User Manual
Micro830 and Micro850 Programmable Controllers
Catalog Numbers
Bulletin 2080-LC30 and 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.
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.
available from
) describes some
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, Rockwell Software, Rockwell Automation, Micro800, Micro830, Micro850, Connected Components Workbench, and TechConnect are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
Preface
Read this preface to familiarize yourself with the rest of the manual. It provides
information concerning:
• who should use this manual
• the purpose of this manual
• related documentation
• supporting information for Micro800™
Who Should Use this Manual
Purpose of this Manual
Additional Resources
Use this manual if you are responsible for designing, installing, programming, or
troubleshooting control systems that use Micro800 controllers.
You should have a basic understanding of electrical circuitry and familiarity with
relay logic. If you do not, obtain the proper training before using this product.
This manual is a reference guide for Micro800 controllers, plug-in modules and
accessories. It describes the procedures you use to install, wire, and troubleshoot
your controller. This manual:
• explains how to install and wire your controllers
• gives you an overview of the Micro800 controller system
Refer to the Online Help provided with Connected Components Workbench™
software for more information on programming your Micro800 controller.
These documents contain additional information concerning related Rockwell
Automation products.
Resource Description
Micro800 Analog and Discrete Expansion I/O
Modules 2080-UM003
Micro800 Plug-in Modules 2080-UM004 Information on features, configuration,
Micro800 Programmable Controllers: Getting
Started with CIP Client Messaging 2080-QS002
Micro800 Programmable Controller External AC
Power Supply Installation Instructions
2080-IN001
Micro830 Programmable Controllers Installation
Instructions 2080-IN002
Micro830 Programmable Controllers Installation
Instructions 2080-IN003
Micro830 Programmable Controllers Installation
Instructions 2080-IN004
Information on features, configuration, wiring,
installation, and specifications for the Micro800
expansion I/O modules.
installation, wiring, and specifications for the
Micro800 plug-in modules.
Provides quickstart instructions for using CIP
GENERIC and CIP Symbolic Messaging.
Information on mounting and wiring the optional
external power supply.
Information on mounting and wiring the
Micro830 10-point Controllers.
Information on mounting and wiring the
Micro830 16-point Controllers.
Information on mounting and wiring the
Micro830 24-point Controllers.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 iii
Preface
Resource Description
Micro830 Programmable Controllers Installation
Instructions 2080-IN005
Micro850 Programmable Controllers Installation
Instructions 2080-IN007
Micro850 Programmable Controllers Installation
Instructions 2080-IN008
Micro800 16-point and 32-point 12/24V Sink/
Source Input Modules Installation Instructions
2085-IN001
Micro800 Bus Terminator Module Installation
Instruction 2085-IN002
Micro800 16-Point Sink and 16-Point Source 12/
24V DC Output Modules Installation Instructions
2085-IN003
Micro800 8-Point and 16-Point AC/DC Relay
Output Modules Installation Instructions
2085-IN004
Micro800 8-Point Input and 8-Point Output AC
Modules Installation Instructions 2085-IN005
Micro800 4-channel and 8-channel Analog
Voltage/current Input and Output Modules
Installation Instructions 2085-IN006
Micro800 4-channel Thermocouple/RTD Input
Module 2085-IN007
Micro800 RS232/485 Isolated Serial Port Plug-in
Module Wiring Diagrams 2080-WD002
Micro800 Non-isolated Unipolar Analog Input
Plug-in Module Wiring Diagrams 2080-WD003
Micro800 Non-isolated Unipolar Analog Output
Plug-in Module Wiring Diagrams 2080-WD004
Micro800 Non-isolated RTD Plug-in Module
Wiring Diagrams 2080-WD005
Micro800 Non-isolated Thermocouple Plug-in
Module Wiring Diagrams 2080-WD006
Micro800 Memory Backup and High Accuracy
RTC Plug-In Module Wiring Diagrams
2080-WD007
Micro800 6-Channel Trimpot Analog Input Plug-In
Module Wiring Diagrams 2080-WD008
Micro800 Digital Relay Output Plug-in Module
Wiring Diagrams 2080-WD010
Micro800 Digital Input, Output, and Combination
Plug-in Modules Wiring Diagrams 2
Industrial Automation Wiring and Grounding
Guidelines, publication 1770-4.1
080-WD011
Information on mounting and wiring the
Micro830 48-point Controllers.
Information on mounting and wiring the
Micro850 24-point Controllers
Information on mounting and wiring the
Micro850 48-point Controllers
Information on mounting and wiring the
expansion I/O modules (2085-IQ16, 2085-IQ32T)
Information on mounting and wiring the
expansion I/O bus terminator (2085-ECR)
Information on mounting and wiring the
expansion I/O modules (2085-OV16, 2085-OB16)
Information on mounting and wiring the
expansion I/O modules (2085-OW8, 2085-OW16)
Information on mounting and wiring the
expansion I/O modules (2085-IA8, 2085-IM8,
2085-OA8)
Information on mounting and wiring the
expansion I/O modules (2085-IF4, 2085-IF8,
2085-OF4)
Information on mounting and wiring the
expansion I/O module (2085-IRT4)
Information on mounting and wiring the
Micro800 RS232/485 Isolated Serial Port Plug-in
Module.
Information on mounting and wiring the
Micro800 Non-isolated Unipolar Analog Input
Plug-in Module.
Information on mounting and wiring the
Micro800 Non-isolated Unipolar Analog Output
Plug-in Module.
Information on mounting and wiring the
Micro800 Non-isolated RTD Plug-in Module.
Information on mounting and wiring the
Micro800 Non-isolated Thermocouple Plug-in
Module.
Information on mounting and wiring the
Micro800 Memory Backup and High Accuracy
RTC Plug-In Module.
Information on mounting and wiring the
Micro800 6-Channel Trimpot Analog Input Plug-In
Module.
Information on mounting and wiring the
Micro800 Digital Relay Output Plug-in Module.
Information on mounting and wiring the
Micro800 Digital Input, Output, and Combination
Plug-in Modules.
Provides general guidelines for installing a
Rockwell Automation industrial system.
iv Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Preface
Resource Description
Product Certifications website, http://ab.com Provides declarations of conformity, certificates,
Application Considerations for Solid-State
Controls SGI-1.1
National Electrical Code - Published by the
National Fire Protection Association of Boston,
MA.
Allen-Bradley Industrial Automation Glossary
AG-7.1
and other certification details.
A description of important differences between
solid-state programmable controller products
and hard-wired electromechanical devices.
An article on wire sizes and types for grounding
electrical equipment.
A glossary of industrial automation terms and
abbreviations.
You can view or download publications at http://www.rockwellautomation.com/
literature/. To order paper copies of technical documentation, contact your local
Rockwell Automation distributor or sales representative.
You can download the latest version of Connected Components Workbench for
your Micro800 at the URL below.
http://ab.rockwellautomation.com/Programmable-Controllers/ConnectedComponents-Workbench-Software.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 v
Preface
Notes:
vi Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Table of Contents
Preface
Hardware Overview
About Your Controller
Who Should Use this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Chapter 1
Hardware Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Micro830 Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Micro850 Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Programming Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Embedded Serial Port Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Embedded Ethernet Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 2
Programming Software for Micro800 Controllers. . . . . . . . . . . . . . . . . . . . . 9
Obtain Connected Components Workbench. . . . . . . . . . . . . . . . . . . . . 9
Use Connected Components Workbench . . . . . . . . . . . . . . . . . . . . . . . . 9
Agency Certifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Compliance to European Union Directives. . . . . . . . . . . . . . . . . . . . . . . . . . . 9
EMC Directive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Installation Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Environment and Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Preventing Electrostatic Discharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Safety Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
North American Hazardous Location Approval. . . . . . . . . . . . . . . . . 13
Disconnecting Main Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Safety Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Power Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Periodic Tests of Master Control Relay Circuit . . . . . . . . . . . . . . . . . 14
Power Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Isolation Transformers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Power Supply Inrush. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Loss of Power Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Input States on Power Down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Other Types of Line Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Preventing Excessive Heat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Master Control Relay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Using Emergency-Stop Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Schematic (Using IEC Symbols) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Schematic (Using ANSI/CSA Symbols). . . . . . . . . . . . . . . . . . . . . . . . 20
Chapter 3
Install Your Controller
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 vii
Controller Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Mounting Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
DIN Rail Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Panel Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Table of Contents
Panel Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
System Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Chapter 4
Wire Your Controller
Communication Connections
Wiring Requirements and Recommendation . . . . . . . . . . . . . . . . . . . . . . . 29
Use Surge Suppressors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Recommended Surge Suppressors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Grounding the Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Controller I/O Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Minimize Electrical Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Analog Channel Wiring Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Minimize Electrical Noise on Analog Channels . . . . . . . . . . . . . . . . . 37
Grounding Your Analog Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Embedded Serial Port Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Chapter 5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Supported Communication Protocols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Modbus RTU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Modbus/TCP Client Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
CIP Symbolic Client Server. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
CIP Client Messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
ASCII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
CIP Communications Pass-thru . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Examples of Supported Architectures. . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Use Modems with Micro800 Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Making a DF1 Point-to-Point Connection. . . . . . . . . . . . . . . . . . . . . . 45
Construct Your Own Modem Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Configure Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Configure CIP Serial Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Configure Modbus RTU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Configure ASCII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Configure Ethernet Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Ethernet Host Name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Configure CIP Serial Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Chapter 6
Program Execution in Micro800
viii Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Overview of Program Execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Execution Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Controller Load and Performance Considerations . . . . . . . . . . . . . . . . . . 56
Periodic Execution of Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Power Up and First Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Motion Control with PTO and
PWM
Chapter 1
Variable Retention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Memory Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Guidelines and Limitations for Advanced Users . . . . . . . . . . . . . . . . . . . . 58
Chapter 7
Use the Micro800 Motion Control Feature. . . . . . . . . . . . . . . . . . . . . 62
Input and Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Motion Control Function Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
General Rules for the Motion Control Function Blocks. . . . . . . . . . 69
Motion Axis and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Motion Axis State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Axis States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Motion Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Motion Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Axis Elements and Data Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Axis Error Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
MC_Engine_Diag Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Function Block and Axis Status Error Codes . . . . . . . . . . . . . . . . . . . . . . . 86
Major Fault Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Motion Axis Configuration in Connected Components Workbench . 89
Add New Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Edit Axis Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Axis Start/Stop Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Real Data Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
PTO Pulse Accuracy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Motion Axis Parameter Validation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Delete an Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Monitor an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Homing Function Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Conditions for Successful Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
MC_HOME_ABS_SWITCH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
MC_HOME_LIMIT_SWITCH . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
MC_HOME_REF_WITH_ABS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
MC_HOME_REF_PULSE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
MC_HOME_DIRECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Use PTO for PWM Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
POU PWM_Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Chapter 8
Use the High-Speed Counter
and Programmable Limit Switch
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 ix
High-Speed Counter Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Programmable Limit Switch Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
What is High-Speed Counter? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Features and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
HSC Inputs and Wiring Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Table of Contents
High Speed Counter (HSC) Data Structures . . . . . . . . . . . . . . . . . . . . . . 117
HSC APP Data Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
PLS Enable (HSCAPP.PLSEnable) . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
HSCID (HSCAPP.HSCID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
HSC Mode (HSCAPP.HSCMode) . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Accumulator (HSCAPP. Accumulator) . . . . . . . . . . . . . . . . . . . . . . . 124
High Preset (HSCAPP.HPSetting) . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Low Preset (HSCAPP.LPSetting). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Overflow Setting (HSCAPP.OFSetting) . . . . . . . . . . . . . . . . . . . . . . 125
Underflow Setting (HSCAPP.UFSetting) . . . . . . . . . . . . . . . . . . . . . 125
Output Mask Bits (HSCAPP.OutputMask) . . . . . . . . . . . . . . . . . . . 126
High Preset Output (HSCAPP.HPOutput) . . . . . . . . . . . . . . . . . . . 127
Low Preset Output (HSCAPP.LPOutput) . . . . . . . . . . . . . . . . . . . . 127
HSC STS (HSC Status) Data Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Counting Enabled (HSCSTS.CountEnable) . . . . . . . . . . . . . . . . . . . 128
Error Detected (HSCSTS.ErrorDetected) . . . . . . . . . . . . . . . . . . . . . 128
Count Up (HSCSTS.CountUpFlag). . . . . . . . . . . . . . . . . . . . . . . . . . 129
Count Down (HSCSTS.CountDownFlag) . . . . . . . . . . . . . . . . . . . . 129
Mode Done (HSCSTS.Mode1Done) . . . . . . . . . . . . . . . . . . . . . . . . . 129
Overflow (HSCSTS.OVF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Underflow (HSCSTS.UNF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Count Direction (HSCSTS.CountDir) . . . . . . . . . . . . . . . . . . . . . . . 130
High Preset Reached (HSCSTS.HPReached) . . . . . . . . . . . . . . . . . . 130
Low Preset Reached (HSCSTS.LPReached) . . . . . . . . . . . . . . . . . . . 131
Overflow Interrupt (HSCSTS.OFCauseInter) . . . . . . . . . . . . . . . . . 131
Underflow Interrupt (HSCSTS.UFCauseInter). . . . . . . . . . . . . . . . 131
High Preset Interrupt (HSCSTS.HPCauseInter). . . . . . . . . . . . . . . 132
Low Preset Interrupt (HSCSTS.LPCauseInter) . . . . . . . . . . . . . . . . 132
Programmable Limit Switch Position (HSCSTS.PLSPosition) . . 132
Error Code (HSCSTS.ErrorCode) . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Accumulator (HSCSTS.Accumulator) . . . . . . . . . . . . . . . . . . . . . . . . 133
High Preset (HSCSTS.HP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Low Preset (HSCSTS.LP). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
High Preset Output (HSCSTS.HPOutput) . . . . . . . . . . . . . . . . . . . 134
Low Preset Output (HSCSTS.LPOutput). . . . . . . . . . . . . . . . . . . . . 134
HSC (High Speed Counter) Function Block . . . . . . . . . . . . . . . . . . . . . . 135
HSC Commands (HScCmd). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
HSC_SET_STS Function Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Programmable Limit Switch (PLS) Function . . . . . . . . . . . . . . . . . . . . . . 137
PLS Data structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
PLS Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
PLS Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
HSC Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
HSC Interrupt Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
HSC Interrupt POU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Auto Start (HSC0.AS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
x Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Chapter 1
Mask for IV (HSC0.MV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Mask for IN (HSC0.MN). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Mask for IH (HSC0.MH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Mask for IL (HSC0.ML). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
HSC Interrupt Status Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
User Interrupt Enable (HSC0.Enabled) . . . . . . . . . . . . . . . . . . . . . . . 143
User Interrupt Executing (HSC0.EX). . . . . . . . . . . . . . . . . . . . . . . . . 143
User Interrupt Pending (HSC0.PE). . . . . . . . . . . . . . . . . . . . . . . . . . . 144
User Interrupt Lost (HSC0.LS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Use HSC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Chapter 9
Controller Security
Specifications
Exclusive Access. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Password Protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Work with a Locked Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Upload from a Password-Protected Controller . . . . . . . . . . . . . . . . . 146
Debug a Password-Protected Controller. . . . . . . . . . . . . . . . . . . . . . . 147
Download to a Password-Protected Controller. . . . . . . . . . . . . . . . . 147
Transfer Controller Program and Password-Protect Receiving
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Back Up a Password-Protected Controller . . . . . . . . . . . . . . . . . . . . . 148
Configure Controller Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Recover from a Lost Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Appendix A
Micro830 Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Micro830 10-Point Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Micro830 16-Point Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Micro830 24-Point Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Micro830 48-Point Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Micro830 and Micro850 Relay Charts . . . . . . . . . . . . . . . . . . . . . . . . 165
Micro850 Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
Micro850 24-Point Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Micro850 48-Point Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Micro800 Programmable Controller External AC
Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Appendix B
Modbus Mapping for Micro800
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 xi
Modbus Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Endian Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Mapping Address Space and supported Data Types. . . . . . . . . . . . . 175
Example 1, PanelView Component HMI (Master) to Micro800
(Slave) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Table of Contents
Example 2, Micro800 (Master) to PowerFlex 4M Drive (Slave) . . 177
Performance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Appendix C
Quickstarts
User Interrupts
Flash Upgrade Your Micro800 Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Establish Communications Between RSLinx and a
Micro830/Micro850 Controller through USB. . . . . . . . . . . . . . . . . . . . . 186
Configure Controller Password. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Set Controller Password. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Change Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Clear Password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Use the High Speed Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Create the HSC Project and Variables . . . . . . . . . . . . . . . . . . . . . . . . . 198
Assign Values to the HSC Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Assign Variables to the Function Block . . . . . . . . . . . . . . . . . . . . . . . . 204
Run the High Speed Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Use the Programmable Limit Switch (PLS) Function . . . . . . . . . . . 207
Forcing I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Checking if Forces (locks) are Enabled. . . . . . . . . . . . . . . . . . . . . . . . . 209
I/O Forces After a Power Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Appendix D
Information About Using Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
What is an Interrupt? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
When Can the Controller Operation be Interrupted? . . . . . . . . . . 212
Priority of User Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
User Interrupt Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
User Fault Routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
User Interrupt Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
STIS - Selectable Timed Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
UID - User Interrupt Disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
UIE - User Interrupt Enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
UIF - User Interrupt Flush . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
UIC – User Interrupt Clear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Using the Selectable Timed Interrupt (STI) Function . . . . . . . . . . . . . . 221
Selectable Time Interrupt (STI) Function Configuration and Status. 221
STI Function Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
STI Function Status Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
Using the Event Input Interrupt (EII) Function . . . . . . . . . . . . . . . . . . . 223
Event Input Interrupt (EII) Function Configuration and Status. . . . . 224
EII Function Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
EII Function Status Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
xii Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Appendix F
Chapter 1
Troubleshooting
IPID Function Block
System Loading
Status Indicators on the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Normal Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Error Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Controller Error Recovery Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Calling Rockwell Automation for Assistance . . . . . . . . . . . . . . . . . . . . . . 238
Appendix G
How to Autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
How Autotune Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Troubleshooting an Autotune Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
PID Application Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
PID Code Sample . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
Appendix H
Calculate Total Power for Your Micro830/Micro850 Controller 247
Index
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 xiii
Table of Contents
Notes:
xiv Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Hardware Overview
Chapter
1
This chapter provides an overview of the Micro830 and Micro850 hardware
features. It has the following topics:
Topic Page
Hardware Features 1
Micro830 Controllers 2
Micro850 Controllers 4
Programming Cables 6
Embedded Serial Port Cables 7
Embedded Ethernet Support 7
Hardware Features
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 1
Micro830 and Micro850 controllers are economical brick style controllers with
embedded inputs and outputs. Depending on the controller type, it can
accommodate from two to five plug-in modules. The Micro850 controller has
expandable features and can additionally support up to four expansion I/O
modules.
Chapter 1 Hardware Overview
IMPORTANT
14
15
16
17
18
19
20
45031
45030
Micro830 10/16-point controllers and status indicators
Controller
Status indicator
14
15
16
17
18
19
20
45016
45017
Micro830 24-point controllers and status indicators
Controller
Status indicator
For information on supported plug-in modules and expansion I/O, see the
following publications:
• Micro800 Discrete and Analog Expansion I/O User Manual,
publication 2080-UM003
• Micro800 Plug-in Modules User Manual, publication 2080-UM004
The controllers also accommodate any class 2 rated 24V DC output power
supply that meets minimum specifications such as the optional Micro800 power
supply.
See Troubleshooting
on page 227 for descriptions of status indicator operation
for troubleshooting purposes.
Micro830 Controllers
12 3 4 5 6 7 8
79610111213
12 3 4 5 6 7 8
89910111213 6
2 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Hardware Overview Chapter 1
14
15
16
17
18
19
20
45036
45037
Micro830 48-point controllers and status indicators
Status indicator
Controller
12
12
11
1013 6 9 8
34 5 6 7 88
Controller Description
Description Description
1 Status indicators 8 Mounting screw hole / mounting foot
2 Optional power supply slot 9 DIN rail mounting latch
3 Plug-in latch 10 Mode switch
4 Plug-in screw hole 11 Type B connector USB port
5 40 pin high speed plug-in connector 12 RS-232/RS-485 non-isolated combo serial port
6 Removable I/O terminal block 13 Optional AC power supply
7 Right-side cover
Status Indicator Description
(1)
Description Description
14 Input status 18 Force status
15 Power status 19 Serial communications status
16 Run status 20 Output status
17 Fault status
(1) For detailed description of the different status LED indicators, see Troubleshooting
on page 227.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 3
Chapter 1 Hardware Overview
45909
45910
Status indicators
1
2
3
4
5
6
7
8
8
10
6
11
12
13
14
15
9
10
Micro850 24-point controllers and status indicators
Micro850 Controllers
Controller Description
16
17
18
19
20
21
22
23
24
Description Description
1 Status indicators 9 Expansion I/O slot cover
2 Optional power supply slot 10 DIN rail mounting latch
3 Plug-in latch 11 Mode switch
4 Plug-in screw hole 12 Type B connector USB port
5 40 pin high speed plug-in connector 13 RS232/RS485 non-isolated combo serial port
6 Removable I/O terminal block 14 RJ-45 Ethernet connector (with embedded green and
yellow LED indicators)
7 Right-side cover 15 Optional power supply
8 Mounting screw hole / mounting foot
Status Indicator Description
(1)
Description Description
16 Input status 21 Fault status
17 Module Status 22 Force status
18 Network Status 23 Serial communications status
19 Power status 24 Output status
20 Run status
(1) For detailed descriptions of the different status LED indicators, see Troubleshooting
on page 227.
4 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Hardware Overview Chapter 1
16
17
18
19
20
21
22
23
24
45915
45918
Status indicators
1
2
3
4
5
8
6
8
7
9
8
10
6
11
12
13
14
15
Micro850 48-point controllers and status indicators
Controller Description
Description Description
1 Status indicators 9 Expansion I/O slot cover
2 Optional power supply slot 10 DIN rail mounting latch
3 Plug-in latch 11 Mode switch
4 Plug-in screw hole 12 Type B connector USB port
5 40-pin high speed plug-in connector 13 RS232/RS485 non-isolated combo serial port
6 Removable I/O terminal block 14 RJ-45 EtherNet/IP connector (with embedded yellow
and green LED indicators)
7 Right-side cover 15 Optional AC power supply
8 Mounting screw hole / mounting foot
Status Indicator Description
(1)
Description Description
16 Input status 21 Fault status
17 Module status 22 Force status
18 Network status 23 Serial communications status
19 Power status 24 Output status
20 Run status
(1) For detailed descriptions of these LED status indicators, see Troubleshooting
Micro830 Controllers – Number and Type of Inputs/Outputs
Catalog Number Inputs Outputs PTO Support HSC Support
110V AC 24V DC/V AC Relay 24V Sink 24V Source
on page 227.
2080-LC30-10QWB 6 4 2
2080-LC30-10QVB 6 4 1 2
2080-LC30-16AWB 10 6
2080-LC30-16QWB 10 6 2
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 5
Chapter 1 Hardware Overview
45221
Micro830 Controllers – Number and Type of Inputs/Outputs
Catalog Number Inputs Outputs PTO Support HSC Support
110V AC 24V DC/V AC Relay 24V Sink 24V Source
2080-LC30-16QVB 10 6 1 2
2080-LC30-24QBB 14 10 2 4
2080-LC30-24QVB 14 10 2 4
2080-LC30-24QWB 14 10 4
2080-LC30-48AWB 28 20
2080-LC30-48QBB 28 20 3 6
2080-LC30-48QVB 28 20 3 6
2080-LC30-48QWB 28 20 6
Micro850 Controllers – Number and Types of Inputs and Outputs
Catalog Number Inputs Outputs PTO Support HSC Support
120V AC 24V DC/V AC Relay 24V Sink 24V Source
2080-LC50-24AWB 14 10
2080-LC50-24QBB 14 10 2 4
2080-LC50-24QVB 14 10 2 4
2080-LC50-24QWB 14 10 4
2080-LC50-48AWB 28 20
2080-LC50-48QBB 28 20 3 6
2080-LC50-48QVB 28 20 3 6
2080-LC50-48QWB 28 20 6
Programming Cables
Micro800 controllers have a USB interface, making standard USB cables usable as
programming cables.
Use a standard USB A Male to B Male cable for programming the controller.
6 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Hardware Overview Chapter 1
yellow LED
green LED
RJ-45 connector
RJ-45 Ethernet Port Pin Mapping
Contact
Number
Signal Direction Primary Function
1 TX+ OUT Transmit data +
2 TX- OUT Transmit data -
3 RX+ IN Differential Ethernet Receive
Data +
4 Terminated
5 Terminated
6 RX- IN Differential Ethernet Receive
Data -
7 Terminated
8 Terminated
Shield Chassis Ground
45920
The yellow status LED
indicates Link (solid yellow)
or No Link (off).
The green status LED
indicates activity (blinking
green) or no activity (off).
Embedded Serial Port Cables
Embedded serial port cables for communication are listed here. All embedded serial
port cables must be 3 meters in length, or shorter.
Embedded Serial Port Cable Selection Chart
Connectors Length Cat. No. Connectors Length Cat. No.
8-pin Mini DIN to 8-pin Mini DIN 0.5 m (1.5 ft)
8-pin Mini DIN to 8-pin Mini DIN 2 m (6.5 ft)
(1) Series C or later for Class 1 Div 2 applications.
1761-CBL-AM00
1761-CBL-HM02
(1)
(1)
8-pin Mini DIN to 9-pin D Shell 0.5 m (1.5 ft)
8-pin Mini DIN to 9-pin D Shell 2 m (6.5 ft)
8-pin Mini DIN to 6-pin RS-485
terminal block
30 cm (11.8in.) 1763-NC01 series A
1761-CBL-AP00
1761-CBL-PM02
Embedded Ethernet Support
For Micro850 controllers, a 10/100 Base-T Port (with embedded green and
yellow LED indicators) is available for connection to an Ethernet network
through any standard RJ-45 Ethernet cable. The LED indicators serve as
indicators for transmit and receive status.
(1)
(1)
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 7
Micro850 controllers support Ethernet crossover cables (2711P-CBL-EX04).
Ethernet Status Indication
Micro850 controllers also support two LEDs for EtherNet/IP to indicate the
following:
• Module status
• Network status
See Troubleshooting
indicators.
on page 227 for descriptions of Module and Network status
Chapter 1 Hardware Overview
Notes:
8 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
About Your Controller
Chapter
2
Programming Software for Micro800 Controllers
Connected Components Workbench is a set of collaborative tools supporting
Micro800 controllers. It is based on Rockwell Automation and Microsoft Visual
Studio technology and offers controller programming, device configuration and
integration with HMI editor. Use this software to program your controllers,
configure your devices and design your operator interface applications.
Connected Components Workbench 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.
Obtain Connected Components Workbench
A free download is available at:
http://ab.rockwellautomation.com/Programmable-Controllers/ConnectedComponents-Workbench-Software
Use Connected Components Workbench
To help you program your controller through the Connected Components
Workbench software, you can refer to the Connected Components Workbench
Online Help (it comes with the software).
Agency Certifications
Compliance to European Union Directives
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 9
• UL Listed Industrial Control Equipment, certified for US and Canada.
UL Listed for Class I, Division 2 Group A,B,C,D Hazardous Locations,
certified for U.S. and Canada.
• CE marked for all applicable directives
• C-Tick marked for all applicable acts
• KC - Korean Registration of Broadcasting and Communications
Equipment, compliant with: Article 58-2 of Radio Waves Act, Clause 3.
This product has the CE mark and is approved for installation within the
European Union and EEA regions. It has been designed and tested to meet the
following directives.
Chapter 2 About Your Controller
EMC Directive
This product is tested to meet Council Directive 2004/108/EC Electromagnetic
Compatibility (EMC) and the following standards, in whole or in part,
documented in a technical construction file:
• EN 61131-2; Programmable Controllers (Clause 8, Zone A & B)
• EN 61131-2; Programmable Controllers (Clause 11)
• EN 61000-6-4
EMC - Part 6-4: Generic Standards - Emission Standard for Industrial
Environments
• EN 61000-6-2
EMC - Part 6-2: Generic Standards - Immunity for Industrial
Environments
This product is intended for use in an industrial environment.
Installation Considerations
Low Voltage Directive
This product is tested to meet Council Directive 2006/95/ECLow 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 following Allen-Bradley publications:
• Industrial Automation Wiring and Grounding Guidelines for Noise
Immunity, publication 1770-4.1
• Guidelines for Handling Lithium Batteries, publication AG-5.4
• Automation Systems Catalog, publication B115
Most applications require installation in an industrial enclosure (Pollution
(1)
Degree 2
Category II
) to reduce the effects of electrical interference (Over Voltage
(2)
) and environmental exposure.
Locate your controller as far as possible from power lines, load lines, and other
sources of electrical noise such as hard-contact switches, relays, and AC motor
drives. For more information on proper grounding guidelines, see the Industrial
Automation Wiring and Grounding Guidelines publication 1770-4.1
.
.
(1) Pollution Degree 2 is an environment where normally only non-conductive pollution occurs except that
occasionally temporary conductivity caused by condensation shall be expected.
(2) Overvoltage Category II is the load level section of the electrical distribution system. At this level, transient
voltages are controlled and do not exceed the impulse voltage capability of the products insulation.
10 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
About Your Controller Chapter 2
WARNING: When used in a Class I, Division 2, hazardous location, this equipment must be mounted in a
suitable enclosure with proper wiring method that complies with the governing electrical codes.
WARNING: If you connect or disconnect the serial cable with power applied to this module or the serial
device on the other end of the cable, an electrical arc can occur. This could cause an explosion in hazardous
location installations. Be sure that power is removed or the area is nonhazardous before proceeding.
WARNING: The local programming terminal port is intended for temporary use only and must not be
connected or disconnected unless the area is assured to be nonhazardous.
WARNING: The USB port is intended for temporary local programming purposes only and not intended for
permanent connection. If you connect or disconnect the USB cable with power applied to this module or
any device on the USB network, an electrical arc can occur. This could cause an explosion in hazardous
location installations. Be sure that power is removed or the area is nonhazardous before proceeding.
The USB port is a nonincendive field wiring connection for Class I, Division2 Groups A, B, C and D.
WARNING: Exposure to some chemicals may degrade the sealing properties of materials used in the
Relays. It is recommended that the User periodically inspect these devices for any degradation of
properties and replace the module if degradation is found.
WARNING: If you insert or remove the plug-in module while backplane power is on, an electrical arc can
occur. This could cause an explosion in hazardous location installations. Be sure that power is removed or
the area is nonhazardous before proceeding.
WARNING: When you connect or disconnect the Removable Terminal Block (RTB) with field side power
applied, an electrical arc can occur. This could cause an explosion in hazardous location installations.
WARNING: Be sure that power is removed or the area is nonhazardous before proceeding.
ATTENTION: To comply with the CE Low Voltage Directive (LVD), this equipment must be powered from a
source compliant with the following: Safety Extra Low Voltage (SELV) or Protected Extra Low Voltage (PELV).
ATTENTION: To comply with UL restrictions, this equipment must be powered from a Class 2 source.
ATTENTION: Be careful when stripping wires. Wire fragments that fall into the controller could cause
damage. Once wiring is complete, make sure the controller is free of all metal fragments.
ATTENTION: Do not remove the protective debris strips until after the controller and all other equipment in
the panel near the module are mounted and wired. Remove strips before operating the controller. Failure to
remove strips before operating can cause overheating.
ATTENTION: Electrostatic discharge can damage semiconductor devices inside the module. Do not touch
the connector pins or other sensitive areas.
ATTENTION: The USB and serial cables are not to exceed 3.0 m (9.84 ft).
ATTENTION: Do not wire more than 2 conductors on any single terminal.
ATTENTION: Do not remove the Removable Terminal Block (RTB) until power is removed.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 11
Chapter 2 About Your Controller
Environment and Enclosure
This equipment is intended for use in a Pollution Degree 2 industrial environment, in
overvoltage Category II applications (as defined in IEC 60664-1), at altitudes up to
2000 m (6562 ft) without derating.
This equipment is considered Group 1, Class A industrial equipment according to
IEC/CISPR 11. Without appropriate precautions, there may be difficulties with
electromagnetic compatibility in residential and other environments due to
conducted and radiated disturbances.
This equipment is supplied as open-type equipment. It must be mounted within an
enclosure that is suitably designed for those specific environmental conditions that
will be present and appropriately designed to prevent personal injury resulting from
accessibility to live parts. The enclosure must have suitable flame-retardant
properties to prevent or minimize the spread of flame, complying with a flame
spread rating of 5VA, V2, V1, V0 (or equivalent) if non-metallic. The interior of the
enclosure must be accessible only by the use of a tool. Subsequent sections of this
publication may contain additional information regarding specific enclosure type
ratings that are required to comply with certain product safety certifications.
In addition to this publication, see:
• Industrial Automation Wiring and Grounding Guidelines, Rockwell Automation
publication 1770-4.1
• NEMA Standard 250 and IEC 60529, as applicable, for explanations of the degrees
of protection provided by different types of enclosure.
, for additional installation requirements.
Preventing Electrostatic Discharge
This equipment is sensitive to electrostatic discharge, which can cause
internal damage and affect normal operation. Follow these guidelines when
you handle this equipment:
• Touch a grounded object to discharge potential static.
• Wear an approved grounding wriststrap.
• Do not touch connectors or pins on component boards.
• Do not touch circuit components inside the equipment.
• Use a static-safe workstation, if available.
• Store the equipment in appropriate static-safe packaging when not in use.
Safety Considerations
Safety considerations are an important element of proper system installation.
Actively thinking about the safety of yourself and others, as well as the condition
of your equipment, is of primary importance. We recommend reviewing the
following safety considerations.
12 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
About Your Controller Chapter 2
North American Hazardous Location Approval
The following information applies when operating this equipment
in hazardous locations:
Products marked "CL I, DIV 2, GP A, B, C, D" are suitable for use in Class I
Division 2 Groups A, B, C, D, Hazardous Locations and nonhazardous
locations only. Each product is supplied with markings on the rating
nameplate indicating the hazardous location temperature code. When
combining products within a system, the most adverse temperature code
(lowest "T" number) may be used to help determine the overall
temperature code of the system. Combinations of equipment in your
system are subject to investigation by the local Authority Having
Jurisdiction at the time of installation.
EXPLOSION HAZARD
• Do not disconnect equipment unless power has been
removed or the area is known to be nonhazardous.
• Do not disconnect connections to this equipment unless
power has been removed or the area is known to be
nonhazardous. Secure any external connections that mate to
this equipment by using screws, sliding latches, threaded
connectors, or other means provided with this product.
• Substitution of any component may impair suitability for
Class I, Division 2.
• If this product contains batteries, they must only be changed
in an area known to be nonhazardous.
Informations sur l’utilisation de cet équipement en environnements
dangereux:
Les produits marqués "CL I, DIV 2, GP A, B, C, D" ne conviennent qu'à une
utilisation en environnements de Classe I Division 2 Groupes A, B, C, D
dangereux et non dangereux. Chaque produit est livré avec des marquages
sur sa plaque d'identification qui indiquent le code de température pour les
environnements dangereux. Lorsque plusieurs produits sont combinés dans
un système, le code de température le plus défavorable (code de
température le plus faible) peut être utilisé pour déterminer le code de
température global du système. Les combinaisons d'équipements dans le
système sont sujettes à inspection par les autorités locales qualifiées au
moment de l'installation.
RISQUE D’EXPLOSION
• Couper le courant ou s'assurer que l'environnement est classé
non dangereux avant de débrancher l'équipement.
• Couper le courant ou s'assurer que l'environnement est classé
non dangereux avant de débrancher les connecteurs. Fixer tous
les connecteurs externes reliés à cet équipement à l'aide de vis,
loquets coulissants, connecteurs filetés ou autres moyens
fournis avec ce produit.
• La substitution de tout composant peut rendre cet équipement
inadapté à une utilisation en environnement de Classe I,
Division 2.
• S'assurer que l'environnement est classé non dangereux avant
de changer les piles.
Disconnecting Main Power
WARNING: Explosion Hazard
Do not replace components, connect equipment, or disconnect equipment
unless power has been switched off.
The main power disconnect switch should be located where operators and
maintenance personnel have quick and easy access to it. In addition to
disconnecting electrical power, all other sources of power (pneumatic and
hydraulic) should be de-energized before working on a machine or process
controlled by a controller.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 13
Chapter 2 About Your Controller
Safety Circuits
WARNING: Explosion Hazard
Do not connect or disconnect connectors while circuit is live.
Circuits installed on the machine for safety reasons, like overtravel limit switches,
stop push buttons, and interlocks, should always be hard-wired directly to the
master control relay. These devices must be wired in series so that when any one
device opens, the master control relay is de-energized, thereby removing power to
the machine. Never alter these circuits to defeat their function. Serious injury or
machine damage could result.
Power Distribution
There are some points about power distribution that you should know:
• The master control relay must be able to inhibit all machine motion by
removing power to the machine I/O devices when the relay is deenergized. It is recommended that the controller remain powered even
when the master control relay is de-energized.
• If you are using a DC power supply, interrupt the load side rather than the
AC line power. This avoids the additional delay of power supply turn-off.
The DC power supply should be powered directly from the fused
secondary of the transformer. Power to the DC input and output circuits
should be connected through a set of master control relay contacts.
Periodic Tests of Master Control Relay Circuit
Any part can fail, including the switches in a master control relay circuit. The
failure of one of these switches would most likely cause an open circuit, which
would be a safe power-off failure. However, if one of these switches shorts out, it
no longer provides any safety protection. These switches should be tested
periodically to assure they will stop machine motion when needed.
14 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
About Your Controller Chapter 2
Power Considerations
The following explains power considerations for the micro controllers.
Isolation Transformers
You may want to use an isolation transformer in the AC line to the controller.
This type of transformer provides isolation from your power distribution system
to reduce the electrical noise that enters the controller and is often used as a stepdown transformer to reduce line voltage. Any transformer used with the
controller must have a sufficient power rating for its load. The power rating is
expressed in volt-amperes (VA).
Power Supply Inrush
During power-up, the Micro800 power supply allows a brief inrush current to
charge internal capacitors. Many power lines and control transformers can supply
inrush current for a brief time. If the power source cannot supply this inrush
current, the source voltage may sag momentarily.
The only effect of limited inrush current and voltage sag on the Micro800 is that
the power supply capacitors charge more slowly. However, the effect of a voltage
sag on other equipment should be considered. For example, a deep voltage sag
may reset a computer connected to the same power source. The following
considerations determine whether the power source must be required to supply
high inrush current:
• The power-up sequence of devices in a system.
• The amount of the power source voltage sag if the inrush current cannot
be supplied.
• The effect of voltage sag on other equipment in the system.
If the entire system is powered-up at the same time, a brief sag in the power source
voltage typically will not affect any equipment.
Loss of Power Source
The optional Micro800 AC power supply is designed to withstand brief power
losses without affecting the operation of the system. The time the system is
operational during power loss is called program scan hold-up time after loss of
power. The duration of the power supply hold-up time depends on power
consumption of controller system, but is typically between 10 milliseconds and
3 seconds.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 15
Chapter 2 About Your Controller
TIP
Input States on Power Down
The power supply hold-up time as described above is generally longer than the
turn-on and turn-off times of the inputs. Because of this, the input state change
from “On” to “Off” that occurs when power is removed may be recorded by the
processor before the power supply shuts down the system. Understanding this
concept is important. The user program should be written to take this effect
into account.
Other Types of Line Conditions
Occasionally the power source to the system can be temporarily interrupted. It is
also possible that the voltage level may drop substantially below the normal line
voltage range for a period of time. Both of these conditions are considered to be a
loss of power for the system.
Preventing Excessive Heat
Master Control Relay
For most applications, normal convective cooling keeps the controller within the
specified operating range. Ensure that the specified temperature range is
maintained. Proper spacing of components within an enclosure is usually
sufficient for heat dissipation.
In some applications, a substantial amount of heat is produced by other
equipment inside or outside the enclosure. In this case, place blower fans inside
the enclosure to assist in air circulation and to reduce “hot spots” near the
controller.
Additional cooling provisions might be necessary when high ambient
temperatures are encountered.
Do not bring in unfiltered outside air. Place the controller in an enclosure
to protect it from a corrosive atmosphere. Harmful contaminants or dirt
could cause improper operation or damage to components. In extreme
cases, you may need to use air conditioning to protect against heat buildup within the enclosure.
A hard-wired master control relay (MCR) provides a reliable means for
emergency machine shutdown. Since the master control relay allows the
placement of several emergency-stop switches in different locations, its
installation is important from a safety standpoint. Overtravel limit switches or
mushroom-head push buttons are wired in series so that when any of them opens,
the master control relay is de-energized. This removes power to input and output
16 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
About Your Controller Chapter 2
TIP
TIP
device circuits. See illustrations Schematic – Using IEC Symbols on page 19 and
Schematic – Using ANSI/CSA Symbols)
WARNING: Never alter these circuits to defeat their function
since serious injury and/or machine damage could result.
If you are using an external DC power supply, interrupt the DC output
side rather than the AC line side of the supply to avoid the additional
delay of power supply turn-off.
The AC line of the DC output power supply should be fused.
Connect a set of master control relays in series with the DC power
supplying the input and output circuits.
on page 20.
Place the main power disconnect switch where operators and maintenance
personnel have quick and easy access to it. If you mount a disconnect switch
inside the controller enclosure, place the switch operating handle on the outside
of the enclosure, so that you can disconnect power without opening the
enclosure.
Whenever any of the emergency-stop switches are opened, power to input and
output devices should be removed.
When you use the master control relay to remove power from the external I/O
circuits, power continues to be provided to the controller’s power supply so that
diagnostic indicators on the processor can still be observed.
The master control relay is not a substitute for a disconnect to the controller. It is
intended for any situation where the operator must quickly de-energize I/O
devices only. When inspecting or installing terminal connections, replacing
output fuses, or working on equipment within the enclosure, use the disconnect
to shut off power to the rest of the system.
Do not control the master control relay with the controller. Provide the
operator with the safety of a direct connection between an emergencystop switch and the master control relay.
Using Emergency-Stop Switches
When using emergency-stop switches, adhere to the following points:
• Do not program emergency-stop switches in the controller program. Any
emergency-stop switch should turn off all machine power by turning off
the master control relay.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 17
Chapter 2 About Your Controller
TIP
• Observe all applicable local codes concerning the placement and labeling
of emergency-stop switches.
• Install emergency-stop switches and the master control relay in your
system. Make certain that relay contacts have a sufficient rating for your
application. Emergency-stop switches must be easy to reach.
• In the following illustration, input and output circuits are shown with
MCR protection. However, in most applications, only output circuits
require MCR protection.
The following illustrations show the Master Control Relay wired in a grounded
system.
In most applications input circuits do not require MCR protection;
however, if you need to remove power from all field devices, you must
include MCR contacts in series with input power wiring.
18 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Schematic – Using IEC Symbols
Disconnect
Isolation
transformer
Emergency-stop
push button
Fuse
MCR
230V AC
I/O
circuits
Operation of either of these contacts will
remove power from the external I/O
circuits, stopping machine motion.
Fuse
Overtravel
limit switch
MCR
MCR
MCR
Stop Start
Line Terminals: Connect to terminals of power
supply.
115V AC or
230V AC
I/O circuits
L1
L2
230V AC
Master Control Relay (MCR)
Cat. No. 700-PK400A1
Suppressor
Cat. No. 700-N24
MCR
Suppr.
24V DC
I/O
circuits
(Lo)
(Hi)
DC power supply.
Use IEC 950/EN 60950
X1 X2
115V AC
or 230V AC
Line Terminals: Connect to 24V DC terminals of
power supply.
_
+
44564
About Your Controller Chapter 2
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 19
Chapter 2 About Your Controller
Emergency-stop
push button
230V AC
Operation of either of these contacts will
remove power from the external I/O
circuits, stopping machine motion.
Fuse MCR
Fuse
MCR
MCR
MCR
Stop
Start
Line Terminals: Connect to terminals of power
supply
Line Terminals: Connect to 24V DC terminals of
power supply.
230V AC
output
circuits
Disconnect
Isolation
Transformer
115V AC or
230V AC
I/O circuits
L1
L2
Master Control Relay (MCR)
Cat. No. 700-PK400A1
Suppressor
Cat. No. 700-N24
(Lo)
(Hi)
DC Power Supply. Use
NEC Class 2 for UL
Listing
.
X1 X2
115V AC or
230V AC
_
+
MCR
24 V DC
I/O
circuits
Suppr.
Overtravel
limit switch
44565
Schematic – Using ANSI/CSA Symbols)
20 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Chapter
45032
100 (3.94)
80 (3.15)
90 (3.54)
Measurements in millimeters (inches)
3
Install Your Controller
This chapter serves to guide the user on installing the controller. It includes the
following topics.
Topic Page
Controller Mounting Dimensions 21
Mounting Dimensions 21
DIN Rail Mounting 23
Panel Mounting 24
Controller Mounting Dimensions
Mounting Dimensions
Mounting dimensions do not include mounting feet or DIN rail latches.
Micro830 10- and 16-Point Controllers
2080-LC30-10QWB, 2080-LC30-10QVB,
2080-LC30-16AWB, 2080-LC30-16QWB, 2080-LC30-16QVB
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 21
Chapter 3 Install Your Controller
45018
150 (5.91)
80 (3.15)
90 (3.54)
Measurements in millimeters (inches)
45038
210 (8.27)
80 (3.15)
90 (3.54)
Measurements in millimeters (inches)
45912
158 (6.22)
80 (3.15)
90 (3.54)
Micro830 24-Point Controllers
2080-LC30-24QWB, 2080-LC30-24QVB, 2080-LC30-24QBB
Micro830 48-Point Controllers
2080-LC30-48AWB, 2080-LC30-48QWB, 2080-LC30-48QVB, 2080-LC3048QBB
22 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Micro850 24-Point Controllers 2080-LC50-24AWB, 2080-LC50-24QBB, 2080-LC50-24QVB, 2080-LC50-24QWB
Measurements in millimeters (inches)
Install Your Controller Chapter 3
TIP
45916
238 (9.37)
80 (3.15 )
90 (3.54)
Measurements in millimeters (inches)
Micro850 48-Point Controllers 2080-LC50-48AWB, 2080-LC50-48QWB, 2080-LC50-48QBB, 2080-LC50-48QVB
Maintain spacing from objects such as enclosure walls, wireways and adjacent
equipment. Allow 50.8 mm (2 in.) of space on all sides for adequate ventilation. If
optional accessories/modules are attached to the controller, such as the power
supply 2080-PS120-240VAC or expansion I/O modules, make sure that there is
50.8 mm (2 in.) of space on all sides after attaching the optional parts.
DIN Rail Mounting
The module can be mounted using the following DIN rails: 35 x 7.5 x 1 mm
(EN 50 022 - 35 x 7.5).
For environments with greater vibration and shock concerns, use the
panel mounting method, instead of DIN rail mounting.
Before mounting the module on a DIN rail, use a flat-blade screwdriver in the
DIN rail latch and pry it downwards until it is in the unlatched position.
1. Hook the top of the DIN rail mounting area of the controller onto the
DIN rail, and then press the bottom until the controller snaps onto the
DIN rail.
2. Push the DIN rail latch back into the latched position.
Use DIN rail end anchors (Allen-Bradley part number 1492-EAJ35 or
1492-EAHJ35) for vibration or shock environments.
To remove your controller from the DIN rail, pry the DIN rail latch downwards
until it is in the unlatched position.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 23
Chapter 3 Install Your Controller
IMPORTANT
45325
86 mm (3.39 in.)
100 mm (3.94 in.)
Panel Mounting
The preferred mounting method is to use four M4 (#8) screws per module. Hole
spacing tolerance: ±0.4 mm (0.016 in.).
Follow these steps to install your controller using mounting screws.
1. Place the controller against the panel where you are mounting it. Make sure
the controller is spaced properly.
2. Mark drilling holes through the mounting screw holes and mounting feet
then remove the controller.
3. Drill the holes at the markings, then replace the controller and mount it.
Leave the protective debris strip in place until you are finished wiring the
controller and any other devices.
For instructions on how to install your Micro800 system with expansion
I/O, see the User Manual for Micro800 Expansion I/O Modules,
2080-UM003
.
Panel Mounting Dimensions
Micro830 10- and 16-Point Controllers
2080-LC30-10QWB, 2080-LC30-10QVB, 2080-LC30-16AWB, 2080-LC3016QWB, 2080-LC30-16QVB
24 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Install Your Controller Chapter 3
45326
100 mm (3.94 in.)
131 mm (5.16 in.)
45913
131 mm (5.16 in.)
100 mm (3.94 in.)
Micro830 24-Point Controllers
2080-LC30-24QWB, 2080-LC30-24QVB, 2080-LC30-24QBB
Micro850 24-Point Controllers
2080-LC50-24AWB, 2080-LC50-24QBB, 2080-LC50-24QVB, 2080-LC50-24QWB
Micro830 48-Point Controllers 2080-LC30-48AWB, 2080-LC30-48QWB, 2080-LC30-48QVB, 2080-LC30-48QBB
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 25
Chapter 3 Install Your Controller
45917
108 mm (4.25 in)
108 mm (4.25 in)
100mm
(3.9 in)
26 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
System Assembly
45 145.2
27.8
44.4 14.4
7.2
131
7.8 7.8
7.2
131
22.8
36.6
90
100
110.8
33.8
7.2
Expansion I/O Slots
(Applicable to Micro850 only)
Single-width (1st slot)
Double-width (2nd slot)
2085-ECR (terminator)
Micro830/Micro850 24pt Controller
with Micro800 Power Supply
Measurements in millimeters
80
87
Expansion I/O Slots
(Applicable to Micro850 only)
Single-width (1st slot)
Double-width (2nd slot)
2085-ECR (terminator)
Micro830/Micro850 24pt Controller
with Micro800 Power Supply
Measurements in millimeters
Micro830 and Micro850 24-point Controllers (Front)
Install Your Controller Chapter 3
Micro830 and Micro850 24-point Controllers (Side)
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 27
Chapter 3 Install Your Controller
45
33.8
7.2
7
108
108
230
7.8
27.8
7.8
44.4
14.4
216
7
22.8
36.6
90
100.1
110.8
Expansion I/O Slots
(Applicable to Micro850 only)
Single-width (1st slot)
Double-width (2nd slot)
2085-ECR (terminator)
Micro830/Micro850 48pt Controller with Micro800 Power Supply
Measurements in millimeters
80
87
Expansion I/O Slots
(Applicable to Micro850 only)
Single-width (1st slot)
Double-width (2nd slot)
2085-ECR (terminator)
Micro830/Micro850 48pt Controller with Micro800 Power Supply
Measurements in millimeters
Micro830 and Micro850 48-point Controllers (Front)
Micro830 and Micro850 48-point Controllers (Side)
28 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Chapter
Wire Your Controller
This chapter provides information on the Micro830 and Micro850 controller
wiring requirements. It includes the following sections:
Topic Page
Wiring Requirements and Recommendation 29
Use Surge Suppressors 30
Recommended Surge Suppressors 32
Grounding the Controller 33
Wiring Diagrams 33
Controller I/O Wiring 36
Minimize Electrical Noise 37
Analog Channel Wiring Guidelines 37
Minimize Electrical Noise on Analog Channels 37
Grounding Your Analog Cable 38
Wiring Examples 38
Embedded Serial Port Wiring 39
4
Wiring Requirements and Recommendation
• Allow for at least 50 mm (2 in.) between I/O wiring ducts or terminal
strips and the controller.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 29
WARNING: Before you install and wire any device, disconnect power to
the controller system.
WARNING: Calculate the maximum possible current in each power and
common wire. Observe all electrical codes dictating the maximum
current allowable for each wire size. Current above the maximum ratings
may cause wiring to overheat, which can cause damage.
United States Only: If the controller is installed within a potentially
hazardous environment, all wiring must comply with the requirements
stated in the National Electrical Code 501-10 (b).
Chapter 4 Wire Your Controller
TIP
• Route incoming power to the controller by a path separate from the device
wiring. Where paths must cross, their intersection should be
perpendicular.
Do not run signal or communications wiring and power wiring in the
same conduit. Wires with different signal characteristics should be
routed by separate paths.
• Separate wiring by signal type. Bundle wiring with similar electrical
characteristics together.
• Separate input wiring from output wiring.
• Label wiring to all devices in the system. Use tape, shrink-tubing, or other
dependable means for labeling purposes. In addition to labeling, use
colored insulation to identify wiring based on signal characteristics. For
example, you may use blue for DC wiring and red for AC wiring.
Wire Requirements
Wire Size
Type Min Max
Micro830/
Micro850
Controllers
Solid 0.2 mm2 (24 AWG) 2.5 mm2 (12 AWG) rated @ 90 °C (194 °F )
Stranded 0.2 mm
2
(24 AWG) 2.5 mm2 (12 AWG)
insulation max
Use Surge Suppressors
Because of the potentially high current surges that occur when switching
inductive load devices, such as motor starters and solenoids, the use of some type
of surge suppression to protect and extend the operating life of the controllers
output contacts is required. Switching inductive loads without surge suppression
can significantly reduce the life expectancy of relay contacts. By adding a
suppression device directly across the coil of an inductive device, you prolong the
life of the output or relay contacts. You also reduce the effects of voltage
transients and electrical noise from radiating into adjacent systems.
30 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Wire Your Controller Chapter 4
+DC or L1
Suppression
device
DC COM or L2
AC or DC
outputs
Load
VAC/DC
Out 0
Out 1
Out 2
Out 3
Out 4
Out 5
Out
6
Out 7
COM
+24V DC
IN4004 diode
Relay or solid
state DC outputs
24V DC common
VAC/DC
Out 0
Out 1
Out 2
Out 3
Out 4
Out 5
Out 6
Out 7
COM
A surge suppressor
can also be used.
The following diagram shows an output with a suppression device. We
recommend that you locate the suppression device as close as possible to the load
device.
If the outputs are DC, we recommend that you use an 1N4004 diode for surge
suppression, as shown below. For inductive DC load devices, a diode is suitable. A
1N4004 diode is acceptable for most applications. A surge suppressor can also be
used. See Recommended Surge Suppressors
on page32. As shown below, these
surge suppression circuits connect directly across the load device.
Suitable surge suppression methods for inductive AC load devices include a
varistor, an RC network, or an Allen-Bradley surge suppressor, all shown below.
These components must be appropriately rated to suppress the switching
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 31
Chapter 4 Wire Your Controller
Surge Suppression for Inductive AC Load Devices
Output device Output deviceOutput device
Varistor
RC network
Surge
suppressor
transient characteristic of the particular inductive device. See Recommended
Surge Suppressors on page32 for recommended suppressors.
Recommended Surge Suppressors
Use the Allen-Bradley surge suppressors shown in the following table for use with
relays, contactors, and starters.
Recommended Surge Suppressors
Device Coil Voltage Suppressor Catalog Number
Ty pe
Bulletin 100/104K 700K 24…48V AC 100-KFSC50 RC
110…280V AC 100-KFSC280
380…480V AC 100-KFSC480
12…55 V AC, 12…77V DC 100-KFSV55 MOV
56…136 VAC, 78…180V DC 100-KFSV136
137…277V AC, 181…250 V DC 100-KFSV277
12…250V DC 100-KFSD250 Diode
Bulletin 100C, (C09 - C97) 24…48V AC
110…280V AC
380…480V AC
12…55V AC, 12…77V DC
56…136V AC, 78…180V DC
137…277V AC, 181…250V DC
278…575V AC
12…250V DC
100-FSC48
100-FSC280
100-FSC480
100-FSV55
100-FSV136
100-FSV277
100-FSV575
100-FSD250
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
RC
MOV
Diode
Bulletin 509 Motor Starter Size 0 - 5 12…120V AC 599-K04 MOV
(4)
240…264V AC 599-KA04
32 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Recommended Surge Suppressors
Wire Your Controller Chapter 4
Device Coil Voltage Suppressor Catalog Number
Bulletin 509 Motor Starter Size 6 12…120V AC
12…120V AC
Bulletin 700 R/RM Relay AC coil Not Required
24…48V DC 199-FSMA9 MOV
50…120V DC 199-FSMA10
130…250V DC 199-FSMA11
Bulletin 700 Type N, P, PK or PH Relay 6…150V AC/DC 700-N24 RC
24…48V AC/DC 199-FSMA9 MOV
50…120V AC/DC 199-FSMA10
130…250V AC/DC 199-FSMA11
6…300V DC 199-FSMZ-1 Diode
Miscellaneous electromagnetic devices
limted to 35 sealed VA
(1) Catalog numbers for screwless terminals include the string ’CR’ after ’100-’. For example: Cat. No. 100-FSC48 becomes Cat. No. 100-CRFSC48; Cat. No. 100-FSV55
becomes 100-CRFSV55; and so on.
(2) For use on the interposing relay.
(3) For use on the contactor or starter.
(4) RC Type not to be used with Triac outputs. Varistor is not recommended for use on the relay outputs.
6…150V AC/DC 700-N24 RC
199-FSMA1
199-GSMA1
(2)
(3)
Ty pe
RC
MOV
(4)
Grounding the Controller
Wiring Diagrams
WARNING: All devices connected to the RS-232/485 communication
port must be referenced to controller ground, or be floating (not
referenced to a potential other than ground). Failure to follow this
procedure may result in property damage or personal injury.
This product is intended to be mounted to a well grounded mounting surface
such as a metal panel. Refer to the Industrial Automation Wiring and Grounding
Guidelines, publication 1770-4.1
, for additional information.
The following illustrations show the wiring diagrams for the Micro800
controllers. Controllers with DC inputs can be wired as either sinking or sourcing
inputs. Sinking and sourcing does not apply to AC inputs.
High-speed inputs and outputs are indicated by .
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 33
Chapter 4 Wire Your Controller
TIP
I-00
COM0 I-01
I-02
I-03
COM1
I-04
I-05 NC
NC
NC
NC
123456789101112
+DC24 CM0
O-00-DC24
CM1
O-01
CM2
O-02 O-03
CM3
NC
NC
123456789101112
45033
Input terminal block
Output terminal block
45034
I-00
COM0 I-01
I-02
I-03
COM1
I-04
I-05 NC
NC
NC
NC
123456789101112
+DC24 +CM0
O-00-DC24
O-01
-CM0
+CM1
O-02 -CM1
O-03
NC
NC
123456789101112
Input terminal block
Output terminal block
45028
I-00
COM0 I-01
I-02
I-03
COM1
I-04
I-05 I-07
I-06
I-09
I-08
123456789101112
+DC24 CM0
O-00-DC24
CM1
O-01
CM2
O-02 O-03
CM3
O-05
O-04
123456789101112
Input terminal block
Output terminal block
2080-LC30-10QWB
2080-LC30-10QVB
2080-LC30-16AWB / 2080-LC30-16QWB
2080-LC30-16AWB has no high-speed inputs.
34 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
2080-LC30-16QVB
45029
Input terminal block
Output terminal block
45019
Input terminal block
Output terminal block
45020
Input terminal block
Output terminal block
Wire Your Controller Chapter 4
COM0 I-01
I-03
I-04
I-06
I-08
123456789101112
I-00
+DC24 +CM0
I-02
O-01
COM1
+CM1
I-05 I-07
O-03
I-09
O-04
123456789101112
O-00-DC24
-CM0
O-02 -CM1
O-05
2080-LC30-24QWB / 2080-LC50-24AWB / 2080-LC50-24QWB
COM0 I-01
123456789101112
I-00
+DC24 CM0
123456789101112
I-02
O-00-DC24
I-03
CM1
I-04
O-01
I-05
I-06 COM1
CM2
O-02 O-04
I-07
O-03
I-08
O-05
I-10
13 14 15 16
I-09
O-06
13 14 15 16
CM3
I-11
O-07
I-12
I-13
O-08
O-09
2080-LC30-24QVB / 2080-LC30-24QBB / 2080-LC50-24QVB / 2080-LC50-24QBB
COM0 I-01
123456789101112
I-00
+DC24 +CM0
123456789101112
I-03
I-05
I-07
I-08
I-10
13 14 15 16
I-02
O-01
I-04
I-06 COM1
+CM1
O-03
O-05
I-09
O-07
13 14 15 16
O-00-DC24
-CM0
O-02 O-04
O-06
I-11
O-08
I-12
I-13
O-09
-CM1
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 35
Chapter 4 Wire Your Controller
TIP
I-00
COM0 I-01
I-02
I-03
I-04
I-05
COM1
TERMINAL BLOCK 1
TERMINAL BLOCK 3
TERMINAL BLOCK 2
TERMINAL BLOCK 4
I-07
I-06
I-09
I-08
123456789101112
I-13 I-15
I-16I-14
I-17
I-18
I-19
COM3 I-21
I-20
I-23
I-22
123456789101112
I-11
I-10
I-12
COM2
13 14 15 16
I-25
I-24
I-27
I-26
13 14 15 16
-DC24
+DC24 CM0
O-00
CM1
O-01
CM2
O-02 O-03
CM3
O-04
CM4
123456789101112
CM7 O-08
O-09O-07
O-10
O-11
CM8
O-12 O-14
O-13
CM9
O-15
123456789101112
O-05
CM5
O-06
CM6
13 14 15 16
O-17
O-16
O-19
O-18
13 14 15 16
45039
Input terminal block
Output terminal block
I-00
COM0 I-01
I-02
I-03
I-04
I-05
COM1 I-07
I-06
I-09
I-08
123456789101112
I-13 I-15
I-16I-14
I-17
I-18
I-19
COM3 I-21
I-20
I-23
I-22
123456789101112
I-11
I-10
I-12
COM2
13 14 15 16
I-25
I-24
I-27
I-26
13 14 15 16
-DC24
+DC24 +CM0
O-00
O-01
O-02
O-03
-CM0 O-04
+CM1
O-06
O-05
123456789101112
+CM2 O-11
O-12O-10
O-13
O-14
O-15
-CM2 O-16
+CM3
O-18
O-17
123456789101112
O-08
O-07
-CM1
O-09
13 14 15 16
-CM3
O-19
NC
NC
13 14 15 16
TERMINAL BLOCK 1
TERMINAL BLOCK 3
TERMINAL BLOCK 2
TERMINAL BLOCK 4
45040
Input terminal block
Output terminal block
2080-LC30-48AWB / 2080-LC30-48QWB / 2080-LC50-48AWB / 2080-LC50-48QWB
Controller I/O Wiring
2080-LC30-48AWB has no high-speed inputs.
2080-LC30-48QVB / 2080-LC30-48QBB / 2080-LC50-48QVB / 2080-LC50-48QBB
This section contains some relevant information about minimizing electrical
noise and also includes some wiring examples.
36 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Wire Your Controller Chapter 4
Minimize Electrical Noise
Because of the variety of applications and environments where controllers are
installed and operating, it is impossible to ensure that all environmental noise will
be removed by input filters. To help reduce the effects of environmental noise,
install the Micro800 system in a properly rated (for example, NEMA) enclosure.
Make sure that the Micro800 system is properly grounded.
A system may malfunction due to a change in the operating environment after a
period of time. We recommend periodically checking system operation,
particularly when new machinery or other noise sources are installed near the
Micro800 system.
Analog Channel Wiring Guidelines
Consider the following when wiring your analog channels:
• The analog common (COM) is not electrically isolated from the system,
and is connected to the power supply common.
• Analog channels are not isolated from each other.
• Use Belden cable #8761, or equivalent, shielded wire.
• Under normal conditions, the drain wire (shield) should be connected to
the metal mounting panel (earth ground). Keep the shield connection to
earth ground as short as possible.
• To ensure optimum accuracy for voltage type inputs, limit overall cable
impedance by keeping all analog cables as short as possible. Locate the I/O
system as close to your voltage type sensors or actuators as possible.
Minimize Electrical Noise on Analog Channels
Inputs on analog channels employ digital high-frequency filters that significantly
reduce the effects of electrical noise on input signals. However, because of the
variety of applications and environments where analog controllers are installed
and operated, it is impossible to ensure that all environmental noise will be
removed by the input filters.
Several specific steps can be taken to help reduce the effects of environmental
noise on analog signals:
• install the Micro800 system in a properly rated enclosure, for example,
NEMA. Make sure that the shield is properly grounded.
• use Belden cable #8761 for wiring the analog channels, making sure that
the drain wire and foil shield are properly earth grounded.
• route the Belden cable separately from any AC wiring. Additional noise
immunity can be obtained by routing the cables in grounded conduit.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 37
Chapter 4 Wire Your Controller
IMPORTANT
Foil shield
Black wire
Drain wire
Clear wire
Insulation
44531
Grounding Your Analog Cable
Use shielded communication cable (Belden #8761). The Belden cable has two
signal wires (black and clear), one drain wire, and a foil shield. The drain wire and
foil shield must be grounded at one end of the cable.
Do not ground the drain wire and foil shield at both ends of the cable.
Wiring Examples
Examples of sink/source, input/output wiring are shown below.
Sink output wiring example
Logic side
Micro800 Sink output
User side
Load
Fuse
+
–
24V supply
+V DC
D
G
S
OUT
DC COM
38 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Wire Your Controller Chapter 4
Sink input wiring example
Com
Fuse
24V
DC
I/P
+
~
45627
Source output wiring example
Micro800 Source output
D
DC COM
OUT
+V DC
S
G
+
–
24V supply
Logic side
User side
Load
Fuse
45626
45625
Embedded Serial Port Wiring
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 39
Source input wiring example
Com
~
I/P
The embedded serial port is a non-isolated RS232/RS485 serial port which is
targeted to be used for short distances (<3 m) to devices such as HMIs.
See Embedded Serial Port Cables
with the embedded serial port 8-pin Mini DIN connector.
For example the 1761-CBL-PM02 cable is typically used to connect the
embedded serial port to PanelView Component HMI using RS232.
Fuse
+
24V
DC
on page7 for a list of cables that can be used
Chapter 4 Wire Your Controller
12
3
4
678
5
Embedded Serial Port
Pinout table
Pin Definition RS-485 Example RS-232 Example
1 RS-485+ B(+) (not used)
2 GND GND GND
3 RS-232 RTS (not used) RTS
4 RS-232 RxD (not used) RxD
5 RS-232 DCD (not used) DCD
6 RS-232 CTS (not used) CTS
7 RS-232 TxD (not used) TxD
8 RS-485- A(-) (not used)
40 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Communication Connections
Chapter
5
Overview
Supported Communication Protocols
This chapter describes how to communicate with your control system and
configure communication settings. The method you use and cabling required to
connect your controller depends on what type of system you are employing. This
chapter also describes how the controller establishes communication with the
appropriate network. Topics include:
Topic Page
Supported Communication Protocols 41
Use Modems with Micro800 Controllers 45
Configure Serial Port 46
Configure Ethernet Settings 52
The Micro830 and Micro850 controllers have the following embedded
communication channels:
• a non-isolated RS-232/485 combo port
• a non-isolated USB programming port
In addition, the Micro850 controller has an RJ-45 Ethernet port.
Micro830/Micro850 controllers support the following communication
protocols through the embedded RS-232/RS-485 serial port as well as any
installed serial port plug-in modules:
• Modbus RTU Master and Slave
• CIP Serial Client/Server (RS-232 only)
• ASCII
In addition, the embedded Ethernet communication channel allows your
Micro850 controller to be connected to a local area network for various devices
providing 10 Mbps/100 Mbps transfer rate. Micro850 controllers support the
following Ethernet protocols:
• EtherNet/IP Client/Server
• Modbus/TCP Client/Server
• DHCP Client
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 41
Chapter 5 Communication Connections
TIP
TIP
Modbus RTU
Modbus is a half-duplex, master-slave communications protocol. The Modbus
network master reads and writes bits and registers. Modbus protocol allows a
single master to communicate with a maximum of 247 slave devices. Micro800
controllers support Modbus RTU Master and Modbus RTU Slave protocol. For
more information on configuring your Micro800 controller for Modbus
protocol, refer to the Connected Components Workbench Online Help. For
more information about the Modbus protocol, refer to the Modbus Protocol
Specifications (available from http://www.modbus.org
).
See Modbus Mapping for Micro800 on page 175
for information on Modbus
mapping. To configure the Serial port as Modbus RTU, see Configure Modbus
RTU on page 49.
Use MSG_MODBUS instruction to send Modbus messages over
serial port.
Modbus/TCP Client/Server
The Modbus/TCP Client/Server communication protocol uses the same
Modbus mapping features as Modbus RTU, but instead of the Serial port, it is
supported over Ethernet. Modbus/TCP Server takes on Modbus Slave features
on Ethernet.
The Micro850 controller supports up to 16 simultaneous Modbus TCP Client
connections and 16 simultaneous Modbus TCP Server connections.
No protocol configuration is required other than configuring the Modbus
mapping table. For information on Modbus mapping, see Modbus Mapping for
Micro800 on page 175.
Use MSG_MODBUS2 instruction to send Modbus TCP message over
Ethernet port.
CIP Symbolic Client/Server
CIP Symbolic is supported by any CIP compliant interface including Ethernet
(EtherNet/IP) and Serial Port (CIP Serial). This protocol allows HMIs to easily
connect to the Micro830/Micro850 controller.
Micro850 controllers support up to 16 simultaneous EtherNet/IP Client
connections and 16 simultaneous EtherNet/IP Server connections.
CIP Serial, supported on both Micro830 and Micro850 controllers, makes use of
DF1 Full Duplex protocol, which provides point-to-point connection between
two devices.
42 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Communication Connections Chapter 5
The Micro800 controllers support the protocol through RS-232 connection to
external devices, such as computers running RSLinx Classic software, PanelView
Component terminals (firmware revisions 1.70 and above), or other controllers
that support CIP Serial over DF1 Full-Duplex, such as ControlLogix and
CompactLogix controllers that have embedded serial ports.
EtherNet/IP, supported on the Micro850 controller, makes use of the standard
Ethernet TCP/IP protocol. The Micro850 controller supports up to 16
simultaneous EtherNet/IP Server connections.
To configure CIP Serial, see Configure CIP Serial Driver
To configure for EtherNet/IP, see Configure Ethernet Settings
on page 47.
on page 52.
CIP Symbolic Addressing
Users may access any global variables through CIP Symbolic addressing except for
system and reserved variables.
One- or two-dimension arrays for simple data types are supported (for example,
ARRAY OF INT[1..10, 1..10]) are supported but arrays of arrays (for example,
ARRAY OF ARRAY) are not supported. Array of strings are also supported.
Supported Data Types in CIP Symbolic
Data Type
BOOL Logical Boolean with values TRUE and FALSE
SINT Signed 8-bit integer value
INT Signed 16-bit integer value
DINT Signed 32-bit integer value
LINT
USINT Unsigned 8-bit integer value
UINT Unsigned 16-bit integer value
UDINT Unsigned 32-bit integer value
ULINT
REAL 32-bit floating point value
LREAL
STRING character string (1 byte per character)
(1)
(2)
(1)
(2)
(2)
(2)
Logix MSG instruction can read/write SINT, INT, DINT, LINT and REAL datatypes using "CIP Data Table Read"
and "CIP Data Table Write" message types.
BOOL, USINT, UINT, UDINT, ULINT, LREAL, STRING and SHORT_STRING datatypes are not accessible with the
Logix MSG instruction.
Not supported in PanelView Component.
Description
Signed 64-bit integer value
Unsigned 64-bit integer value
64-bit floating point value
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 43
Chapter 5 Communication Connections
Micro850
controller1
USB
Micro850
controller2
Micro850
controller3
EtherNet/IP
The user can download a program from the PC to controller1 over USB. Also, the program can
be downloaded to controller2 and controller3 over USB to EtherNet/IP.
CIP Client Messaging
CIP Generic and CIP Symbolic messages are supported on Micro800 controllers
through the Ethernet and serial ports. These client messaging features are enabled
by the MSG_CIPSYMBOLIC and MSG_CIPGENERIC function blocks.
See Micro800 Programmable Controllers: Getting Started with CIP Client
Messaging, publication 2080-QS002
, for more information and sample
quickstart projects to help you use the CIP Client Messaging feature.
ASCII
ASCII provides connection to other ASCII devices, such as bar code readers,
weigh scales, serial printers, and other intelligent devices. You can use ASCII by
configuring the embedded or any plug-in serial RS232/RS485 port for the
ASCII driver. Refer to the Connected Components Workbench Online Help for
more information.
CIP Communications Pass-thru
To configure the serial port for ASCII, see Configure ASCII
on page 50.
The Micro830 and Micro850 controllers support pass-thru on any
communications port that supports Common Industrial Protocol (CIP).
Micro830 and Micro850 support a maximum of one hop. A hop is defined to be
an intermediate connection or communications link between two devices – in
Micro800, this is through EtherNet/IP or CIP Serial or CIP USB.
Examples of Supported Architectures
USB to EtherNet/IP
44 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
EtherNet/IP to CIP Serial
Micro850
controller1
Micro830
controller2
EtherNet/IP
CIP Serial
IMPORTANT
Micro800 controllers do not support more than one hop (for example,
from EtherNet/IP → CIP Serial → EtherNet/IP).
Communication Connections Chapter 5
Use Modems with Micro800 Controllers
Serial modems can be used with the Micro830 and Micro850 controllers.
Making a DF1 Point-to-Point Connection
You can connect the Micro830 and Micro850 programmable controller to your
serial modem using an Allen-Bradley null modem serial cable
(1761-CBL-PM02) to the controller’s embedded serial port together with a
9-pin null modem adapter – a null modem with a null modem adapter is
equivalent to a modem cable. The recommended protocol for this configuration
is CIP Serial.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 45
Chapter 5 Communication Connections
DTE Device
(Micro830/850
Channel 0)
DCE Device
(Modem, etc)
niP-9niP-52niP-8
32DXTDXT7
23DXRDXR4
57DNGDNG2
18DCD)+(B1
402RTD)-(A8
66RSDDCD5
85STCSTC6
74STRSTR3
Construct Your Own Modem Cable
If you construct your own modem cable, the maximum cable length is 15.24 m
(50 ft) with a 25-pin or 9-pin connector. Refer to the following typical pinout for
constructing a straight-through cable:
Configure Serial Port
You can configure the Serial Port driver as CIP Serial, Modbus RTU, ASCII or
Shutdown through the Device Configuration tree in Connected Components
Wo r k b e n c h .
46 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Communication Connections Chapter 5
Configure CIP Serial Driver
1. Open your Connected Components Workbench project. On the device
configuration tree, go to the Controller properties. Click Serial Port.
2. Select CIP Serial from the Driver field.
3. Specify a baud rate. Select a communication rate that all devices in your
system support. Configure all devices in the system for the same
communication rate. Default baud rate is set at 38400 bps.
4. In most cases, parity and station address should be left at default settings.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 47
Chapter 5 Communication Connections
5. Click Advanced Settings and set Advanced parameters.
Refer to the table CIP Serial Driver Parameters
on page 48 for a
description of the CIP Serial parameters.
CIP Serial Driver Parameters
Parameter Options Default
Baud rate Toggles between the communication rate of 1200, 2400,
Parity Specifies the parity setting for the serial port. Parity
Station Address The station address for the serial port on the DF1
DF1 Mode DF1 Full Duplex (read only) Configured as
Control Line No Handshake (read only) Configured as no
Duplicate Packet
Detection
Error Detection Toggles between CRC and BCC. CRC
Embedded
Responses
NAK Retries The number of times the controller will resend a
ENQ Retries The number of enquiries (ENQs) that you want the
Transmit Retries Specifies the number of times a message is retried after
ACK Timeout
(x20 ms)
4800, 9600, 19200, and 38400.
provides additional message-packet error detection.
Select Even, Odd, or None.
master. The only valid address is 1.
Detects and eliminates duplicate responses to a
message. Duplicate packets may be sent under noisy
communication conditions when the sender’s retries are
not set to 0. Toggles between Enabled and Disabled.
To use embedded responses, choose Enabled
Unconditionally. If you want the controller to use
embedded responses only when it detects embedded
responses from another device, choose After One
Received.
If you are communicating with another Allen-Bradley
device, choose Enabled Unconditionally. Embedded
responses increase network traffic efficiency.
message packet because the processor received a NAK
response to the previous message packet transmission.
controller to send after an ACK timeout occurs.
the first attempt before being declared undeliverable.
Enter a value from 0…127.
Specifies the amount of time after a packet is
transmitted that an ACK is expected.
38400
None
1
full-duplex by
default.
handshake by
default.
Enabled
After One
Received
3
3
3
50
48 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Communication Connections Chapter 5
Configure Modbus RTU
1. Open your Connected Components Workbench project. On the device
configuration tree, go to the Controller properties. Click Serial Port.
2. Select Modbus RTU on the Driver field.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 49
Chapter 5 Communication Connections
3. Specify the following parameters:
• Baud rate
• Parity
• Unit address
• Modbus Role (Master, Slave, Auto)
Modbus RTU Parameters
Parameter Options Default
Baud Rate 1200, 2400, 4800, 9600, 19200, 38400 19200
Parity None, Odd, Even None
Modbus Role Master, Slave, Auto Master
4. Click Advanced Settings to set advanced parameters.
Refer to the table for available options and default configuration for
advanced parameters.
Modbus RTU Advanced Parameters
Parameter Options Default
Media RS-232, RS-232 RTS/CTS, RS-485 RS-232
Data bits Always 8 8
Stop bits 1, 2 1
Response timer 0…999,999,999 milliseconds 200
Broadcast Pause 0…999,999,999 milliseconds 200
Inter-char timeout 0…999,999,999 microseconds 0
RTS Pre-delay 0…999,999,999 microseconds 0
RTS Post-delay 0…999,999,999 microseconds 0
Configure ASCII
1. Open your Connected Components Workbench project. On the device
configuration tree, go to Controller properties. Click Serial Port.
50 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
2. Select ASCII on the Driver field.
Communication Connections Chapter 5
3. Specify baud rate and parity.
ASCII Parameters
Parameter Options Default
Baud Rate 1200, 2400, 4800, 9600, 19200, 38400 19200
Parity None, Odd, Even None
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 51
Chapter 5 Communication Connections
4. Click Advanced Settings to configure advanced parameters.
ASCII Advanced Parameters
Parameter Options Default
Control Line Full Duplex
Half-duplex with continuous carrier
Half-duplex without continuous carrier
No Handshake
Deletion Mode CRT
Ignore
Printer
Data bits 7, 8 8
Stop bits 1, 2 1
XON/XOFF Enabled or Disabled Disabled
Echo Mode Enabled or Disabled Disabled
Append Chars 0x0D,0x0A or user-specified value 0x0D,0x0A
Term Chars 0x0D,0x0A or user-specified value 0x0D,0x0A
No Handshake
Ignore
Configure Ethernet Settings
1. Open your Connected Components Workbench project (for example,
Micro850). On the device configuration tree, go to Controller properties.
Click Ethernet.
52 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Communication Connections Chapter 5
TIP
2. Under Ethernet, click Internet Protocol.
Configure Internet Protocol (IP) settings. Specify whether to obtain the
IP address automatically using DHCP or manually configure IP address,
subnet mask, and gateway address.
The Ethernet port defaults to the following out-of-the box settings:
• DHCP (dynamic IP address)
• Address Duplicate Detection: On
3. Click the checkbox Detect duplicate IP address to enable detection of
duplicate address.
4. Under Ethernet, click Port Settings.
5. Set Port State as Enabled or Disabled.
6. To manually set connection speed and duplexity, uncheck the option box
Auto-Negotiate speed and duplexity. Then, set Speed (10 or 100 Mbps)
and Duplexity (Half or Full) values.
7. Click Save Settings to Controller if you would like to save the settings to
your controller.
8. On the device configuration tree, under Ethernet, click Port Diagnostics to
monitor Interface and Media counters. The counters are available and
updated when the controller is in Debug mode.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 53
Chapter 5 Communication Connections
Ethernet Host Name
Micro800 controllers implement unique host names for each controller, to be
used to identify the controller on the network. The default host name is
comprised of two parts: product type and MAC address, separated by a hyphen.
For example: 2080LC50-xxxxxxxxxxxx, where xxxxxxxxxxxx is the MAC
address.
The user can change the host name using the CIP Service Set Attribute Single
when the controller is in Program/Remote Program mode.
Configure CIP Serial Driver
1. Open your Connected Components Workbench project. On the device
configuration tree, go to the Controller properties. Click Serial port.
2. Select CIP Serial from the Driver field.
3. Specify a baud rate. Select a communication rate that all devices in your
system support. Configure all devices in the system for the same
communication rate. Default baud rate is set @ 38400 bps.
4. In most cases, parity and station address should be left at default settings.
5. Click Advanced Settings and set Advanced parameters.
54 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Chapter
IMPORTANT
6
Program Execution in Micro800
This section provides a brief overview of running or executing programs with a
Micro800 controller.
This section generally describes program execution in Micro800
controllers. Certain elements may not be applicable or true for certain
models (for example, Micro820 does not support PTO motion control).
Overview of Program Execution
A Micro800 cycle or scan consists of reading inputs, executing programs in
sequential order, updating outputs and performing housekeeping (datalog, recipe,
communications).
Program names must begin with a letter or underscore, followed by up to 127
letters, digits or single underscores. Use programming languages such as ladder
logic, function block diagrams and structured text.
Up to 256 programs may be included in a project, depending on available
controller memory. By default, the programs are cyclic (executed once per cycle or
scan). As each new program is added to a project, it is assigned the next
consecutive order number. When you start up the Project Organizer in
Connected Components Workbench, it displays the program icons based on this
order. You can view and modify an order number for a program from the
program’s properties. However, the Project Organizer does not show the new
order until the next time the project is opened.
The Micro800 controller supports jumps within a program. Call a subroutine of
code within a program by encapsulating that code as a User Defined Function
Block (UDFB). Although a UDFB can be executed within another UDFB, a
maximum nesting depth of five is supported. A compilation error occurs if this is
exceeded.
Alternatively, you can assign a program to an available interrupt and have it
executed only when the interrupt is triggered. A program assigned to the User
Fault Routine runs once just prior to the controller going into Fault mode.
In addition to the User Fault Routine, Micro800 controllers also support two
Selectable Timed Interrupts (STI). STIs execute assigned programs once every
set point interval (1…65535 ms).
The Global System Variables associated with cycles/scans are:
• __SYSVA_CYCLECNT – Cycle counter
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 55
Chapter 6 Program Execution in Micro800
1. Read inputs
2. Execute POUs
(1)
/programs
3. Writ e o ut put s
4. Housekeeping (datalog,
recipe, communications)
(1) Program Organizational Unit.
4
1
2
3
1
2
3
• __SYSVA_TCYCURRENT – Current cycle time
• __SYSVA_TCYMAXIMUM – Maximum cycle time since last start.
Execution Rules
This section illustrates the execution of a program. The execution follows four
main steps within a loop. The loop duration is a cycle time for a program.
Controller Load and Performance Considerations
When a cycle time is specified, a resource waits until this time has elapsed before
starting the execution of a new cycle. The POUs execution time varies depending
on the number of active instructions. When a cycle exceeds the specified time, the
loop continues to execute the cycle but sets an overrun flag. In such a case, the
application no longer runs in real time.
When a cycle time is not specified, a resource performs all steps in the loop then
restarts a new cycle without waiting.
Within one program scan cycle, the execution of the main steps (as indicated in
the Execution Rules diagram) could be interrupted by other controller activities
which have higher priority than the main steps. Such activities include,
1. User Interrupt events, including STI, EII, and HSC interrupts (when
applicable);
2. Communication data packet receiving and transmitting;
3. PTO Motion engine periodical execution (if supported by the controller).
When one or several of these activities occupy a significant percentage of the
Micro800 controller execution time, the program scan cycle time will be
prolonged. The Watchdog timeout fault (0xD011) could be reported if the
impact of these activities is underestimated, and the Watchdog timeout is set
56 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Program Execution in Micro800 Chapter 6
marginally. The Watchdog setting defaults to 2 s and generally never needs to be
changed.
Periodic Execution of Programs
For applications where periodic execution of programs with precise timing is
required, such as for PID, it is recommended that STI (Selectable Timed
Interrupt) be used to execute the program. STI provides precise time intervals.
It is not recommended that the system variable __SYSVA_TCYCYCTIME be
used to periodically execute all programs as this also causes all communication to
execute at this rate.
System Variable for Programmed Cycle Time
WARNING: Communication timeouts may occur if programmed cycle
time is set too slow (for example, 200 ms) to maintain communications.
Power Up and First Scan
Variable Type Description
__SYSVA_TCYCYCTIME TIME Programmed cycle time.
Note: Programmed cycle time only accepts values in
multiples of 10 ms. If the entered value is not a
multiple of 10, it will be rounded up to the next
multiple of 10.
On firmware revision 2 and later, all digital output variables driven by the I/O
scan gets cleared on powerup and during transition to RUN mode.
Two system variables are also available from revision 2 and later.
System Variables for Scan and Powerup on Firmware Release 2 and later
Variable Type Description
_SYSVA_FIRST_SCAN BOOL First scan bit.
Can be used to initialize or reset variables immediately
after every transition from Program to Run mode.
Note: True only on first scan. After that, it is false.
_SYSVA_POWER_UP_BIT BOOL Powerup bit.
Can be used to initialize or reset variables immediately
after download from Connected Components
Workbench or immediately after being loaded from
memory backup module (for example, microSD card).
Note:True only on the first scan after a powerup, or
running a new ladder for the first time.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 57
Chapter 6 Program Execution in Micro800
Variable Retention
Micro830 and Micro850 controllers retain all user-created variables after a power
cycle, but the variables inside instances of instructions are cleared. For example: A
user created variable called My_Timer of Time data type will be retained after a
power cycle but the elapsed time (ET) within a user created timer TON
instruction will be cleared.
Unlike Micro830/Micro850 controllers, Micro810 and Micro820 controllers
can only retain a maximum of 400 bytes of user-created variable values. This
means that after a power cycle, global variables are cleared or set to initial value,
and only 400 bytes of user-created variable values are retained. Retained variables
can be checked at the global variable page.
Memory Allocation
Depending on base size, available memory on Micro800 controllers are shown in
the table below.
Memory Allocation for Micro800 Controllers
Attribute 10/16-point 20-point 24- and 48-points
Program steps
Data bytes 8 KB 20 KB 20 KB
(1) Estimated Program and Data size are “typical” – program steps and variables are created dynamically.
1 Program Step = 12 data bytes.
(1)
4 K 10 K 10 K
These specifications for instruction and data size are typical numbers. When a
project is created for Micro800, memory is dynamically allocated as either
program or data memory at build time. This means that program size can exceed
the published specifications if data size is sacrificed and vice versa. This flexibility
allows maximum usage of execution memory. In addition to the user defined
variables, data memory also includes any constants and temporary variables
generated by the compiler at build time.
The Micro800 controllers also have project memory, which stores a copy of the
entire downloaded project (including comments), as well as configuration
memory for storing plug-in setup information, and so on.
Guidelines and Limitations for Advanced Users
Here are some guidelines and limitations to consider when programming a
Micro800 controller using Connected Components Workbench software:
• Each program/POU can use up to 64 Kb of internal address space. It is
recommended that you split large programs into smaller programs to
improve code readability, simplify debugging and maintenance tasks.
• A User Defined Function Block (UDFB) can be executed within another
UDFB, with a limit of five nested UDFBs. Avoid creating UDFBs with
references to other UDFBs, as executing these UDFBs too many times may
result in a compile error.
58 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Program Execution in Micro800 Chapter 6
UDFB1
UDFB2
UDFB3
UDFB4
UDFB5
Example of Five Nested UDFBs
• Structured Text (ST) is much more efficient and easier to use than Ladder
Logic, when used for equations. if you are used to using the RSLogix 500
CPT Compute instruction, ST combined with UDFB is a great
alternative.
As an example, for an Astronomical Clock Calculation, Structured Text
uses 40% less Instructions.
Display_Output LD:
Memory Usage (Code) : 3148 steps
Memory Usage (Data) : 3456 bytes
Display_Output ST:
Memory Usage (Code) : 1824 steps
Memory Usage (Data) : 3456 bytes
• You may encounter an Insufficient Reserved Memory error while
downloading and compiling a program over a certain size. One
workaround is to use arrays, especially if there are many variables.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 59
Chapter 6 Program Execution in Micro800
Notes:
60 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Chapter
7
Motion Control with PTO and PWM
Certain Micro830 and Micro850 controllers (see table below) support motion
control through high speed pulse-train outputs (PTO). PTO functionality refers
to the ability of a controller to accurately generate a specific number of pulses at a
specified frequency. These pulses are sent to a motion device, such as a servo
drive, which in turn controls the number of rotations (position) of a servo motor.
Each PTO is exactly mapped to one axis, to allow for control of simple
positioning in stepper motors and servo drives with pulse/direction input.
As the duty cycle of the PTO can be changed dynamically, the PTO can also be
used as a pulse width modulation (PWM) output.
PTO/PWM and motion axes support on the Micro830 and Micro850
controllers are summarized below.
PTO/PWM
Controller PTO (built-in) Number of Axes
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
(1)
(2)
(1)
and Motion Axis Support on Micro830 and Micro850
Supported
(2)
(1)
(1)
(1)
(1)
PWM outputs are only supported on firmware revision 6 and later.
For Micro830 catalogs, Pulse Train Output functionality is only supported from
firmware revision 2 and later.
11
22
33
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 61
Chapter 7 Motion Control with PTO and PWM
IMPORTANT
ATTENTION: To use the Micro800 Motion feature effectively, users need
to have a basic understanding of the following:
• PTO components and parameters
See Use the Micro800 Motion Control Feature
overview of Motion components and their relationships.
on page 62 for a general
• 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.
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.
The PTO function can only be used with the controller’s embedded I/O. It
cannot be used with expansion I/O modules.
Use the Micro800 Motion Control Feature
The Micro800 motion control feature has the following elements. New users
need to have a basic understanding of the function of each element to effectively
use the feature.
Components of Motion Control
Element Description Page
Pulse Train Outputs Consists of one pulse output and
one direction output. A standard
interface to control a servo or
stepper drive.
• Input and Output Signals
page 64
on
62 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Components of Motion Control
Motion Control with PTO and PWM Chapter 7
Axis From a system point of view, an axis
is a mechanical apparatus that is
driven by a motor and drive
combination. The drive receives
position commands through the
Micro800 pulse train outputs
interface based upon the PLC
execution of motion function blocks.
On the Micro800 controller, it is a
pulse train output and a set of
inputs, outputs, and configuration.
Motion Function Blocks A set of instructions that configure
or act upon an axis of motion.
Jerk Rate of change of acceleration. The
Jerk component is mainly of
interest at the start and end of
motion. Too high of a Jerk may
induce vibrations.
To use the Micro800 motion feature, you need to:
• Motion Axis and Parameters
on page 77
• Motion Axis Configuration in
Connected Components
Workbench on page 89
• Connected Components
Workbench Online Help
• Motion Control Function
Blocks on page 67
• Axis_Ref Data Type on
page 84
• Function Block and Axis
Status Error Codes on page 86
• Homing Function Block on
page 101
• See Acceleration,
Deceleration, and Jerk Inputs
on page 69.
1. Configure the Axis Properties
See Motion Axis Configuration in Connected Components Workbench
on page 89 for instructions.
2. Write your motion program through the Connected Components
Workbench software
For instructions on how to use the Micro800 motion control feature, see
the quickstart instructions, Use the Motion Control Feature on Micro800
Controllers, publication 2080-QS001
.
3. Wire the Controller
a. refer to Input and Output Signals
on page 64 for fixed and configurable
inputs/outputs
b. See Sample Motion Wiring Configuration on
2080-LC30-xxQVB/2080-LC50-xxQVB on page 66 for reference
The next sections provide a more detailed description of the motion components.
You can also refer to the Connected Components Workbench Online Help for
more information about each motion function block and their variable inputs
and outputs.
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 63
Chapter 7 Motion Control with PTO and PWM
IMPORTANT
Input and Output Signals
Multiple input/output control signals are required for each motion axis, as
described in the next tables. PTO Pulse and PTO Direction are required for an
axis. The rest of the input/outputs can be disabled and re-used as regular I/O.
Fixed PTO Input/Output
Motion Signals PTO0 (EM_00) PTO1 (EM_01) PTO2 (EM_02)
Logical Name
in Software
PTO pulse _IO_EM_DO_00 O-00 _IO_EM_DO_01 O-01 IO_EM_DO_02 O-02
PTO direction _IO_EM_DO_03 O-03 _IO_EM_DO_04 O-04 IO_EM_DO_05 O-05
Lower (Negative) Limit switch _IO_EM_DI_00 I-00 _IO_EM_DI_04 I-04 IO_EM_DI_08 I-08
Upper (Positive) Limit switch _IO_EM_DI_01 I-01 _IO_EM_DI_05 I-05 IO_EM_DI_09 I-09
Absolute Home switch _IO_EM_DI_02 I-02 _IO_EM_DI_06 I-06 IO_EM_DI_10 I-10
Touch Probe Input switch _IO_EM_DI_03 I-03 _IO_EM_DI_07 I-07 IO_EM_DI_11 I-11
Name on
Terminal
Block
Logical Name
in Software
Name on
Terminal
Block
Logical Name in
Software
Configurable input/output
Motion Signals Input/Output Notes
Servo/Drive On OUTPUT Can be configured as any embedded output.
Servo/Drive Ready INPUT Can be configured as any embedded input.
In-Position signal (from
Servo/motor)
Home Marker INPUT Can be configured as any embedded input, from input
INPUT Can be configured as any embedded input.
0...15.
Name on
Terminal Block
These I/O can be configured through the axis configuration feature in
Connected Components Workbench. Any outputs assigned for motion should
not be controlled in the user program.
See Motion Axis Configuration in Connected Components Workbench
on
page 89.
If an output is configured for motion, then that output can no longer be
controlled or monitored by the user program and cannot be forced. For
example, when a PTO Pulse output is generating pulses, the
corresponding logical variable IO_EM_DO_xx will not toggle its value
and will not display the pulses in the Variable Monitor but the physical
LED will give an indication.
If an input is configured for motion, then forcing the input only affects the
user program logic and not motion. For example, if the input Drive Ready
is false, then the user cannot force Drive Ready to true by forcing the
corresponding logical variable IO_EM_DI_xx to be true.
64 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Motion Control with PTO and PWM Chapter 7
Motion Wiring Input/Output Description
Motion Signals Input/Output Description Uniqueness
PTO pulse OUTPUT PTO pulse from the embedded fast output, to
be connected to Drive PTO input.
PTO direction OUTPUT PTO pulse direction indication, to be
connected to Drive Direction input.
Servo/Drive On OUTPUT The control signal used to
activate/deactivate Servo/Drive.
This signal becomes Active when
MC_Power(on) is commanded.
Lower (Negative)
Limit switch
INPUT The input for hardware negative limit switch,
to be connected to mechanical/electrical
negative limit sensor.
Upper (Positive)
Limit switch
INPUT The input for hardware positive limit switch,
to be connected to mechanical/electrical
positive limit sensor.
Absolute Home
switch
INPUT The input for hardware home switch (sensor),
to be connected to mechanical/electrical
home sensor.
Touch Probe Input
switch
INPUT The input for hardware touch probe signal, to
be used with Motion MC_TouchProbe and
MC_AbortTrigger function blocks to capture
axis commanded position during the motion
path.
Servo/Drive Ready INPUT The input signal that indicates Servo/Drive is
ready to receive PTO pulse and direction
signal from controller.
No moving function blocks can be issued to
an axis before the axis has this signal ready if
this signal is Enabled in the motion axis
configuration or axis properties page.
In-Position signal
(from Servo/motor)
INPUT The input signal that indicates the moving
part is in the commanded position. This
signal has to be Active after the moving part
reaches the commanded position for
MoveAbsolute and MoveRelative function
blocks.
For MoveAbsolute and MoveRelative
function blocks, when In_Position is enabled,
the controller will report an error
(EP_MC_MECHAN_ERR) if the signal is not
active within five seconds when the last PTO
pulse sent out.
Home Marker INPUT This signal is the zero pulse signal from the
motor encoder. This signal can be used for
fine homing sequence to improve the homing
accuracy.
Not Shared
Not Shared
Can be shared
with more
than one drive
Not Shared
Not Shared
Not Shared
Not Shared
Can be shared
with more
than one drive
Not Shared
Not Shared
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 65
Chapter 7 Motion Control with PTO and PWM
2080-LC30-xxQVB
2080-LC50-xxQVB
Kinetix3
+DC 24
-DC 24
+CM0
+CM1
O-00
O-03
O-06
O-07
-CM0
-CM1
Pin 1, 2
Pin 49(CLK+)
Pin 12(CLK-)
Pin25(DIR+)
Pin 14(DIR-)
Pin 3(Enable)
Pin 7(RST)
1
2
24V
Power
Supply
–
_
Encoder
Motor
Encoder signal cable
Motor power cable
+
+
24V
Power
Supply
To help you configure Kinetix3 drive parameters so the drive can communicate and be controlled
by a Micro830/Micro850 controller, see publication CC-QS025.
46056
Notes:
(1) Drive Enable (Pin 3) and Reset Drive (Pin 7) will be operating as sourcing inputs when (Pin1,2)
connected to – of the Power Supply 2.
Sample Motion Wiring Configuration on 2080-LC30-xxQVB/2080-LC50-xxQVB
66 Rockwell Automation Publication 2080-UM002F-EN-E - December 2013
Motion Control with PTO and PWM Chapter 7
2080-LC30-xxQBB
2080-LC50-xxQBB
Kinetix3
+DC 24
-DC 24
+CM0
+CM1
O-00
O-03
O-06
O-07
-CM0
-CM1
Pin 1, 2
Pin 12(CLK-)
Pin 49(CLK+)
Pin 14(DIR-)
Pin 25(DIR+)
Pin 3(Enable)
Pin 7(RST)
1
2
24V
Power
Supply
24V
Power
Supply
–
_
Encoder
Motor
Encoder signal cable
Motor power cable
+
+
Notes:
(1) Drive Enable (Pin 3) and Reset Drive (Pin 7) will be operating as sinking inputs when (Pin 1,2)
connected to + of the Power Supply 2.
46047
To help you configure Kinetix3 drive parameters so the drive can communicate and be controlled
by a Micro830/Micro850 controller, see publication CC-QS025
.
Sample Motion Wiring Configuration on 2080-LC30-xxQBB/2080-LC50-xxQBB
Motion Control Function Blocks
Motion control function blocks instruct an axis to a specified position, distance,
velocity, and state.
Function Blocks are categorized as Movement (driving motion) and
Administrative.
Administrative Function Blocks
Function Block Name Function Block Name
MC_Power MC_ReadAxisError
MC_Reset MC_ReadParameter
MC_TouchProbe MC_ReadBoolParameter
MC_AbortTrigger MC_WriteParameter
MC_ReadStatus MC_WriteBoolParameter
MC_SetPosition
Rockwell Automation Publication 2080-UM002F-EN-E - December 2013 67
Chapter 7 Motion Control with PTO and PWM
Movement Function Blocks
Function Block Name Description Correct Axis State for
issuing Function Block
MC_MoveAbsolute This function block commands an axis to a
specified absolute position.
MC_MoveRelative This function block commands an axis of a
specified distance relative to the actual
Standstill, Discrete Motion,
Continuous Motion
Standstill, Discrete Motion,
Continuous Motion
position at the time of execution.
MC_MoveVelocity This function block commands a never
ending axis move at a specified velocity.
MC_Home This function block commands the axis to
Standstill, Discrete Motion,
Continuous Motion
Standstill
perform the "search home" sequence. The
"Position" input is used to set the
absolute position when reference signal
is detected, and configured Home offset
is reached. This function block completes
at "StandStill" if the homing sequence is
successful.
MC_Stop This function block commands an axis
stop and transfers the axis to the state
"Stopping". It aborts any ongoing function
Standstill, Discrete Motion,
Continuous Motion,
Homing
block execution. While the axis is in state
Stopping, no other function block can
perform any motion on the same axis.
After the axis has reached velocity zero,
the Done output is set to TRUE
immediately. The axis remains in the state
"Stopping" as long as Execute is still
TRUE or velocity zero is not yet reached.
As soon as "Done" is SET and "Execute" is
FALSE the axis goes to state "StandStill".
MC_Halt This function block commands an axis to a
controlled motion stop. The axis is moved
Standstill, Discrete Motion,
Continuous Motion
to the state "DiscreteMotion", until the
velocity is zero. With the Done output set,
the state is transferred to "StandStill".
ATTENTION: Each motion function block has a set of variable inputs and
outputs that allows you to control a specific motion instruction. Refer to
the Connected Components Workbench Online Help for a description of
these variable inputs and outputs.
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General Rules for the Motion Control Function Blocks
To work with motion control function blocks, users need to be familiar with the
following general rules.
General Rules for the Motion Function Block
Parameter General Rules
Input parameters When Execute is True: The parameters are used with the rising edge of the Execute input. To modify any parameter, it
Inputs exceeding application
limits
Position/Distance Input For MC_MoveAbsolute function block, the position input is the absolute location commanded to the axis. For
Velocity Input Velocity can be a signed value. Users are advised to use positive velocity.
Direction Input For MC_MoveAbsolute, direction input is ignored. (This is reserved for future use.)
Acceleration, Deceleration,
and Jerk Inputs
is necessary to change the input parameter(s) and to trigger motion again.
When Enable is True: The parameters are used with the rising edge of the Enable input and can be modified
continuously.
If a function block is configured with parameters that result in a violation of application limits, the instance of the function
block generates an error. The Error output will be flagged On, and error information will be indicated by the output ErrorID.
The controller, in most cases, will remain in Run mode, and no motion error will be reported as a major controller fault.
MC_MoveRelative, the distance input is the relative location (considering current axis position is 0) from current position.
Direction input for the MC_MoveVelocity function block can be used to define the direction of the move (that is, negative
velocity x negative direction = positive velocity).
For MC_MoveRelative and MC_MoveAbsolute function blocks the absolute value of the velocity is used.
Velocity input does not need to be reached if Jerk input is equal to 0.
For MC_MoveVelocity, direction input value can be 1 (positive direction), 0 (current direction) or -1 (negative direction).
For any other value, only the sign is taken into consideration. For example, -3 denotes negative direction, +2 denotes
positive direction, and so on.
For MC_MoveVelocity, the resulting sign of the product value derived from velocity x direction decides the motion
direction, if the value is not 0. For example, if velocity x direction = +300, then direction is positive.
• Deceleration or Acceleration inputs should have a positive value. If Deceleration or Acceleration is set to be a
non-positive value, an error will be reported (Error ID: MC_FB_ERR_RANGE).
• The Jerk input should have a non-negative value. If Jerk is set to be a negative value, error will be reported.
(Error ID: MC_FB_ERR_RANGE).
• If maximum Jerk is configured as zero in Connected Components Workbench motion configuration, all jerk parameters
for the motion function block has to be configured as zero. Otherwise, the function block reports an error (Error ID:
MC_FB_ERR_RANGE).
• If Jerk is set as a non-zero value, S-Curve profile is generated. If Jerk is set as zero, trapezoidal profile is generated.
• If the motion engine fails to generate the motion profile prescribed by the dynamic input parameters, the function block
reports an error (Error ID: MC_FB_ERR_PROFILE).
See Function Block and Axis Status Error Codes
on page 86 for more information about error codes.
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General Rules for the Motion Function Block
Parameter General Rules
Output Exclusivity With Execute: The outputs Busy, Done, Error, and CommandAborted indicate the state of the function block and are
mutually exclusive – only one of them can be true on one function block. If execute is true, one of these outputs has to be
true.
The outputs Done, Busy, Error, ErrorID, and CommandAborted are reset with the falling edge of Execute. However, the
falling edge of Execute does not stop or even influence the execution of the actual function block. Even if Execute is reset
before the function block completes, the corresponding outputs are set for at least one cycle.
If an instance of a function block receives a new Execute command before it completes (as a series of commands on the
same instance), the new Execute command is ignored, and the previously issued instruction continues with execution.
With Enable: The outputs Valid and Error indicate whether a read function block executes successfully. They are
mutually exclusive: only one of them can be true on one function block for MC_ReadBool, MC_ReadParameter,
MC_ReadStatus.
The Valid, Enabled, Busy, Error, and ErrorID outputs are reset with the falling edge of Enable as soon as possible.
Axis output When used in Function Block Diagram, you can connect the axis output parameter to the Axis input parameter of another
motion function block for convenience (for example, MC_POWER to MC_HOME).
When used in a Ladder Diagram, you cannot assign a variable to the Axis output parameter of another motion function
block because it is read-only.
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General Rules for the Motion Function Block
Parameter General Rules
Behavior of Done Output The output Done is set when the commanded action has completed successfully.
With multiple function blocks working on the same axis in a sequence, the following rule applies:
When one movement on an axis is aborted with another movement on the same axis without having reached the final
goal, output Done will not be set on the first function block.
Behavior of Busy Output Every function block has a Busy output, indicating that the function block is not yet finished (for function blocks with an
Execute input), and new output values are pending (for function blocks with Enable input).
Busy is set at the rising edge of Execute and reset when one of the outputs Done, Aborted, or Error is set, or it is set at the
rising edge of Enable and reset when one of the outputs Valid or Error is set.
It is recommended that the function block continue executing in the program scan for as long as Busy is true, because the
outputs will only be updated when the instruction is executing. For example, in ladder diagram, if the rung becomes false
before the instruction finishes executing, the Busy output will stay true forever eventhough the function block has
finished executing.
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General Rules for the Motion Function Block
Parameter General Rules
Output Active In current implementation, buffered moves are not supported. Consequently, Busy and Active outputs have the same
Behavior of
CommandAborted Output
behavior.
CommandAborted is set when a commanded motion is aborted by another motion command.
When CommandAborted occurs, other output signals such as InVelocity are reset.
Enable and Valid Status The Enable input for read function blocks is level-sensitive. On every program scan with the Enable input as true, the
Relative Move versus
Absolute Move
Buffered Mode For all motion control function blocks, BufferMode input parameter is ignored. Only aborted moves are supported for this
Error Handling All blocks have two outputs which deal with errors that can occur during execution. These outputs are defined as follows:
function block will perform a read and update its outputs. The Valid output parameter shows that a valid set of outputs is
available.
The Valid output is true as long as valid output values are available and the Enable input is true. The relevant output
values will be refreshed as long as the input Enable is true.
If there is a function block error, and the relevant output values are not valid, then the valid output is set to false. When
the error condition no longer exists, the values will be updated and the Valid output will be set again.
Relative move does not require the axis to be homed. It simply refers to a move in a specified direction and distance.
Absolute move requires that the axis be homed. It is a move to a known position within the coordinate system, regardless
of distance and direction. Position can be negative or positive value.
release.
• Error – Rising edge of "Error" informs that an error occurred during the execution of the function block, where the
function block cannot successfully complete.
• ErrorID – Error number.
Types of errors:
• Function block logic (such as parameters out of range, state machine violation attempted)
• hard limits or soft limits reached
• Drive failure (Drive Ready is false)
For more information about function block error, see Motion Function Block and Axis status Error ID
on page 87.
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46054
Simple move position using one
instance of MC_MoveRelative,
MC_MoveAbsolute
For simple moves, the
movement function block
finishes. Busy output indicates
that the function block is
executing and must be allowed
to finish before Execute input is
toggled again.
If Execute is toggled again
before Busy is false, the new
command is ignored. No error is
generated.
46053
Simultaneous Execution of Two Movement Function Blocks (Busy Output = True)
The general rule is that when a movement function block is busy, then a function
block with the same instance (for example, MC_MoveRelative2) cannot be
executed again until the function block status is not busy.
MC_MoveRelative, MC_MoveAbsolute will be busy until final position is
reached. MC_MoveVelocity, MC_Halt, and MC_Stop will be busy until
final velocity is reached.
Velocity
Execute1
Busy1
When a movement function block is busy, a function block with a different
instance (for example, MC_MoveRelative1 and MC_MoveAbsolute1 on the
same axis) can abort the currently executing function block. This is mostly useful
for on-the-fly adjustments to position, velocity, or to halt after a specific distance.
Example: Move to Position Ignored Due to Busy
Velocity
Execute1
Busy1
This command is ignored
Time
Time
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Aborted move is possible if using two
instances of MC_MoveRelative,
MC_MoveAbsolute. The second
instance can immediately abort the
first instance (and vice versa) for
applications where on-the-fly
corrections are needed.
46052
Example: Successful Aborted Move
Velocity
Time
Execute1
Busy1
CommandAborted1
Execute2
Busy2
Example: Changing Velocity With No Abort
When changing velocity, generally, an aborted move is not necessary since the
function block is only Busy during acceleration (or deceleration). Only a single
instance of the function block is required.
To bring the axis to a standstill, use MC_Halt.
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Velocity
Time
Execute1
Busy
Busy
Halt Execute
46051
It is possible for the movement function blocks and MC_Halt to abort another
motion function block during acceleration/deceleration. This is not
recommended as the resulting motion profile may not be consistent.
ATTENTION: If MC_Halt aborts another motion function block during
acceleration and the MC_Halt Jerk input parameter is less than the Jerk
of the currently executing function block, the Jerk of the currently
executing function block is used to prevent an excessively long
deceleration.
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IMPORTANT
46050
Example: Aborted Movement Function Block During Acceleration/Deceleration
Velocity
Time
Execute1
Busy
CommandAborted
Halt Execute
Busy
If MC_Halt aborts another movement function block during acceleration
and the MC_Halt Jerk input parameter is less than the Jerk of the
currently executing FB, the Jerk of the currently executing function block
is used to prevent excessively long deceleration.
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46049
Example: Error Stop using MC_Stop cannot be Aborted
Velocity
This command is ignored.
MC_Stop Execute
Busy
Motion function block Execute
Time
Motion Axis and Parameters
MC_Halt and MC_Stop are both used to bring an axis to a Standstill but
MC_Stop is used when an abnormal situation occurs.
MC_Stop can abort other motion function blocks but can never be
aborted itself.
MC_Stop goes to the Stopping state and normal operation cannot
resume.
The following state diagram illustrates the behavior of the axis at a high level
when multiple motion control function blocks are activated. The basic rule is that
motion commands are always taken sequentially, even if the controller has the
capability of real parallel processing. These commands act on the axis’ state
diagram.
The axis is always in one of the defined states (see diagram below). Any motion
command is a transition that changes the state of the axis and, as a consequence,
modifies the way the current motion is computed.
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Continuous
Motion
Discrete
Motion
Stopping
ErrorStop
StandStill
Disabled
Homing
MC_MoveAbsolute
MC_MoveRelative
MC_Halt
MC_MoveAbsolute; MC_MoveRelative; MC_Halt
MC_MoveVelocity
MC_MoveVelocity
MC_Stop
MC_Stop
MC_Stop
Done
Error
Error
MC_Stop
MC_Reset and
MC_Power.Status=FALSE
MC_Home
Done
Error
MC_MoveAbsolute
MC_MoveRelative
Error
MC_Reset
MC_MoveVelocity
Note 5
Note 3
Note 2
Note 4
Error
Note 6
Note 1
NOTES:
(1) In the ErrorStop and Stopping states, all function blocks (except MC_Reset), can be called although they will not be executed.
MC_Reset generates a transition to the Standstill state. If an error occurs while the state machine is in the Stopping state, a transition to
the ErrorStop state is generated.
(2) Power.Enable = TRUE and there is an error in the Axis.
(3) Power.Enable = TRUE and there is no error in the Axis.
(4) MC_Stop.Done AND NOT MC_Stop.Execute.
(5) When MC_Power is called with Enable = False, the axis goes to the Disabled state for every state including ErrorStop.
(6) If an error occurs while the state machine is in Stopping state, a transition to the ErrorStop state is generated.
Motion Axis State Diagram
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Axis States
The axis state can be determined from one of the following predefined states.
Axis state can be monitored through the Axis Monitor feature of the Connected
Components Workbench software when in debug mode.
Motion States
State value State Name
0x00 Disabled
0x01 Standstill
0x02 Discrete Motion
0x03 Continuous Motion
0x04 Homing
0x06 Stopping
0x07 Stop Error
Axis State Update
On motion execution, although the motion profile is controlled by Motion
Engine as a background task, which is independent from POU scan, axis state
update is still dependent on when the relevant motion function block is called by
the POU scan.
For example, on a moving axis on a Ladder POU (state of a rung=true), an
MC_MoveRelative function block in the rung is scanned and the axis starts to
move. Before MC_MoveRelative completes, the state of the rung becomes False,
and MC_MoveRelative is no longer scanned. In this case, the state of this axis
cannot switch from Discrete Motion to StandStill, even after the axis fully stops,
and the velocity comes to 0.
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Sample Limits configuration in Connected Components Workbench
Limits
The Limits parameter sets a boundary point for the axis, and works in
conjunction with the Stop parameter to define a boundary condition for the axis
on the type of stop to apply when certain configured limits are reached.
There are three types of motion position limits.
• Hard Limits
• Soft Limits
• PTO Pulse Limits
See Motion Axis Configuration in Connected Components Workbench on
page 89 for information on how to configure limits and stop profiles and
the acceptable value range for each.
If any one of these limits is reached on a moving axis (except on homing), an over
travel limit error will be reported and the axis will be stopped based on
configured behavior.
Hard Limits
Hard limits refer to the input signals received from physical hardware devices
such as limit switches and proximity sensors. These input signals detect the
presence of the load at the maximum upper and minimum lower extents of
allowable motion of the load or movable structure that carries the load, such as a
load tray on a transfer shuttle.
Hardware limits are mapped to discrete inputs that are associated with data
tags/variables.
When a hard limit switch is enabled, the axis comes to a stop when the limit
switch is detected during motion. If hard stop on hard limit switch is configured
as ON and the limit is detected, motion is stopped immediately (that is, PTO
pulse is stopped immediately by the hardware). Alternatively, if hard stop on hard
limit switch is configured as OFF, motion will be stopped using Emergency Stop
parameters.
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When any hard limit switch is enabled, the input variable connecting to this
physical input can still be used in User Application.
When a hard limit switch is enabled, it will be used automatically for MC_Home
function block, if the switch is in the Homing direction configured in the
Connected Components Workbench software (Mode:
MC_HOME_ABS_SWITCH or MC_HOME_REF_WITH_ABS). See
Homing Function Block
on page 101.
Soft Limits
Soft limits refer to data values that are managed by the motion controller. Unlike
hardware limits which detect the presence of the physical load at specific points in
the allowable motion of the load, soft limits are based on the stepper commands
and the motor and load parameters.
Soft limits are displayed in user defined units. The user can enable individual soft
limits. For non-enabled soft limits (whether upper or lower), an infinite value is
assumed.
Soft Limits are activated only when the corresponding axis is homed. Users can
enable or disable soft limits, and configure an upper and lower limit setting
through the Connected Components Workbench software.
Soft Limits Checking on the Function Blocks
Function Block Limits Checking
MC_MoveAbsolute The target position will be checked against the soft limits before motion
MC_MoveRelative
MC_MoveVelocity The soft limits will be checked dynamically during motion.
starts.
When a soft limit is enabled, the axis comes to a stop when the limit is detected
during motion. The motion is stopped using emergency stop parameters.
If both hard and soft limits are configured as enabled, for two limits in the same
direction (upper or lower), the limits should be configured such that the soft
limit is triggered before the hard limit.
PTO Pulse Limits
This limit parameter is not configurable by the user and is the physical limitation
of the embedded PTO. The limits are set at 0x7FFF0000 and -0x7FFF0000
pulses, for upper and lower limits, respectively.
PTO pulse limits are checked by the controller unconditionally — that is, the
checking is always ON.
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On a non-continuous motion, to prevent a moving axis going to ErrorStop status
with Motion PTO Pulse limits detected, user needs to prevent current position
value going beyond PTO Pulse limit.
On a continuous motion (driven by MC_MoveVelocity function block), when
the current position value goes beyond PTO pulse limit, PTO pulse current
position will automatically roll over to 0 (or the opposite soft limit, if it is
activated), and the continuous motion continues.
For a continuous motion, if the axis is homed, and the soft limit in the motion
direction is enabled, soft limit will be detected before PTO pulse limit being
detected.
Motion Stop
There are three types of stops that can be configured for an axis.
Immediate Hardware Stop
This type of Immediate Stop is controlled by the hardware. If a Hard Stop on a
Hard Limit switch is enabled, and the Hard Limit has been reached, the PTO
pulse for the axis will be cut off immediately by the controller. The stop response
has no delay (less than 1 μs).
Immediate Soft Stop
The maximum possible response delay for this type of stop could be as much as
the Motion Engine Execution time interval. This type of stop is applicable in the
following scenarios:
• During motion, when axis PTO Pulse Limit is reached;
• One Hard Limit is enabled for an axis, but Hard Stop on Hard Limit
switch is configured as Off. If the Emergency Stop is configured as
Immediate Software Stop, during motion, when the Hard Limit switch is
detected;
• One Soft Limit is enabled for an axis and the axis has been homed. If the
emergency stop is configured as Immediate Soft Stop, during motion,
when the Soft Limit reach is detected;
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• The Emergency Stop is configured as Immediate Soft Stop. During
motion, MC_Stop function block is issued with Deceleration parameter
equal to 0.
Decelerating Soft Stop
Decelerating soft stop could be delayed as much as Motion Engine Execution
Time interval. This type of stop is applied in the following scenarios:
• One Hard Limit is enabled for an axis, but Hard Stop on Hard Limit
switch is configured as Off. If the emergency stop is configured as
decelerating stop, during motion, when the Hard Limit switch is detected;
• One Soft Limit is enabled for an axis and the axis has been homed. If the
emergency stop is configured as decelerating stop, during motion, when
the soft limit reach is detected by firmware;
• The Emergency Stop is configured as Decelerating Stop. During motion,
the MC_Stop function block is issued with deceleration parameter set
to 0.
• During motion, MC_Stop function block is issued with Deceleration
parameter not set to 0.
Motion Direction
For distance (position) motion, with the target position defined (absolute or
relative), the direction input is ignored.
For velocity motion, direction input value can be positive (1), current (0) or
negative (-1). For any other value, only the sign (whether positive or negative) is
considered and defines whether the direction is positive or negative. This means
that if the product of velocity and direction is -3, then direction type is negative.
MC_MoveVelocity Supported Direction Types
Direction Type Value used
Positive direction 1 Specific for motion/rotation direction.
Current direction 0 Current direction instructs the axis to continue its
Negative direction -1 Specific for motion/rotation direction.
(1)
Data type: short integer.
(1)
Direction description
Also called clockwise direction for rotation motion.
motion with new input parameters, without direction
change.
The direction type is valid only when the axis is moving
and the MC_MoveVelocity is called.
Also referred to as counter-clockwise direction for
rotation motion.
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Chapter 7 Motion Control with PTO and PWM
Axis Elements and Data Types
Axis_Ref Data Type
Axis_Ref is a data structure that contains information on a motion axis. It is used
as an input and output variable in all motion function blocks. One axis_ref
instance is created automatically in the Connected Components Workbench
software when the user adds one motion axis to the configuration.
The user can monitor this variable in controller debug mode through the
software when the motion engine is active, or in the user application as part of
user logic. It can also be monitored remotely through various communication
channels.
Data Elements for Axis_Ref
Element
name
Axis_ID UINT8 The logic axis ID automatically assigned by the Connected
ErrorFlag UINT8 Indicates whether an error is present in the axis.
AxisHomed UINT8 Indicates whether homing operation is successfully executed for
ConsVelFlag UINT8 Indicates whether the axis is in constant velocity movement or not.
AccFlag UINT8 Indicates whether the axis is in an accelerating movement or not.
DecFlag UINT8 Indicates whether the axis is in a decelerating movement or not.
AxisState UINT8 Indicates the current state of the axis. For more information, see
ErrorID UINT16 Indicates the cause for axis error when error is indicated by
ExtraData UINT16 Reserved.
TargetPos REAL
Data Type Description
Components Workbench software. This parameter cannot be
edited or viewed by user.
the axis or not.
When the user tries to redo homing for an axis with AxisHomed
already set (homing performed successfully), and the result is not
successful, the AxisHomed status will be cleared.
Stationary axis is not considered to be in constant velocity.
Axis States
ErrorFlag. This error usually results from motion function block
execution failure.
See Motion Function Block and Axis status Error ID
(float)
(1)
Indicates the final target position of the axis for MoveAbsolute and
MoveRelative function blocks.
For MoveVelocity, Stop, and Halt function blocks, TargetPos is 0
except when the TargetPos set by previous position function blocks
is not cleared.
on page 79.
on page 87.
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IMPORTANT
IMPORTANT
Data Elements for Axis_Ref
Motion Control with PTO and PWM Chapter 7
Element
name
CommandPos REAL
Ta rg et Vel R EA L
CommandVel REAL
(1)
See Real Data Resolution on page 97 for more information on REAL data conversion and rounding.
Data Type Description
(float)
(float)
(float)
(1)
(1)
(1)
On a moving axis, this is the current position the controller
commands the axis to go to.
The maximum target velocity issued to the axis by a move function
block. The value of TargetVel is same as the velocity setting in
current function block, or smaller, depending on other parameters
in the same function block. This element is a signed value
indicating direction information.
See PTO Pulse Accuracy on page 100 for more information.
During motion, this element refers to the velocity the controller
commands the axis to use. This element is a signed value
indicating direction information.
Once an axis is flagged with error, and the error ID is not zero, the user
needs to reset the axis (using MC_Reset) before issuing any other
movement function block.
The update for axis status is performed at the end of one program scan
cycle, and the update is aligned with the update of Motion Axis status.
Axis Error Scenarios
In most cases, when a movement function block instruction issued to an axis
results in a function block error, the axis is also usually flagged as being in Error
state. The corresponding ErrorID element is set on the axis_ref data for the axis.
However, there are exception scenarios where an axis error is not flagged. The
exception can be, but not limited to, the following scenarios:
• A movement function block instructs an axis, but the axis is in a state
where the function block could not be executed properly. For example, the
axis has no power, or is in Homing sequence, or in Error Stop state.
• A movement function block instructs an axis, but the axis is still controlled
by another movement function block. The axis cannot allow the motion to
be controlled by the new function block without going to a full stop. For
example, the new function block commands the axis to change motion
direction.
• When one movement function block tries to control an axis, but the axis is
still controlled by another movement function block, and the
newly-defined motion profile cannot be realized by the controller. For
example, User Application issues an S-Curve MC_MoveAbsolute function
block to an axis with too short a distance given when the axis is moving.
• When one movement function block is issued to an axis, and the axis is in
the Stopping or Error Stopping sequence.
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For the above exceptions, it is still possible for the user application to issue a
successful movement function block to the axis after the axis state changes.
MC_Engine_Diag Data Type
The MC_Engine_Diag data type contains diagnostic information on the
embedded motion engine. It can be monitored in debug mode through the
Connected Components Workbench software when the motion engine is active,
or through the user application as part of user logic. It can also be monitored
remotely through various communication channels.
One MC_Engine_Diag instance is created automatically in the Connected
Components Workbench software when the user adds the first motion axis in the
motion configuration. This instance is shared by all user-configured motion axes.
Data Elements for MC_Engine_Diag
Element name Data Type
MCEngState UINT16
CurrScantime
MaxScantime
CurrEngineInterval
MaxEngineInterval
ExtraData UINT16
(1)
The time unit for this element is microsecond. This diagnostic information can be
used to optimize motion configuration and user application logic adjustment.
(1)
(1)
(1)
(1)
UINT16
UINT16
UINT16
UINT16
MCEngstate States
State name State Description
Function Block and Axis Status Error Codes
MCEng_Idle 0x01 MC engine exists (at least one axis defined), but the engine is idle
MCEng_Running 0x02 MC engine exists (at least one axis defined) and the the engine is
MCEng_Faulted 0x03 MC engine exists, but the engine is faulted.
All motion control function blocks share the same ErrorID definition.
Axis error and function block error share the same Error ID, but error
as there is no axis is moving. The Engine diagnostic data is not
being updated.
running. The diagnostic data is being updated.
descriptions are different, as described in the table below.
Error code 128 is warning information to indicate the motion profile has
been changed and velocity has been adjusted to a lower value but the
function block can execute successfully.
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