Rockwell Automation 1784-PM16SE User Manual

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SoftLogix

Motion

Card

(Cat.No. 1784-PM02AE, -PM16SE)

Setup and Configuration 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:

WARNING

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

RSLogix, SoftLogix, Ultra3000, Ultra5000, and Kinetix 6000 are all trademarks of Rockwell Automation

SERCOS interface is a trademark of the Interests group SERCOS interface e.V. of Stuttgart, Germany

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:

This product is intended for use in an industrial environment.

Low Voltage Directive

• 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 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.

Preface

Table of Contents

Using This Manual

The SoftLogix Motion Control System

Who Should Use This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

The Purpose of This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Technical Product Assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

On the Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Chapter 1

SoftLogix Motion Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Components of the SoftLogix Motion System. . . . . . . . . . . . . . . . . . . . 6

SoftLogix Chassis Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

The SoftLogix Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

The Analog/Encoder Servo Module (1784-PMO2AE) . . . . . . . . . 9

The 16 Axis SERCOS interface Module (1784-PM16SE). . . . . . . . 9

RSLogix 5000 Programming Software . . . . . . . . . . . . . . . . . . . . . . . 9

Developing a Motion Control Application Program . . . . . . . . . . . . . . 10

Application Program Development . . . . . . . . . . . . . . . . . . . . . . . . 10

The MOTION_INSTRUCTION Tag. . . . . . . . . . . . . . . . . . . . . . 10

Motion Status and Configuration Parameters . . . . . . . . . . . . . . . . 11

Modifying Motion Configuration Parameters . . . . . . . . . . . . . . . . 11

Handling Motion Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 2

SoftLogix Controller

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Accessing the New Controller Dialog. . . . . . . . . . . . . . . . . . . . . . . . . . 14

Editing Controller Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Chapter 3

Adding and Configuring Your 1784-PM02AE Motion Module

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Adding the 1784-PM02AE Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Editing Your Motion Module Settings . . . . . . . . . . . . . . . . . . . . . . . . . 51

Assigning Additional Motion Modules . . . . . . . . . . . . . . . . . . . . . . . . . 60

Chapter 4

Configuring the1784-PM16SE Card

The Motion Group

Naming & Configuring Your Motion Axis

Creating & Configuring Your Coordinate System Tag

Adding the 1784-PM16SE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

SERCOS interface Motion Card Overview . . . . . . . . . . . . . . . . . . . . . 66

Editing 1784-PM16SE Card Properties . . . . . . . . . . . . . . . . . . . . . . . . 67

Chapter 5

Creating A Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Editing the Motion Group Properties. . . . . . . . . . . . . . . . . . . . . . . . . . 82

Chapter 6

Naming an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Editing Motion Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Assigning Additional Motion Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

Chapter 7

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

Creating a Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

Editing Coordinate System Properties . . . . . . . . . . . . . . . . . . . . . . . . 179

Right Mouse Click Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

Configuring a 1394x-SJTxx-D Digital Servo Drive

Configuring an Ultra 3000 Drive

Configuring a Kinetix 6000 Drive

Configuring an 8720MC Drive

Chapter 8

1394x-SJTxx-D Digital Servo Drive Overview . . . . . . . . . . . . . . . . . 193

Chapter 9

Editing the Ultra Drive Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

Chapter 10

Editing the Kinetix Drive Properties . . . . . . . . . . . . . . . . . . . . . . . . . 225

Chapter 11

Editing the 8720MC Drive Properties . . . . . . . . . . . . . . . . . . . . . . . . 240

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Chapter 12

iii

Motion Instructions

Motion Object Attributes

Motion State Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

Motion Move Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

Motion Group Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Motion Event Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Motion Configuration Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

Motion Coordinated Move Instructions . . . . . . . . . . . . . . . . . . . . . . . 256

Motion Direct Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

Accessing Direct Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

Supported Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

Motion Direct Command Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

Chapter 13

Object Support Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

Motion Object Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

Motion Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

Motion Status Bit Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

Motion Object Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . 287

Motion Unit Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . . 287

Motion Conversion Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

Motion Homing Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

Motion Dynamics Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

Servo Status Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

Servo Status Bit Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

Commissioning Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

Servo Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

Servo Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

Servo Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

Servo Fault Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342

Commissioning Configuration Attributes. . . . . . . . . . . . . . . . . . . . . . 343

Servo Drive Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

Commissioning Status Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

Servo Drive Configuration Attributes. . . . . . . . . . . . . . . . . . . . . . . . . 372

Motor and Feedback Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 380

Servo Loop Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

Drive Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

Drive Offsets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

Drive Fault Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401

Drive Power Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404

Commissioning Configuration Attributes. . . . . . . . . . . . . . . . . . . . . . 405

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Chapter 14

Troubleshooting

Specifications and Performance

Wiring Diagrams

1784-PM02AE LED Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411

SERCOS interface LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . 412

Appendix A

1784-PM02AE Motion Card Specifications . . . . . . . . . . . . . . . . . . . . 417

1784-M16SE Motion Card Specifications. . . . . . . . . . . . . . . . . . . . . . 418

Appendix B

About Block Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

Using a 1784-PM02AE Module With a Torque Servo Drive . . . 422 Using a 1784-PM02AE Module With a Velocity Servo Drive . . 423

Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

1784-PM02AE Termination Panel . . . . . . . . . . . . . . . . . . . . . . . . 423

Pinouts for Cable 1784-PM02AE-TP0x . . . . . . . . . . . . . . . . . . 426

1398 to Termination Panel Wiring Diagram . . . . . . . . . . . . . . . . 428

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Using This Manual

Preface

Who Should Use This

To use this manual, you should be able to program and operate the Allen-Bradley SoftLogix5800™ controllers to efficiently use your motion

Manual

control modules. The manual’s focus is from the RSLogix 5000 software.

If you need more information about programming and operating the SoftLogix5800 controllers, refer to the SoftLogix5800 System User Manual, publication number 1789-UM002.

The Purpose of This Manual

This manual describes how to setup and configure and troubleshoot your SoftLogix motion cards using the RSLogix 5000 software. The following table shows the contents of each section in this manual:

Section Contains

Chapter 1 The ControlLogix Motion Control System

Chapter 2 Controller Properties

Chapter 3 Adding and Configuring Your 1784-PM02AE Motion Card

Chapter 4 Adding and Configuring Your 17846-PM16SE Motion Card

Chapter 5 The Motion Group

Chapter 6 Adding and Configuring Motion Axes

Chapter 7 Creating and Configuring a Coordinate System How to create and configure a Coordinated System. Chapter 8

Configuring a 1394C-SJT05/10/22-D Digital Servo Drive Chapter 9

Configuring an Ultra3000 Chapter 10

Configuring the Kinetix 6000 Chapter 11

Configuring the 8720MC High Performance Drive Chapter 12

The Motion Instructions Chapter 13

Motion Object Attributes Chapter 14

Troubleshooting

Drive

Information about the SoftLogix motion control system.

Explains how to create and edit your controller.

How to add and configure your 1784-PM02AE motion module using the RSLogix™ 5000 programming software.

How to add and configure your 1784-PM16SE motion card using the RSLogix 5000 programming software

How to create and edit your Motion Group.

How to name and configure a motion axis using the RSLogix 5000 programming software.

How to add and configure a 1394C Digital Servo Drive.

How to add and configure an Ultra3000 drive

How to add and configure a Kinetix 6000 drive

How to add and configure an 8720MC High Performance Drive

Information about the motion instructions provided in the RSLogix 5000 programming software.

Information about the Motion Object attributes.

Information about troubleshooting your SoftLogix motion control system.

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2 Using This Manual

Appendix A Specifications

Appendix B Loop and Interconnect Diagrams

Rockwell Automation Support

Publication 1784-UM003A-EN-P – June 2003

For more information on the documentation, refer to the Allen-Bradley Publication Index, publication number SD499.

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.

Using This Manual 3

Technical Product Assistance

On the Web

Local Product Support

Contact your local Rockwell Automation representative for:

• sales and order support

• product technical training

• warranty support

• support service agreements

If you need to contact Rockwell Automation for technical assistance, please review the information in this manual. If the problem persists, call your local Rockwell Automation representative.

The Rockwell Automation Technical Support number is:

1-440-646-5800

For information about Rockwell Automation, visit the following World Wide Web site:

http://www.ab.com/support

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4 Using This Manual

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Chapter

The SoftLogix Motion Control System

This chapter describes the SoftLogix motion control system and its components.

SoftLogix Motion Control

The Virtual Chassis, SoftLogix controller, 1784-PM02AE servo card, 1784-PM16SE SERCOS interface card, and RSLogix 5000 programming software provide integrated motion control support.

• The Chassis Monitor lets you create, delete, monitor, and configure

controllers and communication interface cards such as ControlNet, DeviceNet, 1784-PM02AE and 1784-PM16SE motion cards in the SoftLogix Virtual Chassis.

• The SoftLogix5860 controller contains a high-speed motion task, which

executes ladder motion commands and generates position and velocity profile information. The controller sends this profile information to one or more 1784-PM02AE servo modules. You can use several Logix controllers in each chassis. Each controller can control up to 32 axes of motion.

• The 1784-PM02AE servo module connects to a servo drive and closes a

high-speed position and velocity loop. Each SoftLogix controller can support up to 16 1784-PM02AE servo modules. Each 1784-PM02AE module can control up to two axes.

• The 1784-PM16SE SERCOS interface module serves as the interface

between one SoftLogix processor and 1 to 16 axes operating in either position or velocity mode. The module has a programmable ring Cycle Period of 0.5 ms, 1 ms, or 2 ms depending on the number of axes and a ring Data Rate of 4 or 8 Mbaud.

• RSLogix 5000 programming software provides complete axis

configuration and motion programming support.

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6 The SoftLogix Motion Control System

Figure 1.1 SoftLogix System with 1784-PM02AE

Components of the SoftLogix Motion System

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Figure 1.2 SoftLogix System with 1784-PM16SE

The SoftLogix Motion Control System 7

SoftLogix Chassis Monitor

It is at the Chassis Monitor where you can change the processor mode, and view system status. After you have created and configured the various modules of your SoftLogix system you can use the Chassis Monitor to display the virtual chassis where you can monitor the simulated LEDs to view status information for your modules.

Figure 1.3 SoftLogix Chassis Monitor

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8 The SoftLogix Motion Control System

Additional information in the form of a tooltip about the modules can be ascertained by placing the mouse over a specific module.

The SoftLogix Controller

Figure 1.4 Additional Information for the PM16SE Card

The SoftLogix controller is the main component in the SoftLogix system. It supports sequential and motion functions, and it performs all of the motion command execution and motion trajectory planner functions. You can use one or more SoftLogix controllers in each chassis, and each controller can control up to 32 axes of motion.

The SoftLogix controller provides the following motion support:

• A high-speed motion task, which manages motion functions and

generates move profiles

• The ability to control up to 16 Analog/Encoder servo modules for a

total of 32 axes

• SERCOS support

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The SoftLogix Motion Control System 9

The Analog/Encoder Servo Module

(1784-PMO2AE)

The 16 Axis SERCOS interface

Module (1784-PM16SE)

The Analog/Encoder servo module provides an analog/quadrature encoder servo drive interface. The servo module receives configuration and move information from the SoftLogix controller and manages motor position and velocity.

The servo module supports:

• Connection capability for up to two drives

• ±10V analog outputs

• Quadrature encoder inputs

• Home limit switch inputs

• Drive fault inputs

• Drive enable outputs

• 5V or 24V position registration inputs

• 250 μs position and velocity loop updates

The 16 Axis SERCOS interface modules (1784-PM16SE) serves as a link between the SoftLogix platform and intelligent drives. The communication link between the module and the drive(s) is via IEC 1491 SErial Real-time COmmunication System (SERCOS) using fiber optic medium.

RSLogix 5000 Programming Software

The SERCOS interface module supports:

• reliable high speed data transmission

• excellent noise immunity

• elimination of interconnect wiring

• ASA messages converted to SERCOS formatted messages

The RSLogix 5000 programming software provides complete programming and commissioning support for the SoftLogix system. RSLogix 5000 is the only programming software needed to fully configure and program SoftLogix motion control systems.

RSLogix 5000 software provides the following motion support:

• Wizards for servo axis configuration including drive hookup diagnostics

and auto tuning

• Ladder-based application programming including support for 31

motion commands

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10 The SoftLogix Motion Control System

Developing a Motion Control Application Program

Application Program Development

This section provides an introduction to concepts used in developing application programs for motion control. These concepts include:

• Application program development

• The MOTION_INSTRUCTION tag

• Motion status and configuration parameters

• Modifying motion configuration parameters

• Handling motion faults

Developing a motion control application program involves the following:

Task Description

Select the master coordinated system time

Name and Configure an axis Adds an axis to your application

Develop a motion application program Create a program for your motion

Add a motion module Adds a motion module to your

Assign additional servo modules and axes

Run hookup diagnostics and auto tuning

Sets one controller as the master controller. Once you complete this step, you can synchronize all the motion modules and SoftLogix controllers in your chassis

program

control application

application program Adds additional modules and axes to

your application program Completes hookup diagnostics and

auto tuning for each axis

The MOTION_INSTRUCTION Tag

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The controller uses the MOTION_INSTRUCTION tag (structure) to store status information during the execution of motion instructions. Every motion instruction has a motion control parameter that requires a MOTION_INSTRUCTION tag to store status information.

The

motion control

parameter

Figure 1.5 Motion Control Parameter

The SoftLogix Motion Control System 11

Motion Status and Configuration

Parameters

ATTENTION

Tags used for the motion control parameter of instructions should only be used once. Re-use of the motion control parameter in other instructions can cause unintended operation of the control variables.

For more information about the MOTION_INSTRUCTION tag, refer to the Logix5000 Controller Motion Instruction Set Reference Manual (1756-RM007).

You can read motion status and configuration parameters in your ladder logic program using two methods.

Method Example For more information

Directly accessing the AXIS and MOTION_GROUP structures

Using the GSV instruction

• Axis faults

• Motion status

• Servo status

• Actual

position

• Command position

• Actual velocity

Refer to

Motion Instruction Set Reference Manual (1756-RM007).

Refer to the Input/Output Instructions chapter of the Logix Controller Instruction Set Reference Manual, publication 1756-RM003.

the Logix5000 Controller

Modifying Motion Configuration

Parameters

In your ladder logic program, you can modify motion configuration parameters using the SSV instruction. For example, you can change position loop gain, velocity loop gain, and current limits within your program.

For more information about the SSV instruction, refer to the Logix Controller Instruction Set Reference Manual, publication 1756-RM003.

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12 The SoftLogix Motion Control System

Handling Motion Faults

Two types of motion faults exist.

Type Description Example

Motion Instruction Errors

Minor/Maj or Faults

• Do not impact controller operation

• Should be corrected to optimize execution time and ensure program accuracy

• Caused by a problem with the servo loop

• Can shutdown the controller if you do not correct the fault condition

A Motion Axis Move (MAM) instruction with a parameter out of range

The application exceeded the PositionErrorTolerance value

Errors

Executing a motion instruction within an application program can generate errors. The MOTION_INSTRUCTION tag has a field that contains the error code. For more information on error codes for individual instructions, refer to the motion instruction chapters in the Logix5550 Controller Instruction Set Reference Manual.

Minor/Major Faults

Several faults can occur that are not caused by motion instructions. For example, a loss of encoder feedback or actual position exceeding an overtravel limit cause faults. The motion faults are considered Type 11 faults with error codes from 1 to 32. For more information about motion error codes, refer to Handling Controller Faults in the Logix Controller User Manual.

TIP

You can configure a fault as either minor (non major) or major by using the Axis Wizard-Group window.

For more information about handling faults, see Handling Controller Faults in the Logix 5000 Controller User Manual.

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SoftLogix Controller

Chapter

Introduction

Before you can begin programming or configuring your controller, you must create a project file in which to store it.

To create a Project:

1. From the Type pull-down menu, choose the controller type that you wish to use for this project.

2. Enter the name you wish to use for the controller.

The same name is used for the project file with the .acd extension.

3. Enter a description of the controller.

4. Choose the appropriate chassis type in which the controller resides.

5. Enter the slot number for the controller.

In SoftLogix, controllers occupy a numbered slot in the chassis and can be placed in any slot. It is also possible to place multiple controllers in the same chassis.

6. Verify the appropriate revision information for your controller. This field defaults to the latest revision for the given controller type.

7. Enter the directory in which you want to store the project file.

The directory defaults to the one you configured in the Workstation Options dialog. If you want to use a different directory, type its path or click on the Browse button to find the directory.

The project file is created in this directory with the same name as the controller with a .ACD file extension. For example, if your controller name is Oven1, the project file name becomes Oven1.ACD.

8. Click on OK to create the project.

Once the project file is created, you can see the Controller Organizer, which shows everything in the controller. The default configuration contains a continuous task, called Main Task. The Main Task contains a program called Main Program. The Main Program contains a routine called Main Routine, which is configured as the main routinedef_main_routine@gloss.hlp.

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14 SoftLogix Controller

In addition, if you have chosen a FlexLogix controller, 2 FlexBus adapters are created in slots 3 and 4 under the I/O Configuration folder. These 2 folders contain all local I/O for FlexLogix, other than the 2 local slots for communication. The first folder contains all I/O configured on the local Flex rail housing the Flex controller; the second folder contains all I/O configured for the local non-controller rail.

Note: You cannot delete, copy, cut, paste, or drag and drop the FlexBus adapters. Once you create a FlexLogix controller, the adapters appear under the I/O Configuration folder and cannot be altered unless you delete the FlexLogix controller.

Accessing the New Controller Dialog

New Controller Dialog

From the File menu, choose New to access the New Controller dialog.

Create a new controller (i.e., project) from this dialog.

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Figure 2.1 New Controller Dialog

SoftLogix Controller 15

Vendor

Displays the name of the controller’s manufacturer.

Ty pe

Select the controller type from the pull-down menu, shown here by catalog number, platform, and processor.

Choose from:

• 1756-L1 ControlLogix5550 Controller

• 1756-L55 ControlLogix5555 Controller

• 1756-L61 ControlLogix5561 Controller

• 1756-L62 ControlLogix5562 Controller

• 1756-L63 ControlLogix5563 Controller

• 1756-LCE ControlLogixCE Controller

• 1769-L20 CompactLogix5320 Controller

• 1769-L30 CompactLogix5330 Controller

• 1769-L35E CompactLogix5335E Controller

• 1789-L60 SoftLogix5860 Controller

• 1794-L33 FlexLogix5433 Controller

• 1794-L34 FlexLogix5434 Controller

• 618x-LCE PanelViewLogix Controller

• Emulator RSLogix Emulate 5000 Controller

• PowerFlex700S DriveLogix5720 Controller

Redundancy Enabled

Check this box if you wish to enable redundancy for this controller. Note that this option is disabled if you have chosen a controller that does not support redundancy.

Name

Enter the name you wish to use for the new controller. This name is also used for the project file, with a .acd extension.

Description

Enter a description of the controller.

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Chassis Type

Select the appropriate chassis type from the pull-down menu, shown here by catalog number. The software uses this information to determine the number of slots in the chassis. Depending on the controller type you chose, the available options in this menu vary:

For this platform: Choose from these chassis types:

ControlLogix 1756-A4, 4-slot ControlLogix chassis

1756-A7, 7-slot ControlLogix chassis 1756-A10, 10-slot ControlLogix chassis 1756-A13, 13-slot ControlLogix chassis

1756-A17, 17-slot ControlLogix chassis CompactLogix Not applicable SoftLogix 1789-17, 17-slot SoftLogix virtual chassis FlexLogix Not applicable DriveLogix Not applicable

Slot Number

Choose the slot number where the controller resides on the backplane.

For ControlLogix controllers, the default value is 0. If the slot number exceeds the chassis size, an error message appears, prompting you to enter a number within the valid range.

For SoftLogix controllers, the default value is 1.

For CompactLogix, FlexLogix, and DriveLogix controllers, the value in this field is always 0 and cannot be edited.

Revision

Enter the controller revision.

For this release of RSLogix 5000, this field is not editable. The revision defaults to the latest revision for the given controller type.

Create In:

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Enter the directory in which you want the project file to be created. The file name is the same as the controller name, with a .acd extension.

Browse

Click on this button to bring up the Choose Directory dialog from which you can browse for the appropriate directory.

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Editing Controller Properties

The Controller Properties dialog displays controller configuration information for the open project and, when online, for the attached controller. The Tabs that appear are governed by the type of the selected controller. This section describes the fields on each of the dialogs for the Controller Properties.

General Tab

The General tab displays the controller name and description, as well as the physical properties of the controller.

Figure 2.2 Controller Properties General Tab

Vendor

Displays the name of the controller’s manufacturer.

Ty pe

The catalog number and description of the controller. When online, this field includes the catalog number of the memory card (if any).

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Name

The name of the controller. When you create a project, this is the same as the name of the project file. When you change the name of the controller, however, the name of the project file does not change. If you want to keep the two the same, then you must rename the file using Windows Explorer or a similar file management tool.

IMPORTANT

You cannot change the name when online.

This name must be IEC_1131 compliant. If you enter an invalid character in this field, or if the name you enter exceeds 40 characters, the software ignores the character.

Description

Enter a description for the controller here, up to 128 characters. You can use any printable character in this field. If you exceed the maximum length, the software ignores any extra characters.

Chassis Type

Select a supported chassis type from the pull-down list. Each entry in the list consists of the catalog number of the chassis, as well as a brief description.

The chassis type cannot be changed when online.

Slot

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Enter the chassis slot number in which the controller resides. The spin button contains values that range from 0 to 1 less than the chassis size (e.g., if you have a 4-slot chassis, the spin button spins from 0 to 3). If you enter a slot number that is out of this range, you receive an error message when you go to apply your changes.

The slot number cannot be changed when online.

Revision

Displays the major and minor firmware revision of the controller. The minor revision is available only when you are online.

Change Type

Click on this button to access the Change Processor Type dialog. This dialog lets you change your controller to another controller within the same platform.

SoftLogix Controller 19

Change Controller Type Dialog Box

Overview

Use this dialog to change your controller to another controller within the same platform (e.g. changing from a 1756-L1 ControlLogix 5550 Controller to a 1756-L53/A ControlLogix 5553 controller).

Figure 2.3 Change Controller Type Dialog

Select a processor to change to

Choose the controller you wish to change to from the pull-down menu. The list of available controllers includes all controller types except the current processor itself. Once a new controller is selected and the OK button is clicked, a warning message displays. There are two different warning screens depending upon whether the change is within the same platform or to another platform. These warnings inform you that certain settings and properties are changed or deleted based upn the type of controller selected.

Figure 2.4 Warning Message for Change to a Different Platform

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Serial Port Tab

The Serial Port tab allows you to view and configure the controller’s serial port.

Figure 2.5 Controller Properties Serial Port Tab

Mode

The type of protocol you want to use. Choose from System or User (default).

Baud Rate

The baud rate assigned to the serial port on the Logix5550. Choose from 110, 300, 600, 1200, 2400, 4800, 9600, 19200 (default), and 38,400.

Data Bits

The actual number of bits of data per character. Choose from 7 (ASCII only) or 8 (default).

Parity

The parity for the link. Choose from Even, Odd (ASCII only) or No Parity (default).

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Stop Bits

The actual number of stop bits per character. Choose from 2 (ASCII only) or 1 (default).

Control Line

Choose the type of handshaking you wish to use during communications. The choices available to you vary, depending on the protocol you have selected:

For this mode: And this protocol: Choose from:

User ASCII No Handshake (default)

Full Duplex Half Duplex

System Point-to-Point No Handshake (default)

Full Duplex

Slave No Handshake (default)

Half Duplex

Master No Handshake (default)

Full Duplex Half Duplex

Continuous Carrier

Check this box if you wish to use Half Duplex communication with continuous carrier. This checkbox is disabled if you have chosen something other than Half Duplex communication, or if you have chosen Master as your protocol. By default, this option is unchecked when enabled.

RTS Send Delay

Enter the time (in ms) to delay transmitting the first character of a message after turning on the RTS line. The default value is 0.

RTS Off Delay

Enter the time (in ms) to delay turning off the RTS line after the last character has been transmitted. The default value is 0.

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System Protocol Tab

The System Protocol tab allows you to configure the controller’s serial port for DF1 Point to Point, DF1 Master, DF1 Slave or DH485. The parameters present on this tab are dependent upon the protocol you select.

Figure 2.6 Controller Properties System Protocol Tab

IMPORTANT

If you wish to configure your system for ASCII, click on the User Protocol tab.

The parameters present on this tab are dependent upon the protocol you select.

Common Parameters

Protocol

Choose the protocol from the pull-down menu. Choose from DF1 Point to Point (default), DF1 Slave, DF1 Master or DH485.

Station Address

Enter the current station link address of the com port to which the DF1 object is now associated. Valid values are from 0 to 254; the default value is 0.

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Error Detection

Click on one of the radio buttons to specify the error detection scheme used for all messages.

• BCC - the processor sends and accepts messages that end with a BCC

byte.

• CRC - the processor sends and accepts messages with a 2-byte CRC.

Enable Duplicate Detection

Check this box to enable duplicate message detection, which causes the object to ignore all duplicate messages. This option is disabled by default.

ACK Timeout

Enter the time the object waits for an acknowledgment to a message transmission. Valid values are from 0 to 65535, in 20 ms increments; the default value is 50 ms.

DF1 Point to Point Parameters

ENQ Transmit Limit

Enter the number of inquiries you want the processor to send after an ACK Timeout. Valid values are from 0 to 255; the default value is 3.

NAK Receive Limit

Enter the number of NAKs the processor can receive in response to a message before stopping the transmission. Valid values are from 0 to 255; the default value is 3.

Embedded Responses

This parameter sets the flag that enables the embedded response functionality. Your options are:

• Autodetect – embedded responses are initiated only after one is

received.

• Enabled – embedded responses are enabled unconditionally.

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DF1 Slave Parameters

Transmit Retries

Enter the number of attempted transmits without getting an acknowledgment before a message is deemed undeliverable. Valid values are from 0 to 255; the default value is 3.

Slave Poll Timeout

Enter the amount of time that the master waits for an acknowledgment to a message sent to the slave.

EOT Suppression

Check this box if you want to suppress "End of Text" transmissions at the end of a slave message.

DF1 Master Parameters

Transmit Retries

Enter the number of attempted transmits without getting an acknowledgment before a message is deemed undeliverable. Valid values are from 0 to 255; the default value is 3.

Reply Message Wait

Enter the time (in ms) that the master waits after receiving an acknowledgment to a master-initiated message before polling the slave for a reply. Specify this time in 20 ms increments; the default value is 50 (i.e., 50*20 ms, or 1000 ms, or 1 second).

Polling Mode

Choose a polling mode from the pull-down menu. Choose from:

• Message Based - slave can initiate messages.

• Message Based - slave cannot initiate messages.

• Standard - Multiple message transfers per node scan.

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• Standard - Single message transfer per node scan.

The default mode is Message Based, allowing a slave to initiate messages.

SoftLogix Controller 25

Master Transmit

Choose the master message transmit that designates when to send any DF1 master message. Choose from:

• Between Station Polls - The master transmits a message before the next

station.

• In Poll Sequence - The master transmits messages only when the station

number is encountered in the poll list.

The default is Between Station Polls.

Normal Poll Node Tag

Choose the tag name of the structure that contains the normal poll node list. Use the Tag Browser to select the appropriate tag name.

The default tag is <none>.

Normal Poll Group Size

Enter the total number of active stations polled from the poll node list. Valid values are 0 to 255; the default value is 0.

Priority Poll Node Tag

Choose the tag name of the structure to store the priority poll node list. Use the Tag Browser to select the appropriate tag name.

The default tag is <none>.

Active Station Tag

Choose the tag name of the structure to store the status (active/non-active) of each node. Use the Tag Browser to select the appropriate tag name.

The default tag is <none>.

DH485 Parameters

Max Station Address

This field is available when you choose DH485 as the protocol. It sets the maximum value allowable for the Station Address. The range is from 0 to 31.

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Token Hold Factor

A value between 1 and 4.

User Protocol Tab

The User Protocol tab allows you to configure the controller’s serial port for the ASCII protocol.

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Figure 2.7 Controller Properties User Protocol

Protocol

Choose the ASCII protocol.

Buffer Size

Enter the maximum size (in bytes) of the data array that you are planning on sending and receiving. Valid values are from 1 to 65536; the default size is 82.

When the controller sends out the data, if it detects an array that is larger than this buffer size, a minor fault occurs and the extra data is truncated. When the controller receives data, if it detects data that is larger than the size of the buffer, the extra characters are dropped.

SoftLogix Controller 27

Termination Character 1 and 2

Enter the characters that be used to define the end of a line. Valid hex range values are from 0 to 255. The default value for Termination Character 1 is $0D, and the default value for Termination Character 2 is $FF.

The ARL and ABL instructions use these characters to signal the end of a line. If you do not wish to use these characters, you can either avoid the use of these instructions, or you can define Termination Character 1 as $FF, where $FF tells the controller not to use any definable termination characters when using the ARL or ABL instructions.

If you want to use only one character to signal the end of a line, use Termination Character 1, and define Termination Character 2 as $FF.

Append Character 1 and 2

Enter the characters that are appended to the end of a line. Valid hex range values are from 0 to 255. The default value for Append Character 1 is $0D, and the default value for Append Character 2 is $0A.

The AWA instruction appends the specified characters to the end of the messages it sends out. If you do not wish to use these characters, you can either avoid the use of the AWA instruction, or you can define Append Character 1 as $FF, where $FF tells the controller not to append characters when using the AWA instruction.

If you want to append only one character, define Termination Character 1 as the desired character, and define Termination Character 2 as 0xFF.

XON/OFF

Check this option to regulate the flow of incoming data.

For example, when this option is checked and the receive buffer gets to be 80% full, an XOFF (0x13) character is transmitted to tell the sending device to stop sending. When the buffer has been processed so that it is less than 80% full, the XON (0x11) character is sent to tell the device to resume sending.

This option is disabled when the Control Line option is configured for Half Duplex.

Echo Mode

Check this option to cause any data received in the ASCII port to be sent right back out to the device that sent it. For example, you could use this option with a dumb terminal that is unable to display what it sends, but can display what is echoed to it.

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This option is disabled when the Control Line option is configured for Half Duplex.

Delete Mode

The character received just before the delete character sequence (0x7F) is removed by the serial port driver before it is given to the ladder logic. Choose from:

• Ignore - The delete character sequence is treated the same as any other

character that is read in.

• CRT or Printer - The preceding character in the string buffer is removed

before being given to the ladder logic. The only difference between CRT and Printer modes is the type of device sending the string to the controller. If Echo mode is disabled, CRT and Printer do exactly the same thing.

Major Faults Tab

The Major Faults tab displays information on the major faults that have occurred in the controller.

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Figure 2.8 Controller Properties Major Faults Tab

SoftLogix Controller 29

Number of Major Faults Since Last Cleared

Displays the number of major fault events that have been reported since the log was last cleared.

Recent Faults

Displays a description of the last three major faults that have occurred. These faults are stored in reverse chronological order. When offline, this field contains the stored contents of the last online session.

Clear Majors

Click on this button to clear the Major Fault log.

Minor Faults Tab

The Minor Faults tab displays information on the minor faults that have occurred in the controller.

Figure 2.9 Controller Properties Minor Fault Tab

Number of Minor Faults Since Last Cleared

Displays the number of minor fault events that have been reported since the log was last cleared.

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Recent Faults

Displays a description of the last eight minor faults that have occurred. These faults are stored in reverse chronological order. When offline, this field contains the stored contents of the last online session.

Clear Minors

Click on this button to clear the Minor Fault log.

Fault Bits

Lists the minor fault bits that have a specific fault type assigned to them. If the bit is set, the checkbox is set.

When offline, these checkboxes are disabled, but display the contents of the last online session.

Date/Time Tab

The Date/Time tab allows you to view and edit the controller’s wall clock time and the coordinated system time status.

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Figure 2.10 Controller Properties Date/Time Tab

SoftLogix Controller 31

Date

The wall clock date, in the format currently selected in the Regional Settings application in your Windows NT Control Panel.

This parameter is read-only. When offline, this parameter is empty.

Time

The wall clock time, in the format currently selected in the Regional Settings application in your Windows NT Control Panel.

This parameter is read-only. When offline, this parameter is empty.

Set

Click on this button to bring up the Set Date/Time dialog, from which you can set the date and/or time.

This button is disabled when offline.

Make this controller the Coordinated System Time master

Click on this checkbox to select this controller as the CST master. This does not mean that this controller IS the master, it means that you intend for this controller to be the master. If another controller is already the CST master, “duplicate master detected” appears in the status field.

If you are using a Servo card on this controller, set the CST Master.

Status

Indicates the state of the coordinated system time. There are four status fields, with a circular indicator to the left of each. This indicator is blue if the corresponding status condition is true; otherwise, it is clear. The status conditions are:

• Is the master - you checked the “Make this controller the master” box,

and this controller is the CST master.

• Synchronized with a master - this controller is not the master; its time is

being synchronized by a master.

• Duplicate master detected - you checked the “Make this controller the

master” box, but there is already a CST master.

• Timer hardware faulted - there is a hardware fault.

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All of the circular indicators are clear when you are offline.

Advanced Tab

The Advanced tab allows you to view and edit advanced controller properties.

Figure 2.11 Controller Properties Advanced Tab

Memory Used

The amount of memory used in the controller. When offline, this parameter is empty.

Memory Unused

The amount of memory available in the controller. When offline, this parameter is empty.

Memory Total

The total amount of memory in the controller (used plus unused). If a memory daughter card is present, this total includes that memory. When offline, this parameter is empty.

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Controller Fault Handler

Choose the program that runs as the result of a system fault from the pull-down menu. The list contains all of the unscheduled programs.

Power-Up Handler

Choose the program the processor executes when it powers up in Run mode after a power-down in Run mode. The list contains all of the unscheduled programs.

System Overhead Time Slice

Enter or select the percentage of time the controller spends running its system task, relative to running user tasks.

SFC Execution Tab

The SFC Execution tab sets the configuration that affects the execution of the SFC (Sequential Function Chart). These settings apply to the entire Controller and therefore affect all SFCs within the Controller.

Figure 2.12 Controller Properties SFC Execution Tab

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Execution Control

This determines the execution model for the SFC. Your options are:

• Execute current active steps only – Execution control is returned to

the controller after processing the active steps, even if the Transitions following the active steps are True.

• Execute until False transition – The controller continually processes

Steps and Transitions, in a single scan, until a False Transition is found. It then returns to the Controller operating system.

Restart Position

Your selection here indicates at what point the SFC starts after it has completed executing and been restarted.

• Restart at most recently executed step – Restarts at the step where it

left off.

• Restart at initial step – The SFC re-initializes and starts at the Initial

Step.

Last Scan of Active Steps

This determines how the controller performs a final scan of Action logic when the associated Step is deactivated.

• Automatic reset – All non-retentive timers and outputs associated with

the Step’s non-stored Actions are reset when the step is deactivated.

• Programmatic reset – All non-retentive timers and outputs associated

with the Step’s non-stored Actions must be reset manually.

• Don’t scan – No scan is done on the Action logic when the associated

Step is deactivated.

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File Tab

The File tab displays information about the project file.

The fields on this tab cannot be edited. To change the file name or path, you must use the Save As command.

Figure 2.13 Controller Properties File Tab

Name

The name of the project file

Path

The drive and directory of the project file.

Created

The creation date and time of the project file, in the format currently selected in the Regional Settings application in your Windows NT Control Panel.

Edited

The date and time that the project file was last edited, in the format currently selected in the Regional Settings application in your Windows NT Control Panel.

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Redundancy Tab

The Redundancy Tab is only present if the specified processor type and version supports the Redundancy feature. This tab supports the configuration for redundancy.

Figure 2.14 Controller Properties Redundancy Tab

Redundancy Enabled

This checkbox lets you select whether to enable the redundancy feature or not. It can only be selected when the Controller is offline. When it is on-line it provides a valid indication of the redundancy enabled selection.

Redundancy Status

This section shows the redundancy states.

Chassis ID – Displays the chassis identification.

Chassis State – This shows the redundancy state of the entire chassis. The

possible states include:

0 – Unsupported – also displays when the system is offline.

1 – Undetermined

2 – Primary with Synchronized Secondary

3 – Primary with Disqualified Secondary

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SoftLogix Controller 37

4 – Primary with no partner

8 – Synchronized Secondary

9 – Disqualified Secondary with partner

10 – Disqualified Secondary with no partner

Module State – Indicates the redundancy state of the controller. If the controller does not have the redundancy feature or if it is offline, this field is empty and the controls are disabled. The possible states include:

0 – Unsupported – also displays when the system is offline.

1 – Undetermined

2 – Primary with Synchronized Secondary

3 – Primary with Disqualified Secondary

4 – Primary with no partner

6 – Synchronizing Primary

7 – Synchronizing Secondary

8 – Synchronized Secondary

9 – Disqualified Secondary with partner

10 – Disqualified Secondary with no partner

Module Compatibility – Shows the modules compatibility with its corresponding module in the partner chassis. If the controller does not have the redundancy feature or if it is offline, this field is empty and the controls are disabled. The possible states include:

0 – Unsupported – also displays when the system is offline.

1 – No compatible Partner

2 – Fully compatible Partner

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Partner Status

This section shows information on the status of the Partner module.

Mode – Shows the current state of the partner module’s mode. If the controller does not have the redundancy feature or if it is offline, this field is empty and the controls are disabled. Valid modes include:

• Faulted

• Run

• Program

• Test

• Unknown – Displayed for any mode that is not one of those listed

above. It also displays if the Module Compatibility is not "Fully Compatible Partner" or "Standby Compatible Partner". Also displays when the system is offline.

Key Switch Position – Shows the current status of the partner module’s keyswitch position. If the controller does not have the redundancy feature or if it is offline, this field is empty and the controls are disabled. Valid modes include:

• Run

• Remote

• Program

• Unknown – Displays when the Module Compatibility is not "Fully

Compatible Partner" or "Standby Compatible Partner". Also displays when the system is offline.

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Key Switch Mismatch – Is activated when there is a mismatch between the key switch position between the primary and partner modules.

Partner Minor Faults

This section shows the minor faults that are set in the partner controller. These controls are read-only. If the controller does not have the redundancy feature or if it is offline, the radio button is greyed and the text label is disabled. Minor partner faults include:

• Powerup

• I/O

• Program

• Watchdog

• Serial Port

• Battery

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Advanced Button

The Advanced Button displays configuration parameters for retaining test edits when switched to a secondary system and lets you set the percentage of memory that is reserved for the data table.

Nonvolatile Memory Tab

Figure 2.15 Advanced Button from Redundancy Tab

Retain Test Edits on Switchover

Select the checkbox to allow temporary execution of online edits to be maintained or canceled when a switchover to a secondary system occurs. When enabled, this option prevents the Logix controller from automatically switching back to the unedited version of your program if the primary chassis fails while testing on-line edits.

Memory Usage

Lets you modify the percentage of memory that is to be reserved in the data table area. This lets you create tags in RUN mode on a synchronized primary system.

The Nonvolatile Memory tab of the Controller Properties dialog serves as the starting point from which you can perform nonvolatile memory operations.

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Click on the Load/Store button to access the Nonvolatile Memory Load/Store dialog, from which you can perform the actual operations.

The Nonvolatile Memory tab also provides you with status information that indicates any conditions that might prevent you from loading or storing. Possible status messages include:

• Nonvolatile memory not present.

• Nonvolatile memory not supported in redundant systems.

• Controller being edited by another user.

• No controller image or stored controller image.

• Controller not in Program mode.

• Stored image revision in nonvolatile memory does not match controller

revision.

The Controller Properties dialog displays controller configuration information for the open project and, when online, for the attached controller.

The Nonvolatile Memory tab provides you with access to nonvolatile memory operations.

Note: This tab is available only when the selected controller supports nonvolatile memory.

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Figure 2.16 Controller Properties Nonvolatile Memory Tab

Name

The name of the stored controller image that resides in nonvolatile memory.

Ty pe

The controller type for the image stored in nonvolatile memory. This controller type can be any type that supports nonvolatile memory.

Revision

The firmware revision of the controller when the image in nonvolatile memory was stored. In order for the image in nonvolatile memory to be loaded back into controller memory, the firmware revision of that image must match the revision of the controller.

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Load Image

The condition under which the image stored in nonvolatile memory is loaded back to controller memory. Available conditions include:

• On Corrupt Memory – this will cause a load whenever there is no

project in the controller and you turn on or cycle power on the chassis. If you are using a battery the controller, selecting this option performs a load only if the battery has failed to maintain the project during a loss of power.

• On Power Up – this will cause a load whenever you turn on or cycle

power on the chassis. If you are using a battery on the controller, selecting this option performs a load even if the battery has maintained the project during loss of power.

• User Initiated – choose this option if you want to load only through

RSLogix 5000 software.

Regardless of the currently-selected load option, you can always manually initiate a load as well.

Load Mode

The mode the controller enters upon loading from nonvolatile memory. Choose from:

• Program (Remote Only)

• Run (Remote Only)

TIP

The Load Mode only applies if the Load Image selection is On Corrupt Memory or On Power Up. If the Load Image is User Initiated, the Load Mode is disabled.

The Load Mode only applies if the controller keyswitch is in the remote position when loading. If the controller keyswitch is in Run or Program the controller will be returned to that mode once the load is complete. The controller keyswitch always has priority over the Load Mode.

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Image Note

Descriptive information that you entered at the time the image was stored in nonvolatile memory. You may enter up to 128 text characters.

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Stored

The workstation date and time when the image was stored in nonvolatile memory.

Load/Store

Click on this button to access the Load/Store dialog.

This button is disabled when:

• Nonvolatile memory is not present in the controller.

• The controller is in Run mode.

• Another user has locked the controller.

• Redundancy is enabled for the controller.

• The controller is offline.

If the Load/Store button is disabled, the status bar indicates the reason. Note that the status bar displays only one status at a time, and you must work through each of them to enable the Load/Store button.

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Chapter

Adding and Configuring Your 1784-PM02AE Motion Module

This chapter describes how to add, configure, and edit your 1784-PM02AE motion module for use in your motion control application.

Adding the 1784-PM02AE Module

To use your motion module in a control system, you must add your motion module to the application program. To add a motion module:

1. Right-click the I/O Configuration folder.

Figure 3.1 Selecting New Module from the Controller Organizer

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46 Adding and Configuring Your 1784-PM02AE Motion Module

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

Figure 3.2 Select Module Type Screen Fully Loaded

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Adding and Configuring Your 1784-PM02AE Motion Module 47

3. Click on the Clear All button to clear the dialog window then click on Motion to list the available Motion Controllers.

New Module

Figure 3.3 Select Module Type Screen with Motion Options - M02AE Highlighted

Use this dialog to select and create a new module. Highlight the 1784-PM02AE The context sensitive menu appears, from which you can select a New Module.

Ty pe

The Type field displays the catalog number of the module highlighted in the Type list box. You can either type in a module catalog number in this field to quickly select/find the module you want to create or you can scroll through the list of modules in the Type list box.

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48 Adding and Configuring Your 1784-PM02AE Motion Module

Major Revision

Select the major revision number of the physical module that you want in the chassis.

The major revision is used to indicate the revision of the interface to the module.

Type (list box)

This box lists the installed module catalog numbers based on the selected check boxes.

Description (list box)

This portion of the list box contains descriptions of the modules.

Show

Displays check boxes, which support filtering on particular types of modules.

Check this box: If you want to:

Digital display digital modules supported by the software

Analog display analog modules supported by the software

Communication display communication modules supported by the software

Motion display motion modules supported by the software

Controller display controller modules supported by the software

Vendor display a particular vendor's module profiles that are installed on the system.

Other display modules that do not fit under the rest of the check box categories.

Select All

Click on this button to display all modules in the list box; all the check boxes in the Show field are checked.

Clear All

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Click on this button to clear all check boxes in the Show field.

4. In the Type field, select 1784-PM02AE 2 Axis Analog/Encoder Servo.

Adding and Configuring Your 1784-PM02AE Motion Module 49

5. Select OK. The Module Create Wizard displays.

Figure 3.4 Module Properties Dialog Wizard - Naming the Module

6. Make entries in the following fields.

Field Entry

Name Type a name for the servo module.

The name can:

• have a maximum of 40 characters

• contain letters, numbers and underscores (_).

Slot Enter the number of the chassis slot that contains your

module.

Description Type a description for your motion module.

This field is optional.

Electronic keying

Select the electronic keying level.

To Select

Match the vendor, catalog number, and major revision attributes of the physical module and the software configured module

Disable the electronic keying protection mode

Match the vendor, catalog number, major revision, and minor revision attributes of the physical module and the software configured module

Compatible module

Disable keying

Exact match

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50 Adding and Configuring Your 1784-PM02AE Motion Module

7. Press the Next button to proceed to the next Create Wizard screen.

Figure 3.5 Module Properties Wizard - Fault Handling

8. This screen is where you determine how faults are to be handled. The choices are to inhibit module or to configure the module so that a loss of connection to this module causes a major fault. Make your entries and press the Next button to proceed to the next wizard screen.

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Figure 3.6 Module Properties Wizard - Servo Update/Associated Axis

Adding and Configuring Your 1784-PM02AE Motion Module 51

9. This screen lets you associate an axis with the module. Make the appropriate choices for your application. At this point, the rest of the screens are informational only and it would be best to press the Finish button to create the module.

All of the above screens can be accessed and edited by going to the tabbed Module Property screens. Further explanations of the fields in this dialog are detailed below.

Editing Your Motion Module Settings

The following section provides explanations of the Motion Module Properties screens. Use these screens to edit the properties of the module when changes need to be made. You can access the Module Properties screen by highlighting the motion module and right clicking the mouse.

Select Properties from the displayed pop-up menu screen as shown in the following figure.

Figure 3.7 Controller Organizer - Module Properties Pop up

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52 Adding and Configuring Your 1784-PM02AE Motion Module

This accesses the Module Properties screen. The screen is tabbed to expedite movement to the required dialog.

General Tab

Figure 3.8 Module Properties - General Tab

Use this tab to create/view module properties for 1784-PM02AE motion module. This dialog provides you with the means to view the type, description, vendor, and the name of the parent module. You can also enter the name and a description for the module. Other fields and buttons on this dialog let you set the slot location of the module, review information for both channels, go to the New Tag dialog to create an axis to associate with one of the channels, select the minor revision number and select an electronic keying option. You can also view the status the controller has about the module but, only when online.

Ty pe

Displays the type and description of the module being created (read only).

Vendor

Displays the vendor of the module being created (read only).

Name

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Enter the name of the module.

Adding and Configuring Your 1784-PM02AE Motion Module 53

The name must be IEC 1131-3 compliant. If you attempt to enter an invalid character or exceed the maximum length, the software beeps and ignores the character.

Description

Enter a description for the module here, up to 128 characters. You can use any printable character in this field. If you exceed the maximum length, the software beeps to warn you, and ignores any extra characters.

Slot

Enter the slot number where the module resides. The spin button contains values that range from 0 to 1 less than the chassis size (e.g., if you have a 4-slot chassis, the spin button will spin from 0 to 3). If you enter a slot number that is out of this range, you will receive an error message when you go to apply your changes.

The slot number cannot be changed when online.

Revision

Select the minor revision number of your module.

The revision is divided into the major revision and minor revision. The major revision displayed statically is chosen on the Select Module Type dialog.

Electronic Keying

Select one of these keying options for your module during initial module configuration:

• Exact Match - all of the parameters must match or RSLogix rejects the

inserted module.

• Vendor

• Product Type

• Catalog Number

• Major Revision

• Minor Revision

• Compatible Module

• the Module Types, Catalog Number, and Major Revision must match

• the Minor Revision of the physical module must be equal to or

greater than the one specified in the software or RSLogix 5000 will reject the inserted module.

• Disable Keying - RSLogix 5000 will not employ keying at all.

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54 Adding and Configuring Your 1784-PM02AE Motion Module

When you insert a module into a slot in a ControlLogix chassis, RSLogix 5000 compares the following information for the inserted module to that of the configured slot:

• Vendor

• Product Type

• Catalog Number

• Major Revision

• Minor Revision

This feature prevents the inadvertent insertion of the wrong module in the wrong slot.

Connection Tab

The Connection Tab is used to define controller to module behavior. This is where you select a requested packet interval, choose to inhibit the module, configure the controller so loss of the connection to this module causes a major fault, and view module faults.

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Figure 3.9 Module Properties - Connection Tab

The data on this tab comes directly from the controller. This tab displays information about the condition of the connection between the module and the controller.

Requested Packet Interval

This does not apply to motion modules.

Adding and Configuring Your 1784-PM02AE Motion Module 55

Inhibit Module checkbox

Check/Uncheck this box to inhibit/uninhibit your connection to the module. Inhibiting the module causes the connection to the module to be broken.

TIP

ATTENTION

Inhibiting/uninhibiting connections applies mainly to direct connections, and not to the CNB module

Inhibiting the module causes the connection to the module to be broken and may result in loss of data

When you check this box and go online, the icon representing this module in the controller organizer displays the Attention Icon.

If you are: Check this checkbox to:

offline put a place holder for a module you are configuring

online stop communication to a module

If you inhibit the module while you are online and connected to the module, the connection to the module is nicely closed. The module's outputs go to the last configured Program mode state.

If you inhibit the module while online but a connection to the module has not been established (perhaps due to an error condition or fault), the module is inhibited. The module status information changes to indicate that the module is 'Inhibited' and not 'Faulted'.

If you uninhibit a module (clear the checkbox) while online, and no fault condition occurs, a connection is made to the module and the module is dynamically reconfigured (if you are the owner controller) with the configuration you have created for that module. If you are a listener (have chosen a “Listen Only” Communications Format), you can not re-configure the module.

If you uninhibit a module while online and a fault condition occurs, a connection is not made to the module.

Major Fault on Controller if Connection Fails checkbox

Check this box to configure the controller so that failure of the connection to this module causes a major fault on the controller if the connection for the module fails.

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56 Adding and Configuring Your 1784-PM02AE Motion Module

Module Fault

Displays the fault code returned from the controller (related to the module you are configuring) and the text detailing the Module Fault that has occurred.

The following are common categories for errors:

• Connection Request Error - The controller is attempting to make a

connection to the module and has received an error . The connection was not made.

• Service Request Error - The controller is attempting to request a service

from the module and has received an error. The service was not performed successfully.

• Module Configuration Invalid - The configuration in the module is

invalid. (This error is commonly caused by the Electronic Key Passed fault ).

• Electronic Keying Mismatch - Electronic Keying is enabled and some

part of the keying information differs between the software and the module.

Associated Axes Tab

This tab lets you assign axis tags to specific channels of the servo module. Use this tab to configure the selected 1784-PM02AE motion modules by:

• setting the selected 1784-PM02AE motion module's Servo Update

Period

• associating axis tags, of the type AXIS_SERVO, with channels 0 and 1

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Figure 3.10 Module Properties - Associated Axis Tab

Adding and Configuring Your 1784-PM02AE Motion Module 57

Servo Update Period

Selects the periodic rate at which the 1784-PM02AE module closes the servo loop for the axis, in microseconds (µs).

Channel 0

Represents Channel 0 on the servo module. This field allows you to associate an AXIS_SERVO tag with channel 0. This field transitions to a read-only state while online. Click on the button to the right of this field to open the Axis Properties dialog for the associated axis.

Channel 1

Represents Channel 1 on the servo module. This field allows you to associate an AXIS_SERVO tag with channel 1. This field transitions to a read-only state while online. Click on the button to the right of this field to open the Axis Properties dialog for the associated axis.

Module Info Tab

New Axis button

Click on this button to navigate to the New Tag dialog to create an AXIS_SERVO tag to associate with one of the channels. See the chapter entitled Naming & Configuring Your Motion Axis in this manual for more information on creating axes with RSLogix 5000.

The Module Info tab contains information about the selected module, however, you can click on:

• Refresh – to display new data from the module.

• Reset Module – to return the module to its power-up state by emulating

the cycling of power. By doing this, you also clear all faults.

The Module Info Tab displays module and status information about the module. It also allows you to reset a module to its power-up state. The information on this tab is not displayed if you are offline or currently creating a module.

Use this tab to determine the identity of the module.

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58 Adding and Configuring Your 1784-PM02AE Motion Module

The data on this tab comes directly from the module. If you selected a Listen-Only communication format when you created the module, this tab is not available.

Figure 3.11 Module Properties - Module Info Tab

Identification

Displays the module’s:

• Vendor

• Product Type

• Product Code

• Revision Number

• Serial Number

• Product Name

The name displayed in the Product Name field is read from the module. This name displays the series of the module. If the module is a 1756-L1 module, this field displays the catalog number of the memory expansion board (this selection applies to any controller catalog number even if additional memory cards are added: 1756-L1M1, 1756-L1M2).

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Adding and Configuring Your 1784-PM02AE Motion Module 59

Major/Minor Fault Status

If you are configuring a: This field displays one of the

following:

digital module EEPROM fault

Backplane fault None

analog module Comm. Lost with owner

Channel fault None

any other module None

Unrecoverable Recoverable

Internal State Status

This field displays the module’s current operational state.

• Self-test

• Flash update

• Communication fault

• Unconnected

• Flash configuration bad

• Major Fault

• Run mode

• Program mode

• (16#xxxx) unknown

If you selected the wrong module from the module selection tab, this field displays a hexadecimal value. A textual description of this state is only given when the module identity you provide is a match with the actual module.

Configured

This field displays a yes or no value indicating whether the module has been configured by an owner controller connected to it. Once a module has been configured, it stays configured until the module is reset or power is cycled, even if the owner drops connection to the module.

Owned

This field displays a yes or no value indicating whether an owner controller is currently connected to the module.

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60 Adding and Configuring Your 1784-PM02AE Motion Module

Module Identity

Displays: If the module in the physical slot:

Match agrees with what is specified on the General Tab. In order for the Match

Mismatch does not agree with what is specified on the General Tab

This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General Tab.

Refresh

Click on this button to refresh the tab with new data from the module.

condition to exist, all of the following must agree:

• Vendor

• Module Type (the combination of Product Type and Product Code for a

particular Vendor)

• Major Revision

Assigning Additional Motion Modules

Reset Module

Click on this button to return a module to its power-up state by emulating the cycling of power.

Resetting a module causes all connections to or through the module to be closed, and this may result in loss of control.

IMPORTANT

A controller cannot be reset.

You can assign additional modules by repeating the preceding sections. You can assign up to 16 1784-PM02AE modules to each Logix5000 controller. Each module uses a maximum of two axes.

The following modules return an error if a reset is attempted:1756-L1 ControlLogix5550 Programmable Controller; 1336T AC Vector Drive; 1395 Digital DC Drive.

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Configuring the1784-PM16SE Card

Chapter

Adding the 1784-PM16SE

This chapter reviews the necessary steps for configuring the 1784-PM16SE motion card. Much of this information is the same as for adding and configuring the 1784-PM02AE as discussed in the previous chapter.

To configure a 1784-PM16SE motion card:

1. In the Controller Organizer, right mouse click on I/O Configuration.

Figure 4.1 Controller Organizer | I/O Configuration| New Module

2. Or in the File menu, select New Component then Module…

Figure 4.2 File Menu | New Component | Module Selected

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62 Configuring the1784-PM16SE Card

3. The Select Module Type screen displays. Select Clear All. Select Motion. The list displays only available motion modules.

Figure 4.3 Select Module Type Screen with Motion Options - 1784-PM16SE Selected

4. Select 1784-PM16SE.

5. Press the OK button to close the Select Module Type dialog.

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6. The Create Module Wizard opens.

Configuring the1784-PM16SE Card 63

Figure 4.4 Module Properties Wizard Dialog - Name the Module

7. Name is the only required field that must be entered to create the 1784-PM16SE card. It must conform to the IEC 1131-3 standard. You can also enter a description for the card, select the minor revision number of your card, and select the method for Electronic Keying. Fill in the at least the required Name field and click the Next> button to advance to the next wizard screen to enter Connection information or click on the Finish>> button to create the card. You can then go to the Module Properties screen to edit any values. (See the section titled

SERCOS interface Motion Card Overview

in this chapter for more information on

the fields in these screens.)

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64 Configuring the1784-PM16SE Card

8. The Connection Screen Wizard displays.

Figure 4.5 Module Properties Wizard Dialog - Connection Screen

9. On this screen there are no required fields but you can enter how you want to handle connection faults. The Requested Packet Interval (RPI) field does not pertain to the SERCOS interface cards and is greyed out.

Inhibit Module defaults to Unchecked. Click on the check box to inhibit the module.

Major Fault on Controller ... check box defaults to uncheck. Click on the box if you want to check this option. Click on Next> to advance the SERCOS interface Create Wizard screen.

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10. The SERCOS interface screen displays.

Configuring the1784-PM16SE Card 65

Figure 4.6 Module Properties Wizard Dialog - SERCOS interface Screen

11. On this screen you can enter the Data Rate, SERCOS ring Cycle time, and the transmit power for the SERCOS ring.

The rest of the Create Wizard screens are only informational and do not let you enter any information. It saves time if you click on the Finish>> button at this time.

12. The 1784-PM16SE motion card appears in the I/O Configuration branch of the Controller Organizer. It can now be put into use or edited as you require.

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66 Configuring the1784-PM16SE Card

SERCOS interface Motion Card Overview

The 1784-PM16SE SERCOS interface motion card has been added. To edit the 1784-PM16SE card properties, go to the I/O Configuration organizer and right click on the 1784-PM16SE card and select Properties from the drop down menu. The tabbed Module Properties screen displays.

Figure 4.7 Module Properties - General Tab

The Module Properties screen has the following tabs:

• The General tab references the 1784-PM16SE motion card.

• The Connection tab references the connection of the card to the

controller.

• The SERCOS Interface tab is for configuring SERCOS communication

settings for the 1784-PM16SE motion card.

• The SERCOS Interface Info tab is used to monitor the status of the

SERCOS communication ring.

• The Module Info tab, when Online, displays the current condition of

the module.

• The Backplane tab, when Online, displays diagnostic information about

the module’s communication over the backplane and the chassis in which it is located.

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Editing 1784-PM16SE Card Properties

Configuring the1784-PM16SE Card 67

General Tab

Use this tab to create/view module properties for the 1784-PM16SE motion card.

On this tab, you can:

• view the type and description of the module being created

• view the vendor of the module being created

• enter the name of the module

• enter a description for the module

• select the slot number of the module on the network

• select the minor revision number of your module

• select Exact Match, Compatible Module, or Disable Keying

Ty pe

Displays the type and description of the module being created (read only).

Vendor

Displays the vendor of the module being created (read only).

Name

Enter the name of the card. The name must be IEC 1131-3 compliant. An error message is displayed if you enter an invalid character or a duplicate name. If you exceed the maximum length, the software ignores the extra characters.

Description

Enter a description for the card here, up to 128 characters. You can use any printable character in this field. If you exceed the maximum length, the software ignores any extra characters.

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68 Configuring the1784-PM16SE Card

Slot

Enter the slot number where the card resides. The spin button contains values that range from 0 to 1 less than the chassis size (e.g., if you have a 4-slot chassis, the spin button spins from 0 to 3). Only available slot numbers are listed by the spin button. However, you can edit the slot number manually. If you enter a slot number that is out of this range, you receive an error message when you apply your changes.

The slot number cannot be changed when online.

Revision

The revision is divided into the major revision and minor revision. The major revision displayed statically is chosen on the Select Module Type dialog.

The major revision is used to indicate the revision of the interface to the card. The minor revision is used to indicate the firmware revision.

Select the minor revision number of your card.

Electronic Keying

Select one of these keying options for your card during initial card configuration:

Exact Match - all of the parameters must match or the inserted card rejects the connection.

Compatible Module- the Module Types, Catalog Number, and Major Revision must match. The Minor Revision of the physical card must be equal to or greater than the one specified in the software or the inserted card rejects the connection.

Disable Keying – Controller does not employ keying at all.

ATTENTION

Changing the Electronic Keying selection may cause the connection to the card to be broken and may result in a loss of data.

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Be extremely cautious when using this option; if used incorrectly, this option can lead to personal injury or death, property damage or economic loss.

Configuring the1784-PM16SE Card 69

Status – This is a Read Only field that displays the Controllers current opinion of the card.

Standby – A transient state that occurs when shutting down.

Fau lt ed – It is unable to communicate with the card. When Faulted is

displayed, check the Connection Tab fore the fault listing.

Val id at in g – A transient state that occurs prior to connecting to the card.

Connecting – The state while the connection(s) to the cards are

established.

Running – The card is communicating and everything is working as expected.

Shutting Down – The connections are in the process of closing.

Inhibited – The card is prevented from connecting to the controller.

Waiting – A connection to this card has not been made due to one of the

following reasons.

• Its parent has not yet made a connection to it.

• Its parent is inhibited.

• Its parent is faulted.

Offline – The card is not currently online.

When you insert a card into a slot in a ControlLogix chassis, RSLogix5000 compares the following information for the inserted card to that of the configured slot:

• Vendor

• Product Type

• Catalog Number

• Major Revision

• Minor Revision

This feature prevents the inadvertent insertion of the wrong card in the wrong slot.

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70 Configuring the1784-PM16SE Card

Connection Tab

The Connection Tab reflects controller to card behavior. This is where you choose to inhibit the card, configure the controller so loss of the connection to this card causes a major fault, and view card faults when online.

Figure 4.8 Module Properties - Connection Tab

The fault data on this tab comes directly from the controller. This tab displays information about the condition of the connection between the card and the controller.

Requested Packet Interval

This does not apply to motion cards.

Inhibit Module checkbox

Check/Uncheck this box to inhibit/uninhibit your connection to the card. Inhibiting the card causes the connection to the card to be broken. When a card is inhibited all of the associated axes are not used in the configuration process. The system ignores them as if they were not there and allows configuration and operation of any axis associated to other cards in the group.

TIP

Inhibiting/uninhibiting connections applies mainly to direct connections, and not to the CNB card.

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Configuring the1784-PM16SE Card 71

ATTENTION

Inhibiting the card causes the connection to the card to be broken and may result in loss of data.

When you check this box and go online, the icon representing this card in the controller organizer displays the Attention Icon.

If you are: Check this checkbox to:

offline put a place holder for a card you are configuring

online stop communication to a card

If you inhibit the card while you are online and connected to the card, the connection to the card is nicely closed. The card's outputs go to the last configured Program mode state.

If you inhibit the card while online but a connection to the card has not been established (perhaps due to an error condition or fault), the card is inhibited. The card status information changes to indicate that the card is 'Inhibited' and not 'Faulted'.

If you uninhibit a card (clear the checkbox) while online, and no fault condition occurs, a connection is made to the card and the card is dynamically reconfigured (if you are the owner controller) with the configuration you have created for that card. If you are a listener (have chosen a “Listen Only” Communications Format), you can not re-configure the card.

If you uninhibit a card while online and a fault condition occurs, a connection is not made to the card.

Major Fault on Controller if Connection Fails checkbox

Check this box to configure the controller so that failure of the connection to this card causes a major fault on the controller if the connection for the card fails.

Module Fault

Displays the fault code returned from the controller (related to the card you are configuring) and the text detailing the Module Fault that has occurred.

The following are common categories for errors:

• Connection Request Error - The controller is attempting to make a

connection to the card and has received an error. The connection was not made.

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72 Configuring the1784-PM16SE Card

• Service Request Error - The controller is attempting to request a service

from the card and has received an error. The service was not performed successfully.

• Module Configuration Invalid - The configuration in the card is invalid.

(This error is commonly caused by the Electronic Key Passed fault).

• Electronic Keying Mismatch - Electronic Keying is enabled and some

part of the keying information differs between the software and the card.

SERCOS Interface Tab

The SERCOS interface Tab is for configuring the SERCOS ring. It is here where you set the specific Data Rate, Cycle Time, and Transmit Power for the named 1784-PM16SE SERCOS interface card.

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Figure 4.9 Module Properties - SERCOS Interface Tab

Use the SERCOS Interface Tab to set and display the:

• SERCOS baud rate

• update rate for the SERCOS ring

• fiber optic transmit power range for the SERCOS ring

Configuring the1784-PM16SE Card 73

The SERCOS ring consists of the drives and axes connected to the 1784-PM16SE motion controller.

TIP

The settings on this tab are specific to the 1784-PM16SE motion controller.

Data Rate

Select the baud rate for the SERCOS ring. Your options are:

• Auto Detect – automatically scans to detect the SERCOS ring baud rate

as set by the drive(s).

• 4 Mb – sets the SERCOS ring baud rate to 4 Mb. This value must match

the baud rate set on the drives. All drives included in the ring must be set to 4 Mbaud.

• 8 Mb – sets the SERCOS ring baud rate to 8 Mb.This value must match

the baud rate set on the drives. All drives included in the ring must be set to 8 Mbaud.

IMPORTANT

If drives are set to both 4 and 8 Mbaud rates and the motion card’s Data Rate is set to 4 Mbaud, it only detects the 4Mbaud drives and indicates a closed ring. Those drives set to 8 Mbaud are ignored. When the program is run it errs because the drives set to 8 Mbaud are not found.

In the above scenario with the motion card’s Data Rate set to 8 Mbaud, it errs with “Wrong baud rate”.

Cycle Time

This field sets the rate at which drives on the SERCOS ring are updated. Select the update rate for the SERCOS ring:

• 0.5 ms

Note: Many drives to not support an update rate of 0.5 ms. Check your drive documentation for appropriate values.

• 1 ms

• 2 ms.

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74 Configuring the1784-PM16SE Card

Transmit Power

Select the optic transmit power range for the SERCOS ring:

• High

• Low

It is recommended that you set to High.

SERCOS Interface Info Tab

The SERCOS interface Tab is for monitoring the SERCOS ring of the selected 1784-PM16SE while it is on-line. A REFRESH button is available to access the current values.

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Figure 4.10 Module Properties - SERCOS Interface Info Tab

Use this tab to monitor the following:

Ring Comm. Phase

Displays the communications phase of the SERCOS ring:

0: Ring Integrity 1: Polling 2: Identity 3: Configuration 4: Cyclic communication

Configuring the1784-PM16SE Card 75

Fault Type

Displays the current fault type, if any, on the SERCOS ring. Values include:

• No fault

• Loss of received signal

• MST error

• Missed AT

• Excessive AT errors

• Duplicate nodes (not currently supported)

• No nodes

• Wrong ring cycle

• Wrong baud rate

• Link transport fault

• Wrong phase

• Wrong AT number

Refresh

Module Info Tab

Click this button to update this page.

Note: this information does not refresh automatically.

The Module Info tab contains information about the selected card, however, you can click on:

• Refresh – to display new data from the card.

• Reset Module – to return the card to its power-up state by emulating the

cycling of power. By doing this, you also clear all faults.

The Module Info Tab displays card and status information about the card. It also allows you to reset a card to its power-up state. The information on this tab is not displayed if you are offline or currently creating a card.

Use this tab to determine the identity of the card.

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76 Configuring the1784-PM16SE Card

The data on this tab comes directly from the card. If you selected a Listen-Only communication format when you created the card, this tab is not available.

Figure 4.11 Module Properties - Module Info Tab

Identification

Displays the card’s:

• Vendor

• Product Type

• Product Code

• Revision Number

• Serial Number

• Product Name

The name displayed in the Product Name field is read from the card. This name displays the series of the card.

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Configuring the1784-PM16SE Card 77

Major/Minor Fault Status

If you are configuring a: This field displays one of the

following:

digital card EEPROM fault

Backplane fault None

analog card Comm. Lost with owner

Channel fault None

any other card None

Unrecoverable Recoverable

Internal State Status

This field displays the card’s current operational state.

• Self-test

• Flash update

• Communication fault

• Unconnected

• Flash configuration bad

• Major Fault

• Run mode

• Program mode

• (16#xxxx) unknown

If you selected the wrong card from the card selection tab, this field displays a hexadecimal value. A textual description of this state is only given when the card identity you provide is a match with the actual card.

Configured

This field displays a yes or no value indicating whether the card has been configured by an owner controller connected to it. Once a card has been configured, it stays configured until the card is reset or power is cycled, even if the owner drops connection to the card.

Owned

This field displays a yes or no value indicating whether an owner controller is currently connected to the card.

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78 Configuring the1784-PM16SE Card

Module Identity

Displays: If the card in the physical slot:

Match agrees with what is specified on the General Tab. In order for the Match

condition to exist, all of the following must agree:

• Vendor

• Module Type (the combination of Product Type and Product Code for a

particular Vendor)

• Major Revision

Mismatch does not agree with what is specified on the General Tab

This field does not take into account the Electronic Keying or Minor Revision selections for the card that were specified on the General Tab.

Refresh

Click on this button to refresh the tab with new data from the card.

Reset Module

Click on this button to return a card to its power-up state by emulating the cycling of power.

Resetting a card causes all connections to or through the card to be closed, and this may result in loss of control.

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The Motion Group

Chapter

Creating A Motion Group

Each .acd program must have one motion group. (There can be only one.) You must create it before an axis can be assigned to the group and have it function within the .acd program.

To create the motion group, right click on Motion Group and select New Motion Group from the drop down menu.

Figure 5.1 Controller Organizer - New Motion Group Pop-up

This calls the New Tag window.

Figure 5.2 New Tag Dialog

1. Enter a name for the Motion Group in the Name field.

2. In the Description field, enter a description of the tag.

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80 The Motion Group

3. Click on the respective radio button to select one of the following tag types:

• Base - refers to a normal tag (selected by default)

• Alias - refers to a tag, which references another tag with the same

definition. Special parameters appear on the New Tag dialog that allows you to identify to which base tag the alias refers.

4. Select MOTION_GROUP for the Data Type.

5. From the Scope pull-down menu, select the scope for the tag.

6. If you want to produce this tag for other controllers to consume, check

the Produce box and enter the maximum number of consumers.

IMPORTANT

Producing a tag requires a connection for each consumer. Connections are a limited resource in the controller, so only produce tags that you know you are needed in other controllers.

7. Click on the Configure button to proceed through the Motion Group Wizard screens to set the properties for the motion group.

If you had clicked on OK instead of the Configure button, it would have created the group and closed the dialog. You would then need to access the Motion Group Properties screen to configure the Motion Group.

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The Motion Group 81

The Motion Group Wizard group - Axis Assignment screen displays.

Figure 5.3 Motion Group Wizard Dialog - Axis Assignment

Add any existing axes to the group.

8. Continue on through the Motion Group Wizard to configure your Motion Group tag as necessary. Click on Finish>> to close the wizard.

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82 The Motion Group

Editing the Motion Group Properties

The Motion Group properties can be edited by right clicking on the group name and selecting Motion Group Properties from the drop down menu.

Figure 5.4 Controller Organizer | Motion Group| Properties

The Motion Group Properties tabbed screen displays.

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Figure 5.5 Motion Group Properties - Axis Assignment Tab

The Motion Group 83

Axis Assignment Tab

The Axis Assignment screen is where axes are either assigned or unassigned to the Motion Group. When RSLogix 5000 software is online, all attributes on this dialog transition to a read-only state. When an attribute transitions to a read-only state, all pending attribute changes revert back to their offline status.

Unassigned

Lists the axes that are not assigned to any group in the controller.

Assigned

Lists the axes that are assigned to this motion group.

Add

Click on this button to add axes to the motion group.

Remove

Click on this button to remove axes from the motion group.

Attribute Tab

The Attribute tab is used to modify the group attributes.

Figure 5.6 Motion Group Properties - Attribute Tab

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84 The Motion Group

When RSLogix 5000 software is online, all of the attributes on this tab transition to a read-only state. When an attribute transitions to a read-only state, all pending attribute changes are reverted.

Coarse Update Period

Selects the periodic rate at which the motion task executes to compute the servo commanded position, velocity, and accelerations to be sent to the 1784-PM02AE or 1784-PM16SE modules when executing motion instructions.

Auto Tag Update

This parameter determines whether or not the axis parameter values are automatically updated during operation. Choose either:

• Enabled – turns On automatic tag updating

• Disabled – turns Off automatic tag updating

General Fault Type

Selects the general fault type mechanism for the motion group. The available selections are:

• Non Major Fault – Any faults detected by the motion group will not

cause the processor to fault. The application programmer needs to handle the fault in the program.

• Major Fault – Any faults detected by the motion group will cause the

processor OK light to go blinking red and the fault routine to be invoked. If the fault routine handles the fault and clears it, then the OK light turns green. If the fault routine does not clear the fault, then the OK light becomes solid red and the processor stops executing the program.

Scan Times (elapsed time)

• Max – displays the value from the previous scan; clear this value, if

necessary

• Disabled – displays the value from the previous scan

Reset Max

Click on this button to clear the Scan Times Max value.

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The Motion Group 85

Tag Tab

Use this tab to modify the name and description of the group.

Figure 5.7 Motion Group Properties - Tag Tab

When you are online, all of the parameters on this tab transition to a read-only state, and cannot be modified. If you go online before you save your changes, all pending changes revert to their previously-saved state.

Name

Enter the name of the motion group. This name must not exceed 40 characters. If you enter more than 40 characters, the system notifies you and it ignores the extra characters.

Description

Enter a description of the motion group. This description must not exceed 128 characters. If you enter more than 128 characters, the system notifies you and it ignores the extra characters.

Tag Type (read-only)

Displays the type of tag.

• Base - a normal tag

• Alias - a tag that references another tag with the same definition

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86 The Motion Group

Data Type (read-only)

The axis data type: MOTION_GROUP

Scope

Displays the scope of the current tag. The scope is either controller scope, or program scope, based on one of the existing programs in the controller.

Style

Not applicable to motion group tags.

Produce this tag for up to

A checked box indicates that this tag is available to remote controllers through controller-to-controller messaging. If this box is checked, the system displays the maximum number of consumers (i.e., connections) allowed for this tag.

The default number of consumers is 2.

Base Tag

If this tag is an alias, this field displays the name of the motion group tag on which this alias was based. The base tag actually defines the memory where the data element is stored.

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Chapter

Naming & Configuring Your Motion Axis

This chapter describes how to name, configure, and edit your axis properties. Be careful while reading this information. Many of the screens appear to be the same (and many are) but some of the screens change in content based on the type of axis. They are labeled where different so read through the entire section to make sure you find the explanations for the type of axis selected.

Naming an Axis

Naming an axis adds it to your application. To name an axis:

Go to the File pull-down menu, select New Component, and then select Tag.

Figure 6.1 File Menu to New Component to Tag

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88 Naming & Configuring Your Motion Axis

You can also right click on the Motion Group and select New Axis and the type of axis tag you want to create from the menu.

Figure 6.2 Naming an Axis From Motion Group

You can also initiate a new axis by right clicking on Ungroup Axes and selecting the type of axis you want to create.

Figure 6.3 Naming an Axis From Ungrouped Axes

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The New Tag window appears.

Naming & Configuring Your Motion Axis 89

Entering Tag Information

Figure 6.4 New Tag Dialog

If you accessed the New Tag window from either Motion Group or Ungrouped Axes, the Data Type is already filled in.

A tag allows you to allocate and reference data stored in the controller. A tag can be a simple, single element, or an array, or a structure. There are four types of tags that you can create:

• A base tag allows you to create your own internal data storage.

• An alias tag allows you to assign your own name to an existing tag,

structure tag member, or bit.

• A produced tag lets you make the tag available to remote controllers

through controller-to-controller messaging.

• A consumed tag allows you to retrieve data from a tag in another

controller.

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90 Naming & Configuring Your Motion Axis

You must set up only one consumed tag to get data from the same producing tag in another controller.

ATTENTION

Setting up more than one consumed tag results in unpredictable controller to controller behavior.

Use this dialog to create new tags. The parameters that appear on this dialog depend upon the type of tag you are creating.

You can create base tags and alias tags while the controller is online or offline, as long as the new tag is verified. You can only create consumed tags while the controller is offline.

Common Parameters

The following parameters appear on the New Tag dialog whether you are creating a base tag, alias tag, or consumed tag.

Name

Enter the name of the tag you want to create.

Description

Enter a description of the tag.

Tag Type

Check the type of tag you are creating:

• Base – refers to a normal tag (selected by default)

• Alias – refers to a tag, which references another tag with the same

definition. Special parameters appear on the New Tag dialog that allow you to identify to which base tag the alias refers.

• Produced – refers to a tag that has been made available to other

controllers. If this type is chosen, then you can set the maximum number of consumers allowed for this tag.

• Consumed (only available when the controller is offline) – refers to a tag

that is produced by another controller whose data you want to use in this controller. Special parameters appear on the New Tag dialog that allow you to identify from where the consumed tag is to come.

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Naming & Configuring Your Motion Axis 91

Data Type

In the Data Type field you can either enter the type of tag you want to create directly or click on the ellipsis button to go to the Select Data Type dialog. From this dialog you can select the appropriate axis data type: AXIS_CONSUMED, AXIS_SERVO, AXIS_SERVO_DRIVE, or AXIS VIRTUAL.

Make entries in the following fields.

Field Entry

Name Type a name for the servo axis.

The name can: have a maximum of 40 characters contain letters, numbers and underscores (_).

Description Type a description for your motion axis.

This field is optional.

Data type AXIS_CONSUMED

AXIS_SERVO AXIS_SERVO_DRIVE, AXIS_VIRTUAL

Scope Select the scope of the axis variable.

To use the axis Select

Within the entire program Controller

Editing Motion Axis Properties

Once you have named your axis in the New Tag window, you must then configure it. You can make your configuring options in the Axis Properties screen. These have a series of Tabs that access a specific dialog for configuring the axis. Make the appropriate entries for each of the fields. An asterisk appears on the Tab to indicate changes have been made but not implemented. Press the Apply button at the bottom of each dialog to implement your selections.

TIP

When you configure your axis, some fields may be unavailable (greyed-out) because of choices you made in the New Tag window.

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92 Naming & Configuring Your Motion Axis

In the Controller Organizer, right click on the axis to edit and select Axis Properties from the drop down menu.

Figure 6.5 Accessing Axis Properties from Controller Organizer

The Axis Properties General window appears. The General screen depicted below is for an AXIS_SERVO data type.

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Figure 6.6 Axis Properties - General Tab for Axis_Servo

Rockwell Automation 1784-PM16SE User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Important User Information

European Communities (EC) Directive Compliance

EMC Directive

Low Voltage Directive

Using This Manual

Preface

The Purpose of This Manual

Related Documentation

Rockwell Automation Support

Technical Product Assistance

On the Web

Local Product Support

The SoftLogix Motion Control System

SoftLogix Motion Control

Components of the SoftLogix Motion System

SoftLogix Chassis Monitor

The SoftLogix Controller

RSLogix 5000 Programming Software

Developing a Motion Control Application Program

Application Program Development

The MOTION_INSTRUCTION Tag

Handling Motion Faults

Minor/Maj or Faults

Errors

SoftLogix Controller

Introduction

Accessing the New Controller Dialog

New Controller Dialog

Vendor

Ty pe

Redundancy Enabled

Name

Description

Chassis Type

Slot Number

Revision

Create In:

Browse

Editing Controller Properties

General Tab

Vendor

Ty pe

Name

Description

Chassis Type

Slot

Revision

Change Type

Select a processor to change to

Serial Port Tab

Mode

Baud Rate

Data Bits

Parity

Stop Bits

Control Line

Continuous Carrier

RTS Send Delay

RTS Off Delay

System Protocol Tab

Common Parameters

Protocol

Station Address

Error Detection

Enable Duplicate Detection

ACK Timeout

DF1 Point to Point Parameters

ENQ Transmit Limit

NAK Receive Limit

Embedded Responses

DF1 Slave Parameters

Transmit Retries

Slave Poll Timeout

EOT Suppression

DF1 Master Parameters

Transmit Retries