Rockwell Automation 1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756- M08SE Configuration and Startup
...
User Manual
SERCOS and Analog Motion Configuration and Startup
1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756M08SE, 1756-M16SE, 1768-M04SE, 2094-SE02F-M00-S0,
2094-SE02F-M00-S1
Original Instructions
SERCOS and Analog Motion Configuration and Startup
personal injury or death, property damage, or economic loss.
Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
temperatures.
for Personal Protective Equipment (PPE).
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize
themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to
be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be
impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use
or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and
requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for
actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software
described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is
prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.
Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash
will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and
2 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
Change
Topic
Updated branding.
Throughout
Summary of changes
This manual includes new and updated information. Use these reference
tables to locate changed information.
Grammatical and editorial style changes are not included in this summary.
Global changes
This table identifies changes that apply to all information about a subject in
the manual and the reason for the change. For example, the addition of new
supported hardware, a software design change, or additional reference
material would result in changes to all of the topics that deal with that subject.
Updated Legal notices. Legal notices on page 15
New or enhanced features
None in this version.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 3
Summary of changes
Configure analog motion
Commission and tune
Table of Contents
Preface
What you need ........................................................................................... 11
Configuration and start-up scenarios ...................................................... 11
Description of the modules ................................................................. 12
Help for selecting drives and motors ........................................................ 13
Additional resources .................................................................................. 13
Legal notices ............................................................................................... 15
Chapter 1
Introduction for Configure Analog Motion ............................................. 17
Create a controller project for Configure Analog Motion ...................... 17
Set time synchronization for Configure Analog Motion ........................ 19
Add an analog module .............................................................................. 20
Modify properties for an analog module ................................................. 22
Add a hydraulic drive module ................................................................... 24
Modify properties for a hydraulic drive module ............................... 25
Configure the feedback type .............................................................. 26
Add a motion group for Configure Analog Motion ................................ 27
Set the Base Update Period ................................................................ 28
Add an axis for Configure Analog Motion ............................................... 30
Configure an axis for Configure Analog Motion ..................................... 31
Set the homing sequence for Configure Analog Motion ..................32
Chapter 2
Introduction for Commission and Tune ................................................. 35
Download a program to the controller ..................................................... 35
Test axis wiring and direction ................................................................... 35
Tune a SERCOS axis ................................................................................... 36
Tune an analog axis .................................................................................... 37
Troubleshoot faults ................................................................................... 38
Manage motion faults ............................................................................... 38
Configure the fault actions for an axis ..................................................... 39
Set the fault action for an axis .................................................................. 40
Inhibit an axis ............................................................................................. 41
Before you begin.................................................................................. 42
Example: Inhibit an axis ...................................................................... 43
Example: Uninhibit an axis .................................................................44
Test an axis with Motion Direct Commands ........................................... 45
Access the Motion Direct Commands for a motion group .............. 46
Access the Motion Direct Commands for an axis ............................. 46
Choose a command .............................................................................. 47
Motion Direct Command dialog box ................................................. 50
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 5
Table of Contents
Program
Motion Group Shutdown ................................................................... 50
Motion Direct Command error process ............................................. 51
Motion Direct Command verification ................................................ 51
Motion Direct Command execution error ........................................ 52
What if the software goes offline or the controller
changes modes? ................................................................................... 52
Can two workstations give Motion Direct Commands? .................. 52
Chapter 3
Introduction ............................................................................................... 53
Definition of Jerk ................................................................................. 53
Choose a profile .................................................................................... 53
Jerk Rate Calculation ........................................................................... 54
Conversion from Engineering Units to % of Time ......................56
Use % of Time for the easiest programming of jerk .................... 57
Velocity Profile Effects ................................................................. 58
Jerk Programming in Units/Sec3 ................................................. 58
Unique program considerations ................................................. 58
Profile operand .....................................................................................59
Trapezoidal velocity profile ...........................................................59
S-Curve velocity profile ................................................................ 60
Backward compatibility ................................................................ 61
Enter basic logic ........................................................................................ 62
Example: Motion control program ..................................................... 63
Download a program and run the logic ............................................ 64
Choose a motion instruction .................................................................... 64
Sample projects ......................................................................................... 66
Troubleshoot axis motion .......................................................................... 67
Why does my axis accelerate when I stop it? ..................................... 67
Example .......................................................................................... 67
Look For .......................................................................................... 67
Cause ............................................................................................... 67
Corrective Action .......................................................................... 69
Why does my axis overshoot its target speed? .................................. 70
Example ......................................................................................... 70
Look For ......................................................................................... 70
Cause .............................................................................................. 70
Corrective Action .......................................................................... 72
Why is there a delay when I stop and then restart a jog? ................. 72
Example ......................................................................................... 72
Look For .......................................................................................... 73
Cause ............................................................................................... 73
6 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
Home an axis
Axis properties
Table of Contents
Corrective action ............................................................................ 74
Why does my axis overshoot its position and reverse direction? ..... 74
Example .......................................................................................... 74
Look For .......................................................................................... 74
Cause ............................................................................................... 75
Corrective action ............................................................................ 75
Chapter 4
Introduction for Home an Axis ................................................................ 77
Guidelines for homing.............................................................................. 78
Examples ..................................................................................................... 79
Active homing examples ...................................................................... 79
Passive homing examples ................................................................... 84
Homed Status ...................................................................................... 84
Feedback Integrity .............................................................................. 84
Appendix A
Introduction for Axis Properties ............................................................. 85
General tab – AXIS_SERVO ..................................................................... 85
General tab - AXIS_SERVO_DRIVE ........................................................ 86
Node with a Kinetix 6000 drive ......................................................... 87
General tab - AXIS_VIRTUAL ................................................................... 87
Motion Group ...................................................................................... 87
MOTION_GROUP structure .............................................................. 87
General tab – AXIS_GENERIC ................................................................. 89
Motion Planner tab ................................................................................... 89
Units tab ...................................................................................................... 91
Servo tab - AXIS_SERVO ........................................................................... 91
Feedback tab – AXIS_SERVO ................................................................... 92
Drive/Motor tab - AXIS_SERVO_DRIVE .................................................95
Change Catalog Number ..................................................................... 97
Calculate Position Parameters ............................................................ 97
Motor Feedback tab - AXIS_SERVO_DRIVE .......................................... 99
Aux Feedback tab - AXIS_SERVO_DRIVE .............................................. 99
Conversion tab ......................................................................................... 100
Homing tab - AXIS_SERVO..................................................................... 101
Homing tab - AXIS_SERVO_DRIVE ....................................................... 103
Homing tab - AXIS_VIRTUAL ................................................................. 105
Hookup tab - AXIS_SERVO ..................................................................... 106
Hookup tab - AXIS_SERVO_DRIVE ....................................................... 107
Tune tab - AXIS_SERVO, AXIS_SERVO_DRIVE ...................................108
Start Tuning ....................................................................................... 110
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 7
Table of Contents
Motion axis attributes
Wiring diagrams
Dynamics tab - AXIS_SERVO, AXIS_SERVO _DRIVE,
AXIS_VIRTUAL.......................................................................................... 111
Calculate .............................................................................................. 113
Manual Adjust for Dynamics tab ....................................................... 113
Gains tab - AXIS_SERVO ......................................................................... 114
Manual Adjust for Gains tab...............................................................117
Gains Tab - AXIS_SERVO_DRIVE ...........................................................117
Manual Adjust for Gains tab.............................................................. 121
Set custom gains ................................................................................ 121
Output tab - AXIS_SERVO ...................................................................... 121
Manual Adjust for Output tab ........................................................... 124
Output tab - AXIS_SERVO_DRIVE ......................................................... 124
Manual Adjust for Output tab ........................................................... 125
Limits tab - AXIS_SERVO ........................................................................ 126
Manual Adjust for Limits tab ............................................................ 127
Limits tab - AXIS_SERVO_DRIVE .......................................................... 127
Manual Adjust for Limits tab ............................................................ 129
Set custom limits ................................................................................ 130
Offset tab - AXIS_SERVO ........................................................................ 132
Manual Adjust for Offset tab ............................................................. 134
Offset tab - AXIS_SERVO_DRIVE .......................................................... 134
Manual adjust for Offset tab ............................................................. 136
Fault Actions tab - AXIS_SERVO ............................................................ 136
Fault Actions tab - AXIS_SERVO_DRIVE............................................... 138
Set custom stop action ....................................................................... 140
Tag tab ....................................................................................................... 142
Monitoring axis tags ................................................................................ 142
Create reports ........................................................................................... 143
8 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
Appendix B
Introduction for Motion Axis Attributes ............................................... 147
Accessing an MSG instruction .......................................................... 147
Interpreting the Attribute Tables...................................................... 147
Replicated Attributes ......................................................................... 148
Axis attributes ........................................................................................... 148
Additional error code information ......................................................... 234
Appendix C
Introduction for Wiring Diagrams ........................................................ 235
1756-M02AE module ................................................................................ 235
Ultra 100 Series Drive............................................................................... 235
Ultra 200 Series Drive .............................................................................. 236
Servo loop block diagrams
Index
Table of Contents
1398-CFLAExx cable ............................................................................ 237
Pinouts for 1398-CFLAExx cable ....................................................... 238
Ultra3000 Drive ........................................................................................ 239
Ultra3000 to 1756-M02AE interconnect diagram ............................ 239
2090-U3AE-D44xx cable .................................................................... 240
1756-M02AS module ................................................................................ 240
Wiring from AB 842A encoder without reset to 1756-M02AS RTB . 241
Wiring for AB 842A encoder with remote reset
to 1756-M02AS RTB ........................................................................... 242
1756-HYD02 application example............................................................ 243
1756-HYD02 module ................................................................................. 243
LDTs...........................................................................................................244
Temposonic GH feedback device ............................................................ 245
24V registration sensor ............................................................................ 245
5V registration sensor ............................................................................. 246
Home limit switch input ......................................................................... 246
OK contacts .............................................................................................. 246
Appendix D
Introduction for Servo Loop Block Diagrams ...................................... 249
Interpreting the diagrams ..................................................................... 249
AXIS_SERVO ........................................................................................... 250
Position servo with torque servo drive ............................................ 250
Position servo with velocity servo drive ........................................... 251
AXIS_SERVO_DRIVE ............................................................................. 252
Motor Position Servo ........................................................................ 252
Auxiliary Position Servo .................................................................... 253
Dual Position Servo ............................................................................ 254
Motor Dual Command Servo ............................................................ 255
Auxiliary Dual Command Servo ....................................................... 256
Dual Command Feedback Servo ....................................................... 256
Velocity Servo ..................................................................................... 257
Torque Servo ....................................................................................... 257
Drive Gains ......................................................................................... 257
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 9
programming from the hardware.
What you need
Configuration and
Preface
This manual is a redesigned manual from publication LOGIX-UM002. A
companion manual is available, which is Coordinate System User Manual
publication MOTION -UM002.
This manual is designed to give you the quickest and easiest approach to a
SERCOS or Analog control solution. If you have any comments or
suggestions, please see Documentation Feedback on the back cover of this
manual.
To configure a SERCOS or Analog motion system requires:
SERCOS
• Logix L6x, Logix L7x, or Logix L8x controller
• SERCOS interface drive (6000, 6200, 2000, Ultra3000)
• SERCOS interface module
• Kinetix 6000 drive/actuators pair
• Logix Designer application
,
start-up scenarios
Analog
• Logix L6x controller
• Analog interface module
• Analog interface drive, Ultra3000
• Kinetix 6000 drive/actuators pair
• Logix Designer application
These three example scenarios describe how to get a motion solution up and
running.
Tip: Programming Virtual first is the safest method to begin with because it separates the motion
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 11
Preface
Motion Module
Description
filtering.
Description of the modules
This table describes the Logix 5000 motion modules.
1756-M03SE
1756-M08SE
1756-M16SE
1768-M04SE
Use a SERCOS interface module to connect the
controller to SERCOS interface drives.
• The SERCOS interface module uses high-speed, real
time, serial communication to control digital drives.
• SERCOS is the IEC 61491 Serial Real-time
Communication System protocol over a fiber optic
network.
• The module uses a fiber optic network for all the
wiring between the drives and the module.
2094-SE02F-M00-S0, 2094SE02F-M00-S1
Kinetix 6200 control modules use SERCOS interface to
communicate with the Logix controller and
EtherNet/IP to access the safety configuration tool.
1756-M02AE The 1756-M02AE module is a two-axis servo module for
drives/actuators that need a ±10V velocity or torque
reference. Use the 1756-M02AE module when the
equipment has quadrature encoder feedback.
The module also has:
• Home limit switch inputs
• Drive fault inputs
• Drive enable outputs
• 5V or 24V position registration inputs
• 250 µs position and velocity loop updates
1756-HYD02 The 1756-HYD02 module is a two-axis servo module for
hydraulic actuators that need a ±10V velocity
reference. Use the 1756-HYD02 module when the
equipment has magnostrictive linear transducer (LDT)
feedback.
The module is similar to the 1756-M02AE module with
these exceptions.
• Feed Forward adjust and single-step Auto Tune.
• Gain ratio between extend direction and retract
direction to accommodate hydraulic cylinder
dynamics.
• Intelligent transducer noise detection filtering in
hardware and firmware replaces programmable IIR
12 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
Motion Module
Description
Resource
Description
controllers.
Logix 5000 controller.
publication 1756-RM003.
controller.
Help for selecting
drives and motors
Additional resources
1756-M02AS The 1756-M02AS module is a two-axis servo module for
drives/actuators that need a ±10V velocity or torque
reference input. Use the 1756-M02AS module when the
equipment has Serial Synchronous Input (SSI) position
feedback.
The module is similar to the 1756-M02AE module with
these exceptions:
• Gain ratio between extend direction and retract
direction to accommodate hydraulic cylinder
dynamics.
• Intelligent transducer noise detection filtering in
hardware and firmware replaces programmable IIR
filtering.
• SSI interface consisting of Differential Clock output
and Data return signals replaces the differential
encoder interface.
Preface
Use the Motion Analyzer utility to select the Rockwell Automation drives and
motors based upon the load characteristics and typical motion application
cycles.
Access and download the program at the Motion Analyzer Software
web page.
The Motion Analyzer offers wizard-like screens to collect information about
the application. After entering the information, for example, the load inertia,
gear box ratio, feedback device, and brake requirements, the Motion Analyzer
generates an easy-to-read list of recommended motors, drives, and other
support equipment.
These documents contain additional information concerning related
Rockwell Automation products. View or download publications at the
Literature Library
. To order paper copies of technical documentation, contact
your local Rockwell Automation distributor or sales representative.
Motion Coordinate System User
Manual, publication MOTION-UM002.
Logix 5000 Controller Motion
Instructions Reference Manual,
publication MOTION-RM002.
Logix 5000 Controllers Quick Start,
publication 1756-QS001.
Provides details on how to create and
configure a coordinated motion system.
Provides a programmer with details about
motion instructions for a Logix-based
controller.
Describes how to get started
programming and maintaining Logix 5000
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 13
Logix 5000 Controllers Common
Procedures, publication 1756-PM001.
Logix 5000 Controllers General
Instructions Reference Manual,
Provides detailed and comprehensive
information about how to program a
Provides a programmer with details about
general instructions for a Logix-based
Preface
Resource
Description
publication 1756-RM006.
phases.
ControlLogix system.
drives.
Kinetix 7000 High Power Servo Drive
Provides details on how to plan for,
Servo drive.
combination with a Logix controller.
Kinetix 6200 and Kinetix 6500 Safe
2094-RM002.
Logix 5000 Controllers Advanced
Process Control and Drives
Instructions Reference Manual,
PhaseManager User Manual,
publication LOGIX-UM001.
ControlLogix System User Manual,
publication 1756-UM001.
CompactLogix Controllers User Manual,
publication 1768-UM001.
Analog Encoder (AE) Servo Module
Installation Instructions, publication
1756-IN047.
ControlLogix SERCOS interface Module
Installation Instructions, publication
1756-IN572.
CompactLogix SERCOS interface
Module Installation Instructions,
publication 1768-IN005.
Ultra3000 Digital Servo Drives
Installation Manual, publication 2098IN003.
Provides a programmer with details about
process and drives instructions for a
Logix-based controller.
Describes how to configure and program
a Logix 5000 controller to use equipment
Describes the necessary tasks to install,
configure, program, and operate a
Describes the necessary tasks to install,
configure, program, and operate a
CompactLogix system.
Provides installation instructions for the
Analog Encoder (AE) Servo Module, catalog
number 1756-M02AE.
Provides installation instructions for the
ControlLogix SERCOS interface modules,
catalog number 1756-M03SE, 1756-M08SE,
1756-M16SE, 1756-M08SEG.
Provides installation instructions for the
CompactLogix SERCOS interface Module,
catalog number 1768-M04SE.
Provides the mounting, wiring, and
connecting procedures for the Ultra3000
drives and standard Rockwell
Automation/Allen-Bradley motors
recommended for use with the Ultra3000
Ultra3000 Digital Servo Drives
Integration Manual, publication 2098IN005.
User Manual, publication 2099-UM001.
Kinetix 6000 Multi-axis Servo Drives
User Manual, publication 2094-UM001.
Kinteix 6200 and Kinetix 6500 Safe
Speed Monitoring Multi-axis Servo
Drives Safety Reference Manual,
publication 2094-RM001.
Torque-off Multi-axis Servo Drives
Safety Reference Manual, publication
Provides powerup procedures, system
integration, and troubleshooting tables
for the Ultra3000 digital servo drives.
mount, install, configure, and
troubleshoot the Kinetix 7000 High Power
Provides detailed installation instructions
for mounting, wiring, and troubleshooting
the Kinetix 6000 drive, and system
integration for the drive/motor
Provides information on wiring,
configuring, and troubleshooting the
safety functions of the Kinetix 6200 and
Kinetix 6500 drives.
14 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
Resource
Description
with the 8720MC drive.
4.1.
details.
Legal notices
Preface
8720MC High Performance Drives
Installation manual, publication
8720MC-IN001.
8720MC High Performance Drives
Integration manual, publication
8720MC-IN002.
Industrial Automation Wiring and
Grounding Guidelines, publication 1770-
Product Certifications site. Provides declarations of conformity,
Provides the mounting, wiring, and
connecting procedures for the 8720MC
and standard Rockwell Automation/AllenBradley motors recommended for use
Provides the startup, configuration, and
troubleshooting procedures for the
8720MC drive.
Provides general guidelines for installing
a Rockwell Automation industrial system.
certificates, and other certification
Rockwell Automation publishes legal notices, such as privacy policies, license
agreements, trademark disclosures, and other terms and conditions on the
Legal Notices
page of the Rockwell Automation website.
End User License Agreement (EULA)
You can view the Rockwell Automation End User License Agreement (EULA)
by opening the license.rtf file located in your product's install folder on your
hard drive.
The default location of this file is:
C:\Program Files (x86)\Common Files\Rockwell\license.rtf.
Open Source Software Licenses
The software included in this product contains copyrighted software that is
licensed under one or more open source licenses.
You can view a full list of all open source software used in this product and
their corresponding licenses by opening the oss_license.txt file located your
product's OPENSOURCE folder on your hard drive. This file is divided into
these sections:
• Components
Includes the name of the open source component, its version number,
and the type of license.
• Copyright Text
Includes the name of the open source component, its version number,
and the copyright declaration.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 15
Preface
• Licenses
Includes the name of the license, the list of open source components
citing the license, and the terms of the license.
The default location of this file is:
C:\Program Files (x86)\Common Files\Rockwell\Help\<product
name>\Release Notes\OPENSOURCE\oss_licenses.txt.
You may obtain Corresponding Source code for open source packages
included in this product from their respective project web site(s).
Alternatively, you may obtain complete Corresponding Source code by
contacting Rockwell Automation via the Contact form on the Rockwell
Automation website:
http://www.rockwellautomation.com/global/aboutus/contact/contact.page. Please include "Open Source" as part of the request
text.
16 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
Introduction for Configure
Analog Motion
Create a controller project
for Configure Analog Motion
Chapter 1
Configure analog motion
Use this chapter for step-by-step procedures on how to configure analog
motion control.
Use these instructions to create a controller project.
To create a controller project for Configure SERCOS Motion:
1. Open the Studio 5000 software.
2. In the Studio 5000 launcher, under Create, select New Project.
3. On the New Project dialog box, choose a controller.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 17
Chapter 1 Configure analog motion
Tip: Guest User permissions are cached within the project. The Logix Designer application
Administration Console.
4. In the Name box, type a name for the controller project, and select
Next.
5. In the Revision list, select the revision number for the controller.
6. In the Chassis list, select the type of chassis that holds the controller.
7. In the Slot list, select the physical slot where the controller is located.
8. In the Security Authority list, select a security option:
• No Protection - All users can view and edit the project.
• FactoryTalk Security - Only users authenticated through
FactoryTalk Security can view and edit the project
9. (optional) Select Use only the selected Security Authority for
authentication and authorization to associate this project with a
specific Security Authority. When this check box is selected, users
interacting with this project must be authenticated and authorized by
the same Security Authority that was used to secure the project.
Otherwise, unauthenticated users must rely on Guest User
permissions.
uses Guest User permissions when the project is opened but not connected to the
FactoryTalk Security Authority that secures the project. By default, all Guest User
permissions are denied. Guest User permissions are configured in the FactoryTalk
10. Select Logical Name <Controller Name> or Permission Set to apply
specific permissions to the controller.
Select Logical Name <Controller Name> to apply a Logical Name in
FactoryTalk Services Platform that has the same name as the
controller. If there is no existing Logical Name that matches the
controller name, a new Logical Name is created with the controller's
name. The new Logical Name inherits permissions from its parent
18 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
bytes per character, resulting in less than 128 characters.
Set time synchronization
Chapter 1 Configure analog motion
resource. See FactoryTalk Help for more information on how networks
and devices inherit security permissions.
Select Permission Set to apply a specific set of permissions to the
controller. The permission sets in the list are maintained in
FactoryTalk Services Platform and identify a set of actions that are
allowed or denied for a particular user and computer combination.
11. (optional) In the Description box, type a description for the controller.
Tip: The description is limited to 128 bytes. Standard ASCII characters consume 1 byte per
character, allowing for 128 characters. Characters in some languages require up to three
12. (optional) Select Enable redundancy if this project supports an
automatic transfer of project control to a redundant controller in case
of primary controller failure.
13. Select Finish.
See also
Add a SERCOS motion module
for Configure Analog Motion
Add a SERCOS interface drive module
Add a motion group for Configure SERCOS motion
1. Add an axis
Time Synchronization in ControlLogix is called CIP Sync. CIP Sync is a layer
of functionality that Rockwell Automation has developed on top of the IEEE
1588 PTP protocol. CIP Sync maintains accurate time synchronization of
automation solutions.
This setting establishes the module to participate in time synchronization. In
systems with multiple processors, all controllers must have time
synchronization enabled if they use CSmainT/PTP time. The 1756-ENxT
communication modules win the arbitration over any processor.
To set time synchronization for Configure SERCOS Motion:
1. In the Controller Organizer, double-click the controller.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 19
Chapter 1 Configure analog motion
IMPORTANT
Add an analog module
2. On the Controller Properties dialog box, select the Date/Time tab.
3. Select Enable Time Synchronization.
4. Select OK.
Without intervention, the Grandmaster is PTP and CST master. Use the
settings on the Advanced dialog box to let this module win the arbitration
over other processors and communication modules in the chassis.
See also
Integrated Architecture and CIP Sync Configuration Application Technique,
publication IA-AT003
Use these instructions to add an analog module to the system.
For all modules, use the firmware revision that goes with the firmware revision of the
controller. See the release notes for the controller’s firmware.
To add an analog module:
1. In the Controller Organizer, right-click the backplane and select New
Module.
20 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
WARNING: Disable Keying should never be used with motion modules.
Chapter 1 Configure analog motion
2. On the Select Module Type dialog box, choose the module to add to the
project.
3. Select Close on Create, and select Create.
4. On the New Module dialog box, in Name, type a name for the module.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 21
5. In Slot, choose the number that corresponds to the physical slot that
contains the module.
6. (optional) In Description, type a description.
7. In Electronic Keying, choose a keying option of either Compatible
Keying or Exact Match.
8. Select Open Module Properties, and select OK. Continue with the
procedure to modify the properties for the module.
See also
Electronic Keying
Chapter 1 Configure analog motion
Modify properties for
an analog module
Use the Module Properties dialog box to modify properties and associate axes
with the module.
To modify the properties for an analog module:
1. In the Controller Organizer, double-click the module.
2. On the Module Properties Report dialog box, select the Associated
Axes tab.
3. Select New Axis to create an axis to associate with this module.
4. On the New Tag dialog box, type a name for the Axis and select Create.
22 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
5. On the Module Properties Report dialog box, in Channel 0, choose the
new axis to assign it to the module.
6. Select Browse to open the Axis Properties dialog box for the
associated axis.
Hydraulic can only be selected for a hydraulic module.
Chapter 1 Configure analog motion
7. On the Axis Properties dialog box, in Module on the General tab,
choose the module to associate with the axis.
8. Select the Servo tab.
9. In External Drive Configuration, choose the drive configuration.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 23
Tip: If configuring a torque drive, the drive must be able to be configured for torque.
10. Select OK.
See also
Add a motion group for Configure Analog Module on page 27
Add an axis for Configure Analog Module on page 30
Chapter 1 Configure analog motion
IMPORTANT
Add a hydraulic
drive module
Use these instructions to add a hydraulic drive module if included in the
configuration.
To add a hydraulic drive module:
For all modules, use the firmware revision that goes with the firmware revision of the
controller. See the release notes for the controller’s firmware.
1. In the Controller Organizer, right-click the backplane and select New
Module.
2. On the Select Module Type dialog box, choose the hydraulic drive
module to add to the project.
24 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
3. Select Close on Create, and select Create.
4. On the New Module dialog box, in Name, type a name for the module.
WARNING: WARNING: Never select Disable Keying with motion modules
Modify properties for a
hydraulic drive module
Chapter 1 Configure analog motion
5. In Slot, choose the number that corresponds to the physical slot that
contains the module.
6. (optional) In Description, type a description.
7. In Electronic Keying, choose either Compatible Keying or Exact
Match.
8. Select Open Module Properties.
9. Select OK. Continue with the instructions to modify the properties for
the hydraulic drive module.
Configure the feedback type for a hydraulic drive. Based on the length of the
feedback, the Servo Update Period must be configured. This setting is unique
for the 1756-HYD02 module. If the Servo Update Period is not configured
correctly, the axis does not work.
To modify the properties for a hydraulic drive module:
1. If the Module Properties Report dialog box is not already open, in the
Controller Organizer, double-click the hydraulic drive module.
2. On the Module Properties Report dialog box, select the Associated
Axes tab.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 25
3. Select New Axis to create an AXIS_SERVO tag to associate to one of
the channels.
Chapter 1 Configure analog motion
Configure the
4. On the New Tag dialog box, in Name, type a name for the axis tag.
5. Select Create.
6. (optional) Repeat steps 3 through 5 if an additional axis is required.
7. On the Module Properties Report dialog box, in Channel 0, choose an
axis.
8. (optional) In Channel 1, choose an axis.
9. In Servo Update Period, choose the periodic rate at which the module
closes the servo loop for an axis.
10. Select OK.
feedback type
26 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
See also
Configure the feedback type on page 26
Use these instructions to configure the feedback type for the axis.
1. In the Controller Organizer, double-click the axis.
IMPORTANT
Add a motion group for
Chapter 1 Configure analog motion
2. On the Axis Properties dialog box, select the Feedback tab.
3. In Feedback Type, choose the feedback type.
4. In Calibration Constant, choose the value and select Calculate. The
minimum servo update period for the configured feedback appears.
Configure Analog Motion
5. If necessary, return to the Module Properties dialog box, and modify
the settings on the Associated Axis tab.
See also
Feedback tab - AXIS_SERVO on page 92
Use these instructions to add a motion group.
Only one motion group can be created for each project.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 27
Chapter 1 Configure analog motion
Set the Base Update Period
To add a motion group for Configure Analog Motion:
1. In the Controller Organizer, right-click Motion Groups and select New
Motion Group.
2. On the New Tag dialog box, in Name, type a name for the motion
group.
28 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
3. (optional) In Description, type a description.
4. Select Create.
See also
Add an axis for Configure Analog Motion on page 30
The Base Update Period (also known as the Coarse Update Period) is how
often the motion planner runs. The motion planner is the part of the
controller that handles position and velocity information for the axes. When
the motion planner runs, it interrupts most other tasks regardless of their
priority.
Guideline
Description
Save Controller’s Time
Leave at least half the controller’s time for the scan
Base Update Period and
For analog motion modules, set the Base Update
motion module.
Chapter 1 Configure analog motion
Example: If the Base Update Period is set to 10 ms, then every 10 ms the
controller stops scanning the code and performing other system overhead
tasks, and runs the motion planner.
Use these guidelines to set the Base Update Period.
Number of Axes 1756-L6x controller 4 axes/ms
x
controller8 axes/ms
1756-L7
of all the code.
Base Update Period and
SERCOS modules
Analog modules
For SERCOS interface motion modules, set the Base
Update Period to a multiple of the cycle time of the
motion module.
Example: If the cycle time is 2 ms, set the Base
Update Period to 8 ms, 10 ms, 12ms, and so on.
Period to:
• At least 3 times the servo update period of the
motion module.
• A multiple of the servo update period of the
To set the Base Update Period:
1. In the Controller Organizer, double-click the motion group.
Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020 29
Chapter 1 Configure analog motion
there is no need to open the Axis Schedule dialog box.
Add an axis for Configure
2. Select the Attribute tab.
Analog Motion
3. In Base Update Period, choose the update period using the guidelines
mentioned earlier. The valid values range from 0.5 to 32, in 0.5
increments.
Tip: The Axis Schedule button opens the Axis Schedule dialog box to schedule the base
and alternate update periods and assign axes to them. Since axes used in coordinate
system objects cannot be multiplexed, only the Base Update Period is used. Therefore,
4. In General Fault Type, choose Non Major Fault.
5. Select OK.
See also
1. Manage motion faults on page 38
Use these instructions to add an axis for each of the drives.
30 Rockwell Automation Publication MOTION-UM001I-EN-P - Septemberr 2020
Loading...