximum axis speed

Incoming quadrature frequency is limited by the following relationship:

FQUAD (Hz) = (3334)(90°–EQ)

where:

EQ = quadrature error (degrees, electrical)

For example, for an 845H encoder with 22° quadrature error, the maximum frequency would be:

FQUAD (Hz) = (3334)(90°-22° quadrature error) = 226,712 Hz

Important:

The maximum quadrature error is a limit, and

system design should include acceptable margins. The SLC Servo Module decodes the incoming encoder

feedback in quadrature to extract the maximum resolution with four counts per electrical cycle. The maximum number of encoder counts per second can be determined by:

Maximum # of counts/second = 4 counts/cycle × F

QUAD

The maximum axis speed as limited by the encoder feedback would be:

(maximum # of counts/second)(60) (4E)(N) where: E = the number of encoder lines per revolution N = number of revolutions of the encoder per inch or millimeter of axis travel. (For a rotary axis, N = number of revolutions of the encoder per revolution of the axis.) For a linear axis the units are inches or millimeters per minute. For a rotary axis the units are revolutions per minute.

Publication 1746-6.1.2 - July 2000

Input signal Encoder feedback must be differential with 5V compatible

output signals, open-collector outputs are not supported (i.e., channels A, B, and Z must have source and sink current capability, 8830 line driver outputs or equivalent). The encoder input must have a 0.00 to 0.80 for off state and 4.75 to 5.25 for

on state to encoder common reference. Input sink current 7 mA (max) Marker channel Gated markers Cable length Depends on the user-side power supply. Power voltage at the

encoder must be greater than or equal to the power voltage

requirement specified by the manufacturer. The minimum

power requirement for the 845H is 4.75V, and the maximum

limit is 5.25V. To meet the power requirement of the encoder

and still attain maximum cable length, you can:

Raise the voltage of the power supply to meet the

•

encoder requirement, but you cannot exceed the 5.25V limit of the control. Increase the gage of the wire from the termination

•

panel to the encoder (12 AWG maximum).

Selecting Power Supplies, Encoders, and Drives

2-7

Selecting a Drive

The SLC Servo Module supports Allen-Bradley 1386, 1388, 1389, 1391, 1392, 1394, and 1398 servo drive systems. References that help you select a suitable drive system appear in the table below.

Allen-Bradley Drive

1386 1386-2.0 DC Servo Drive Product Data Sheet 1388 1388-2.0 DC PWM Servo Drive Product Data Series B 1389 1389-2.0 AC Servo Amplifier System Product Data

1391 1391-2.0 AC PWM Servo Controller Product Data

1392 1392-2.1 High Performance AC Drive (460V and 230V)

1394 1394-2.0 1394 Digital Multi-Axis Motion Control

1398 1398-2.0 ULTRA Series Product Data

Publication Number

Title

Sheet

Product Data

Systems Product Data

The SLC Servo Module provides a ±10V analog output to one drive amplifier for a velocity command. This analog voltage is 11 bits plus an additional sign bit (12 bits total) and interfaces to drive amplifiers with a 2K through 20K ohm range. Servo drive signal analog out specifications appear in the table below.

Specification Rating

Resolution 12 bits or 4.88 mV/bit Output voltage swing ±10V Load range Conversion time 100 µs Output step response (20V

swing)

Differential linearity ±1 LSB Max. (monotonic over the entire

Output offset voltage 500 µV (max) Gain error drift

Rise time

•

Overshoot

•

Settling time

•

2K through 20K ohms

110 µs typical 5% typical 60µs typical

temperature range)

7 LSB (max)

Publication 1746-6.1.2 - July 2000

2-8

Selecting Power Supplies, Encoders, and Drives

Publication 1746-6.1.2 - July 2000

Chapter

Planning Hardware Installation

This chapter provides guidelines regarding your hardware installation and includes the following topics:

• Understanding general wiring practices

• Routing wires

• Classifying your conductors

• Placing your SLC Servo Module

Refer to your SLC 500 documentation for more information on these topics.

General Wiring Practices

General wiring practices include:

• Using shielded cables

• Routing wires

Using Shielded Cables

For many connections, we recommend shielded cable. Using shielded cables and properly connecting their shields to ground protects against electromagnetic noise interfering with signals transmitted through the cables.

ATTENTION

To avoid personal injury or equipment damage caused by unpredictable axis motion in your system, use shielded cable as directed in this manual.

Within a cable, pairs of wires are twisted together. Using a twisted pair for a signal and its return path provides further protection against noise.

Shield wires should be terminated at one end only. The termination panel is a convenient place to connect all shield wires while providing the necessary ground connection.

1 Publication 1746-6.1.2 - July 2000

3-2

Planning Hardware Installation

Cut the shield wires on the opposite end at the cable jacket and tape it to prevent contact with ground. We also recommend keeping the length of leads that extend beyond the shield as short as possible.

In high noise environments, you connect shield wires at both ends of the cable to improve the noise immunity of the system. If this is done, terminate one end of the shield to ground through a 0.1 µf capacitor to avoid ground loops in the system.

Routing Wires

When you plan your wire route, classify wires and cables connecting your SLC Servo Module system using the information in this table. The table also tells you how to classify conductors and route cables.

IMPORTANT

Remember to keep low-level signal conductors separate from high-level power conductors.

Follow the practices outlined in Programmable Controller Wiring and Grounding Guideline (publication 1770-4.1) to learn how to route other conductors.

Publication 1746-6.1.2 - July 2000

Planning Hardware Installation

3-3

Classifying Your Conductors

For these wires and cables:

AC power lines

SLC Servo Module cable (1746-HCA) and termination panel wiring

Use the table below for cable routing guidelines and determining wire and cable functions.

To : Follow these guidelines for routing inside or

outside an enclosure:

Connect high-power AC I/O lines to AC I/O

•

modules that are rated for high power and high noise immunity. Connect high-power DC I/O lines to DC I/O

•

modules that are rated for high power or have input circuits with long time constant filters for high noise rejection. They typically connect to devices such as hard-contact switches, relays, and solenoids.

Connect serial communication cables to

•

programming terminals or data terminals, and connect them from the scanner to remote I/O adapter modules or PLC processors. Connect low-power AC/DC I/O lines to I/O

•

modules that are rated for low power such as low-power contact-output modules. Connect low-power DC I/O lines to DC I/O

•

modules that are rated for low power and have input circuits with short time constant filters to detect short pulses. They typically connect to devices such as proximity switches, photo-electric sensors, TTL devices, encoders, motion control devices, and analog devices.

Route these high-power AC lines with machine

•

power conductors of up to 600V AC (feeding up to 100 hp devices) if this does not violate local codes. Article 300-3 of the National Electrical Code

•

requires that all conductors (AC and/or DC) in the same raceway are insulated for the highest voltage applied to any one of the conductors in the raceway.

Properly shield conductors, where applicable,

•

and route them in separate raceways. If conductors must cross power feed lines, they should do so at right angles. Route these lines at least 1 foot from 110V AC

•

power lines, 2 feet from 240V AC power lines, and 3 feet from 480V AC power lines. Route these lines at least 3 feet from any

•

electric motors, transformers, rectifiers, generators, arc welders, induction furnaces, or sources of microwave radiation. If the conductor is in a metal raceway or

•

conduit, that raceway or conduit must be grounded along its entire length.

Placing Your SLC Servo Module

When you plan your SLC Servo Module placement:

• Divide modules, as much as possible, into the following types:

•

High-level DC

•

Low-level digital DC (TTL, encoder, pulse output)

•

Analog I/O

•

Intelligent I/O modules (for example, the SLC Servo Module)

•

• Place the SLC Servo Module as close to the SLC processor as

possible.

• Keep your SLC Servo Module as far away as possible from DC

and AC I/O modules. Distance protects the intelligent (CPU-based) modules from the heat and electrical noise of the DC and AC I/O modules.

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3-4

Planning Hardware Installation

Place the SLC Servo Module on the left side of the chassis along

•

with other in telligent I/O modules and the CPU. Place DC and AC I/O modules on the right side of the chassis and

•

allow empty slots to remain between them and the SLC Servo Module.

Publication 1746-6.1.2 - July 2000

Chapter

Installing Your SLC Servo Module

This chapter provides guidelines for installing your SLC Servo Module and includes the following topics:

• Unpacking and inspecting the SLC Servo Module system

• Installing the SLC Servo Module

• Grounding the SLC Servo Module

• Mounting the termination panel

• Connecting the termination panel

Unpacking and Inspecting Your SLC Servo Module System

ATTENTION

Before removing the contents from the shipping carton, avoid electrostatic discharge that degrades performances and damages the module by doing the following:

• Touch a grounded object to eliminate static

charge from your body before handling the module.

• Wear a wrist strap (for example, catalog number

8000-XESD) that provides a high-resistance path to ground.

• Keep the module in its static-shield bag when not

in use.

For more information about electrostatic discharge and how to guard against it, refer to Guarding

Against Electrostatic Damage - Using the ESD Kit

(publication 8000-4.5.2).

1 Publication 1746-6.1.2 - July 2000

4-2

Installing Your SLC Servo Module

To verify that you received what you ordered:

1. Check the label on each shipping carton with your order.

2. Check the items received against the bill of lading by matching

the equipment nameplate description with the material ordered.

Installing the SLC Servo Module

IMPORTANT

Make claims for breakage and damage, whether concealed or obvious, to the carrier as soon as possible after receipt of the shipment. Allen-Bradley gives the buyer reasonable assistance in securing adjustment for damage claims.

The first component you install is the SLC Servo Module. After installation, you connect the other components.

Figure 4.1 SLC Servo Module with Door Open

RUN

FDBK/U. PWR

Not used

To Termination Panel

CONFIG INV

Publication 1746-6.1.2 - July 2000

Note: The two switches on back are not used.

The table below provides a legend for the SLC Servo Module LEDs.

When: This LED is on:

Power is applied RUN The feedback signal or user-side

power is lost

FDBK/U.PWR

When: This LED is on:

Installing Your SLC Servo Module

4-3

An invalid configuration is detected

ATTENTION

To avoid personal injury, equipment damage, or performance degradation, remove backplane power from the chassis and disconnect the 1746-HCA cable before installing or removing a module.

ATTENTION

To avoid damage to a module or backplane connector, do not force modules into the backplane connector.

CONFIG INV

To insert a module into an I/O chassis:

1. Remove backplane power from the I/O chassis.

2. Remove user-side power from the SLC Servo Module.

3. Disconnect the 1746-HCA cable.

4. Align the larger of the two boards of the SLC Servo Module with

the card-edge guide at the bottom of the chassis.

5. Slide the module into the chassis.

6. Press the module firmly to seat it into the backplane connector.

7. Verify that the locking latches on the top and bottom of the

chassis hold the module in place.

IMPORTANT

Publication 1746-6.1.2 - July 2000

4-4

Installing Your SLC Servo Module

Grounding the SLC Servo Module

Control Module

Backplane

Side

a c k p

l a n e

Earth ground through backplane

Isolated User Side

Axis

Overall cable shield

Before you install the rest of the system, you must ground the SLC Servo Module. All of the shields and signal commons (normally floating) are tied to earth ground at a single point. Use the EGND terminal on the termination panel for this purpose.

IMPORTANT

Do not connect shields to earth ground at both ends to avoid causing circuit loops that are susceptible to radiated and coupled noise.

Figure 4.2 Typical Grounding and Shielding for the SLC Servo Module System

1746-HCA cable

Twisted pair (x10)

Shielded twisted pair (x3)

Optional EGND

Termination panel

Axis

External power

+24V RET

see ATTENTION

User-supplied shielded cable

Drive CMD

Drive

Channel A

Encoder

Channel B

Channel Z

Encoder PWR

User-side power supply

ATTENTION

+5V

–15V

RET

To avoid unpredictable operation of your SLC Servo Module use a separate +24V power supply and tie the +24V return to the +5V return. (The +5V, +15V, and -15V returns are tied together on the SLC Servo Module.)

Publication 1746-6.1.2 - July 2000

Installing Your SLC Servo Module

4-5

Mounting the Termination Panel

Refer to the Figure 4.3 and Figure 4.4 when mounting the 1746HT termination panel.

To mount the 1746HT termination panel:

1. Snap the termination panel onto the DIN-type rail (1492-DR2).

2. Position an end anchor on either end of the termination panel.

3. Secure the panel by tightening the end anchor screws.

The end anchor prevents the termination panel from sliding in either direction on the DIN rail.

Figure 4.3 Mounting the Termination Panel

DIN Rail

End Anchor & Screw

DRIVE

DR RET

SHLD

ENCODER

CH A.HI CH A. LO AB SHLD

CH B.HI CH B. LO

ZSHLD

CH Z. HI

CH Z. LO

ENCODER POWER

Termination Panel

Publication 1746-6.1.2 - July 2000

4-6

Installing Your SLC Servo Module

Figure 4.4 Termination Panel and its Dimensions

DRIVE

DR RET

SHLD

ENCODER

CH A.HI CH A. LO AB SHLD

CH B.HI CH B. LO

ZSHLD

CH Z. HI

CH Z. LO

ENCODER POWER

+5V

RET

+15V

SHLD

EXT POWER

+5V RET +15V

RET

-15V +24 +24 R E T

EGND

AXIS

292mm

(11.5 in.)

DRIVE ENABLE

ESTOP

+24

V RES.PB RES.PB

RESET

STRING IN

STRING OUT

FAST I/O

FI.1

+24

FI.2

+24 FI.3

RET

FO.1

1746HT R EV0 1 TE RMIN A TION P A N EL

70mm

(2.75 in.)

89mm

(3.5 in.)

Publication 1746-6.1.2 - July 2000

Installing Your SLC Servo Module

4-7

Connecting the Termination Panel

After mounting the termination panel, connect it to the SLC Servo Module with the 1746-HCA cable. To connect the termination panel to the SLC Servo Module:

1. Set the locking latches above and below the connector so the

latch reads OPEN.

2. Open the door of the SLC Servo Module.

3. Hold the connector as shown in Figure 4.5 (left) and insert it

into the D-sub connector on the SLC Servo Module until the connector is seated.

4. Insert a small, flat-edge screwdriver next to the locking latch

located between the module door and connector.

5. Slide the locking latch to the right with your screwdriver.

6. Insert the small, flat-edge screwdriver next to the locking latch

located between the module door and connector.

7. Slide the locking latch to the left with your screwdriver.

8. Connect the other end of the cable to the 1746-HT termination

panel, as shown in Figure 4.5 (right).

Publication 1746-6.1.2 - July 2000

4-8

Installing Your SLC Servo Module

Figure 4.5 Connecting the 1746-HCA-Cable

Connecting to the

1746-HSRV

1746-HCA Cable

Connecting to the

1746-HT

EN OP

1746-HCA Cable

Publication 1746-6.1.2 - July 2000

Wiring the SLC Servo Module

Chapter

Overview

Complying with European Union Directives

After mounting and connecting the termination panel, you wire fast inputs, outputs, and your Estop string to the termination panel when you wire the system power supply, encoders, and drives. This chapter includes the following topics:

• Complying with European Union directives

• Wiring fast inputs and outputs

• Wiring hardware overtravels

• Connecting home limit switch as a fast input

• Wiring Estop connections

• Wiring power supplies

• Wiring encoders

• Wiring Allen-Bradley drive connections

• Connecting the velocity command

If this product is installed within the European Union or EEA regions and has the CE mark, the following regulations apply.

EMC Directive

If this apparatus is tested to meet Council Directive 89/336 Electromagnetic Compatibility (EMC) in accordance with Article 10 (1), the following standards apply in whole:

• EN 50081-2 EMC-Generic Emission Standard, Part 2-Industrial

Environment

• EN 50082-2 EMC-Generic Immunity Standard, Part 2-Industrial

Environment

The product described in this document is intended for use in an industrial environment and is not intended for use in a residential, commercial or light industrial environment.

IMPORTANT

1 Publication 1746-6.1.2 - July 2000

To meet CE requirements, you must use the specified Allen-Bradley cables and termination panel for the SLC Servo Module (catalog number 1746-HSRV).

5-2

Wiring the SLC Servo Module

Wiring Fast Inputs and Outputs

On the termination panel, the +24V DC fast inputs and outputs of the SLC Servo Module are routed from the connector (37-pin D-shell) to the fast I/O connector (7-pin pluggable) on the termination panel.

The fast I/O consists of:

• Fast inputs FI.1 through FI.3

• Fast output FO.1

• +24V DC and +24V DC return signals

We recommend 18 AWG wire for wiring fast I/O because it allows two wires for each connection point. The termination panel accepts 12 AWG wire, but this allows only one wire per point.

Figure 5.1 shows a diagram of typical fast I/O connections. For electrical dampening, a snubber is required to filter out electrical spikes. The snubber is used for inductive and comparative loads on the fast output.

Figure 5.2 and Figure 5.3 shows equivalent fast input and output circuits.

IMPORTANT

The input device must connect between +24V DC and the appropriate fast input. Fast inputs are +24V DC referenced. The fast output is ground-referenced. The output load must connect between the fast output and ground.

Publication 1746-6.1.2 - July 2000

14 AWG

Electrical Cabinet GND

Figure 5.1 Typical Fast I/O Connections

ESTOP

+24 RES.PB RES.PB

RESET

STRING IN

STRING OUT

FAST I/O

FI.1 +24V FI.2

+24V

FI.3

RET

FO.1

GND

Wiring the SLC Servo Module

5-3

Snubbing is required for inductive and capacitive loads on the fast output.

Capacitive load

Current limiting resistor required. Must be placed in series with contact load.

RET

FO.1

18173

Publication 1746-6.1.2 - July 2000

5-4

Wiring the SLC Servo Module

Figure 5.2 Equivalent Fast Input Circuit

+24V D C

15K

47K

1746-HCA

11K

Control Module

Termination Panel

Figure 5.3 Equivalent Fast Output Circuit

1746-HCA

Control Module

+5V DC

Termination Panel

Ret

+24 DC

FO.1

Wiring Hardware Overtravels

Publication 1746-6.1.2 - July 2000

Because the system must go into Estop when a hardware overtravel is tripped, do the following to the hardware overtravel limit switches of each axis:

• Wire them into the customer Estop string.

• Position them outside the software overtravels (see Figure 5.4).

Wiring the SLC Servo Module

Software Overtravel Limits

Software overtravel limits appear in the table below.

Name What it specifies Default Range

5-5

Software overtravels used Whether control checks

software overtravel limits

Yes Yes (used) or

No (not used)

When you are using a check, the SLC Servo Module tests each program for motion past an overtravel limit before the programmed motion is executed.

The SLC Servo Module monitors software overtravel limits continuously during motion. Software overtravels are disabled during homing and are not active until the axis is homed. Software overtravel limits are located inside hardware overtravel limits. Hardware overtravel limits cause Estop when tripped.

Figure 5.4 Software Overtravel Limits

Negative Overtravel Limit W10-W11

Positive Overtravel Limit W8-W9

Connecting Home Limit Switch as a Fast Input

Negative Hardware Overtravel Limit (causes Estop)

IMPORTANT

Check positive and negative software and hardware overtravel limits only if Overtravels Used (word 0, bit

Positive Hardware Overtravel Limit (causes Estop)

7) is set.

You can configure the home limit switch to come from the termination panel, or from the backplane by setting configuration word 1, bit 0. The 1 represents termination panel Fast Input 3. The 0 represents

Publication 1746-6.1.2 - July 2000

5-6

Wiring the SLC Servo Module

backplane input. Though the exact position of home is not important, it is important that the home position is:

• A repeatable resting place for the axis when it is not used.

• Free of obstruction from another moving axis.

To connect a home limit switch:

1. Place the limit switch near the home position that you want.

2. Adjust the encoder so that the marker is approximately 1/2

revolution from the limit switch closure.

Wiring Estop Connections

IMPORTANT

If you do not adjust the encoder, home can be off by one encoder revolution.

The SLC Servo Module detects and controls Estop conditions. Each SLC Servo Module has a separate and independent Estop circuit. Refer to the documentation that came with your drive for recommendations on correctly wiring your external Estop string.

A hardware Estop is caused by the following:

• Broken wire in the user power cable.

• Power-fail signal from chassis backplane.

• Watch-dog time-out on SLC Servo Module.

• Software Estop conditions.

• A contact in the external Estop string or a broken/missing wire

opens the string (e.g., when someone pushes the Estop push button).

Specifications for Estop relay on the SLC Servo Module appear in the table below.

Publication 1746-6.1.2 - July 2000

Specification Rating

Maximum contact voltage rating 80V DC max Operate time 500µs average Contact bounce less than 200µs average Contact resistance 150 milliohms average Contact rating 5.0VA @ 0.35A max

Wiring the SLC Servo Module

Wiring the Estop for a One-Axis System

To wire the Estop for a one-axis system connect the following:

• Drive enable

• Estop reset pushbuttons (Res P.B., Res P.B., and Reset)

• Customer Estop String (String In and String Out)

5-7

ATTENTION

To avoid personal injury or hardware damage, develop a fail-safe wiring design for your Estop string.

• An Estop string (Figure 5.5) is connected in series and consists

of:

• Axis hardware overtravels

• Remote Estop

• Motor thermal switch

• Transformer thermal switch

• Drive fault

Wiring for Normal Operation

• Wire the Estop inputs for normal operation.

• Bench test your SLC Servo Modules.

• The Estop Reset pushbutton requires a two-pole single-throw

switch.

Maintaining Electrical Continuity

• Maintain electrical continuity on the termination panel between

the String Out and String In terminals to change from an Estop state to a run state when pressing the Estop Reset pushbutton.

• While in the run state, loss of continuity between String Out and

String In places the SLC Servo Module in an Estop state.

• All motion is inhibited in the Estop state.

Verifying Connections and Operation

• Verify that the Estop wiring is connected correctly.

• Check the operation of devices wired between String Out and

String In.

Publication 1746-6.1.2 - July 2000

5-8

Wiring the SLC Servo Module

Figure 5.5 Ladder Diagram for a One-Axis System

+24V DC

CR1-1

CR1-4

P2-9

Estop Res. P.B.

P2-8 Reset

To Estop Status on Control Module

Control Module

P2-7

To Estop Reset Request on Control Module

P2-6

String Out String In

Customer Estop String

+24V D C Ret.

CR1

1N 4001

CR1-2

CR1-3

IMPORTANT

In this equivalent Estop circuit, P2 is a 25-pin D-shell connector.

CR1-2 and CR1-3 are auxiliary contacts of CR1 used in the drive interface. Use them for the drive enable of each drive amplifier. CR1-3 is not always required. For more information, see the drawings that accompany your drive.

Specifications for the CR1 (Allen-Bradley P/N 700-HC 14Z24) appear in the table below.

CR1 Part Number Coil Contact Arrangement

700-HC 14Z24 24V DC, 650 ohms 3A Resistive, 120V AC4 form C

Publication 1746-6.1.2 - July 2000

Control Module

Estop Reset Request

Control Module Estop Contacts

Estop Status

25-Pin D-Shell Connector

+24V

CR 1-4

CR 1-2

CR 1-3

CR 1

CR 1-1

Res. P.B.

Termination Panel

String Out

String In

Reset

+24V

To Customer Drive Enable Circuit

String Pilot Cr 2-1

Estop Reset P.B. (Customer-Supplied)

Refer to Figure 4.1 for Shield Connections

Cable Length Must Not Exceed 10 m (32 feet)

Wiring the SLC Servo Module

5-9

ATTENTION

If you do not use the relay shown in Figure 5.8, verify that your replacement relay has a coil resistance greater than or equal to 650 ohms.

Figure 5.6 Estop Circuitry Diagram for a One-Axis System

Publication 1746-6.1.2 - July 2000

5-10

Wiring the SLC Servo Module

Figure 5.7 String Pilot Connection

Drive Fault Contact Overtravel

Customer

EstopString

Thermal Overload

Remote E-Stop

CR2

String Pilot

To wire Estop connections, refer to wiring diagrams for the drive you are using. The wiring of six different Allen-Bradley compatible drives is shown in the table below.

Figure Wiring Diagram

5.15 1386 DC Servo Drive

5.16 1388 DC PWM Servo Control

5.17, 5.18

1389 AC Servo Amplifier

5.19, 5.20 1391 AC Servo Control Module Amplifier

5.21 1392 AC Servo Amplifier

5.22, 5.22 1394 AC Servo Control Module Amplifier

5.24

5.25

1398 ULTRA 100™/200™ Series AC Servo Control Module Amplifiers

5.26

The 1389 servo drive requires a 115V AC power conductor (K1) to supply main power to the

drive amplifier. See the 1389 Servo Amplifier Installation Manual for details

Wiring the Estop for System with Two or More Axes

For a system with two or more axes, you must have a termination panel and a SLC Servo Module for each axis. See Figure 5.8 and Figure

5.9 for the ladder diagram and Estop circuitry diagram for these systems.

The Estop characteristics for this type of system are:

• SLC Servo Modules must be running before the system comes

out of Estop.

• If an axis drops into Estop, the system drops into Estop.

The power capacity of the user-supplied +24V DC power supply determines the number of axes on one Estop string. Each Estop string requires ~ 50 mA of current from the +24V supply.

Publication 1746-6.1.2 - July 2000

Wiring the SLC Servo Module

Figure 5.8 Ladder Diagram for a Two-Axes or Three-Axes System

5-11

+24V D C

CR3-1

CR1-4

CR2-4

CR3-4

Control Module #1

P2-6 P2-6 P2-6

P2-7

To P2-8 Control Module #1 To P2-8 Control Module #2 To P2-8 Control Module #3

To P2 Control Module #1 Estop status P2-9

To P2 Control Module #2 Estop status P2-9

To P2 Control Module #3 Estop status P2-9

Control Module #2

Estop Reset Request

+24V DC

Return

Control Module #3

String Out

P2-7P2-7

Customer Estop String

String In

CR1

CR2

CR3

IMPORTANT

P2 is the 25-pin D-shell connector on the SLC Servo Modules.

Specifications for the CR1 (Allen-Bradley P/N 700-HC 14Z24) appear in the table below.

CR1 Part Number Coil Contact Arrangement

700-HC 14Z24 24V DC, 650 ohms 3A Resistive, 120V AC4 form C

IMPORTANT

Use CR1, CR2, and CR3 auxiliary contacts for the drive enable of each drive amplifier. CR2 and CR3 are not always required.

Publication 1746-6.1.2 - July 2000

5-12

Wiring the SLC Servo Module

Figure 5.9 Estop Circuitry Diagram for a Two-Axes or Three-Axes System

Te rminatio n Panel #1

Customer

Estop

String

Co ntrol Module #1

Estop

Control’s

Reset

Estop

Request

Contacts

67 9

String

CR1

String

Out

Reset

Res. P.B.

CR1-1

Res. P.B.

+24V

Estop Status

CR1-2

25-pin D-shell connector

CR1-4

CR1-3

To Drives

Termination Panel #2

CR2

Co ntrol Module #2

Estop

Control’s

Reset

Estop

Request

Contacts

67 9

Res. P.B.

CR2-1

String

Reset

Out

Res. P.B.

+24V

Estop Status

+24V

CR2-2 CR2-3

To Drives

25-pin D-shell connector

CR2-4

Termination Panel #3

CR3

Control Module #3

Estop

Control’s

Reset

Estop

Request

Contacts

67 9

Res. P.B.

CR3-1

String

Reset

Out

Res. P.B.

Estop Status

+24V

CR3-2 CR3-3

25-pin D-shell connector

CR3-4

To Drives

Estop Reset P.B. (usersupplied)

Wiring Power Supplies

Figure 5.10 shows how to wire a power supply for backplane and user-side requirements and a +24V power supply for Estop circuitry to the termination panel.

Publication 1746-6.1.2 - July 2000

+24V Power Supply

AC HI AC LO

Figure 5.10 Wiring a +5V, ±15V, and a +24V Power Supply

+5V

+/- 15V

+24V R ET

COMM

+15V

COMM

-15V

+24V

14 AWG

14 AWG (3)

EXT POW ER

14 AWG

Wiring the SLC Servo Module

+5 V

RET

+15V

-/+RET

-15V +2 4

+24R ET

EGND

5-13

AC Line

Wiring Encoders

Electrical Cabinet Ground Bus

ATTENTION

To avoid unpredictable operation of your SLC Servo Module, connect the +5V COMM to the +24V COMM.

If voltage sources are coming from two separate isolated power supplies, tie the +24V return to the

+5V return.

When you wire encoders, use a single, continuous, shielded cable segment. Wire the cable directly from the encoder to the termination panel.

Cable length depends on the power supply for the user-side. Voltage at the encoder must be within the voltage requirement limits specified

Publication 1746-6.1.2 - July 2000

5-14

Wiring the SLC Servo Module

by the manufacturer. Those limits for the 845H are a minimum voltage requirement of 4.75V and a maximum voltage of 5.25V.

IMPORTANT

The term user-side refers to the control circuitry on the SLC Servo Module card that is powered by user-supplied power sources and isolated from the control circuitry powered by the backplane of an SLC rack.

To meet the voltage requirement of the encoder and still attain maximum cable length, you can do the following:

• Raise the voltage of the power supply to meet the encoder

requirement without exceeding the 5.25V limit of the SLC Servo Module, measured at the module.

• Increase the gage of the wire connecting the termination panel

to the encoder (12 AWG maximum).

Figure 5.11 shows a circuit equivalent for channel A.

Figure 5.11 Encoder Feedback Equivalent Circuit

+5V

Differential Line Driver

Customer Encoder

768 ohms

0.01 microfarads

221 ohms

1746-HCA

Ch A HI

Ch A LO

+5V

Publication 1746-6.1.2 - July 2000

Control Module

Termination Panel

Wiring the SLC Servo Module

5-15

To operate the encoder, wire the encoder so that marker Z is true at the same time that A and B channels are true. To wire the encoder for consistent homing of the axis, do the following:

1. Obtain the encoder output timing diagram from the vendor’s

data sheets. A typical example is shown in Figure 5.12.

2. On the timing diagram, look at marker Z and its complement,

marker Z

3. Determine which signal is low for most of the encoder

revolution and pulses high for the marker interval.

4. Wire the signal that was determined in Step 3 to CH Z.HI on the

termination panel.

5. Wire the other to CH Z.LO on the termination panel.

6. Look at channel B and its complement, channel B

7. Wire CH B.HI on the termination panel to the signal that is high

for at least part of the marker interval. Depending on the encoder manufacturer, it is possible that both channels meet this requirement. If so, use either one.

8. Wire the complementary remaining phase to CH B.LO on the

termination panel.

9. Look at channel A and its complement channel A

10. Wire the signal that is low for most of the encoder revolution

and pulses high for the marker interval to CH A.HI on the termination panel.

11. Wire the complementary signal to CH A.LO on the termination

panel.

Typical Vendor Encoder Wiring

See your vendor’s encoder literature for the applicable timing diagram.

Publication 1746-6.1.2 - July 2000

5-16

Wiring the SLC Servo Module

Figure 5.12 Typical Vendor Encoder Timing Diagram

See 1 in table below

Optional

1cycle

Channel A

See 2 in table below

See 3 in table below

CCW rotation viewing shaft

WireCH B, CH A,and CH Z to CHB LO, CHA LO and CH Z LO, respectively, on the termination panel.

Location: Shows:

1 Channel A is high for at least part of marker interval. You connect this

to CH A.HI of the termination panel.

2 High marker interval. You connect this to CH Z.HI of the termination

panel.

3 B is high for at least part of marker interval. You connect this to CH

B.HI of termination panel.

Encoder Feedback Direction

The encoder can spin either CW or CCW for a given table direction and the direction (phasing) of the feedback could be backwards.

Publication 1746-6.1.2 - July 2000

You can change the direction of the feedback by switching channel A wiring with channel B wiring. For encoder feedback connections, see Figure 5.13 and 5.14.

CH A.HI CH A.LO AB SHLD

CH B.HI

CH B.LO

ZSHLD

CH Z.HI

CH Z. LO

+5V

RET

+1 5 V

SHLD

Figure 5.13 5V Encoder Feedback Connections

ENCODER

ENCODER POWER

Wiring the SLC Servo Module

5-17

B B

+5V

B C

Optical Encoder

Case

+5V

Return

Ground

CH A.HI CH A.LO AB SHLD

CH B.HI

CH B.LO

ZSHLD

CH Z.HI CH Z. LO

+5V

RET

+1 5 V

SHLD

Use three pair 22 gauge individually twisted and shielded cable.

Use one pair 18 gauge twisted and shielded cable.

Encoders must have +5V compatible differential line drive outputs on channels A, B, and Z (DS 8830 or equivalent

Figure 5.14 15V Encoder Feedback Connections

ENCODER

ENCODER POWER

(845H)).

A A

+15V

B B

Return

Optical Encoder

Case Ground

+15V

Use three pair 22 gauge individually twisted and shielded cable.

Use one pair 18 gauge twisted and shielded cable.

Encoders must have +5V compatible differential line drive outputs on channels A, B, and Z (DS 8830 or equivalent

(845H)).

Publication 1746-6.1.2 - July 2000

5-18

Wiring the SLC Servo Module

Wiring the SLC Servo to Allen-Bradley Drives

The SLC Servo Module supports 1386, 1388, 1389, 1391, 1392, 1394, and 1398 servo amplifiers. Before you wire the drive to the termination panel, you must mount, set up, and wire your drive and motor.

Installation references for each Allen-Bradley servo drive system (amplifier) appear in the table below.

Allen-Bradley Drive

1386 1386-5.0 Bulletin 1386 DC Servo Drive Instruction Manual 1388 1388-5.1 Bulletin 1388 DC PWM Servo Controller

1389 1389-5.0 Bulletin 1389 AC Servo Amplifier System

1391 1391-5.0 Bulletin 1391 AC Servo Controller User Manual 1392 1392-5.1 Bulletin 1392 High Performance AC Drive

1394 1394-5.0 1394 Digital AC Multi-Axis Motion Control

Publication Number

Title

Instruction Manual

Operator Instructions

Instruction Manual

System 1398 ULTRA 100 1398-5.2 ULTRA 100 Series Drives Installation Manual 1398 ULTRA 200 1398-5.0 ULTRA 200 Series Drives Installation Manual

Information regarding how to wire Allen-Bradley drives to the termination panel is given in the table below.

Drive Figure

1386 5.15, 1388 5.16, 1389 5.17, 5.18, 1391 5.19, 5.20, 1392 5.21, 1394 5.22, 5.23, 1398 5.24,

Wiring Diagram for 1386 Drives Wiring Diagram for 1388 Drives

Wiring Diagram for 1389 Drives (2 parts) Wiring Diagram for 1391 Drives (2 parts)

Wiring Diagram for 1392 Drives

Wiring Diagram for 1394 Drives (2 parts)

Wiring Diagram for ULTRA 100 When Not Homing to a Marker and

for ULTRA 200 When Homing to a Marker

5.25,

Wiring Diagram for F, H, and S series ULTRA 200 When Homing to a

Marker

5.26,

Wiring Diagram for Y series ULTRA 100/200 When Homing to a

Marker

Publication 1746-6.1.2 - July 2000

Wiring the SLC Servo Module

5-19

+2 4V RES.PB RES.PB

RESET

STRING IN

STRING OUT

DRIVE

DR RET

SHLD

DRIVE ENABLE

ESTOP

DRIVE

ATTENTION

To avoid damage to the controller, connect these lines in the proper phase at the transformer and controller. These lines are phase sensitive.

Figure 5.15 Wiring Diagram for 1386 Drives

Estop Reset P.B.

DROK

Board

TB1 -

1Diff+ 2Diff3SignalCommon 4Aux 5Tach 6SignalCommon

TB2 -

1 Decoupled C urr 2SigCommon 3 R eset 4Interlock 5 Signal Clamp 6 Signal Clamp + 7 Signal Clamp R ef

+ 15V DC

Common

- 15V DC

FAST I/O

RET

F01

See 1326-2.0 for encoder connection and motor wiring.

Axis Remote

Overtravel

Customer-supplied

Encoder

contingency stop

1386 - A A Amplifier

1386 - M Cha ssis

Motor

Motor Power Terminal Block

Publication 1746-6.1.2 - July 2000

5-20

Wiring the SLC Servo Module

DRIVE ENABLE

+2 4V RES.PB RES.PB

RESET

STRING IN

STRING OUT

ESTOP

Figure 5.16 Wiring Diagram for 1388 Drives

240/480V AC

3Phase

50/60Hz

Estop Reset P.B.

H1 H4 H7

Bulletin 1388

Power

Transformer

P1 P2

120V AC 3 phase 50/60Hz

X1 X2

X3 X0

Thermal Switch

DRIVE

SHLD

DRI

RET

Axis Overtravel

Velocity

Command

Remote Estop

Tach

A3TB1

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Motor

+ 23V DC

45 789A2TB1

Bulletin 1388

DC Servo Controller

CR1 Drive Fault

CR1

Publication 1746-6.1.2 - July 2000

Figure 5.17 Wiring Diagram for 1389 Drives

System Ground

Frame

G2 G1 G0 X0

Wiring the SLC Servo Module

A B

5-21

+240/480V AC 3 Phase

ESTOP

+2 4V RES.PB RES.PB

RESET

STRING IN

STRING OUT

DRIVE

RET

SHLD

Main D isconnect/ Fuses

Control Transformer

DRIVE ENABLE

Estop

String

Estop

Reset P.B.

Ref

120V

Overtravel (Extreme)

+-Ref

1389 Isolation Transformer

RemoteAxis

Estop

P1 P2

Thermal

Tran former Switch

MT TS

T1 T2 P1 P2

Motor Thermal Switch

(see T1, T2 on Bulletin 1326 Servo Motor)

Transformer Thermal Switch

(see P1, P2 above)

230V AC

230V A C

TB2 - 1

TB2 - 2

TB2 - 3

TB2 - 4 TB2 - 5

TB2 - 6

TB2 - 7

TB2 - 8

TB2 - 9

TB2 - 10

TB1 - 1

TB1 - 2

TB1 - 3

TB1 - 7

TB1 - 8

Reset

Reset Return

Bus UV (isolated)

Enable Source

System OK

Power Supply

Important: This connection is required if the system is grounded

at one end only. We recommend grounding the system at the drive amplifier only.

Velocity Command

E F

Publication 1746-6.1.2 - July 2000

5-22

Wiring the SLC Servo Module

Figure 5.18 Wiring Diagram for 1389 Drives (continued)

A B

Power Supply

E F G

J1 - 5

J1 - 1,4,7

J1 - 3,6,9

J1 - 2

J1 - 8

J2 - 1,4

J2 - 2,5

J2 - 3,6

J2 - 7

J2 - 8

J2 - 9

Chassis Module

Chassis

Ground Stud

J1 - 3

J1 - 1

J1 - 2

J2 - 1

J2 - 2

J2 - 3

J2 - 4

J2 - 5

J2 - 6

1389 D riv e S ervo Am plifier

+12V

GND

- 12V

Sys Enable

Sys Pur

Axis Fault

TB2-1(Rotor1)

TB2 - 2 (Rotor 2)

TB2 - 10 (Shield)

Velocity

Command

Torque

Clamp

CMD

Drive OK (isolated)

TB2-3(Shield)

TB2-4(Sine1)

TB2-5(Sine3)

TB2-6(Shield)

TB2 - 7 (Cos 4)

TB2 - 8 (Cos 2)

TB2-9(Shield)

Common

Pos Source

Pos RTN

Neg Source

Neg RTN

Limit

CMD

Ref +

Ref -

S hield

Source

CMD

RTN

TB3 - 1

TB3 - 2

TB3 - 3

Blk

Wht

Blk

Red

Blk

Grn

TB1-1TachOutput

TB 1 - 2 IC MD and Torque Monitor TB1 - 3

TB1 - 4

TB1 - 5

TB1 - 6 TB1 - 7

TB1 - 8

TB1 - 9

TB1 - 10

TB1 - 11

TB1 - 12

TB1 - 13

TB1 - 14

TB1 - 15

BK1

BK2

R o tor 1 (R ed/W hite)

SINE 1 (Red)

Shield N.C.

GND

Rotor 2 (Yel/Wh)

SINE 3 (Blk)

COS 2

(Yel)

COS 4 (Blue)

Bulletin 1326 Servo Motor

Motor Thermal Switch

Brake Option

Motor

Resolver

Publication 1746-6.1.2 - July 2000

DRIVE ENABLE

Figure 5.19 Wiring Diagram for 1391 Drives

Wiring the SLC Servo Module

5-23

ESTOP

+2 4V RES.PB RES.PB

RESET

STRING IN

STRING OUT

DRIVE

RET

SHLD

Estop Reset P.B.

Velocity Command

TB4

TB2

TB2 TB2

120V AC 1 amp

-Ref

+Ref

+23V DC

Enable

Input

115V

DROK (closed = OK; switch S2-4 must be off. Refer to publication 1391ES-5.0 for information on S2-4)

Enable Source

Remote

Estop

Axis

Overtravel

TB4 TB4

18 17

DROK

S ee Bulle tin

1391 D rive

above

B ulletin 1391 Drive

S ee Bu lletin

1326 Motor

above.

P1 P2

See Drive

Transformer

above

Publication 1746-6.1.2 - July 2000

5-24

Wiring the SLC Servo Module

Controller

Main Power

Figure 5.20 Wiring Diagram for 1391 Drives (continued)

Mains

System Disconnect

Controller GND

Main GND

A B

Logic

Supply

(36V C T)

Bus

Supply

(230V A C )

User

Power

5A 125V

Bus MDX5

5A 125V

Bus MDX5

User System G ND

From TB1 - 1

GND Stud

MCB

Connect to Cabinet G ND

From Motor GND

From Motor Cable Shield

TB4

Phase Insensitive

TB5

see ATTENTION

Sec.

MPT

From GND

Stud

Sec.

Cabinet GND

Motor

B ulletin 1391 D rive

Publication 1746-6.1.2 - July 2000

+BUS

TB5

Shunt

Resistor

Wiring

Connect to GND Stud

Resolver

Bulletin 1326 Servo Motor

Figure 5.21 Wiring Diagram for 1392 Drives

Wiring the SLC Servo Module

5-25

DRIVE ENABLE

+24 RES.PB RES.PB

RESET

STRING IN

STRING OUT

FI.1

+24

FI.2

+2 4 FI.3

RET

FO.1

DRIVE

DR RET

SHLD

CH A. HI CH A.LO AB SHLD

CH B. HI CH B.LO

ZSHLD

CH Z.HI CH Z. LO

ESTOP

FAST I/O

DRIVE

ENCODER

Remote

Estop

Axis Overtravel

Estop Reset P.B.

Estop String

T1 T2 P1 P2

Motor Thermal Switch

Transformer Thermal Switch

Velocity Command

+ Speed Ref.

- Speed Ref.

Coast to S top

Drive E nable

External Reset

Customer 0 Volts

Bulletin 1392

Standard Parallel Interface J9 Main Control Board

Drive Ready

Encoder Fanout Customer Outputs

CHACHA’CHBCHB’CHZCH

78 77 76 75 74

Ground Stud

Cust

+ 12V

0Volts

Z’

73 72 71

Cust

Important: This connection is required if the system is grounded

at one end only. We recommend grounding the system at the drive amplifier only.

+12V Power Supply

(user-supplied)

Publication 1746-6.1.2 - July 2000

5-26

Wiring the SLC Servo Module

Figure 5.22 Wiring Diagram for 1394 Systems

DRIVE

DR RET

SHLD

USER-SUPPLIED 24V AC RMS OR

24V DC. (NON-POLARIZED)

THREE PHASE INPUT

380 - 460V AC RMS

Drive

OPTIONAL EXTERNAL SHUNT

A0 VREF + A0 VREF -

SHIELD A0 TOREF + A0 TOREF-

SHIELD

A0 ENABLE

A2 VREF +

A2VREF -

SHIELD A2 TOREF + A2 TOREF -

SHIELD

A2 ENABLE

FAULT RESET ANALOG OUT 1 ANALOG OUT 2

ANALOG COM

COM

CHASSIS

To ground bar if not grounded elsewhere

DC+

COL

INT W1 W2

M1INPUT FUSING

TB1

DS1 SOLID GREEN = BUS UP, AXIS ENABLED FLASHING GREEN = BUS UP, AXIS NOT ENABLED FLASHING RED/GREEN = READY, BUS NOT UP FLASHING RED = FAULT SOLID RED = HARDWARE FAILURE

DC MINUS BUS

1 2 3 4 5 6 7

9 10 11 12 13 14 15 16

17 18 19

COMMON

System Module

J26 J27

GND3

Servo Input Wiring Board

RATED AT 115V AC, 24V DC, 1A INDUCTIVE

CONTACTOR ENABLE RELAY

DRIVE O.K. RELAY

+2 4 RES. PB RES. PB

RESET

STRING IN

STRING OU T

Drive Enable

Estop

Important: Do not directly connect

Motor Thermals. They must be isolated with a relay.

Important: This connection is required if the system is grounded

at one end only. We recommend grounding the system at the drive amplifier only.

CR1

Motor Thermals

Axis Overtravels

CR1STOP

(if not directly coupled)

TB2

16 17 18 19

Contactor EN

Contactor EN DROK

DROK

24 AC/DC

120V AC

50/60 Hz

Publication 1746-6.1.2 - July 2000

DRIVE

DR RET

SHLD

CH A. HI CH A.LO AB SHLD

CH B. HI CH B.LO

ZSHLD

CH Z.HI

CH Z. LO

Figure 5.23 Wiring Diagram for 1394 Systems (continued)

Important: Connect only if Vref is not used

DRIVE

ENCODER

on the input wiring board.

Connect this to the PE of the 1394

User Supplied

Wiring the SLC Servo Module

Bulletin 1394

AQB Board

Axis x Vref +

Axis x Vref-

Axis x Tref+

Axis x Tref-

+5V DC Power Supply

Power Supply Common

CHANNEL A HIGH

CHANNEL A LOW

CHANNEL B HIGH

CHANNEL B LOW

CHANNEL Z HIGH

CHANNEL Z LOW

5-27

To perform a 1394 auto-tune function, the 1394 must be enabled prior to initiating the auto-tune command. However, if the SLC Servo Module is not out of Estop, the M1 coil will not energize and the A0 Enable signal will not be present.

If it is necessary to auto-tune the 1394 drive prior to the SLC Servo Module coming out of Estop, do the following:

• Place a temporary jumper between TB2-17 and the Stop PB to

allow the M1 coil to energize.

• Apply a 24V DC signal to the A0 Enable input on the 1394 to

execute the auto-tune command.

Wiring the SLC Servo Module to 1398 ULTRA 100/200

When wiring the SLC Servo Module to an ULTRA 100/200 drive, consider beforehand if homing to an encoder marker is necessary

Publication 1746-6.1.2 - July 2000

5-28

Wiring the SLC Servo Module

because it directly affects how the 1398 is wired to the SLC Servo Module.

If Homing to a Marker is: Go to:

Necessary Figure 5.24,

When Not Homing to a Marker and for ULTRA 200 (Manufactured After July 31, 1998) When Homing to a Marker

Figure 5.25,

series ULTRA 100/200 (Manufactured Before July 31, 1998) When Homing to a Marker

Figure 5.26,

ULTRA 100/200 (Manufactured Before July 31,

1998) When Homing to a Marker

Not Necessary Figure 5.24,

When Not Homing to a Marker and for ULTRA 200 (Manufactured After July 31, 1998) When Homing to a Marker

Wiring Diagram for ULTRA 100

Wiring Diagram for F, H, and S

Wiring Diagram for Y series

Wiring Diagram for ULTRA 100

Wiring the SLC Servo Module when Homing to a Marker

Both the ULTRA 100 drive (using any divisible resolution) and the ULTRA 200 drive (using any divisible resolution) require a breakout board (P/N 9101-1392) to interface between the integral encoder (inside the Y, F, or H-series motor) and the SLC Servo Module termination panel.

The breakout board allows the SLC Servo Module to read the encoder signals directly from the encoder, instead of from the gate array circuit inside the ULTRA 100/200. If the encoder signals are read from the ULTRA 100/200 (using the gate arrays), the marker signal shifts with respect to the A and B channel on each successive power cycle to the ULTRA 100/200.

IMPORTANT

Since the ULTRA 100/200 drive can be configured to use custom motors and custom encoders, the guidelines stated above may not be true for other manufacturers’ motor/encoder combinations.

ULTRA 200 drives manufactured after July 31, 1998 do not need the J2 breakout. Look for a mm/yy date code stamped or printed on the Allen-Bradley label, located on the side of each drive unit. For example: Mfg. 1098 indicates the drive was manufactured in October 1998.

Publication 1746-6.1.2 - July 2000

1746 HSRV/IMC 110 Termination Panel (1746-HT)

Drive

DRIVE

DR RET

SHLD

Encoder

CH A.HI

CH A.LO

A,B SHLD

CH B.HI

CH B.LO

Z SHLD CH Z.HI

CH Z.LO

Encoder Power

+5V

RET

+15V

SHLD

Wiring the SLC Servo Module

Figure 5.24 Wiring Diagram for ULTRA 100 When Not Homing to a Marker and for ULTRA 200 When Homing to a Marker

ENCODER COM

ISO +24 VDC

A+ ENC

A- ENC

B+ ENC

B- ENC

Z+, I+ ENC

Z-, I- ENC

24 VDC COM

DRIVE ENABLE

FAULT RESET

ANALOG CMD +

ANALOG CMD -

DRIVE READY +

DIRVE READY -

+24 VDC

J1 Connector

5-29

Ext Power

+5V RET +15V +/- RET

-15V +24V

+24 RET

EGND

+24V RES.PB RES.PB

RESET

STRING IN

STRING OUT

+24V

Drive Enable

Estop

Fast I/O

FI.1 FI.2 FI.3

RET

Over Travel Limits

Drive Fault Reset

Estop Reset PB

Estop PB

24VDC FOR ULTRA 100 ONLY

Encoder

Motor

F, H, S, and Y Series Motors

(P/N 9101-1369)

(P/N 9101-1366) for F-, H-, or S- Motors

(P/N 9101-1375) for Y Motors

1398 ULTRA 100

Motor

Publication 1746-6.1.2 - July 2000

5-30

Wiring the SLC Servo Module

1746 HSRV/IMC 110 Termination Panel (1746-HT)

Drive

DRIVE

DR RET

SHLD

Encoder

CH A.HI

CH A.LO

A,B SHLD

CH B.HI

CH B.LO

Z SHLD CH Z.HI

CH Z.LO

Encoder Power

+5V

RET

+15V

SHLD

Ext Power

+5V RET +15V +/- RET

-15V +24V +24 RET EGND

Drive Enable

Estop

+24V RES.PB RES.PB

RESET

STRING IN

STRING OUT

Fast I/O

FI.1

+24V

FI.2

+24V

FI.3

RET

Over Travel

Limits

Figure 5.25 Wiring Diagram for F, H, and S series ULTRA 100/200 When Homing to a Marker

ENCODER COM

ISO +24V DC

24V DC COM

DRIVE ENABLE

FAULT RESET

ANALOG CMD +

ANALOG CMD -

DRIVE READY +

DIRVE READY -

+24V DC

24V DC for

Drive Fault Reset

Estop Reset PB

Estop PB

ULTRA 100

Only

Encoder

Motor

F, H, S Series Motor

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 19 20

J2 Connector

ENC + (GRAY) ENC - (WHITE/GRAY)

ENC + (BLUE) ENC - (BLUE/YELLOW) A+ (BLACK) A- (WHITE/BLACK) B+ (RED) B- (WHITE/RED) I+ (GREEN) I- (WHITE/GREEN) HALL A (WHITE/BROWN)

HALL B (BROWN)

HALL C (WHITE/ORANGE)

ABS (ORANGE) TS+ (VIOLET) TS- (WHITE/VIOLET)

(P/N 9101-1365)

1398 ULTRA 100

Motor

J1 Connector

(P/N 9101-1371)

(P/N 9101-1369)

Publication 1746-6.1.2 - July 2000

The encoder feedback cable (P/N 9101-1365 Rev. D) has the orange (ABS B #16) wire and the white/orange (HALL

C #15) wire swapped.

1746 HSRV/IMC 110 Termination Panel (1746-HT)

Drive

DRIVE

DR RET

SHLD

Encoder

CH A.HI

CH A.LO

A,B SHLD

CH B.HI

CH B.LO

Z SHLD CH Z.HI

CH Z.LO

Encoder Power

+5V

RET

+15V

SHLD

Ext Power

+5V RET +15V +/- RET

-15V +24V +24 RET EGND

Drive Enable

Drive Fault Reset

Wiring the SLC Servo Module

5-31

Figure 5.26 Wiring Diagram for Y series ULTRA 100/200 When Homing to a Marker

ENCODER COM

ISO +24 VDC

24 VDC COM

DRIVE ENABLE

FAULT RESET

ANALOG CMD +

24V DC for

ULTRA 100

Only

ANALOG CMD -

DRIVE READY +

DIRVE READY -

+24 VDC

J2 Connector

ENC + (GRAY)

ENC - (WHITE/GRAY)

ENC + (BROWN)

ENC - (WHITE/BROWN)

ENC + (YELLOW)

ENC - (WHITE/YELLOW)

A+ (BLACK)

A- (WHITE/BLACK)

B+ (RED)

B- (WHITE/RED)

I+ (GREEN)

I- (WHITE/GREEN)

HALL A (ORANGE)

HALL B (WHITE/ORANGE)

HALL C (BLUE)

J1 Connector

+24V RES.PB RES.PB

RESET

STRING IN

STRING OUT

FI.1

+24V

FI.2

+24V

FI.3

RET

Estop

Fast I/O

Over Travel Limits

Estop Reset PB

Estop PB

Encoder

Motor

Y Series Motor

(P/N 9101-1373)

1398 ULTRA 100

Motor

(P/N 9101-1371)

(P/N 9101-1369)

Publication 1746-6.1.2 - July 2000

5-32

Wiring the SLC Servo Module

Connecting the Velocity Command

Use 18 through 22 gauge shielded/twisted pair wire to connect the analog velocity command output signal (consisting of Drive and DR Ret connections) from the termination panel Drive connector to the corresponding terminals of the various servo drives as shown in Figure 5.15 through Figure 5.23. Connect this signal so that the resulting direction of motion matches the correct direction of motion as you defined it.

If you reverse these connections, you reverse the direction the axis moves in response to a given polarity of the velocity command.

ATTENTION

To avoid shorts in the Velocity command circuitry, do not reverse the Drive Out connections of the SLC Servo Module. The drive amplifiers of some vendors only provide a single-ended input for the Velocity command.

Publication 1746-6.1.2 - July 2000

Chapter

Testing Your SLC Servo Module Hardware

Overview

Powering Up Your SLC Servo Module

This chapter includes the following topics:

• Powering up your SLC Servo Module

• Testing Estop wiring

• Integrating the axis

• Testing home using the home position switch

• Testing home using encoder marker

Before you apply power to the SLC Servo Module:

• Wire the AC line on the power supply.

• Set the voltage (120V or 240V).

• Connect the user-power cables.

• Rout the user-power cables.

• Connect the wiring from the termination panel to drives,

encoders, fast input and output devices, Estop string and Estop reset button.

• Connect the cable to the termination panel and the SLC Servo

Module with the connectors firmly attached.

To power-up your SLC Servo Module:

1. Create a ladder program to avoid memory loss in your SLC 500

Processor when you power up. Only include the rung shown below.

Figure 6.1 Ladder Program to Avoid Memory Loss

S:1

2. Verify that your power supply connections for +5V DC, ±15V

DC, and +24V DC are connected correctly to the termination panel.

1 Publication 1746-6.1.2 - July 2000

6-2

Testing Your SLC Servo Module Hardware

3. Apply power to the SLC Rack with the SLC Servo Module

installed in the rack. After the control module initializes and performs its quick hardware diagnostics, the green RUN LED should light.

IMPORTANT

The green RUN LED must be on before continuing.

If the RUN LED does not light, consult the table in the Troubleshooting chapter of this manual.

4. Verify that the SLC Servo Module has power from the SLC Rack

backplane and the termination panel.

5. Using your programming device for the SLC processor (RSLogix

500, AI500, or APS software), enter the following program example with the appropriate changes.

Figure 6.2 Typical Ladder Program

Publication 1746-6.1.2 - July 2000

6. Using the data monitor, change the values in the configuration

files to match the default specifications for the SLC Servo Module except for the Encoder Lines and Counts Per Position Unit parameters.

For this program example:

• Discrete configurations are in the file N7.

• Multiword, floating-point parameters are in file F8.

Testing Your SLC Servo Module Hardware

6-3

Testing Estop Wiring

Estop Status to Porcessor

Estop Reset Request to Processor

Software Control

Estop Relay

Before you test your Estop wiring:

ATTENTION

To avoid personal injury or hardware damage, uncouple the motor from its load.

1. Test your fast I/O.

2. Perform open and closed loop integration of drives and

feedback devices.

A wiring diagram for the Estop circuit is shown in the following Estop Circuitry figure. Use these connections to check the Estop Reset push-button and each contact on the Estop string.

Figure 6.3 Estop Circuitry

Axis

P2 - 9

P2 - 8

P2 - 7

Termination Pane l

+24V

CR1

+24V

Estop Reset P.B.

Motor

Thermal

Drive Fault

Control Module

P2 - 6

CR1

Axis

Overtravel

Drive Enable Contacts

Remote

Estop

To check the Estop reset push-button:

1. Uncouple the load from the motor.

2. Disconnect the drive enable contacts.

3. Disconnect the Estop string at the termination panel.

Publication 1746-6.1.2 - July 2000

6-4

Testing Your SLC Servo Module Hardware

4. Short the (machine tool) hardware Estop string.

5. Press and hold down the Estop Reset push-button. The

following events occur:

• SLC Servo Module detects an Estop reset request.

• SLC Servo Module closes the software-controlled Estop relay

in the SLC Servo Module.

• Because the Estop string is shorted, Relay CR1 seals the Estop

Reset push-button.

6. Release the Estop reset push-button. The contacts in the Relay

CR1 remain closed (in the power-on condition).

7. Verify that the Relay CR1 contacts are closed by doing the

following:

• Perform a continuity check on one of the drive enable

contacts that are normally open.

• Check the Relay CR1 contacts visually to see if they are

closed.

8. Remove the string-out/string-in jumper. Relay CR1 drops out

indicating an Estop condition.

9. Reconnect the Estop string and drive enable to the termination

panel to get the system up and running.

IMPORTANT

Open each contact on the string so that the system goes into Estop.

Publication 1746-6.1.2 - July 2000

Setting Up Your SLC Servo Module

Chapter

Overview

Before performing the procedures given in this chapter, follow the installation procedure supplied with the drive that will be interfaced to the SLC Servo Module. This chapter provides information to help you setup and configure the SLC processor and the SLC Servo Module and includes the following topics:

• Understanding the theory of motion control

• Powering up the SLC Servo Module

• Communicating between the SLC processor and the SLC Servo

Module

• Entering encoder lines and computing counts

• Initializing DAC output voltage for drive symmetry

• Setting initial loop type

• Defining positive axis movement for the SLC Servo Module

• Coarse calibrating drive input scaling to SLC Servo Module DAC

output voltage

• Fine calibrating of the DAC output voltage scaling

• Computing excess following error limit

• Selecting loop type

• Selecting axis acceleration rate

• Determining velocity and acceleration feedforward (for zero

following error loop type only)

• Setting axis and home specific parameters

• Understanding programming conventions

• Configuring your SLC processor

• Understanding your SLC Servo Module interface

• Configuring your SLC Servo Module

• Before programming your SLC Servo Module

• Downloading your configuration

• Understanding configuration errors

• Configuring the M0 file data tables

• Configuring the M0 file floating-point data tables

• Understanding configuration parameters

• Homing options

1 Publication 1746-6.1.2 - July 2000

7-2

Setting Up Your SLC Servo Module

Understanding the Theory of Motion Control

The major components of a motion control system are:

• Machine mechanics

• Velo ci ty lo op

• Position loop

Machine Mechanics

Machine mechanics are the combined gearing, ball-screws, and mechanical linkages that convert the motor’s rotary motion into the axis motion that you want.

Velocity Loop

Velocity loop is a feedback control loop in which the controlled parameter is encoder velocity. A tachometer is usually used for the feedback device. Command input from the controller to the drive is a DC voltage that is proportional to encoder speed (e.g., 1V equals 5 rpm and 5V equals 5000 rpm). Using the tachometer as feedback, a drive maintains the speed of the encoder at the commanded speed within its output capabilities.

A typical drive contains adjustments to do the following:

• Scale the input command voltage to the motor speed.

• Zero the motor speed for a zero input command.

• Set the maximum current (torque) to the motor.

• Control the response of the velocity loop.

Refer to the drive manual for instructions on setting these adjustments.

Position Loop

Position loop is a feedback control loop in which the controlled parameter is mechanical position. The position loop compares position feedback with the position command to modify the velocity output signal to correct for any position error. Encoders are position measuring devices that provide the SLC Servo Module with precise actual axis position at all times. Based on motion statements, the SLC Servo Module computes an axis position and compares it to the actual axis position. Following error is the difference between the commanded axis position and the actual axis position. Axis gain (or

Publication 1746-6.1.2 - July 2000

Setting Up Your SLC Servo Module

position loop gain) sets the response on the position loop and scales the following error to the velocity command output (drive input).

Your SLC Servo Module is a single-axis motion control that resides in a 1746 (SLC) rack. With a drive and servo motor, an SLC Servo Module can control the position of one axis with encoder feedback. You can place multiple SLC Servo Modules in one SLC Rack to control an entire machine.

7-3

Powering Up the SLC Servo Module

The SLC Servo Module requires power from the SLC Rack backplane and the termination panel for proper operation. You must power-up the SLC Rack with the SLC Servo Module in the rack.

To power-up the SLC Servo Module:

1. Verify that your power supply connections for +5V DC,

±15V DC, and +24V DC are properly connected to the termination panel.

2. Verify that your cable between the termination panel and the

SLC Servo Module is plugged in at both ends and the connectors are securely in place.

3. Apply power to the termination panel and SLC Rack power at

the same time. The SLC Servo Module’s green RUN LED is lit after a short delay for diagnostics.

If the SLC Servo Module’s RUN LED is:

ON Go to step 5. OFF Go to step 1. (The SLC processor indicates a

Then:

slot fault at the SLC Servo Module location.)

Configuring the SLC Processor

The SLC processor must be configured to accept the SLC Servo Module as an I/O device. Configure your processor by using the AI500, APS, or RSLogix 500 software running on a personal computer. Use the following table to locate your configuration instructions. Although configuration steps are similar, they are not identical.

If you are using: Go to:

AI500 Configuring Your Processor Using AI-500 Software APS Configuring Your Processor Using APS Software

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Setting Up Your SLC Servo Module

If you are using: Go to:

RSLogix 500 Configuring Your Processor Using RSLogix 500

Software

Configuring Your Processor Using AI-500 Software

Configuring your processor involves assigning the SLC Servo Module to an open slot in the chassis, setting the file length, and entering the parameters.

To assign the SLC Servo Module to an open slot:

1. Press F1 (Select Program/SLC-500 Addr).

2. Select project file.

3. Press Enter.

4. Press F2 (Offline Programming/Doc) The Offline Ladder Editor

screen opens.

5. Press F6 (Utility).

6. Press F3 (Type/sr).

7. Select an open slot in the chassis.

8. Press F5 (Select).

9. Select 1746-HSRV Single Axis Motion Controller from the

list.

10. Press Enter.

To set the file length and enter parameters:

1. Press F8 (SPIOCFG).

2. Press F1 and set the M0 file length to 1664 words.

3. Press Enter.

Publication 1746-6.1.2 - July 2000

4. Press F2 and set the M1 file length to 1659 words.

5. Press Enter.

6. Press F6 and set the G file size to 0 words.

Setting Up Your SLC Servo Module

7. Press Enter.

8. Press ESC three times to return to the top screen of the Offline

Ladder Editor screen.

9. Press F8 (Display).

10. Press F1 (addr).

11. Enter desired data table address.

12. Press Enter.

13. Enter parameters into Bit (B), Integer (N), or Float (F) files.

14. Press ESC to return to Offline Editor screen.

7-5

IMPORTANT

Use F1 to change the radix between binary and decimal.

Configuring Your Processor Using APS Software

Configuring your processor involves assigning the SLC Servo Module to an open slot in the chassis, setting the file length, and entering parameters.

To assign your SLC Servo Module to an open slot:

1. Press F4 (OFFLINE CONFIG).

2. Select project file.

3. Press Enter.

4. Press F1 (OFFLINE PRG/DOC).

5. Press F1 (PROCESSOR FUNCTIONS).

6. Press F1 (CHANGE PROCESSOR).

7. Press F5 (CONFIG I/O).

8. Select an open slot.

9. Press F5 (MODIFY SLOT).

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7-6

Setting Up Your SLC Servo Module

10. Select OTHER. In the Module ID Code area, type 10114. The ID

of the SLC Servo Module automatically creates twelve input words and twelve output words.

11. Press Enter.

To set the file length and enter parameters:

1. Press F9 (SPIO CONFIG).

2. Press F5 (ADVNCD SETUP).

3. Press F5 and set the M0 file length to 1664 words.

4. Press Enter.

5. Press F6 and set the M1 file length to 1659 words.

6. Press Enter.

7. Press ESC.

8. Press F7 and set the G file size to 0 words.

9. Press Enter.

10. Press ESC.

11. Press F8 (EXIT).

12. Press F8 (SAVE AND EXIT).

13. Press F8 (MONITOR FILE).

14. Press F8 (DATA MONITOR) from the top screen of the Offline

Editor screen to enter parameters into Bit (B), Integer (N), or Float (F) files.

IMPORTANT

Use F1 to change the radix between binary and decimal.

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Setting Up Your SLC Servo Module

Configuring Your Processor Using RSLogix 500 Software

Use the table below to determine which configuration procedure to follow.

When Working: Go to:

Online Automatically Configuring the SLC Servo

Module

Offline Manually Configuring the SLC Servo Module

Automatically Configuring the SLC Servo Module

To configure your SLC Servo Module automatically:

1. From the menu bar, select File. The File menu appears.

7-7

2. Select New. The Select Processor Type window appears.

3. Assign a name for your new RSLogix 500 project file and type it

in the Processor Name field.

4. Select your SLC processor from the list of processor types.

Default values assigned to the selected processor appear in the Communications Setting area.

5. Select OK. The processor database is initialized and the RSLogix

500 navigator window appears with the name you typed in the Processor Name field.

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7-8

Setting Up Your SLC Servo Module

6. In the navigator window, double-click on I/O Configuration.

The I/O Configuration window appears. In the example below, field 1 of the racks area contains a four slot rack.

7. To automatically configure your SLC Servo Module, select Read I/O Config. The Read I/O Configuration From Online Processor

window appears showing the parameters of the read process.

Publication 1746-6.1.2 - July 2000

8. Select Read I/O Config. The SLC processor reads the configuration.

Manually Configuring the SLC Servo Module

To configure your SLC Servo Module in manual mode:

1. From the menu bar, select File. The File menu appears.

Setting Up Your SLC Servo Module

7-9

2. Select New. The Select Processor Type window appears.

3. Assign a name for your new RSLogix 500 project file and type it

in the Processor Name field.

4. Select your SLC processor from the list of processor types. Default values assigned to the selected processor appear in the Communications Setting area.

5. Select OK. The processor database is initialized and the RSLogix 500 navigator window appears with the name you typed in the Processor Name field.

6. In the navigator window, double-click on I/O Configuration. The I/O Configuration window appears. In the example below, field 1 in the Racks area contains a four slot rack.

7. Your hardware configuration determines the number of slots in the first rack.

If your SLC rack has:

4 slots 1746-A4 4-Slot Rack 0-3

In field 1 of the area, select:

Racks

These slots appear below the the # column:

Publication 1746-6.1.2 - July 2000

Racks

area in

7-10

Setting Up Your SLC Servo Module

If your SLC rack has:

7 slots 1746-A7 7-Slot Rack 0-6 10 slots 1746-A10 10-Slot Rack 0-9 13 slots 1746-A13 13-Slot Rack 0-12

IMPORTANT

Your SLC processor always appears in slot 0. The remaining slots are available for assigning to other

In field 1 of the area, select:

Racks

These slots appear below the the # column:

Racks

hardware. Make sure the SLC Servo Module is in slot

8. Select slot 1. The column line of slot 1 is highlighted.

9. In the Filter field in the Current Cards Available area, select Interface. Part numbers and descriptions appear in the Current

Cards Available area.

10. Select 1746-HSRV Motion Control Module.

area in

IMPORTANT

An alternative way to assign the SLC Servo Module is to double-click on Other in the listing, type 10114 in the Other Type I/O Card window, and select OK.

11. Press Enter. The part number and description of the SLC Servo

Module appears in the slot you selected.

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Setting Up Your SLC Servo Module

12. Select Adv Config. The Advanced I/O Configuration window

appears showing the slot you selected and default information for the 1746 HSRV Motion Control Module.

13. Select OK.

7-11

The SLC Servo Module Interface

Configuring the SLC Servo Module

The SLC Servo Module is a 12-word Input/Output specialty I/O module. The module uses M files to download the module configuration information. The module can also be configured to enable the module interrupt capability available with the SLC Backplane Interface.

You configure the SLC Servo Module using M files that reside on the SLC Servo Module. Refer to the SLC 500 Reference Manual (publication 1747-6.15), M0 and M1 data file section, for the M file interface and addressing convention information. M files reside on the module and are referenced by the ladder logic the same way as an integer file that resides on the module. There are two M files (M0 and M1) associated with this and any specialty module.

The SLC Servo Module only uses the M0 file that is used to transfer the configuration information from the SLC Ladder to the SLC Servo Module. Refer to Figure 7.1 for a functional block diagram of the data flow.

The application program uses a copy file instruction to transfer the data from a source integer or float file to the M0 file in the slot that you want in the SLC Servo Module. A copy file instruction associated with the M files works as an immediate output instruction. Therefore, the normal ladder program execution stops when it encounters the copy instruction with the M file. Ladder program execution does not

Publication 1746-6.1.2 - July 2000

7-12

Setting Up Your SLC Servo Module

resume until the SLC processor has transferred the information to the M0 file of the SLC Servo Module.

IMPORTANT

Repeatedly executing the copy file instruction when you download the configuration increases the ladder scan time as shown in Figure 7.1.

Figure 7.1 Relationship Between Ladder Scan Time and Repeated Execution

SLC LADDER

EXECUTION

M0 File

Copy File to M0

SLC

Servo

Module

I/O SCAN

Configuration

Data

Transferred

Immediately

Before Programming the SLC Servo Module

Data Type Conversions

The SLC Servo Module uses floating-point values to configure and operate. However, I/O files do not allow floating-point numbers. To use floating-point values in I/O files, you must execute a COP (or copy) instruction.

When you use a COP command you have to determine the number of words in the destination file. I/O file words are 16 bits in length. Floating-point values are 32 bits, or two words, in length. If you copy a floating-point value to an I/O file, it occupies two words. If you copy two I/O words to a floating-point value, they occupy one floating-point value. Floating-point values are 32 bits.

Before programming your SLC Servo Module:

1. Power-up the SLC Servo Module to initialize the default configuration.

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Setting Up Your SLC Servo Module

2. Verify that the SLC Servo Module is in an Estop state.

3. Copy the M0 file with the output word 0 mode bit (15) set to 1.

4. Verify that the SLC Servo Module is in the configuration mode.

5. Using the programming device for the SLC processor (RSLogix,

AI500, or APS Software) enter the program example, found in Appendix C of this manual, with the appropriate changes for the SLC Servo Module locations for the system.

6. Using the data monitor, change the values in the configuration files to match the default specifications for the SLC Servo Module, except for the Encoder Lines and Counts Per Position Unit parameters.

7-13

Communicating Between the SLC Processor and the SLC Servo Module

IMPORTANT

Communication between the SLC processor and the SLC Servo Module occurs asynchronously through 12 input and 12 output words. The SLC Servo Module requires that an input is present from one to two coarse iterations before it is guaranteed to be recognized. SLC Servo Module ladder logic rungs contain timers that can provide the proper timing.

The preferred method is to build handshake logic into the SLC Servo Module ladder program. A handshake occurs when the SLC processor requests a change and tests for an appropriate change in the SLC Servo Module status word before continuing.

The SLC Servo Module can deny requests from the SLC processor because the SLC Servo Module is not in the correct state to grant the request. Some SLC Servo Module inputs are only recognized on the input transition. If the SLC Servo Module is not in the correct state to grant a request when the input transition occurs, the input request is denied. Unless you toggle the input again, the SLC Servo Module ignores the request.

For this program example, the discrete configurations are in file N7 and the multiword floating-point parameters are in file F8.

Entering Encoder Lines and Computing Counts

Encoder lines are entered to compute counts per unit and maximum speed.

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7-14

Setting Up Your SLC Servo Module

To enter encoder lines:

1. Refer to the encoder manufacturer’s specification for the encoder lines.

2. Enter the value of the Encoder Lines parameter in configuration file F8 (words 4-5).

3. Enter the value of the Counts Per Position Unit parameter in configuration file F8 (words 6 and 7).

Computing Counts Per Position Unit

Use the following equation to calculate the value of the Counts Per Position Unit parameter as it is used in step 3 above.

Counts per position unit is equal to:

4 Number of encoder lines

Where the revs/position unit contains gearing and the pitch of the ball-screw.

Multiplied by the: Multiplied by the:

Revs/position unit

In the example below, an axis uses a 1000 line encoder in a motor coupled with a 3:1 reducing gear to a 5 pitch lead screw (5 turns per inch). With a position unit of inch, the value of the Counts Per Position Unit parameter is computed as:

Lines per revolution:

1000 4 3 5 60000

Multiplied by counts per line:

Multiplied by input revolutions/ output revolutions:

Revolutions per inch:

Equals counts per inch:

Computing Maximum Speed Scaler

Publication 1746-6.1.2 - July 2000

Speed scaler refers to the varying of incoming voltage to produce a varying speed. To compute a variable output speed, the SLC Servo Module uses the number of pulses from the encoder, the maximum motor rpms, and speed that you want.

For reliable axis operation, the axis speed you want must be less than the digital analog convertor (DAC) saturation speed. The DAC saturation speed must be less than the motor operation speed at low

Setting Up Your SLC Servo Module

(Power Factor)

(RPM*(Encoder lines

Counts per Position Units

= Maximum Operating Speed

AC line conditions. If you don’t meet these conditions, you experience excessive error faults during high speed operation. You must select the proper motor, drive, and gearing to satisfy the above requirement for the application. AC power to the motor drive can go as low as 85% of the nominal input voltage. To allow for axis operation at low line conditions, use a power line factor between 0.85 and 1.0. Select a power line factor based on motor and drive vendor specification.

The maximum low line operating speed (from the motor data sheet plus gearing) can be calculated by performing the following:

7-15

Maximum operating speed for the axis is equal to:

Power line factor Maximum motor rpm Output revolutions/

Multiplied by: Multiplied by: Multiplied by:

input revolutions

Operating at maximum speed that you want, select a DAC output saturation speed greater than the operation speed that you want. A reasonable percentage of maximum is approximately 105%. The DAC output saturation speed is the maximum speed for the axis, and we calculate it as follows:

Maximum operating speed is equal to:

1.05 Maximum speed that you want

In the example below, select a 3000 rpm motor for use with the previous example in this section. Compute the maximum operating speed using the following equation:

Multiplied by:

1/pitch

Power factor: Multiplied by:

revolutions per minute (RPM)

0.85 3000 4000 60000 170 (ipm)

Multiplied by: Encoder lines * 4

Divided by: Counts per position units

Equals maximum operating speed:

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7-16

Setting Up Your SLC Servo Module

In the example below, if you want a maximum operating speed of 170 ipm, the motor and drive combination you chose must meet your speed requirements.

Initializing DAC Output Voltage for Drive Symmetry

DAC output saturation speed:

179 (ipm) 1.05 170 (ipm)

Enter the DAC output saturation speed in configuration file F8 (word 28 and word 29).

DAC output voltage ranges from –10V to +10V. When you command 100% of speed, you want the DAC signal to be ±9.5V for maximum use. If you calibrate the drive input correctly, the SLC Servo Module outputs 9.5V when the axis is moving at maximum speed.

To set the DAC output voltage:

1. Set the output voltage in file F8 (words 24 and 25) to + Max Speed = +9.5V.

2. Set the output voltage in file F8 (words 26 and 27) to - Max Speed = -9.5V.

Is equal to: Multiplied by

maximum operating speed:

Setting Initial Loop Type

3. If possible, rough calibrate the drive input for maximum speed with an input of 9.5V. Drive input scaling to the SLC Servo Module output occurs while you make coarse calibrations.

After you set the initial loop type, download the initial configuration to the SLC Servo Module.

To set the loop parameters:

1. Set the loop type parameter to OPEN LOOP in the configuration file N7 by setting word 0, bits 4 and 5 to 0 LOOP TYPE (00).

2. Set the SLC Servo Module control in Estop.

3. Toggle the bit (word 0, bit 15) to download this configuration.

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Setting Up Your SLC Servo Module

7-17

Defining Positive Axis Movement for the SLC Servo Module

To define positive axis movement for the SLC Servo Module, you must invert the DAC and reverse feedback. Axis status area information is copied into F48 at every ladder scan.

To define the positive axis movement:

1. Record the present feedback position PO contained in file F48.

2. Reset Estop.

3. Initiate an incremental move in the positive direction at 5% of

SLC Servo Module’s maximum speed for approximately one position unit. Refer to Figure 9.4 for an example of an incremental move.

If the axis moved in the:

Positive direction Invert DAC setting is

Negative direction Invert DAC setting is

Then: Do this:

Go to step 5.

correct.

Change invert DAC

incorrect.

(Configuration word 0, bit 1) from 0 to 1.

5. Observe the feedback position P1 (file F42) after the move.

If P1 - P0 is: Then: Do this:

Greater than zero Reverse feedback is

correct.

Less than zero Reverse feedback is

incorrect.

Go to step 7.

Change reverse feedback (Configuration word 0, bit 2) from 0 to 1.

7. Download the updated configuration.

If you: Then:

Made changes to the invert DAC or reverse feedback parameters

Did not make changes to parameters

1. Set the SLC Servo Module in Estop.

2. Toggle the bit (word 0, bit 15) to download this configuration.

3. Reset Estop.

Go to

Coarse Calibrating

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7-18

Setting Up Your SLC Servo Module

Coarse Calibrating

Perform the following steps to coarse calibrate the drive input scaling to SLC Servo Module DAC output voltage:

1. Initiate a positive direction speed move at a safe operating

speed (e.g., < 50%) of the SLC Servo Module’s maximum speed.

2. Record the commanded speed and the actual speed contained in

the file F48.

3. Cancel the speed move.

If the axis speed: Then:

Does not match the command speed within 3%

Does match the command speed within 3%

1. Adjust the drive input scaling until the observed speed in file F48 matches the command speed.

2. Repeat the positive speed move at a speed that is as high a speed as safety permits to verify drive input calibration.

3. Repeat steps 1 and 2 in this table until the speeds are within 3%.

Go to

Fine Calibration of the DAC Output Voltage

Scaling

Fine Calibrating

Perform the following steps to fine calibrate the DAC output voltage scaling:

1. Initiate a speed move in a positive direction at the highest (but

safe) speed.

2. Record the axis speed.

3. Cancel the speed move.

4. Repeat steps 1, 2, and 3 for the same magnitude speed

command in a negative direction.

IMPORTANT

Reverse the speed by reversing the speed specifications for the speed move that is executing.

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Setting Up Your SLC Servo Module

If: Then:

Both the positive and negative speed match the commanded speed within 3%

The speed error is greater than 3%

Go to

Computing Excess Following Error Limit

1. Compute a new output voltage at

maximum speeds using the positive speed calibration and negative speed calibration equations shown below.

2. Set the SLC Servo Module in Estop.

3. Toggle the bit (word 0, bit 15) to

download this configuration.

4. Reset Estop.

5. Go to the main step 1.

Calculate: To equal: Multiplied by:

7-19

Output voltage at the positive maximum speed (new value)

Calculate: To equal: Multiplied by:

Output voltage at the negative maximum speed (new value)

Computing Excess Following Error Limit

Output voltage at the positive maximum speed (current value)

(programmed speed) (actual speed in the positive direction)

7. Enter output voltage at the positive maximum speed in

configuration file F8 (words 24-25).

Output voltage at the positive maximum speed (current value)

(programmed speed) (actual speed in the negative direction)

9. Enter output voltage at the negative maximum speed in configuration file F8 (words 26-27).

The axis following error that exceeds the excess following error limit places the control in an Estop condition. This is a safety limit and indicates loss of axis control by the SLC Servo Module. You can compute the normal operating following error from the maximum axis speed that you want and the axis gain. A typical operating difference between the maximum following error and the following error limit is 120%. Default gain for the SLC Servo Module is 1.0 position units per minute per one thousandth of position unit.

Publication 1746-6.1.2 - July 2000

7-20

Setting Up Your SLC Servo Module

To calculate the initial following error limit:

Calculate: To equal:

Follow error limit 1.2 multiplied by the maximum speed that you want

(axis gain x 1000) 180 ipm / (1.0 ipm/mil x 1000)

0.216 inch

2. Enter the following error limit calculated in configuration file F8 (words 38-39).

Selecting Loop Type

To select a loop type for normal operation and to adjust position loop gain, do the following:

1. Set the time to maximum axis speed to one coarse iteration (0.0048 seconds [default]) in file F8 (words 30 and 31).

2. For a normal loop type of the following error FE, set configuration file N7 word 0, bit 4 to 1 and bit 5 to 0.

3. For a normal loop type of the zero following error ZFE (VFF), set configuration file N7 word 0, bits 4 to 0 and bit 5 to 1.

4. Set the % velocity feedforward (VFF) by changing the configuration file F8 (words 32 and 33) to 0.

5. Set the SLC Servo Module in Estop.

6. Toggle the bit (word 0, bit 15) to download this configuration.

7. Reset Estop.

Since you calibrated the speed previously, the position loop gain is in position units per minute per one thousandth of position unit. For the above examples, the gain is in ipm/mil where a mil is 0.001 inch.

Publication 1746-6.1.2 - July 2000

IMPORTANT

A gain of 1.0 in SLC Servo Module units is equivalent to a gain of 16.6667 inverse seconds.

Setting Up Your SLC Servo Module

To monitor and adjust the position loop gain, you must do the following to create a program that loops:

1. Create six individual moves where each move is separated by a one-second delay and where three are in one direction and three are in the opposite direction.

2. Create each move at approximately two motor revolutions and at a programmed speed of 20% of maximum speed.

3. Set up a Set Axis Gain Function within the program.

4. Execute the program.

5. Increase the gain until the axis following error changes sign

when the axis stops.

6. Reduce the gain until a sign change is not observed when stopping.

7-21

Selecting Axis Acceleration Rate

IMPORTANT

7. Enter the gain value determined above in configuration file F8 (words 42 and 43).

8. Repeat the calculation shown in Excess Following Error Limit using the new axis gain.

9. Enter the following error limit calculated in configuration file F8 (words 38 and 39).

10. Set the SLC Servo Module in Estop.

11. Toggle the bit (word 0, bit 15) to download this configuration.

12. Reset Estop.

We specify the axis acceleration rate in terms of time for the SLC Servo Module to reach its maximum acceleration rate. Time to speed is an inverse function; a smaller time means a higher acceleration rate.

It is normal for the following error to change its sign while holding position.

To set the acceleration rate:

1. Set the time to accelerate to maximum speed to 0.2 seconds in configuration file F8 (words 30 and 31).

Publication 1746-6.1.2 - July 2000

Rockwell Automation 1746-HSRV User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual