Rockwell Automation 1746-HSRV User Manual

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

Allen-Bradley is a trademark of Rockwell Automation

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

Preface

Overview of the SLC Servo

Module

Selecting Power Supplies,

Encoders, and Drives

Planning Hardware

Installation

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

Chapter 2

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

Chapter 3

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

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

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Installing Your SLC Servo

Module

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

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

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

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

Wiring the SLC Servo

Module

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

Chapter 6

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

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

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

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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Programming the SLC Processor to Run the SLC Servo Module

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

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

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Programming System

Variables

Troubleshooting

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

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

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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Input/Output Quick

Reference

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

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

Appendix B

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

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Table of Contents	vii

Programming Examples

Wiring Without the

Termination Panel

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

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

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

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Table of Contents	viii

Publication 1746-6.1.2 - July 2000

Preface

Who Should Use this Manual

Purpose of this Manual

Safety Precautions

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

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	9399-RL50GR
AI Series Installation Guide	9399-AIIG

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.

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

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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.

ATTENTION

!

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.

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.

Contents of this Manual

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

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Preface P- 3

Chapter	Title	Contents
1	Overview of the SLC Servo	Overview information about
	Module	the product, its operation
		and hardware features.
		Describes interface
		selection, the module’s use
		of inputs and outputs, and
		operating modes.
2	Selecting Power Supplies,	Information about selecting
	Encoders and Drives	the hardware to support an
		SLC Servo Module.
3	Planning Hardware	Interconnection diagrams
	Installation	for various hardware
		interfaces for
		communication with the SLC
		Servo Module.
4	Installing Your SLC Servo	Installation information.
	Module
5	Wiring the SLC Servo	Information about wiring
	Module	fast inputs, outputs, Estop
		connections, power
		supplies, encoders and drive
		connections.
6	Testing Your SLC Servo	Information about powering
	Module Hardware	up the SLC Servo Module,
		testing the Estop and the
		fast I/O, integrating the axis
		and testing the homing
		function.
7	Setting Up and Configuring	Information about applying
	Your SLC Servo Module	power and configuring the
		SLC Servo Module using
		command parameters.
8	Programming the SLC	Information about blend
	Processor to Run the SLC	move profiles, module
	Servo Module	communication interface,
		command, and status
		information. Describes
		discrete bit and block
		commands from the SLC
		Servo Module.
9	Programming System	Describes discrete block
	Variables	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

Related Documentation

Chapter	Title	Contents
10	Troubleshooting	Information about
		troubleshooting and error
		handling.
Appendix A	Input/Output Quick	A quick reference of
	Reference	parameters, commands,
		status specifications, and
		move profiles.
Appendix B	Cable Specifications	Specifications and wiring
		diagram for 1746-HCA
		cable.
Appendix C	Application Examples	Applications examples for
		constructing programs using
		the SLC processor.
Appendix D	Wiring Without the	Information you need to
	Termination Panel	wire the SLC Servo Module
		without a termination panel.

The following documents contain additional information concerning 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	SLC 500 Modular Hardware Style Installation &	1747-6.2
programmable controller	Operation Manual
A description of how to install and use your Fixed SLC 500	SLC 500 Fixed Hardware Style Programmable	1747-621
programmable controller	Controllers Installation & Operation Manual
A training and quick reference guide for APS	SLC 500 Software Programmer’s Quick Reference	ABT-1747-TSG001
	Guide
In-depth information on grounding and wiring Allen-Bradley	Industrial Automation Wiring and Grounding	1770-4.1
programmable controllers	Guidelines
An article on wire sizes and types for grounding electrical	National Electrical Code	Published by the
equipment		National Fire
		Protection
		Association of
		Boston, MA
A complete listing of current Allen-Bradley documentation,	Allen-Bradley Publication Index	SD499
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

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Preface P- 5

Conventions Used in this Manual

Product Receiving and

Storage Responsibility

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

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.

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Preface P-6

Rockwell Automation

Support

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 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:

1-603-443-5419

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Preface P- 7

On the Web

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

http://www.ab.com/

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Preface P-8

Publication 1746-6.1.2 - July 2000

Chapter 1

SLC Servo Module

Overview

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

The SLC Servo Module (catalog number 1746-HSRV) is compatible with the SLC 500 family and only used with SLC 5/03™ FRN 5.0, SLC 5/04™, or SLC 5/05™ SLC Servo Modules. The SLC Servo Module is programmed for incremental, absolute or speed moves, depending on the application.

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

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1-2 Overview of the SLC Servo Module

SLC Servo Module

Operation

Figure 1.1 Example of an SLC Wiring

SLC	1746-	1746-
5/04	HSRV	IW16

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

CR-IOPS-241 +24V DC Power Supply

1746-HCA Cable

1746-HT

Termination Panel

A-B 845

Encoder Motor

Tach	Drive
	Amplifier

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.

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

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Overview of the SLC Servo Module	1-3

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.

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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1-4 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	12
Words
Number of Output	12
Words
Selection for	OTHER
Configuration	(with 10114 as the number specified)
Configuration Mode	Uses M files
Recommended I/O	Slot 1 or the lowest numbered I/O slot for SLC
Slot in SLC Rack	applications using the module interrupt option.1,2
Number of HSRVs in	12
one rack	with proper power supply

1There 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.

2The SLC Servo Module does not function in a remote I/O rack.

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 2

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

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.

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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

Selecting a User-Side

Power Supply

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

Power Supply	Operating	Output Capacity
	Voltage
		5V DC	24V DC
	Requirements
1746-P1	85-130V AC or	2A	.46A
	170-265V AC
1746-P2	85-130V AC or	5A	.96A
	170-265V AC
1746-P3	19.2-28.8 DC	3.6A	.87A
1746-P4	85-132V AC or	10.0A	2.88A
	170-265V AC

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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2-4 Selecting Power Supplies, Encoders, and Drives

Using Fast Inputs and

Outputs

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.

Device	+5V	+15V	–15V	+24V
1746-IB8	0	0	0	.064A
1746-OV8	0	0	0	.800A
SLC Servo	.150A	.030A	.030A	0
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
	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

Selecting an Encoder

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

Outputs (source drivers)

Specification	Rating
Voh (high-level, on-state output	Refer to the specifications for your
voltage)	user-side power supply
Ioh (high-level, on-state output current	+24V @ .20A (for resistive and
for each output)	inductive loads); +24V @ .10A (for
	capacitive loads)
Turn on time	500 µs
Turn off time	500 µs
Inputs
Specification	Rating
VT (input low/high trip threshold)	10.51V (min)
	12.5V (typ)
	14.61V (max)
VT (input high/low trip threshold)	6.4V	(min)
	8.3V	(typ)
	10.3V (max)
VHYST	1.9V	(min)
	4.1V	(typ)
	6.5V	(max)
IIN @ 27V	2.5 mA (max)
TPD+ (input low/high debounce filter)	.2 msec (typ)
TPD- (input low/high debounce filter)	.2 msec (typ)
VIN (absolute max.)	+75V (max)

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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2-6 Selecting Power Supplies, Encoders, and Drives

Specification	Rating
Maximum	Incoming quadrature frequency is limited by the following
channel	relationship:
frequency	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.
Maximum axis	The SLC Servo Module decodes the incoming encoder
speed	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 × FQUAD
	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.
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).

Publication 1746-6.1.2 - July 2000

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	Publication	Title
Drive	Number
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
		Sheet
1391	1391-2.0	AC PWM Servo Controller Product Data
		Sheet
1392	1392-2.1	High Performance AC Drive (460V and 230V)
		Product Data
1394	1394-2.0	1394 Digital Multi-Axis Motion Control
		Systems Product Data
1398	1398-2.0	ULTRA Series 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	2K through 20K ohms
Conversion time	100	µs
Output step response (20V
swing)
∙ Rise time	110	µs typical
∙ Overshoot	5% typical
∙ Settling time	60µs typical
Differential linearity	±1 LSB Max. (monotonic over the entire
	temperature range)
Output offset voltage	500	µV (max)
Gain error drift	7 LSB (max)

Publication 1746-6.1.2 - July 2000