Rockwell Automation 2080-LC50 User Manual

Quick Start

Micro800 Programmable Controllers: Getting Started with Motion Control Using a Simulated Axis

Catalog Numbers Bulletin 2080-LC30, 2080-LC50

Important User Information

IMPORTANT

Solid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/ important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

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

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

available from

) describes some

WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.

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

Allen-Bradley, Micro800, Micro830, Micro850, Connected Components Workbench, PanelView, Rockwell Software, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Preface

About This Publication

This quick start is designed to provide instructions for implementing a motion control project using Connected Components Workbench™ software and a Micro830™/Micro850™ programmable logic controller (PLC). It makes use of a sample project to illustrate the basic steps that a user needs to perform to use the motion control feature in Micro830 and Micro850 controllers.

To assist in the design and installation of your system, refer to the Micro830 and Micro850 Programmable Controllers User Manual, publication

2080-UM002

The beginning of each chapter contains the following information. Read these sections carefully before beginning work in each chapter.

• Before You Begin – This section lists the steps that must be completed

• What You Need – This section lists the tools that are required to

• Follow These Steps – This illustrates the steps in the current chapter

and decisions that must be made before starting that chapter. The chapters in this quick start do not have to be completed in the order in which they appear, but this section defines the minimum amount of preparation required before completing the current chapter.

complete the steps in the current chapter. This includes, but is not limited to, hardware and software.

and identifies which steps are required to complete the examples using specific networks.

Audience

Required Software

To be able to use the motion control feature effectively, you need to be familiar with programming in function block diagram, structured text, and ladder programming.

This quick start works hand-in-hand with Micro830 and Micro850 Programmable Controllers User Manual, publication 2080-UM002

To complete this quick start, the following software is required:

• Connected Components Workbench revision 2 and later

Connected Components Workbench is the main programming software for Micro800 systems. It provides a choice of IEC 61131-3 programming languages (ladder diagram, function block diagram, structured text) with user defined function block support that optimizes machine control.

You will need the Connected Components Workbench software to configure your axis parameters, write your motion control function block programs, execute your function blocks, and monitor your axis status.

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Preface

Additional Resources

Resource Description

Micro830 and Micro850 User Manual, publication

2080-UM002

Micro800 Programmable Controller External AC Power Supply Installation Instructions, publication 2080-IN001

A detailed description of how to install and use your Micro830 and Micro850 programmable controller and expansion I/O system.

Information on wiring and installing the optional AC power supply.

Kinetix 3 Motion Control Indexing Application, publication CC-QS025

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

Connected Components Workbench Online Help Online Help that provides a description of the different elements of the

Quick start instructions designed to provide instructions for implementing a Kinetix® 3 component-class drive motion control indexing application by using Connected Components Workbench software and a Micro830 programmable logic controller (PLC).

More information on proper wiring and grounding techniques.

Connected Components Workbench software.

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Create a Micro800 Project

Important User Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii

Preface

About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Required Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv

Where to Start

Overview of Sample Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .vii

Optional: PanelView Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .vii

Hardware and Software Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix

Chapter 1

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Create a Micro800 Project in Connected Components Workbench . . . . 2

Configure Motion Axis Properties

Write Your Motion Control Programs

Chapter 2

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Configure General Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

Configure Motor and Load Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

Configure Limits Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

Configure Dynamics Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Configure Homing Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

Configure Embedded I/O Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

Chapter 3

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

Create Axis_PowerUp Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

Create Homing Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

Create Program for MC_MoveRelative . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

Create Program for MC_MoveAbsolute Function Block . . . . . . . . . . . . .31

Create Program for MC_MoveVelocity Function Block . . . . . . . . . . . . .36

Create Program for MC_TouchProbe Function Block . . . . . . . . . . . . . . .43

Build and Download Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

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vi Table of Contents

Wire Your Controller for Motion Control

Execute Your Motion Control Function Blocks

Chapter 4

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

Wire the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

Chapter 5

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

Go to Remote RUN Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

Axis Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

Power Up the Motion Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

Execute MC_Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

Execute MC_MoveRelative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58

Execute MC_MoveAbsolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .61

Execute MC_MoveVelocity and MC_Halt . . . . . . . . . . . . . . . . . . . . . . . . .66

Execute MC_TouchProbe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .69

Implementing Motion Control in an Actual Environment . . . . . . . . . . .70

Publication 2080-QS001A-EN-E - January 2013

Where to Start

Micro850 controller

Simulated Linear Actuator

Home

Sensor

Direction output

Pulse Train

Output

Upper

Limit

moving

object

PanelView

Component

Lower

Limit

optional component

TIP

HSC wiring for PTO feedback is not shown and is for simulation purposes only.

Overview of Sample Project

This quick start instruction serves to enable users to the use the motion control feature on Micro830 and Micro850 controllers. It uses a sample simulation program to familiarize the user with motion control instructions and related parameter and wiring configurations. In particular, this project lets the user enable an axis, home an axis, move an axis, and use touch probe to capture current position in a simulated environment.

The project uses the minimum components to use motion control. It does not require a servo drive. The PTO output is wired directly to the high speed counter input. It makes use of high speed counter inputs to count the pulse train output (PTO) for the current position.

The following diagram illustrates how this project simulates motion control. The elements of this project are shown in the following diagram.

Download the Simulation Project

You can also download the code for the complete simulation project from the following link:

http://www.rockwellautomation.com/go/scmicro800

The downloadable code includes an optional PanelView Component (PVc) program, which allows the user to easily update and monitor different axis parameters through a PVc screen.

If you opt not to use a PanelView Component, use the Connected Components Workbench software to toggle variable input values and trigger motion instructions. Axis monitoring can also be done through the same software through the Axis Monitor feature.

To get started, check that your Micro800 controller supports motion control.

viiPublication 2080-QS001A-EN-E - January 2013 vii

Where to Start

IMPORTANT

Hardware and Software Compatibility

The motion control feature on Micro830 and Micro850 controller is implemented through Pulse Train Outputs (PTOs) and motion axes, which are summarized in the following table.

PTO and Motion Axis Support on Micro830 and Micro850 Controllers

Controller PTO (built-in) Number of Axes Supported

10/16 Points

2080-LC30-10QVB 2080-LC30-16QVB

24 Points

2080-LC30-24QVB 2080-LC30-24QBB 2080-LC50-24QVB 2080-LC50-24QBB

48 Points

2080-LC30-48QVB 2080-LC30-48QBB 2080-LC50-48QVB 2080-LC50-48QBB

Software and Firmware Requirements

• For programming, motion control is supported on Connected Components Workbench software revision 2 and later.

• Micro830 controllers require firmware revision 2 and later.

ATTENTION: To use the Micro800 motion control feature effectively, users need to have a basic understanding of the following:

• PTO components and parameters See the Micro830 and Micro850 User Manual, publication 2080-UM002 components and their relationships.

• Programming and working with elements in the Connected Components Workbench software The user needs to have a working knowledge of ladder diagram, structured text, or function block diagram programming to be able to work with motion function blocks, variables, and axis configuration parameters.

, for a general overview of Motion

ATTENTION: To learn more about Connected Components Workbench and detailed descriptions of the variables for the Motion Function Blocks, you can refer to Connected Components Workbench Online Help that comes with your Connected Components Workbench installation.

viii Publication 2080-QS001A-EN-E - January 2013

Where to Start

Upper Right Limit

Lower Left Limit

Home Sensor

The axis moves 200 mm relative to the current position.

Configure Motion Axis Properties

Write Your Motion Control Programs

Create a Micro800 Project

Wire Your Controller for Motion Control

See page 1

See page 5

See page 15

See page 49

Execute Your Motion Control Function

Blocks

See page 51

Follow These Steps

The major subsections for this quick start project are outlined in the following flowchart. Follow the steps under each subsection to become familiar with the required procedure to configure your controller and set up a simulation project for motion control.

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Where to Start

Notes:

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Chapter