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<strong>Motion</strong> <strong>Modules</strong> <strong>in</strong><br />

<strong>Logix5000</strong> <strong>Control</strong><br />

Systems<br />

1756-HYD02, 1756-L60M03SE,<br />

1756-M02AE, 1756-M02AS,<br />

1756-M03SE, 1756-M08SE,<br />

1756-M16SE, 1768-M04SE<br />

User Manual


Important User Information<br />

Solid state equipment has operational characteristics differ<strong>in</strong>g from those of<br />

electromechanical equipment. Safety Guidel<strong>in</strong>es for the Application,<br />

Installation and Ma<strong>in</strong>tenance of Solid State <strong>Control</strong>s (Publication SGI-1.1<br />

available from your local Rockwell Automation sales office or onl<strong>in</strong>e at<br />

http://www.literature.rockwellautomation.com) describes some important<br />

differences between solid state equipment and hard-wired electromechanical<br />

devices. Because of this difference, and also because of the wide variety of<br />

uses for solid state equipment, all persons responsible for apply<strong>in</strong>g this<br />

equipment must satisfy themselves that each <strong>in</strong>tended application of this<br />

equipment is acceptable.<br />

In no event will Rockwell Automation, Inc. be responsible or liable for<br />

<strong>in</strong>direct or consequential damages result<strong>in</strong>g from the use or application of<br />

this equipment.<br />

The examples and diagrams <strong>in</strong> this manual are <strong>in</strong>cluded solely for illustrative<br />

purposes. Because of the many variables and requirements associated with<br />

any particular <strong>in</strong>stallation, Rockwell Automation, Inc. cannot assume<br />

responsibility or liability for actual use based on the examples and diagrams.<br />

No patent liability is assumed by Rockwell Automation, Inc. with respect to<br />

use of <strong>in</strong>formation, circuits, equipment, or software described <strong>in</strong> this manual.<br />

Reproduction of the contents of this manual, <strong>in</strong> whole or <strong>in</strong> part, without<br />

written permission of Rockwell Automation, Inc., is prohibited.<br />

Throughout this manual, when necessary, we use notes to make you aware<br />

of safety considerations.<br />

WARNING<br />

IMPORTANT<br />

ATT<strong>EN</strong>TION<br />

SHOCK HAZARD<br />

BURN HAZARD<br />

Identifies <strong>in</strong>formation about practices or circumstances<br />

that can cause an explosion <strong>in</strong> a hazardous environment,<br />

which may lead to personal <strong>in</strong>jury or death, property<br />

damage, or economic loss.<br />

Identifies <strong>in</strong>formation that is critical for successful<br />

application and understand<strong>in</strong>g of the product.<br />

Identifies <strong>in</strong>formation about practices or circumstances<br />

that can lead to personal <strong>in</strong>jury or death, property<br />

damage, or economic loss. Attentions help you to identify<br />

a hazard, avoid a hazard, and recognize the<br />

consequences.<br />

Labels may be located on or <strong>in</strong>side the equipment, for<br />

example, a drive or motor, to alert people that dangerous<br />

voltage may be present.<br />

Labels may be located on or <strong>in</strong>side the equipment, for<br />

example, a drive or motor, to alert people that surfaces<br />

may be dangerous temperatures.


Introduction<br />

Updated Information<br />

Summary of Changes<br />

This publication has new and updated <strong>in</strong>formation. To f<strong>in</strong>d new and<br />

updated <strong>in</strong>formation, look for change bars, as shown next to this<br />

paragraph.<br />

This document has these changes:<br />

Change See<br />

Added the 1768-M04SE CompactLogix SERCOS <strong>in</strong>terface module. Chapter 1, Chapter 7, and Appendix A<br />

Added guidel<strong>in</strong>es and updated examples on how to configure hom<strong>in</strong>g. Chapter 3<br />

Added table on how to choose a motion command. Also shows which<br />

commands are available as motion direct commands.<br />

Chapter 2<br />

Consolidated the list of attributes of an axis <strong>in</strong>to a s<strong>in</strong>gle table. The<br />

table:<br />

Chapter 4<br />

• has attributes that are available only as a tag<br />

• lists how you access the attribute: GSV <strong>in</strong>struction, SSV<br />

<strong>in</strong>struction, tag<br />

Comb<strong>in</strong>ed configuration details of a coord<strong>in</strong>ate system and attributes<br />

of a coord<strong>in</strong>ate system <strong>in</strong>to a s<strong>in</strong>gle chapter.<br />

Chapter 5<br />

Added a chapter on how to handle motion faults. Chapter 4<br />

Added wir<strong>in</strong>g diagrams for the 1756-HYD02 module Appendix A<br />

Moved details for configur<strong>in</strong>g an axis to an appendix. Appendix C<br />

Moved the descriptions of axis attributes to an appendix. Appendix D<br />

Added a list of the members of each axis data type. Appendix E<br />

For detailed <strong>in</strong>formation on how to configure these drives:<br />

• Onl<strong>in</strong>e help of RSLogix 5000 software<br />

• 1394 SERCOS drive<br />

• 1394 SERCOS Integration Manual, publication<br />

1394-IN024<br />

• Ultra3000 Digital servo drive<br />

• Ultra3000 Digital Servo Drives Integration Manual,<br />

• K<strong>in</strong>etix 6000 drive<br />

publication 2098-IN005<br />

• 8720MC High Performance drive<br />

• K<strong>in</strong>etix 6000 Integration Manual, publication 2094-IN002<br />

• 8720MC High Performance Drive Integration Manual,<br />

publication 720MC-IN002<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Summary of Changes 2<br />

Notes:<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Table of Contents<br />

Preface Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1<br />

Description of The <strong>Modules</strong> . . . . . . . . . . . . . . . . . . . . . . . P-1<br />

Additional Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2<br />

Chapter 1<br />

Start Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1<br />

Make the <strong>Control</strong>ler the Master Clock . . . . . . . . . . . . . . . . 1-2<br />

Add the <strong>Motion</strong> <strong>Modules</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3<br />

Add SERCOS <strong>in</strong>terface Drives . . . . . . . . . . . . . . . . . . . . . . 1-4<br />

Set Up Each SERCOS Interface Module . . . . . . . . . . . . . . . 1-5<br />

Add the <strong>Motion</strong> Group . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6<br />

Add Your Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8<br />

Set Up Each Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9<br />

Check the Wir<strong>in</strong>g of Each Drive. . . . . . . . . . . . . . . . . . . . . 1-12<br />

Tune Each Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13<br />

Get Axis Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14<br />

Program <strong>Motion</strong> <strong>Control</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15<br />

What’s Next? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-17<br />

Test an Axis with <strong>Motion</strong> Direct<br />

Commands<br />

Chapter 2<br />

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1<br />

Access <strong>Motion</strong> Direct Commands. . . . . . . . . . . . . . . . . . . . 2-2<br />

Choose a Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4<br />

<strong>Motion</strong> Direct Command Dialog . . . . . . . . . . . . . . . . . . . . 2-6<br />

<strong>Motion</strong> Direct Command Error Process. . . . . . . . . . . . . . . . 2-8<br />

What If The Software Goes Offl<strong>in</strong>e or The <strong>Control</strong>ler Changes<br />

Modes? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11<br />

Can 2 Workstations Give <strong>Motion</strong> Direct Commands?. . . . . . 2-11<br />

Chapter 3<br />

Configure Hom<strong>in</strong>g Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1<br />

Guidel<strong>in</strong>es for Hom<strong>in</strong>g . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1<br />

Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2<br />

Chapter 4<br />

Handle Faults Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1<br />

Choose If <strong>Motion</strong> Faults Shut Down the <strong>Control</strong>ler . . . . . . . 4-2<br />

Choose the Fault Actions for an Axis . . . . . . . . . . . . . . . . . 4-3<br />

Set the Fault Action for an Axis . . . . . . . . . . . . . . . . . . . . . 4-4<br />

Create and Configure a Coord<strong>in</strong>ate<br />

System<br />

Chapter 5<br />

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1<br />

Create a Coord<strong>in</strong>ate System . . . . . . . . . . . . . . . . . . . . . . . . 5-2<br />

Edit<strong>in</strong>g Coord<strong>in</strong>ate System Properties. . . . . . . . . . . . . . . . . 5-6<br />

Coord<strong>in</strong>ate System Attributes . . . . . . . . . . . . . . . . . . . . . . . 5-17<br />

Group, Axis and Coord<strong>in</strong>ate System Relationships . . . . . . . 5-24<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Table of Contents 2<br />

Chapter 6<br />

Inhibit an Axis Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1<br />

When to Inhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1<br />

Before You Beg<strong>in</strong> . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2<br />

Example: Inhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5<br />

Example: Un<strong>in</strong>hibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . 6-6<br />

Chapter 7<br />

Interpret Module Lights (LEDs) Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1<br />

1756-M02AE Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1<br />

1756-M02AS Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3<br />

1756-HYD02 Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6<br />

SERCOS <strong>in</strong>terface Module . . . . . . . . . . . . . . . . . . . . . . . . . 7-9<br />

Chapter 8<br />

Troubleshoot Axis <strong>Motion</strong> Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1<br />

Why does my axis accelerate when I stop it? . . . . . . . . . . . 8-1<br />

Why does my axis overshoot its target speed? . . . . . . . . . . 8-3<br />

Why is there a delay when I stop and then restart a jog?. . . 8-6<br />

Why does my axis reverse direction when I stop and start it? 8-8<br />

Appendix A<br />

Wir<strong>in</strong>g Diagrams Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1<br />

1756-M02AE Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2<br />

Ultra 100 Series Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3<br />

Ultra 200 Series Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3<br />

Ultra3000 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5<br />

1394 Servo Drive (<strong>in</strong> Torque Mode only) . . . . . . . . . . . . . . A-7<br />

1756-M02AS Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9<br />

1756-HYD02 Application Example . . . . . . . . . . . . . . . . . . A-10<br />

1756-HYD02 Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11<br />

LDTs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-12<br />

Temposonic GH Feedback Device. . . . . . . . . . . . . . . . . . A-13<br />

24V Registration Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . A-14<br />

5V Registration Sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . A-14<br />

Home Limit Switch Input. . . . . . . . . . . . . . . . . . . . . . . . . A-15<br />

OK Contacts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-15<br />

Appendix B<br />

Servo Loop Block Diagrams Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1<br />

Interpret<strong>in</strong>g the Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . B-1<br />

AXIS_SERVO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-2<br />

AXIS_SERVO_DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Table of Contents 3<br />

Appendix C<br />

Axis Properties Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1<br />

General Tab – AXIS_SERVO . . . . . . . . . . . . . . . . . . . . . . . C-1<br />

General Tab - AXIS_SERVO_DRIVE . . . . . . . . . . . . . . . . . . C-2<br />

General Tab - AXIS_VIRTUAL . . . . . . . . . . . . . . . . . . . . . . C-6<br />

General Tab – AXIS_G<strong>EN</strong>ERIC. . . . . . . . . . . . . . . . . . . . . . C-7<br />

<strong>Motion</strong> Planner Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-8<br />

Units Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-11<br />

Servo Tab - AXIS_SERVO . . . . . . . . . . . . . . . . . . . . . . . . C-12<br />

Feedback Tab – (AXIS_SERVO) . . . . . . . . . . . . . . . . . . . . C-14<br />

Drive/Motor Tab - (AXIS_SERVO_DRIVE) . . . . . . . . . . . . C-19<br />

Motor Feedback Tab - AXIS_SERVO_DRIVE . . . . . . . . . . . C-26<br />

Aux Feedback Tab - AXIS_SERVO_DRIVE . . . . . . . . . . . . C-27<br />

Conversion Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-29<br />

Hom<strong>in</strong>g Tab - AXIS_SERVO and AXIS_SERVO_DRIVE . . . C-30<br />

Hom<strong>in</strong>g Tab - AXIS_VIRTUAL . . . . . . . . . . . . . . . . . . . . C-35<br />

Hookup Tab - AXIS_SERVO . . . . . . . . . . . . . . . . . . . . . . C-36<br />

Hookup Tab Overview - AXIS_SERVO_DRIVE . . . . . . . . C-38<br />

Tune Tab - AXIS_SERVO, AXIS_SERVO_DRIVE . . . . . . . . C-40<br />

Dynamics Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-43<br />

Ga<strong>in</strong>s Tab - AXIS_SERVO . . . . . . . . . . . . . . . . . . . . . . . . C-46<br />

Ga<strong>in</strong>s Tab - AXIS_SERVO_DRIVE. . . . . . . . . . . . . . . . . . . C-51<br />

Output Tab - AXIS_SERVO . . . . . . . . . . . . . . . . . . . . . . . C-58<br />

Output Tab Overview - AXIS_SERVO_DRIVE . . . . . . . . . . C-62<br />

Limits Tab - AXIS_SERVO . . . . . . . . . . . . . . . . . . . . . . . . C-66<br />

Limits Tab - AXIS_SERVO_DRIVE . . . . . . . . . . . . . . . . . . C-70<br />

Offset Tab - AXIS_SERVO . . . . . . . . . . . . . . . . . . . . . . . . C-76<br />

Offset Tab - AXIS_SERVO_DRIVE . . . . . . . . . . . . . . . . . . C-79<br />

Fault Actions Tab - AXIS_SERVO . . . . . . . . . . . . . . . . . . . C-83<br />

Fault Actions Tab - AXIS_SERVO_DRIVE . . . . . . . . . . . . . C-86<br />

Tag Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-90<br />

Appendix D<br />

Axis Attributes Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1<br />

How to Access Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . D-1<br />

Axis Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2<br />

Appendix E<br />

Axis Data Types Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1<br />

AXIS_CONSUMED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1<br />

AXIS_G<strong>EN</strong>ERIC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-4<br />

AXIS_SERVO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-6<br />

AXIS_SERVO_DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-9<br />

AXIS_VIRTUAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-13<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Table of Contents 4<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Introduction<br />

Description of The <strong>Modules</strong><br />

Preface<br />

Use this manual to setup and program motion control us<strong>in</strong>g these<br />

<strong>Logix5000</strong> motion modules.<br />

This table describes the <strong>Logix5000</strong> motion modules.<br />

<strong>Motion</strong> Module Description<br />

1756-M02AE The 1756-M02AE is a two-axis servo module for drives/actuators that need a ±10V velocity<br />

or torque reference. Use the 1756-M02AE when your equipment has quadrature encoder<br />

feedback.<br />

The module also has:<br />

• Home limit switch <strong>in</strong>puts<br />

• Drive fault <strong>in</strong>puts<br />

• Drive enable outputs<br />

• 5V or 24V position registration <strong>in</strong>puts<br />

• 250 µs position and velocity loop updates<br />

1756-HYD02 The 1756-HYD02 is a two-axis servo module for hydraulic actuators that need a ±10V<br />

velocity reference. Use the 1756-HYD02 when your equipment has magnostrictive l<strong>in</strong>ear<br />

transducer (LDT) feedback.<br />

The module is similar to the 1756-M02AE with these exceptions:<br />

• Feed Forward adjust <strong>in</strong> addition to s<strong>in</strong>gle-step Auto Tune.<br />

• Ga<strong>in</strong> ratio between extend direction and retract direction to accommodate hydraulic<br />

cyl<strong>in</strong>der dynamics.<br />

• Intelligent transducer noise detection filter<strong>in</strong>g <strong>in</strong> hardware and firmware replaces<br />

programmable IIR filter<strong>in</strong>g.<br />

1756-M02AS The 1756-M02AS is a two-axis servo module for drives/actuators that need a ±10 volt<br />

velocity or torque reference <strong>in</strong>put. Use the 1756-M02AS when your equipment has Serial<br />

Synchronous Input (SSI) position feedback.<br />

1756-M03SE<br />

1756-M08SE<br />

1756-M16SE<br />

1768-M04SE<br />

The module is similar to the 1756-M02AE with these exceptions:<br />

• Ga<strong>in</strong> ratio between extend direction and retract direction to accommodate hydraulic<br />

cyl<strong>in</strong>der dynamics.<br />

• Intelligent transducer noise detection filter<strong>in</strong>g <strong>in</strong> hardware and firmware replaces<br />

programmable IIR filter<strong>in</strong>g.<br />

• SSI <strong>in</strong>terface consist<strong>in</strong>g of Differential Clock output and Data return signals<br />

replaces the differential encoder <strong>in</strong>terface.<br />

Use a SERCOS <strong>in</strong>terface module to connect the controller to SERCOS <strong>in</strong>terface drives.<br />

• The SERCOS <strong>in</strong>terface lets you control digital drives us<strong>in</strong>g high-speed, real time,<br />

serial communication.<br />

• SERCOS is the IEC 61491 SErial Real-time COmmunication System protocol over a<br />

fiber optic network.<br />

• The module uses a fiber optic network for all the wir<strong>in</strong>g between the drives and the<br />

module.<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Preface 2<br />

Additional Resources<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

See these manuals for more <strong>in</strong>formation about us<strong>in</strong>g motion modules<br />

<strong>in</strong> a <strong>Logix5000</strong> control system.<br />

Publication Publication Number<br />

<strong>Logix5000</strong> <strong>Control</strong>lers Quick Start 1756-QS001<br />

<strong>Logix5000</strong> <strong>Control</strong>lers Common Procedures 1756-PM001<br />

<strong>Logix5000</strong> <strong>Control</strong>ler <strong>Motion</strong> Instructions Reference Manual 1756-RM007<br />

<strong>Logix5000</strong> <strong>Control</strong>lers General Instructions Reference Manual 1756-RM003<br />

<strong>Logix5000</strong> <strong>Control</strong>lers Process and Drives Instructions<br />

Reference Manual<br />

1756-RM006<br />

PhaseManager User Manual <strong>LOGIX</strong>-UM001<br />

<strong>Control</strong>Logix <strong>Control</strong>ler User Manual 1756-UM001<br />

CompactLogix <strong>Control</strong>lers User Manual 1768-UM001<br />

Analog Encoder (AE) Servo Module Installation Instructions 1756-IN047<br />

<strong>Control</strong>Logix SERCOS <strong>in</strong>terface Module Installation<br />

Instructions<br />

1756-IN572<br />

CompactLogix SERCOS <strong>in</strong>terface Module Installation<br />

Instructions<br />

1768-IN005<br />

1394 SERCOS Interface Multi Axis <strong>Motion</strong> <strong>Control</strong> System<br />

Installation Manual<br />

1394-IN002<br />

1394 SERCOS Integration Manual 1394-IN024<br />

Ultra3000 Digital Servo Drives Installation Manual 2098-IN003<br />

Ultra3000 Digital Servo Drives Integration Manual 2098-IN005<br />

K<strong>in</strong>etix 6000 Installation Manual 2094-IN001<br />

K<strong>in</strong>etix 6000 Integration Manual 2094-IN002<br />

8720MC High Performance Drive Installation Manual 8720MC-IN001<br />

8720MC High Performance Drive Integration Manual 8720MC-IN002


Introduction<br />

Start<br />

Chapter 1<br />

Use this chapter for step-by-step procedures on how to set up motion<br />

control.<br />

IMPORTANT<br />

If you aren’t us<strong>in</strong>g SERCOS <strong>in</strong>terface drives and<br />

modules, skip tasks 3 and 4.<br />

Task See page<br />

1. Make the <strong>Control</strong>ler the Master Clock 1-2<br />

2. Add the <strong>Motion</strong> <strong>Modules</strong> 1-3<br />

3. Add SERCOS <strong>in</strong>terface Drives 1-4<br />

4. Set Up Each SERCOS Interface Module 1-5<br />

5. Add the <strong>Motion</strong> Group 1-6<br />

6. Add Your Axes 1-8<br />

7. Set Up Each Axis 1-9<br />

8. Check the Wir<strong>in</strong>g of Each Drive 1-12<br />

9. Tune Each Axis 1-13<br />

10. Get Axis Information 1-14<br />

11. Program <strong>Motion</strong> <strong>Control</strong> 1-15<br />

12. What’s Next? 1-17<br />

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1-2 Start<br />

Make the <strong>Control</strong>ler the<br />

Master Clock<br />

1.<br />

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2.<br />

3.<br />

4.<br />

You must make one module <strong>in</strong> the chassis the master clock for motion<br />

control. This module is called the coord<strong>in</strong>ated system time (CST)<br />

master. The motion modules set their clocks to the CST master.<br />

In most cases, make the controller the CST master.<br />

If you have more than 1 controller <strong>in</strong> the chassis<br />

If you have more than 1 controller <strong>in</strong> the chassis, choose 1 of the<br />

controllers to be the CST master. You can’t have more than one CST<br />

master for the chassis.


Add the <strong>Motion</strong> <strong>Modules</strong><br />

1.<br />

2.<br />

3.<br />

4.<br />

IMPORTANT<br />

CompactLogix controller <strong>Control</strong>Logix controller<br />

5.<br />

6.<br />

7.<br />

8.<br />

Start 1-3<br />

For your motion modules, use the firmware revision that goes with<br />

the firmware revision of your controller. See the release notes for your<br />

controller’s firmware.<br />

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1-4 Start<br />

Add SERCOS <strong>in</strong>terface<br />

Drives<br />

1.<br />

2.<br />

3.<br />

4.<br />

5.<br />

6. Node number of the drive on the SERCOS r<strong>in</strong>g<br />

7.<br />

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Add SERCOS <strong>in</strong>terface drives to the I/O configuration of the controller.<br />

This lets you use RSLogix 5000 software to set up the drives.<br />

CompactLogix controller <strong>Control</strong>Logix controller<br />

8.


Set Up Each SERCOS<br />

Interface Module<br />

1.<br />

2.<br />

3.<br />

4.<br />

5.<br />

Start 1-5<br />

Set the data rate and cycle time for each SERCOS <strong>in</strong>terface module <strong>in</strong><br />

your project.<br />

CompactLogix controller <strong>Control</strong>Logix controller<br />

Baud Rate of Drives Number of Drives on the R<strong>in</strong>g Type of Drives Cycle Time<br />

4 Mb 1 or 2 K<strong>in</strong>etix 6000 0.5 ms<br />

NOT K<strong>in</strong>etix 6000 1 ms<br />

3 or 4 1 ms<br />

5…8 2 ms<br />

9…16 Can’t do.<br />

8 Mb 1…4 K<strong>in</strong>etix 6000 0.5 ms<br />

NOT K<strong>in</strong>etix 6000 1 ms<br />

5…8 1 ms<br />

9…16 2 ms<br />

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1-6 Start<br />

Add the <strong>Motion</strong> Group<br />

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Add a motion group to set up the motion planner.<br />

<strong>Motion</strong> Planner Part of the controller that takes care of position and velocity <strong>in</strong>formation for your axes<br />

Coarse Update Period How often the motion planner runs. When the motion planner runs, it <strong>in</strong>terrupts all other<br />

tasks regardless of their priority.<br />

<strong>Motion</strong> Planner<br />

Scans of Your Code,<br />

System Overhead, And<br />

So On.<br />

IMPORTANT<br />

Action Details<br />

1. Choose your coarse update<br />

period.<br />

0 ms 10 ms 20 ms 30 ms 40 ms<br />

In this example, the coarse update period = 10 ms. Every 10 ms the controller stops scann<strong>in</strong>g your code<br />

and whatever else it is do<strong>in</strong>g and runs the motion planner.<br />

Add only 1 motion group for the project. RSLogix 5000 software<br />

doesn’t let you add more than 1 motion group.<br />

The coarse update period is a trade-off between updat<strong>in</strong>g positions of your axes and<br />

scann<strong>in</strong>g your code. Use these guidel<strong>in</strong>es as a rough start<strong>in</strong>g po<strong>in</strong>t.<br />

A. How many axes do you have?<br />

• Less than 11 axes — Set the coarse update period to 10 ms.<br />

• 11 axes or more — Set the coarse update period to 1 ms per axis.<br />

B. Leave at least half the controller’s time for the scan of all your code.<br />

C. If you have SERCOS <strong>in</strong>terface motion modules, set the coarse update period to a<br />

multiple of the cycle time of the motion module.<br />

Example: if the cycle time is 2 ms, set the coarse update period to 8 ms, 10 ms,<br />

12 ms, and so on.<br />

D. If you have analog motion modules, set the coarse update period to:<br />

1. At least 3 times the servo update period of the motion module<br />

2. A multiple of the servo update period of the motion module


Action Details<br />

2. Add the motion group.<br />

3. Set the coarse update period.<br />

A.<br />

B.<br />

C.<br />

A.<br />

B.<br />

C.<br />

D.<br />

Start 1-7<br />

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1-8 Start<br />

Add Your Axes<br />

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Add an axis for each of your drives.<br />

Action Details<br />

1. Decide which data type to use. If you use this motion module for the axis Then use this data type<br />

1756-M03SE<br />

1756-M08SE<br />

1756-M16SE<br />

1756-L60M03SE<br />

1768-M04SE<br />

AXIS_SERVO_DRIVE<br />

2. Add an axis.<br />

A.<br />

1756-M02AE<br />

1756-HYD02<br />

1756-M02AS<br />

AXIS_SERVO<br />

No hardware AXIS_VIRTUAL<br />

B.<br />

C.<br />

D.<br />

Analog<br />

SERCOS <strong>in</strong>terface<br />

No Hardware


Set Up Each Axis<br />

Action Details<br />

1. Open the properties for the axis.<br />

2. Select the drive for the axis.<br />

Select the name that you gave to the drive for this<br />

axis.<br />

3. Set the units that you want to<br />

program <strong>in</strong>.<br />

A.<br />

B. Type the units that you want to use for<br />

programm<strong>in</strong>g, such as revs, degrees,<br />

<strong>in</strong>ches, or millimeters.<br />

Start 1-9<br />

The follow<strong>in</strong>g steps show how to set up the axis of a SERCOS<br />

<strong>in</strong>terface drive. The steps are slightly different if you have a different<br />

type of drive.<br />

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1-10 Start<br />

Action Details<br />

4. Select the drive and motor<br />

catalog numbers.<br />

5. Set the conversion between<br />

drive counts and units.<br />

A.<br />

A.<br />

B. Select the catalog number of the drive.<br />

C. Select the catalog number of the motor.<br />

B. Select whether this is a rotary or<br />

l<strong>in</strong>ear axis.<br />

C. Type the number of drive counts<br />

that equal one unit from Step 3B.<br />

D. If this is a rotary axis, type the<br />

number of drive counts that you<br />

want to unw<strong>in</strong>d after.<br />

6. Set up the hom<strong>in</strong>g sequence.<br />

A.<br />

B. Select the type of hom<strong>in</strong>g sequence that<br />

you want.<br />

C. Type hom<strong>in</strong>g speeds.<br />

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Action Details<br />

7. Apply your changes.<br />

A.<br />

B.<br />

Start 1-11<br />

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1-12 Start<br />

Check the Wir<strong>in</strong>g of Each<br />

Drive<br />

5.<br />

ATT<strong>EN</strong>TION<br />

!<br />

6. Type how far you want the axis to move<br />

dur<strong>in</strong>g the tests.<br />

7.<br />

8.<br />

9.<br />

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4.<br />

Use the hookup tests to check the wir<strong>in</strong>g of a drive.<br />

This Test Does This Notes<br />

Test marker Checks that the drive gets the marker<br />

pulse.<br />

You must manually move the<br />

axis for this test.<br />

Test feedback Checks the polarity of the feedback. You must manually move the<br />

axis for this test.<br />

Test command<br />

and feedback<br />

Checks the polarity of the drive.<br />

These tests make the axis move even with the controller <strong>in</strong> remote<br />

program mode.<br />

• Before you do the tests, make sure no one is <strong>in</strong> the way of the<br />

axis.<br />

• Do not change the polarity after you do the tests. Otherwise you<br />

may cause an axis-runaway condition.<br />

1.<br />

2.<br />

3.<br />

controller<br />

RUN REM PROG<br />

drive<br />

download


Tune Each Axis<br />

5.<br />

ATT<strong>EN</strong>TION<br />

!<br />

6. Type the limit of movement for the axis<br />

dur<strong>in</strong>g the tun<strong>in</strong>g procedure.<br />

7. Type the maximum speed for your<br />

equipment.<br />

8.<br />

4.<br />

Use the Tune tab to tune an axis.<br />

Start 1-13<br />

When you tune an axis, it moves even with the controller <strong>in</strong> remote<br />

program mode. In that mode, your code is not <strong>in</strong> control of the axis.<br />

Before you tune an axis, make sure no one is <strong>in</strong> the way of the axis.<br />

The default tun<strong>in</strong>g procedure tunes the proportional ga<strong>in</strong>s. Typically,<br />

tune the proportional ga<strong>in</strong>s first and see how your equipment runs.<br />

1.<br />

2.<br />

3.<br />

controller<br />

RUN REM PROG<br />

drive<br />

download<br />

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1-14 Start<br />

Get Axis Information<br />

Use the Quick View pane to see the state<br />

and faults of an axis.<br />

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You can get <strong>in</strong>formation about an axis <strong>in</strong> several ways.<br />

Use the Axis Properties w<strong>in</strong>dow to configure the axis.<br />

Use a Get System Value (GSV) <strong>in</strong>struction or Set System Value (SSV)<br />

<strong>in</strong>struction to read or change the configuration at run-time.<br />

Use the tag of the axis for status and faults.


Program <strong>Motion</strong> <strong>Control</strong><br />

See:<br />

• <strong>Logix5000</strong> <strong>Control</strong>lers Common<br />

Procedures Manual, 1756-PM001<br />

• <strong>Logix5000</strong> <strong>Control</strong>lers <strong>Motion</strong><br />

Instructions Reference Manual,<br />

1756-RM007<br />

• <strong>Logix5000</strong> <strong>Control</strong>lers General<br />

Instructions Reference Manual,<br />

1756-RM003<br />

ATT<strong>EN</strong>TION<br />

!<br />

Start 1-15<br />

The controller gives you a set of motion control <strong>in</strong>structions for your<br />

axes.<br />

• Uses these <strong>in</strong>structions just like the rest of the <strong>Logix5000</strong><br />

<strong>in</strong>structions. You can program motion control <strong>in</strong> these<br />

programm<strong>in</strong>g languages:<br />

– ladder diagram (LD)<br />

– structured text (ST)<br />

– sequential function chart (SFC)<br />

• Each motion <strong>in</strong>struction works on one or more axes.<br />

• Each motion <strong>in</strong>struction needs a motion control tag. The tag<br />

uses a MOTION_INSTRUCTION data type. The tag stores the<br />

status <strong>in</strong>formation of the <strong>in</strong>struction.<br />

Example<br />

<strong>Motion</strong> control tag<br />

Use the tag for the motion control operand of motion <strong>in</strong>struction<br />

only once. Un<strong>in</strong>tended operation of the control variables may<br />

happen if you re-use of the same motion control tag <strong>in</strong> other<br />

<strong>in</strong>structions.<br />

Here’s an example of a simple ladder diagram that homes, jogs, and<br />

moves an axis.<br />

If Initialize_Pushbutton = on and the axis = off (My_Axis_X.ServoActionStatus = off) then<br />

The MSO <strong>in</strong>struction turns on the axis.<br />

If Home_Pushbutton = on and the axis hasn’t been homed (My_Axis_X.AxisHomedStatus = off) then<br />

The MAH <strong>in</strong>struction homes the axis.<br />

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1-16 Start<br />

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If Jog_Pushbutton = on and the axis = on (My_Axis_X.ServoActionStatus = on) then<br />

The MAJ <strong>in</strong>struction jogs the axis forward at 8 units/s.<br />

If Jog_Pushbutton = off then<br />

The MAS <strong>in</strong>struction stops the axis at 100 units/s 2<br />

Make sure that Change Decel is Yes. Otherwise, the axis decelerates at its maximum speed.<br />

If Move_Command = on and the axis = on (My_Axis_X.ServoActionStatus = on) then<br />

The MAM <strong>in</strong>struction moves the axis. The axis moves to the position of 10 units at 1 unit/s.


What’s Next?<br />

Start 1-17<br />

Use these chapters to cont<strong>in</strong>ue programm<strong>in</strong>g your motion control<br />

system.<br />

• Test an Axis with <strong>Motion</strong> Direct Commands<br />

• Configure Hom<strong>in</strong>g<br />

• Handle Faults<br />

• Create and Configure a Coord<strong>in</strong>ate System<br />

• Inhibit an Axis<br />

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1-18 Start<br />

Notes:<br />

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Introduction<br />

Chapter 2<br />

Test an Axis with <strong>Motion</strong> Direct Commands<br />

The <strong>Motion</strong> Direct Commands feature lets you issue motion<br />

commands while you are onl<strong>in</strong>e without hav<strong>in</strong>g to write or execute an<br />

application program. <strong>Motion</strong> Direct Commands are particularly useful<br />

when you are commission<strong>in</strong>g or debugg<strong>in</strong>g a motion application.<br />

Dur<strong>in</strong>g commission<strong>in</strong>g, you can configure an axis and monitor the<br />

behavior us<strong>in</strong>g Trends <strong>in</strong> the <strong>Control</strong>ler Organizer. Use of <strong>Motion</strong><br />

Direct Commands can “f<strong>in</strong>e-tune” the system with or without load to<br />

optimize its performance. When <strong>in</strong> the test<strong>in</strong>g and or debugg<strong>in</strong>g cycle,<br />

you can issue <strong>Motion</strong> Direct Commands to establish or reestablish<br />

conditions such as Home. Often dur<strong>in</strong>g <strong>in</strong>itial development or<br />

enhancement to mature applications you need to test the system <strong>in</strong><br />

small manageable areas. These tasks <strong>in</strong>clude:<br />

• Home to establish <strong>in</strong>itial conditions<br />

• Incrementally Move to a physical position<br />

• Monitor system dynamics under specific conditions<br />

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2-2 Test an Axis with <strong>Motion</strong> Direct Commands<br />

Access <strong>Motion</strong> Direct<br />

Commands<br />

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Access the <strong>Motion</strong> Direct Commands for the <strong>Motion</strong> Group<br />

To access the <strong>Motion</strong> Direct Commands for the motion group, right-<br />

click the group <strong>in</strong> the <strong>Control</strong>ler Organizer.


Access the <strong>Motion</strong> Direct Commands for an Axis<br />

Test an Axis with <strong>Motion</strong> Direct Commands 2-3<br />

To access the <strong>Motion</strong> Direct Commands for an axis, right-click the axis<br />

<strong>in</strong> the <strong>Control</strong>ler Organizer.<br />

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2-4 Test an Axis with <strong>Motion</strong> Direct Commands<br />

Choose a Command<br />

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Use this table to choose an <strong>in</strong>struction and see if it is available as a<br />

<strong>Motion</strong> Direct Command:<br />

If You Want To And Use This Instruction <strong>Motion</strong> Direct<br />

Command<br />

Change the state of an axis Enable the servo drive and activate the axis servo<br />

loop.<br />

Disable the servo drive and deactivate the axis servo<br />

loop.<br />

Force an axis <strong>in</strong>to the shutdown state and block any<br />

<strong>in</strong>structions that <strong>in</strong>itiate axis motion.<br />

Transition an axis to the ready state. If all of the axes<br />

of a servo module are removed from the shutdown<br />

state as a result of this <strong>in</strong>struction, the OK relay<br />

contacts for the module close.<br />

Enable the servo drive and set the servo output<br />

voltage of an axis.<br />

Disable the servo drive and set the servo output<br />

voltage to the output offset voltage.<br />

MSO<br />

<strong>Motion</strong> Servo On<br />

MSF<br />

<strong>Motion</strong> Servo Off<br />

MASD<br />

<strong>Motion</strong> Axis Shutdown<br />

MASR<br />

<strong>Motion</strong> Axis Shutdown Reset<br />

MDO<br />

<strong>Motion</strong> Direct Drive On<br />

MDF<br />

<strong>Motion</strong> Direct Drive Off<br />

Clear all motion faults for an axis. MAFR<br />

<strong>Motion</strong> Axis Fault Reset<br />

<strong>Control</strong> axis position Stop any motion process on an axis. MAS<br />

<strong>Motion</strong> Axis Stop<br />

Home an axis. MAH<br />

<strong>Motion</strong> Axis Home<br />

Jog an axis. MAJ<br />

<strong>Motion</strong> Axis Jog<br />

Move an axis to a specific position. MAM<br />

<strong>Motion</strong> Axis Move<br />

Start electronic gear<strong>in</strong>g between 2 axes MAG<br />

<strong>Motion</strong> Axis Gear<br />

Change the speed, acceleration, or deceleration of a<br />

move or a jog that is <strong>in</strong> progress.<br />

MCD<br />

<strong>Motion</strong> Change Dynamics<br />

Change the command or actual position of an axis. MRP<br />

<strong>Motion</strong> Redef<strong>in</strong>e Position<br />

Calculate a Cam Profile based on an array of cam<br />

po<strong>in</strong>ts.<br />

MCCP<br />

<strong>Motion</strong> Calculate Cam Profile<br />

Start electronic camm<strong>in</strong>g between 2 axes. MAPC<br />

<strong>Motion</strong> Axis Position Cam<br />

Start electronic camm<strong>in</strong>g as a function of time. MATC<br />

<strong>Motion</strong> Axis Time Cam<br />

Calculate the slave value, slope, and derivative of<br />

the slope for a cam profile and master value.<br />

MCSV<br />

<strong>Motion</strong> Calculate Slave Values<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

No<br />

No<br />

No<br />

No


Test an Axis with <strong>Motion</strong> Direct Commands 2-5<br />

If You Want To And Use This Instruction <strong>Motion</strong> Direct<br />

Command<br />

Initiate action on all axes Stop motion of all axes. MGS<br />

<strong>Motion</strong> Group Stop<br />

Force all axes <strong>in</strong>to the shutdown state. MGSD<br />

<strong>Motion</strong> Group Shutdown<br />

Transition all axes to the ready state. MGSR<br />

<strong>Motion</strong> Group Shutdown Reset<br />

Arm and disarm special event<br />

check<strong>in</strong>g functions such as<br />

registration and watch position<br />

Tune an axis and run diagnostic<br />

tests for your control system.<br />

These tests <strong>in</strong>clude:<br />

• Motor/encoder hookup<br />

test<br />

• Encoder hookup test<br />

• Marker test<br />

<strong>Control</strong> multi-axis coord<strong>in</strong>ated<br />

motion<br />

Latch the current command and actual position of all<br />

axes.<br />

MGSP<br />

<strong>Motion</strong> Group Strobe Position<br />

Arm the watch-position event check<strong>in</strong>g for an axis. MAW<br />

<strong>Motion</strong> Arm Watch Position<br />

Disarm the watch-position event check<strong>in</strong>g for an<br />

axis.<br />

Arm the servo-module registration-event check<strong>in</strong>g<br />

for an axis.<br />

Disarm the servo-module registration-event check<strong>in</strong>g<br />

for an axis.<br />

MDW<br />

<strong>Motion</strong> Disarm Watch Position<br />

MAR<br />

<strong>Motion</strong> Arm Registration<br />

MDR<br />

<strong>Motion</strong> Disarm Registration<br />

Arm an output cam for an axis and output. MAOC<br />

<strong>Motion</strong> Arm Output Cam<br />

Disarm one or all output cams connected to an axis. MDOC<br />

<strong>Motion</strong> Disarm Output Cam<br />

Use the results of an MAAT <strong>in</strong>struction to calculate<br />

and update the servo ga<strong>in</strong>s and dynamic limits of an<br />

axis.<br />

MAAT<br />

<strong>Motion</strong> Apply Axis Tun<strong>in</strong>g<br />

Run a tun<strong>in</strong>g motion profile for an axis MRAT<br />

<strong>Motion</strong> Run Axis Tun<strong>in</strong>g<br />

Use the results of an MRHD <strong>in</strong>struction to set<br />

encoder and servo polarities.<br />

MAHD<br />

<strong>Motion</strong> Apply Hookup Diagnostic<br />

Run one of the diagnostic tests on an axis. MRHD<br />

<strong>Motion</strong> Run Hookup Diagnostic<br />

Start a l<strong>in</strong>ear coord<strong>in</strong>ated move for the axes of<br />

coord<strong>in</strong>ate system.<br />

Start a circular move for the for the axes of<br />

coord<strong>in</strong>ate system.<br />

Change <strong>in</strong> path dynamics for the active motion on a<br />

coord<strong>in</strong>ate system.<br />

MCLM<br />

<strong>Motion</strong> Coord<strong>in</strong>ated L<strong>in</strong>ear Move<br />

MCCM<br />

<strong>Motion</strong> Coord<strong>in</strong>ated Circular<br />

Move<br />

MCCD<br />

<strong>Motion</strong> Coord<strong>in</strong>ated Change<br />

Dynamics<br />

Stop the axes of a coord<strong>in</strong>ate system. MCS<br />

<strong>Motion</strong> Coord<strong>in</strong>ated Stop<br />

Shutdown the axes of a coord<strong>in</strong>ate system. MCSD<br />

<strong>Motion</strong> Coord<strong>in</strong>ated Shutdown<br />

Transition the axes of a coord<strong>in</strong>ate system to the<br />

ready state and clear the axis faults.<br />

MCSR<br />

<strong>Motion</strong> Coord<strong>in</strong>ated Shutdown<br />

Reset<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

Yes<br />

No<br />

No<br />

No<br />

No<br />

No<br />

No<br />

No<br />

No<br />

No<br />

No<br />

No<br />

No<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


2-6 Test an Axis with <strong>Motion</strong> Direct Commands<br />

<strong>Motion</strong> Direct Command<br />

Dialog<br />

Command<br />

Tree<br />

Status Text<br />

Display Area<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

You must be onl<strong>in</strong>e to execute a <strong>Motion</strong> Direct Command. The onl<strong>in</strong>e<br />

dialog has the <strong>Motion</strong> Group Shutdown and Execute buttons active. If<br />

you click either of these, action is taken immediately.<br />

Instance Designation<br />

Action Buttons<br />

Active Command<br />

Axis or Group Designation<br />

Operands<br />

When the <strong>Motion</strong> Direct Command dialog is opened, focus is given to<br />

the Command Tree. In the Command list, you can either type the<br />

mnemonic and the list advances to the closest match or you can scroll<br />

down the list to select a command. Click the desired command and its<br />

dialog displays.<br />

At the top of the dialog, <strong>in</strong> the title bar, there is a number at the end of<br />

the axis or group that the command is be<strong>in</strong>g applied upon. This is the<br />

Instance reference number. This number <strong>in</strong>creases by one every time<br />

a command is accessed for that axis or group. The number is cleared<br />

when you execute RSLogix.<br />

Located at the bottom of the dialog are the follow<strong>in</strong>g buttons: <strong>Motion</strong><br />

Group Shutdown, Execute, Close, and Help.


<strong>Motion</strong> Group Shutdown Button<br />

Test an Axis with <strong>Motion</strong> Direct Commands 2-7<br />

The <strong>Motion</strong> Group Shutdown button is located to the left of the screen<br />

to avoid accidental <strong>in</strong>vok<strong>in</strong>g of this command when you really want<br />

to execute the command accessed from the Command tree. Click<strong>in</strong>g<br />

on this button causes the <strong>Motion</strong> Group Shutdown <strong>in</strong>struction to<br />

execute. If you click on the <strong>Motion</strong> Group Shutdown button and it is<br />

successfully executed, a Result message is displayed <strong>in</strong> the results<br />

w<strong>in</strong>dow below the dialog. S<strong>in</strong>ce the use of this button is an abrupt<br />

means of stopp<strong>in</strong>g motion, an additional message is displayed <strong>in</strong> the<br />

error text field. The message "MOTION GROUP SHUTDOWN<br />

executed!" is displayed with the <strong>in</strong>tention of giv<strong>in</strong>g greater awareness<br />

of the execution of this command. If the command fails then an error<br />

is <strong>in</strong>dicated as per normal operation. (See Error Conditions later <strong>in</strong> this<br />

chapter.)<br />

There is space above the <strong>Motion</strong> Group Shutdown button and below<br />

the l<strong>in</strong>e where status text is displayed when a command is executed.<br />

Execute Button<br />

Click<strong>in</strong>g the Execute button verifies the operands and <strong>in</strong>itiates the<br />

current <strong>Motion</strong> Direct Command. Verification and error messages<br />

display as the<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


2-8 Test an Axis with <strong>Motion</strong> Direct Commands<br />

<strong>Motion</strong> Direct Command<br />

Error Process<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Whenever a <strong>Motion</strong> Direct Command is executed, there are two levels<br />

of error detection that are presented. The first level is verification of<br />

the command’s operands. If a verification error is detected, a message<br />

“Failed to Verify” is posted on the dialog and an appropriate message<br />

is posted to the error result w<strong>in</strong>dow. The second level is the <strong>in</strong>itial<br />

motion direct command’s error response return code. If an error code<br />

is detected, a message “Execution Error” is posted on the dialog.<br />

Whether or not an error is detected, a detail message is displayed to<br />

the Error result w<strong>in</strong>dow describ<strong>in</strong>g the results of the executed<br />

command.


<strong>Motion</strong> Direct Command Verification<br />

Test an Axis with <strong>Motion</strong> Direct Commands 2-9<br />

When you select Execute from a <strong>Motion</strong> Direct Command dialog, the<br />

operands are verified. If any operand fails verification, an error<br />

message “Failed to Verify” is displayed on the dialog and a detailed<br />

error message is displayed <strong>in</strong> the error result w<strong>in</strong>dow describ<strong>in</strong>g the<br />

fault <strong>in</strong>dicat<strong>in</strong>g the <strong>in</strong>stance of <strong>Motion</strong> Direct Command that the<br />

results apply to. This allows multiple verification errors to be<br />

displayed and provides navigation to the error source, that is, double<br />

click<strong>in</strong>g the error <strong>in</strong> the results w<strong>in</strong>dow will navigate to the<br />

appropriate <strong>Motion</strong> Direct Command dialog.<br />

If no errors are detected dur<strong>in</strong>g verification, then noth<strong>in</strong>g is displayed<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


2-10 Test an Axis with <strong>Motion</strong> Direct Commands<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

<strong>Motion</strong> Direct Command Execution Error<br />

When you select Execute from a <strong>Motion</strong> Direct Command dialog and<br />

the operands are verified as valid, then the command is executed. If<br />

the command fails immediately, then an error message “Execution<br />

Error” is displayed on the dialog. Whether or not an error is detected,<br />

a detailed message is displayed to the Error result w<strong>in</strong>dow describ<strong>in</strong>g<br />

the immediate results of the executed command.<br />

The message “Execution Error” is cleared on subsequent command<br />

execution or if a new command is selected from the command list.<br />

The <strong>in</strong>formation pumped to the Error result w<strong>in</strong>dow after an<br />

execution is not cleared. This allows for a history of what has been<br />

executed from a given <strong>in</strong>stance of the <strong>Motion</strong> Direct Command dialog.


What If The Software Goes<br />

Offl<strong>in</strong>e or The <strong>Control</strong>ler<br />

Changes Modes?<br />

Can 2 Workstations Give<br />

<strong>Motion</strong> Direct Commands?<br />

Test an Axis with <strong>Motion</strong> Direct Commands 2-11<br />

If RSLogix 5000 software transitions to offl<strong>in</strong>e, Hard Program mode<br />

(PROG), or Hard Run mode (RUN), then any execut<strong>in</strong>g Direct<br />

Command <strong>in</strong>struction cont<strong>in</strong>ues execution and the Execute button is<br />

disabled.<br />

Whenever the Execute button is enabled and commands can be<br />

executed from a workstation, the group is locked. This means that<br />

another workstation cannot execute commands while this lock is <strong>in</strong><br />

place. The lock stays <strong>in</strong> place until the workstation execut<strong>in</strong>g<br />

commands rel<strong>in</strong>quishes the lock.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


2-12 Test an Axis with <strong>Motion</strong> Direct Commands<br />

Notes:<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Introduction<br />

Guidel<strong>in</strong>es for Hom<strong>in</strong>g<br />

Guidel<strong>in</strong>e Details<br />

1. To move an axis to the home<br />

position, use Active hom<strong>in</strong>g.<br />

2. For a Feedback-only device, use<br />

Passive hom<strong>in</strong>g.<br />

3. If you have an absolute feedback<br />

device, consider Absolute<br />

hom<strong>in</strong>g.<br />

4. For s<strong>in</strong>gle-turn equipment,<br />

consider hom<strong>in</strong>g to a marker.<br />

5. For multi-turn equipment, home to<br />

a switch or switch and marker.<br />

6. If your equipment can’t back up,<br />

use unidirectional hom<strong>in</strong>g.<br />

Configure Hom<strong>in</strong>g<br />

Chapter 3<br />

Hom<strong>in</strong>g puts your equipment at a specific start<strong>in</strong>g po<strong>in</strong>t for operation.<br />

This start<strong>in</strong>g po<strong>in</strong>t is called the home position. Typically, you home<br />

your equipment when you reset it for operation.<br />

Active hom<strong>in</strong>g turns on the servo loop and moves the axis to the home position. Active<br />

hom<strong>in</strong>g also:<br />

• Stops any other motion.<br />

• Uses a trapezoidal profile.<br />

Passive hom<strong>in</strong>g doesn’t move the axis.<br />

• Use passive hom<strong>in</strong>g to calibrate a Feedback-only axis to its marker.<br />

• If you use passive hom<strong>in</strong>g on a servo axis, turn on the servo loop and use a move<br />

<strong>in</strong>struction to move the axis.<br />

If the motion axis hardware supports an absolute feedback device, Absolute Hom<strong>in</strong>g Mode<br />

may be used. The only valid Home Sequence for an absolute Hom<strong>in</strong>g Mode is Immediate. In<br />

this case, the absolute hom<strong>in</strong>g process establishes the true absolute position of the axis by<br />

apply<strong>in</strong>g the configured Home Position to the reported position of the absolute feedback<br />

device. Prior to execution of the absolute hom<strong>in</strong>g process via the MAH <strong>in</strong>struction, the axis<br />

must be <strong>in</strong> the Axis Ready state with the servo loop disabled.<br />

The marker hom<strong>in</strong>g sequence is useful for s<strong>in</strong>gle-turn rotary and l<strong>in</strong>ear encoder applications<br />

because these applications have only one encoder marker for full axis travel.<br />

These hom<strong>in</strong>g sequences use a home limit switch to def<strong>in</strong>e the home position.<br />

• You need a home limit switch if the axis moves more than one revolution when it runs.<br />

Otherwise the controller can’t tell which marker pulse to use.<br />

• For the most precise hom<strong>in</strong>g, use both the switch and marker.<br />

With unidirectional hom<strong>in</strong>g, the axis doesn’t reverse direction to move to the Home Position.<br />

For greater accuracy, consider us<strong>in</strong>g an offset.<br />

• Use a Home Offset that is <strong>in</strong> the same direction as the Home Direction.<br />

• Use a Home Offset that is greater than the deceleration distance.<br />

• If the Home Offset is less than the deceleration distance:<br />

• The axis simply slows to a stop. The axis doesn’t reverse direction to move to the<br />

Home Position. In this case, the MAH <strong>in</strong>struction doesn’t set the PC bit.<br />

• On a rotary axis, the controller adds 1 or more revolutions to the move distance.<br />

This makes sure that the move to the Home Position is unidirectional.<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


3-2 Configure Hom<strong>in</strong>g<br />

Guidel<strong>in</strong>e Details<br />

7. Choose a start<strong>in</strong>g direction for<br />

the hom<strong>in</strong>g sequence.<br />

Examples Active Hom<strong>in</strong>g<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Which direction do you want to start the hom<strong>in</strong>g sequence <strong>in</strong>?<br />

• Positive direction — choose a Forward direction.<br />

• Negative direction — choose a Negative direction.<br />

Sequence Description<br />

Active immediate home This sequence sets the axis position to the Home Position without mov<strong>in</strong>g the axis. If<br />

feedback isn’t enabled, this sequence enables feedback.<br />

Active home to switch <strong>in</strong> forward The switch hom<strong>in</strong>g sequence is useful for multi-turn rotary and l<strong>in</strong>ear applications.<br />

bidirectional<br />

Dur<strong>in</strong>g the sequence:<br />

1. The axis moves <strong>in</strong> the Home Direction at the Home Speed to the home limit switch<br />

and stops.<br />

2. The axis reverses direction and moves at the Home Return Speed until it clears the<br />

home limit switch and then stops.<br />

3. The axis moves back to the home limit switch or it moves to the Offset position. The<br />

axis moves at the Home Return Speed. If the axis is a Rotary Axis, the move back to<br />

the Home Position takes the shortest path (that is, no more than ½ revolution).<br />

If the axis is past the home limit switch at the start of the hom<strong>in</strong>g sequence, the axis reverses<br />

direction and starts the return leg of the hom<strong>in</strong>g sequence.<br />

Use a Home Return Speed that is slower than the Home Speed to <strong>in</strong>crease the hom<strong>in</strong>g<br />

accuracy. The accuracy of this sequence depends on the return speed and the delay to detect<br />

the transition of the home limit switch.<br />

Uncerta<strong>in</strong>ty = Home Return Speed x delay to detect the home limit switch.<br />

Example: Suppose your Home Return Speed is 0.1 <strong>in</strong>./s and it takes 10 ms to detect the<br />

home limit switch.<br />

Uncerta<strong>in</strong>ty = 0.1 <strong>in</strong>./s x 0.01 s = 0.001 <strong>in</strong>.<br />

The mechanical uncerta<strong>in</strong>ty of the home limit switch also affects the hom<strong>in</strong>g accuracy.


Sequence Description<br />

Active home to marker <strong>in</strong> forward<br />

bidirectional<br />

Configure Hom<strong>in</strong>g 3-3<br />

The marker hom<strong>in</strong>g sequence is useful for s<strong>in</strong>gle-turn rotary and l<strong>in</strong>ear encoder applications<br />

because these applications have only one encoder marker for full axis travel.<br />

Dur<strong>in</strong>g the sequence:<br />

1. The axis moves <strong>in</strong> the Home Direction at the Home Speed to the marker and stops.<br />

2. The axis moves back to the marker or it moves to the Offset position. The axis moves<br />

at the Home Return Speed. If the axis is a Rotary Axis, the move back to the Home<br />

Position takes the shortest path (that is, no more than ½ revolution).<br />

The accuracy of this hom<strong>in</strong>g sequence depends on the hom<strong>in</strong>g speed and the delay to detect<br />

the marker transition.<br />

Uncerta<strong>in</strong>ty = Home Speed x delay to detect the marker.<br />

Example: Suppose your Home Speed is 1 <strong>in</strong>./s and it takes 1 µs to detect the marker.<br />

Uncerta<strong>in</strong>ty = 1 In./s x 0.000001 s = 0.000001 <strong>in</strong>.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


3-4 Configure Hom<strong>in</strong>g<br />

Sequence Description<br />

Active home to switch and marker <strong>in</strong><br />

forward bidirectional<br />

Active home to switch <strong>in</strong> forward<br />

unidirectional<br />

Active home to marker <strong>in</strong> forward<br />

unidirectional<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

This is the most precise active hom<strong>in</strong>g sequence available.<br />

Dur<strong>in</strong>g the sequence:<br />

1. The axis moves <strong>in</strong> the Home Direction at the Home Speed to the home limit switch<br />

and stops.<br />

2. The axis reverses direction and moves at the Home Return Speed until it clears the<br />

home limit switch.<br />

3. The axis keeps mov<strong>in</strong>g at the Home Return Speed until it gets to the marker.<br />

4. The axis moves back to the marker or it moves to the Offset position. The axis moves<br />

at the Home Return Speed. If the axis is a Rotary Axis, the move back to the Home<br />

Position takes the shortest path (that is, no more than ½ revolution).<br />

If the axis is past the home limit switch at the start of the hom<strong>in</strong>g sequence, the axis reverses<br />

direction and starts the return leg of the hom<strong>in</strong>g sequence.<br />

This active hom<strong>in</strong>g sequence is useful for when an encoder marker is not available and either<br />

unidirectional motion is required or proximity switch is be<strong>in</strong>g used.<br />

Dur<strong>in</strong>g the sequence:<br />

1. The axis moves <strong>in</strong> the Home Direction at the Home Speed to the home limit switch.<br />

2. The axis moves to the Home Offset position if it’s <strong>in</strong> the same direction as the Home<br />

Direction.<br />

This active hom<strong>in</strong>g sequence is useful for s<strong>in</strong>gle-turn rotary and l<strong>in</strong>ear encoder applications<br />

when unidirectional motion is required.<br />

Dur<strong>in</strong>g the sequence:<br />

1. The axis moves <strong>in</strong> the Home Direction at the Home Speed to the marker.<br />

2. The axis moves to the Home Offset position if it’s <strong>in</strong> the same direction as the Home<br />

Direction.


Sequence Description<br />

Active home to switch and marker <strong>in</strong><br />

forward unidirectional<br />

Passive Hom<strong>in</strong>g<br />

Configure Hom<strong>in</strong>g 3-5<br />

This active hom<strong>in</strong>g sequence is useful for multi-turn rotary applications when unidirectional<br />

motion is required.<br />

Dur<strong>in</strong>g the sequence:<br />

1. The axis moves <strong>in</strong> the Home Direction at the Home Speed to the home limit switch.<br />

2. The axis keeps mov<strong>in</strong>g at the Home Speed until it gets to the marker.<br />

3. The axis moves to the Home Offset position if it’s <strong>in</strong> the same direction as the Home<br />

Direction.<br />

Sequence Description<br />

Passive Immediate Home This is the simplest passive hom<strong>in</strong>g sequence type. When this sequence is performed, the<br />

controller immediately assigns the Home Position to the current axis actual position. This<br />

hom<strong>in</strong>g sequence produces no axis motion.<br />

Passive Home with Switch This passive hom<strong>in</strong>g sequence is useful for when an encoder marker is not available or a<br />

proximity switch is be<strong>in</strong>g used.<br />

When this sequence is performed <strong>in</strong> the Passive Hom<strong>in</strong>g Mode, an external agent moves the<br />

axis until the home switch is detected. The Home Position is assigned to the axis position at<br />

the moment that the limit switch is detected. If you are us<strong>in</strong>g a Home Offset, then the Home<br />

Position is offset from the po<strong>in</strong>t where the switch is detected by this value.<br />

Passive Home with Marker This passive hom<strong>in</strong>g sequence is useful for s<strong>in</strong>gle-turn rotary and l<strong>in</strong>ear encoder applications.<br />

Passive Home with Switch then<br />

Marker<br />

When this sequence is performed <strong>in</strong> the Passive Hom<strong>in</strong>g Mode, an external agent moves the<br />

axis until the marker is detected. The home position is assigned to the axis position at the<br />

precise position where the marker was detected. If you are us<strong>in</strong>g a Home Offset, then the<br />

Home Position is offset from the po<strong>in</strong>t where the switch is detected by this value.<br />

This passive hom<strong>in</strong>g sequence is useful for multi-turn rotary applications.<br />

When this sequence is performed <strong>in</strong> the Passive Hom<strong>in</strong>g Mode, an external agent moves the<br />

axis until the home switch and then the first encoder marker is detected. The home position is<br />

assigned to the axis position at the precise position where the marker was detected. If you<br />

are us<strong>in</strong>g a Home Offset, then the Home Position is offset from the po<strong>in</strong>t where the switch is<br />

detected by this value.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


3-6 Configure Hom<strong>in</strong>g<br />

Notes:<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Introduction<br />

Handle Faults<br />

The controller has these types of motion faults:<br />

Type Description Example<br />

Instruction error Caused by a motion <strong>in</strong>struction:<br />

• Instruction errors do not impact controller operation.<br />

• Look at the error code <strong>in</strong> the motion control tag to see<br />

why an <strong>in</strong>struction has an error.<br />

• Fix <strong>in</strong>struction errors to optimize execution time and<br />

make sure that your code is accurate<br />

Fault Caused by a problem with the servo loop:<br />

• You choose whether or not motion faults give the<br />

controller major faults.<br />

• Can shutdown the controller if you do not correct the<br />

fault condition<br />

To handle motion faults:<br />

• Choose If <strong>Motion</strong> Faults Shut Down the <strong>Control</strong>ler<br />

• Choose the Fault Actions for an Axis<br />

• Set the Fault Action for an Axis<br />

Chapter 4<br />

A <strong>Motion</strong> Axis Move (MAM)<br />

<strong>in</strong>struction with a parameter out of<br />

range<br />

• Loss of feedback<br />

• Actual position exceed<strong>in</strong>g an<br />

overtravel limit<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


4-2 Handle Faults<br />

Choose If <strong>Motion</strong> Faults<br />

Shut Down the <strong>Control</strong>ler<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

By default, the controller keeps runn<strong>in</strong>g when there is a motion fault.<br />

As an option, you can have motion faults cause a major fault and shut<br />

down the controller.<br />

Action Details<br />

1. Choose a General Fault Type. Do you want any motion fault to cause a major fault and shut down the controller?<br />

2. Set the General Fault Type.<br />

A.<br />

B.<br />

C.<br />

D.<br />

• YES — Choose Major Fault.<br />

• NO — Choose Non-Major Fault. You must write code to handle motion faults.


Choose the Fault Actions<br />

for an Axis<br />

If you want to Then choose Description<br />

Shutdown the axis and let it<br />

coast to a stop<br />

Disable the axis and let the drive<br />

stop the axis us<strong>in</strong>g it's best<br />

available stopp<strong>in</strong>g method<br />

Leave the servo loop on and stop<br />

the axis at its Maximum<br />

Deceleration rate<br />

Write your own application code<br />

to handle the fault<br />

Handle Faults 4-3<br />

Use the fault actions to set how an axis responds to different types of<br />

faults. The type of faults depends on the type of axis and how you<br />

configure it.<br />

Shutdown Shutdown is the most severe action. Use it for faults that could endanger the<br />

mach<strong>in</strong>e or the operator if you don’t remove power quickly and completely.<br />

For this axis type When the fault happens<br />

AXIS_SERVO • Axis servo action is disabled.<br />

• The servo amplifier output is zeroed.<br />

• The appropriate drive enable output is deactivated.<br />

• The OK contact of the servo module opens. Use this<br />

to open the E-Stop str<strong>in</strong>g to the drive power supply.<br />

AXIS_SERVO_DRIVE • Axis servo action and drive power structure are<br />

immediately disabled.<br />

• The axis coasts to a stop unless you use some form of<br />

external brak<strong>in</strong>g.<br />

Disable Drive For this axis type When the fault happens<br />

AXIS_SERVO • Axis servo action is disabled.<br />

• The servo amplifier output is zeroed.<br />

• The appropriate drive enable output is deactivated.<br />

AXIS_SERVO_DRIVE • The drive switches to local servo loop control and the<br />

axis is slowed to a stop us<strong>in</strong>g the Stopp<strong>in</strong>g Torque.<br />

• If the axis doesn’t stop <strong>in</strong> the Stopp<strong>in</strong>g Time, the<br />

servo action and the power structure are disabled.<br />

Stop <strong>Motion</strong> Use this fault action for less severe faults. It is the gentlest way to stop. Once the<br />

axis stops, you must clear the fault before you can move the axis. The exception is<br />

Hardware Overtravel and Software Overtravel faults, where you can jog or move<br />

the axis off the limit.<br />

For this axis type When the fault happens<br />

AXIS_SERVO The axis slows to a stop at the Maximum Deceleration Rate<br />

without disabl<strong>in</strong>g servo action or the servo module’s Drive<br />

Enable output.<br />

AXIS_SERVO_DRIVE • <strong>Control</strong> of the drive’s servo loop is ma<strong>in</strong>ta<strong>in</strong>ed.<br />

• The axis slows to a stop at the Maximum<br />

Deceleration rate without disabl<strong>in</strong>g the drive.<br />

Status Only Use this fault action only when the standard fault actions are not appropriate.<br />

With this fault action, you must write code to handle the motion faults. For Stop<br />

<strong>Motion</strong> or Status Only, the drive must stay enabled for the controller to cont<strong>in</strong>ue to<br />

control the axis. Select<strong>in</strong>g Status Only only lets motion cont<strong>in</strong>ue if the drive itself is<br />

still enabled and track<strong>in</strong>g the command reference.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


4-4 Handle Faults<br />

Set the Fault Action for an<br />

Axis<br />

1.<br />

2.<br />

3.<br />

4.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

To set the fault actions for an axis:


Introduction<br />

Chapter 5<br />

Create and Configure a Coord<strong>in</strong>ate System<br />

A coord<strong>in</strong>ate system lets you <strong>in</strong>terpolate circular or l<strong>in</strong>ear moves us<strong>in</strong>g<br />

coord<strong>in</strong>ate po<strong>in</strong>ts. Set up the coord<strong>in</strong>ate <strong>in</strong> either 1, 2, or 3<br />

dimensions.<br />

The Coord<strong>in</strong>ate System tag is used to set the attribute values to be<br />

used by the Multi-Axis Coord<strong>in</strong>ated <strong>Motion</strong> <strong>in</strong>structions <strong>in</strong> your<br />

motion applications. The Coord<strong>in</strong>ate System tag must exist before you<br />

can run any of the Multi-Axis Coord<strong>in</strong>ated <strong>Motion</strong> <strong>in</strong>structions. This is<br />

where you <strong>in</strong>troduce the COORDINATE_SYSTEM data type, associate<br />

the Coord<strong>in</strong>ate System to a <strong>Motion</strong> Group, associate the axes to the<br />

Coord<strong>in</strong>ate System, set the dimension, and def<strong>in</strong>e the values later used<br />

by the operands of the Multi-Axis <strong>Motion</strong> Instructions. The values for<br />

Coord<strong>in</strong>ation Units, Maximum Speed, Maximum Acceleration,<br />

Maximum Deceleration, Actual Position Tolerance, and Command<br />

Position Tolerance are all def<strong>in</strong>ed by the <strong>in</strong>formation <strong>in</strong>cluded when<br />

the Coord<strong>in</strong>ate System tag is configured. This chapter describes how<br />

to name, configure, and edit your Coord<strong>in</strong>ate System tag.<br />

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5-2 Create and Configure a Coord<strong>in</strong>ate System<br />

Create a Coord<strong>in</strong>ate System<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

To create a coord<strong>in</strong>ate system, right click the motion group <strong>in</strong> the<br />

<strong>Control</strong>ler Organizer and select New Coord<strong>in</strong>ate System.<br />

The New Tag dialog opens.<br />

Enter<strong>in</strong>g Tag Information A tag allows you to allocate and reference data stored <strong>in</strong> the<br />

controller. A tag can be a s<strong>in</strong>gle element, array, or a structure. With<br />

COORDINATE_SYSTEM selected as the Data Type, there are only two<br />

types of tags that you can create:<br />

• A base tag allows you to create your own <strong>in</strong>ternal data storage.<br />

• An alias tag allows you to assign your own name to an exist<strong>in</strong>g<br />

coord<strong>in</strong>ate system tag.


New Tag Parameters<br />

Create and Configure a Coord<strong>in</strong>ate System 5-3<br />

The follow<strong>in</strong>g parameters appear on the New Tag dialog when you<br />

are creat<strong>in</strong>g a base tag or an alias tag.<br />

Make entries <strong>in</strong> the follow<strong>in</strong>g fields.<br />

Field Entry<br />

Name Type a name for the coord<strong>in</strong>ate system tag.<br />

The name can have a maximum of 40 characters<br />

conta<strong>in</strong><strong>in</strong>g letters, numbers and underscores (_).<br />

Description Type a description for your motion axis for annotation<br />

purposes.<br />

This field is optional.<br />

Tag Type Click on the radio button for the type of tag to create.<br />

The only legal choices are Tag and Alias. Select<strong>in</strong>g<br />

either Produced or Consumed generates an error when<br />

the OK button is pressed.<br />

Alias For This field only displays when Alias is selected for Tag<br />

Type. Enter the name of the related Base Tag.<br />

Data type Enter COORDINATE_SYSTEM.<br />

Scope A Coord<strong>in</strong>ate System tag can only be created at the<br />

controller scope.<br />

Name<br />

Enter a relevant name for the new tag. The name can be up to 40<br />

characters and can be composed of letters, numbers, or underscores<br />

(_).<br />

Description<br />

Enter a description of the tag. This is an optional field and is used for<br />

annotat<strong>in</strong>g the tag.<br />

Tag Type<br />

For a Coord<strong>in</strong>ate System you may choose either Base or Alias for the<br />

Tag Type. Click on the appropriate radio button for the type of tag<br />

you are creat<strong>in</strong>g.<br />

• Base – refers to a normal tag (selected by default)<br />

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5-4 Create and Configure a Coord<strong>in</strong>ate System<br />

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• Alias – refers to a tag, which references another tag with the<br />

same def<strong>in</strong>ition. Special parameters appear on the New Tag<br />

dialog that allow you to identify to which base tag the alias<br />

refers.<br />

Alias For:<br />

If you selected Alias as the Tag Type the Alias For: field displays.<br />

Enter the name of the associated Base Tag.<br />

Data Type<br />

In the Data Type field select COORDINATE_SYSTEM if you entered<br />

from either method that did not fill this field automatically.<br />

Scope<br />

Enter the Scope for the tag. A Coord<strong>in</strong>ated System Tag can only be<br />

<strong>Control</strong>ler Scope.<br />

Style<br />

The Style parameter is not activated. No entry for this field is possible.<br />

After the <strong>in</strong>formation for the tag is entered, you have two options. You<br />

can either press the OK button to create the tag or you can press the<br />

Configure Button located next to the Data Type field to use the<br />

Wizard screens to enter the values for the Coord<strong>in</strong>ate System Tag.<br />

Press<strong>in</strong>g the OK button, creates the tag and automatically places it <strong>in</strong><br />

the Ungrouped Axes folder or the <strong>Motion</strong> Group if the tag was<br />

<strong>in</strong>itiated from the <strong>Motion</strong> Group menu.<br />

Press<strong>in</strong>g the Configure button next to the Data Type field <strong>in</strong>vokes the<br />

Coord<strong>in</strong>ate System Tag Wizard to let you cont<strong>in</strong>ue to configure the<br />

Coord<strong>in</strong>ate System tag.<br />

Coord<strong>in</strong>ate System Wizard Screens The Coord<strong>in</strong>ate System Wizard screens walk you through the process<br />

of configur<strong>in</strong>g a Coord<strong>in</strong>ate System. These are the same screens that<br />

appear when you access Coord<strong>in</strong>ate System Properties but <strong>in</strong>stead of<br />

appear<strong>in</strong>g as tabbed screens they advance you through the process by<br />

<strong>in</strong>dividual screens. At the bottom of each screen are a series of<br />

buttons. To advance to the next screen click on the Next button and<br />

the <strong>in</strong>formation you entered is saved and you advance to the next<br />

wizard screen. To end your progression through the Wizard screens<br />

click on the F<strong>in</strong>ish button. The <strong>in</strong>formation entered to this po<strong>in</strong>t is<br />

saved and the Coord<strong>in</strong>ate System is stored <strong>in</strong> the <strong>Control</strong>ler Organizer


Create and Configure a Coord<strong>in</strong>ate System 5-5<br />

under either the Ungrouped Axes folder or the <strong>Motion</strong> Group (if a<br />

motion group has been associated with the coord<strong>in</strong>ate system).<br />

It is not necessary to use the Wizard screens to configure your<br />

Coord<strong>in</strong>ate System. Once it has been created, you can access the<br />

Coord<strong>in</strong>ate System Properties screen and enter the <strong>in</strong>formation for the<br />

Coord<strong>in</strong>ate System. See the section entitled “Edit<strong>in</strong>g Coord<strong>in</strong>ate<br />

System Properties” later <strong>in</strong> this manual for detailed <strong>in</strong>formation about<br />

enter<strong>in</strong>g configuration <strong>in</strong>formation.<br />

General Wizard Screen<br />

The General screen lets you associate the tag to a <strong>Motion</strong> Group, enter<br />

the Coord<strong>in</strong>ate System Type, select the Dimension for the tag (that is,<br />

the number of associated axes), enter the associated axis <strong>in</strong>formation,<br />

and select whether or not to update Actual Position values of the<br />

Coord<strong>in</strong>ate System automatically dur<strong>in</strong>g operation. This screen has the<br />

same fields as the General Tab found under Coord<strong>in</strong>ate System<br />

Properties.<br />

Units Wizard Screen<br />

The Units screen is where you determ<strong>in</strong>e the units that def<strong>in</strong>e the<br />

coord<strong>in</strong>ate system. At this screen you def<strong>in</strong>e the Coord<strong>in</strong>ation Units<br />

and the Conversion Ratios. This screen has the same fields as the<br />

Units Tab found under Coord<strong>in</strong>ate System Properties.<br />

Dynamics Wizard Screen<br />

The Dynamics screen is for enter<strong>in</strong>g the Vector values used for<br />

Maximum Speed, Maximum Acceleration, and Maximum Deceleration.<br />

It is also used for enter<strong>in</strong>g the Actual and Command Position<br />

Tolerance values. This screen has the same fields as the Dynamics Tab<br />

found under Coord<strong>in</strong>ate System Properties.<br />

Manual Adjust Button<br />

The Manual Adjust button is <strong>in</strong>active when creat<strong>in</strong>g a Coord<strong>in</strong>ate<br />

System tag via the Wizard screens. It is active on the Dynamics Tab of<br />

the Coord<strong>in</strong>ate System Properties screen. It is described <strong>in</strong> detail <strong>in</strong> the<br />

“Edit<strong>in</strong>g Coord<strong>in</strong>ate System Properties” later <strong>in</strong> this chapter.<br />

Tag Wizard Screen<br />

The Tag screen lets you rename your Tag, edit your description and<br />

review the Tag Type, Data Type and Scope <strong>in</strong>formation.<br />

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5-6 Create and Configure a Coord<strong>in</strong>ate System<br />

Edit<strong>in</strong>g Coord<strong>in</strong>ate System<br />

Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

The only fields that are editable on the Tag screen are the Name and<br />

Description fields. These are the same fields as on the New Tag screen<br />

and the Coord<strong>in</strong>ate System Properties Tag Tab.<br />

Once you have created your Coord<strong>in</strong>ate System <strong>in</strong> the New Tag<br />

w<strong>in</strong>dow, you must then configure it. If you did not use the Wizard<br />

screens available from the Configure button on the New Tag screen,<br />

you can make your configuration selections from the Coord<strong>in</strong>ate<br />

System Properties screen. You can also use the Coord<strong>in</strong>ate System<br />

Properties screens to edit an exist<strong>in</strong>g Coord<strong>in</strong>ate System tag. These<br />

have a series of Tabs that access a specific dialog for configur<strong>in</strong>g the<br />

different facets of the Coord<strong>in</strong>ate System. Make the appropriate entries<br />

for each of the fields. An asterisk appears on the Tab to <strong>in</strong>dicate<br />

changes have been made but not implemented. Press the Apply<br />

button at the bottom of each dialog to save your selections.<br />

TIP<br />

When you configure your Coord<strong>in</strong>ate System, some<br />

fields may be unavailable (greyed-out) because of<br />

choices you made <strong>in</strong> the New Tag w<strong>in</strong>dow.<br />

In the <strong>Control</strong>ler Organizer, right click on the coord<strong>in</strong>ate system to<br />

edit and select Coord<strong>in</strong>ate System Properties from the drop down<br />

menu.<br />

The Coord<strong>in</strong>ate System Properties General w<strong>in</strong>dow appears. The<br />

name of the Coord<strong>in</strong>ate System tag that is be<strong>in</strong>g edited appears <strong>in</strong> the


Create and Configure a Coord<strong>in</strong>ate System 5-7<br />

title bar to the right of Coord<strong>in</strong>ate System Properties. The General<br />

screen is shown below.<br />

General Tab Use this tab to do the follow<strong>in</strong>g for a coord<strong>in</strong>ate system:<br />

• Assign the coord<strong>in</strong>ate system, or term<strong>in</strong>ate the assignment of a<br />

coord<strong>in</strong>ate system, to a <strong>Motion</strong> Group.<br />

• Change the number of dimension that is, the number of axes.<br />

• Assign axes to the coord<strong>in</strong>ate system tag.<br />

• Enable/Disable automatic updat<strong>in</strong>g of the tag.<br />

Note: RSLogix 5000 supports only one <strong>Motion</strong> Group tag per<br />

controller.<br />

<strong>Motion</strong> Group<br />

Selects and displays the <strong>Motion</strong> Group to which the Coord<strong>in</strong>ate<br />

System is associated. A Coord<strong>in</strong>ate System assigned to a <strong>Motion</strong> Group<br />

appears <strong>in</strong> the <strong>Motion</strong> Groups branch of the <strong>Control</strong>ler Organizer,<br />

under the selected <strong>Motion</strong> Group sub-branch. Select<strong>in</strong>g <br />

term<strong>in</strong>ates the <strong>Motion</strong> Group association, and moves the coord<strong>in</strong>ate<br />

system to the Ungrouped Axes sub-branch of the <strong>Motion</strong>s Groups<br />

branch.<br />

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5-8 Create and Configure a Coord<strong>in</strong>ate System<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Ellipsis (…) button<br />

Opens the <strong>Motion</strong> Group Properties dialog box for the Assigned<br />

<strong>Motion</strong> Group, where you can edit the <strong>Motion</strong> Group properties. If no<br />

<strong>Motion</strong> Group is assigned to this coord<strong>in</strong>ate system, this button is<br />

disabled (grayed out).<br />

New Group button<br />

The New Group button opens the New Tag dialog box, where you<br />

can create a new <strong>Motion</strong> Group tag. This button is enabled only if no<br />

<strong>Motion</strong> Group tag has been created.<br />

Type<br />

This read-only field displays the type of coord<strong>in</strong>ate system. It currently<br />

only supports a Cartesian system therefore the field automatically fills<br />

with Cartesian and it cannot be edited.<br />

Dimension<br />

Enter the dimension, that is, the number of axes, that this coord<strong>in</strong>ated<br />

system is to support. The options are 1, 2, or 3 <strong>in</strong> keep<strong>in</strong>g with its<br />

support of a maximum of three axes. Changes <strong>in</strong> the Dimension sp<strong>in</strong><br />

box also reflect <strong>in</strong> the Axis Grid by either expand<strong>in</strong>g or contract<strong>in</strong>g<br />

the number of fields available. Data is set back to the defaults for any<br />

axis that is removed from the Axis Grid due to reduc<strong>in</strong>g the<br />

Dimension field.<br />

Axis Grid<br />

The Axis Grid is where you associate axes to the Coord<strong>in</strong>ate System.<br />

There are five columns <strong>in</strong> the Axis Grid that provide <strong>in</strong>formation<br />

about the axes <strong>in</strong> relation to the Coord<strong>in</strong>ate System.<br />

[ ] (Brackets)<br />

The Brackets column displays the <strong>in</strong>dices <strong>in</strong> tag arrays used with<br />

the current coord<strong>in</strong>ate system. The tag arrays used <strong>in</strong> multi-axis<br />

coord<strong>in</strong>ated motion <strong>in</strong>structions map to axes us<strong>in</strong>g these <strong>in</strong>dices.<br />

Coord<strong>in</strong>ate<br />

The text <strong>in</strong> this column X1, X2, or X3 (depend<strong>in</strong>g on the entry to<br />

the Dimension field) is used as a cross reference to the axes <strong>in</strong><br />

the grid. For a Cartesian system the mapp<strong>in</strong>g is simple.


Axis Name<br />

Create and Configure a Coord<strong>in</strong>ate System 5-9<br />

The Axis Name column is a list of combo boxes (the number is<br />

determ<strong>in</strong>ed by the Dimension field) used to assign axes to the<br />

coord<strong>in</strong>ate system. The pulldown lists display all of the Base Tag<br />

axes def<strong>in</strong>ed <strong>in</strong> the project. (Alias Tag axes do not display <strong>in</strong> the<br />

pull down list.) They can be axes associated with the motion<br />

group, axes associated with other coord<strong>in</strong>ated systems, or axes<br />

from the Ungrouped Axes folder. Select an axis from the<br />

pulldown list. The default is . It is possible to assign<br />

fewer axes to the coord<strong>in</strong>ate system than the Dimension field<br />

allows, however, you will receive a warn<strong>in</strong>g when you verify the<br />

coord<strong>in</strong>ate system and if left <strong>in</strong> that state, the <strong>in</strong>struction<br />

generates a run-time error. You can only assign an axis once <strong>in</strong> a<br />

coord<strong>in</strong>ate system. Ungrouped axes also generate a runtime<br />

error.<br />

Ellipsis Button (...)<br />

The Ellipsis buttons <strong>in</strong> this column take you to the Axis<br />

Properties pages for the axis listed <strong>in</strong> the row. See the “Creat<strong>in</strong>g<br />

and Configur<strong>in</strong>g Your <strong>Motion</strong> Axis” chapter <strong>in</strong> this manual for<br />

<strong>in</strong>formation about the Axis Properties page.<br />

Coord<strong>in</strong>ation Mode<br />

The Coord<strong>in</strong>ation Mode column <strong>in</strong>dicates the axes that are used<br />

<strong>in</strong> the velocity vector calculations. Only Primary axes are used <strong>in</strong><br />

these calculations. Currently the only option is Primary.<br />

Therefore this column is automatically filled <strong>in</strong> as Primary and<br />

cannot be edited.<br />

Enable Coord<strong>in</strong>ate System Auto Tag Update<br />

The Enable Coord<strong>in</strong>ate System Auto Tag Update checkbox lets you<br />

determ<strong>in</strong>e whether or not the Actual Position values of the current<br />

coord<strong>in</strong>ated system are automatically updated dur<strong>in</strong>g operation. Click<br />

on the checkbox to enable this feature. The Coord<strong>in</strong>ate System Auto<br />

Tag Update feature can ease your programm<strong>in</strong>g burden if you would<br />

need to add GSV statements to the program <strong>in</strong> order to get the desired<br />

result. However, by enabl<strong>in</strong>g this feature the Coarse Update rate is<br />

<strong>in</strong>creased. Whether to use the Coord<strong>in</strong>ate System Auto Tag Update<br />

feature depends upon the trade-offs between ease <strong>in</strong> programm<strong>in</strong>g<br />

and <strong>in</strong>crease <strong>in</strong> execution time. Some users may want to enable this<br />

feature <strong>in</strong> the <strong>in</strong>itial programm<strong>in</strong>g of their system to work out the<br />

k<strong>in</strong>ks and then disable it and enter the GSV statements to their<br />

program to lower their execution time.<br />

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5-10 Create and Configure a Coord<strong>in</strong>ate System<br />

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Note: Enabl<strong>in</strong>g this feature may result <strong>in</strong> some performance<br />

penalty.<br />

Press Apply to implement your entries or cancel to not save the new<br />

entries.<br />

To edit the Units properties, select the Units tab to access the<br />

Coord<strong>in</strong>ate System Properties Units dialog.<br />

Units Tab The Units Tab of the Coord<strong>in</strong>ate System Properties is where you<br />

determ<strong>in</strong>e the units that def<strong>in</strong>e the coord<strong>in</strong>ate system. This screen is<br />

where you def<strong>in</strong>e the Coord<strong>in</strong>ation Units and the Conversion Ratios.<br />

Coord<strong>in</strong>ation Units<br />

The Coord<strong>in</strong>ation Units field lets you def<strong>in</strong>e the units to be used for<br />

measur<strong>in</strong>g and calculat<strong>in</strong>g motion related values such as position,<br />

velocity, and the like. The coord<strong>in</strong>ation units do not need to be the<br />

same for each coord<strong>in</strong>ate system. Enter units that are relevant to your<br />

application and maximize ease of use. When you change the<br />

Coord<strong>in</strong>ation Units, the second portion of the Coord<strong>in</strong>ation Ratio<br />

Units automatically changes to reflect the new units. Coord<strong>in</strong>ation<br />

Units is the default.


Axis Grid<br />

Create and Configure a Coord<strong>in</strong>ate System 5-11<br />

The Axis Grid of the Units page displays the axis names associated<br />

with the Coord<strong>in</strong>ate System, the conversion ratio, and the units used<br />

to measure the conversion ratio.<br />

Axis Name<br />

The Axis Name column conta<strong>in</strong>s the names of the axes assigned<br />

to the Coord<strong>in</strong>ate System <strong>in</strong> the General screen. These names<br />

appear <strong>in</strong> the order that they were configured <strong>in</strong>to the current<br />

coord<strong>in</strong>ate system. This column is not editable from this screen.<br />

Conversion Ratio<br />

The Conversion Ratio column def<strong>in</strong>es the relationship of axis<br />

position units to coord<strong>in</strong>ation units for each axis. For example: If<br />

the position units for an axis is <strong>in</strong> millimeters and the axis is<br />

associated with a coord<strong>in</strong>ate system whose units are <strong>in</strong> <strong>in</strong>ches,<br />

then the conversion ratio for this axis/coord<strong>in</strong>ate system<br />

association is 25.4/1 and can be specified <strong>in</strong> the appropriate row<br />

of the Axis Grid.<br />

Note: The numerator can be entered as a float or an <strong>in</strong>teger. The<br />

denom<strong>in</strong>ator must be entered as an <strong>in</strong>teger only.<br />

Conversion Ratio Units<br />

The Conversion Ratio Units column displays the axis position<br />

units to coord<strong>in</strong>ation units used. The Axis Position units are<br />

def<strong>in</strong>ed <strong>in</strong> the Axis Properties – Units screen and the<br />

coord<strong>in</strong>ation units are def<strong>in</strong>ed <strong>in</strong> Coord<strong>in</strong>ated System Properties<br />

– Units screen. These values are dynamically updated when<br />

changes are made to either axis position units or coord<strong>in</strong>ation<br />

units.<br />

Click on the Apply button to preserve your edits or Cancel to discard<br />

your changes.<br />

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5-12 Create and Configure a Coord<strong>in</strong>ate System<br />

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Click on the Dynamics Tab to access the Coord<strong>in</strong>ate System Properties<br />

Dynamics dialog.<br />

Dynamics Tab The Dynamics dialog of the Coord<strong>in</strong>ate System is for enter<strong>in</strong>g the<br />

Vector values used for Maximum Speed, Maximum Acceleration, and<br />

Maximum Deceleration. It is also used for enter<strong>in</strong>g the Actual and<br />

Command Position Tolerance values.<br />

Vector Box<br />

In the Vector box, values are entered for Maximum Speed, Maximum<br />

Acceleration, and Maximum Deceleration and are used by the<br />

Coord<strong>in</strong>ated <strong>Motion</strong> <strong>in</strong>structions <strong>in</strong> calculations when their operands<br />

are expressed as percent of Maximum. The Coord<strong>in</strong>ation Units to the<br />

right of the edit boxes automatically change when the coord<strong>in</strong>ation<br />

units are redef<strong>in</strong>ed at the Units screen.<br />

Maximum Speed<br />

Enter the value for Maximum Speed to be used by the<br />

Coord<strong>in</strong>ated <strong>Motion</strong> <strong>in</strong>structions <strong>in</strong> calculat<strong>in</strong>g vector speed<br />

when speed is expressed as a percent of maximum.


Maximum Acceleration<br />

Create and Configure a Coord<strong>in</strong>ate System 5-13<br />

Enter the value for Maximum Acceleration to be used by the<br />

Coord<strong>in</strong>ated <strong>Motion</strong> <strong>in</strong>structions to determ<strong>in</strong>e the acceleration<br />

rate to apply to the coord<strong>in</strong>ate system vector when acceleration<br />

is expressed as a percent of maximum.<br />

Maximum Deceleration<br />

Enter the value for Maximum Deceleration to be used by the<br />

Coord<strong>in</strong>ated <strong>Motion</strong> <strong>in</strong>structions to determ<strong>in</strong>e the deceleration<br />

rate to apply to the coord<strong>in</strong>ate system vector when deceleration<br />

is expressed as a percent of maximum. The Maximum<br />

Deceleration value must be a non zero value to achieve any<br />

motion us<strong>in</strong>g the coord<strong>in</strong>ate system.<br />

Position Tolerance Box<br />

In the Position Tolerance Box, values are entered for Actual and<br />

Command Position Tolerance values. See the <strong>Logix5000</strong> <strong>Motion</strong><br />

Instruction Set Reference Manual (1756-RM007) for more <strong>in</strong>formation<br />

regard<strong>in</strong>g the use of Actual and Command Position Tolerance.<br />

Actual<br />

Enter the value <strong>in</strong> coord<strong>in</strong>ation units, for Actual Position to be<br />

used by Coord<strong>in</strong>ated <strong>Motion</strong> <strong>in</strong>structions when they have a<br />

Term<strong>in</strong>ation Type of Actual Tolerance.<br />

Command<br />

Enter the value <strong>in</strong> coord<strong>in</strong>ation units, for Command Position to<br />

be used by Coord<strong>in</strong>ated <strong>Motion</strong> <strong>in</strong>structions when they have a<br />

Term<strong>in</strong>ation Type of Command Tolerance.<br />

Manual Adjust Button<br />

The Manual Adjust button on the Coord<strong>in</strong>ate System Dynamics Tab<br />

accesses the Manual Adjust Properties dialog. The Manual Adjust<br />

button is enabled only when there are no pend<strong>in</strong>g edits on the<br />

properties dialog.<br />

Dynamics Tab Manual Adjust At this screen you can make changes to the Vector and Position<br />

Tolerance values. See the explanations for the Vector and Position<br />

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5-14 Create and Configure a Coord<strong>in</strong>ate System<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Tolerance fields <strong>in</strong> the explanation of the Dynamics Tab earlier <strong>in</strong> this<br />

chapter.<br />

These changes can be made either on or off l<strong>in</strong>e. The blue arrows to<br />

the right of the fields <strong>in</strong>dicate that they are immediate commit fields.<br />

This means that the values <strong>in</strong> those fields are immediately updated to<br />

the controller if on-l<strong>in</strong>e or to the project file if off l<strong>in</strong>e.<br />

Reset Button<br />

The Reset Button reloads the values that were present at the time this<br />

dialog was entered. The blue arrow to the right of the Reset button<br />

means that the values are immediately reset when the Reset button is<br />

clicked.


Create and Configure a Coord<strong>in</strong>ate System 5-15<br />

Tag Tab The Tag Tab is for review<strong>in</strong>g your Tag <strong>in</strong>formation and renam<strong>in</strong>g the<br />

tag or edit<strong>in</strong>g the description.<br />

Tag Tab Use this tab to modify the name and description of the coord<strong>in</strong>ate<br />

system. When you are onl<strong>in</strong>e, all of the parameters on this tab<br />

transition to a read-only state, and cannot be modified. If you go<br />

onl<strong>in</strong>e before you save your changes, all pend<strong>in</strong>g changes revert to<br />

their previously-saved state.<br />

Name<br />

Displays the name of the current tag. You can rename the tag at this<br />

time. The name can be up to 40 characters and can <strong>in</strong>clude letters,<br />

numbers, and underscores (_). When you rename a tag, the new<br />

name replaces the old one <strong>in</strong> the <strong>Control</strong>ler Organizer after click on<br />

the OK or Apply button.<br />

Description<br />

Displays the description of the current tag, if any is available. You can<br />

edit this description. The edited description replaces the exist<strong>in</strong>g<br />

description when you click on either the OK or Apply button.<br />

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5-16 Create and Configure a Coord<strong>in</strong>ate System<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Tag Type<br />

Indicates the type of the current Coord<strong>in</strong>ate System tag. This type may<br />

be:<br />

• Base<br />

• Alias<br />

The field is not editable and is for <strong>in</strong>formational purposes only.<br />

Data Type<br />

Displays the data type of the current Coord<strong>in</strong>ate System tag which is<br />

always COORDINATE_SYSTEM. This field cannot be edited and is for<br />

<strong>in</strong>formational purposes only.<br />

Scope<br />

Displays the scope of the current Coord<strong>in</strong>ate System tag. The scope<br />

for a Coord<strong>in</strong>ate System tag can only be controller scope. This field is<br />

not editable and is for <strong>in</strong>formational purposes only.<br />

Style<br />

Not applicable.


Coord<strong>in</strong>ate System<br />

Attributes<br />

Example<br />

Create and Configure a Coord<strong>in</strong>ate System 5-17<br />

Use that attributes of a coord<strong>in</strong>ate system for <strong>in</strong>formation about the<br />

coord<strong>in</strong>ate system.<br />

How to Access Attributes<br />

Attribute Axis Type Data Type Access Description<br />

Actual Position<br />

GSV<br />

Tolerance<br />

SSV<br />

Config Fault Tag<br />

Coord<strong>in</strong>ate<br />

<strong>Motion</strong> Status<br />

The Access column shows how to access the attribute<br />

GSV<br />

Tag<br />

Coord<strong>in</strong>ate System Attributes<br />

Use a Get System Value (GSV) <strong>in</strong>struction to get the value.<br />

Use a Set System Value (SSV) <strong>in</strong>struction to set or change<br />

the value.<br />

Use the tag for the coord<strong>in</strong>ate system to get the value.<br />

Use the tag for the coord<strong>in</strong>ate system or a GSV <strong>in</strong>struction<br />

to get the value. It’s easier to use the tag.<br />

Attribute Data Type Access Description<br />

Accel Status BOOL Tag Use the Accel Status bit to determ<strong>in</strong>e if the coord<strong>in</strong>ated (vectored) motion is<br />

currently be<strong>in</strong>g commanded to accelerate.<br />

Actual Pos Tolerance<br />

Status<br />

The acceleration bit is set when a coord<strong>in</strong>ated move is <strong>in</strong> the accelerat<strong>in</strong>g phase<br />

due to the current coord<strong>in</strong>ated move. It is cleared when the coord<strong>in</strong>ated move has<br />

been stopped or the coord<strong>in</strong>ated move is <strong>in</strong> the decelerat<strong>in</strong>g phase.<br />

BOOL Tag Use the Actual Pos Tolerance Status bit to determ<strong>in</strong>e when a coord<strong>in</strong>ate move is<br />

with<strong>in</strong> the Actual Position Tolerance.<br />

The Actual Position Tolerance Status bit is set for AT term type only. The bit is set<br />

when <strong>in</strong>terpolation is complete and the actual distance to programmed endpo<strong>in</strong>t<br />

is less than the configured AT value.<br />

The bit rema<strong>in</strong>s set after an <strong>in</strong>struction completes. The bit is reset if either a new<br />

<strong>in</strong>struction is started or the axis moves such that the actual distance to<br />

programmed endpo<strong>in</strong>t is greater than the configured AT value<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


5-18 Create and Configure a Coord<strong>in</strong>ate System<br />

Attribute Data Type Access Description<br />

Actual Position REAL[8] Tag Array of actual position of each axis associated to this motion coord<strong>in</strong>ate system<br />

<strong>in</strong> Coord<strong>in</strong>ate Units.<br />

Actual Position Tolerance REAL GSV Coord<strong>in</strong>ation Units<br />

Axes Configuration Faulted<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

SSV<br />

DINT GSV<br />

Tag<br />

Axes Inhibited Status DINT GSV<br />

Tag<br />

Axes Servo On Status DINT GSV<br />

Tag<br />

Axes Shutdown Status DINT GSV<br />

Tag<br />

Axis Fault DINT GSV<br />

Tag<br />

The Actual Position Tolerance attribute value is a distance unit used when<br />

<strong>in</strong>structions such as MCLM, MCCM and so on specify a Term<strong>in</strong>ation Type of<br />

Actual Position.<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system have a configuration fault.<br />

If this bit is on Then this axis has a configuration fault<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are <strong>in</strong>hibited.<br />

If this bit is on Then this axis is <strong>in</strong>hibited<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are on (via MSO).<br />

If this bit is on Then this axis is on<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are shutdown.<br />

If this bit is on Then this axis is shutdown<br />

0 0<br />

1 1<br />

2 2<br />

The Axis Fault Bits attribute is a roll-up of all of the axes associated to this motion<br />

coord<strong>in</strong>ate system. A bit be<strong>in</strong>g set <strong>in</strong>dicates that one of the associated axes has<br />

that fault.<br />

Type Bit<br />

Physical Axis Fault 0<br />

Module Fault 1<br />

Config Fault 2<br />

Axis Inhibit Status BOOL Tag If this bit is:<br />

• ON — An axis <strong>in</strong> the coord<strong>in</strong>ate system is <strong>in</strong>hibited.<br />

• OFF — None of the axis <strong>in</strong> the coord<strong>in</strong>ate system are <strong>in</strong>hibited.


Attribute Data Type Access Description<br />

Create and Configure a Coord<strong>in</strong>ate System 5-19<br />

Actual Position REAL[8] Tag Array of actual position of each axis associated to this motion coord<strong>in</strong>ate system<br />

<strong>in</strong> Coord<strong>in</strong>ate Units.<br />

Actual Position Tolerance REAL GSV Coord<strong>in</strong>ation Units<br />

Axes Configuration Faulted<br />

SSV<br />

DINT GSV<br />

Tag<br />

Axes Inhibited Status DINT GSV<br />

Tag<br />

Axes Servo On Status DINT GSV<br />

Tag<br />

Axes Shutdown Status DINT GSV<br />

Tag<br />

Axis Fault DINT GSV<br />

Tag<br />

The Actual Position Tolerance attribute value is a distance unit used when<br />

<strong>in</strong>structions such as MCLM, MCCM and so on specify a Term<strong>in</strong>ation Type of<br />

Actual Position.<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system have a configuration fault.<br />

If this bit is on Then this axis has a configuration fault<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are <strong>in</strong>hibited.<br />

If this bit is on Then this axis is <strong>in</strong>hibited<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are on (via MSO).<br />

If this bit is on Then this axis is on<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are shutdown.<br />

If this bit is on Then this axis is shutdown<br />

0 0<br />

1 1<br />

2 2<br />

The Axis Fault Bits attribute is a roll-up of all of the axes associated to this motion<br />

coord<strong>in</strong>ate system. A bit be<strong>in</strong>g set <strong>in</strong>dicates that one of the associated axes has<br />

that fault.<br />

Type Bit<br />

Physical Axis Fault 0<br />

Module Fault 1<br />

Config Fault 2<br />

Axis Inhibit Status BOOL Tag If this bit is:<br />

• ON — An axis <strong>in</strong> the coord<strong>in</strong>ate system is <strong>in</strong>hibited.<br />

• OFF — None of the axis <strong>in</strong> the coord<strong>in</strong>ate system are <strong>in</strong>hibited.<br />

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5-20 Create and Configure a Coord<strong>in</strong>ate System<br />

Attribute Data Type Access Description<br />

Actual Position REAL[8] Tag Array of actual position of each axis associated to this motion coord<strong>in</strong>ate system<br />

<strong>in</strong> Coord<strong>in</strong>ate Units.<br />

Actual Position Tolerance REAL GSV Coord<strong>in</strong>ation Units<br />

Axes Configuration Faulted<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

SSV<br />

DINT GSV<br />

Tag<br />

Axes Inhibited Status DINT GSV<br />

Tag<br />

Axes Servo On Status DINT GSV<br />

Tag<br />

Axes Shutdown Status DINT GSV<br />

Tag<br />

Axis Fault DINT GSV<br />

Tag<br />

The Actual Position Tolerance attribute value is a distance unit used when<br />

<strong>in</strong>structions such as MCLM, MCCM and so on specify a Term<strong>in</strong>ation Type of<br />

Actual Position.<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system have a configuration fault.<br />

If this bit is on Then this axis has a configuration fault<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are <strong>in</strong>hibited.<br />

If this bit is on Then this axis is <strong>in</strong>hibited<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are on (via MSO).<br />

If this bit is on Then this axis is on<br />

0 0<br />

1 1<br />

2 2<br />

Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system are shutdown.<br />

If this bit is on Then this axis is shutdown<br />

0 0<br />

1 1<br />

2 2<br />

The Axis Fault Bits attribute is a roll-up of all of the axes associated to this motion<br />

coord<strong>in</strong>ate system. A bit be<strong>in</strong>g set <strong>in</strong>dicates that one of the associated axes has<br />

that fault.<br />

Type Bit<br />

Physical Axis Fault 0<br />

Module Fault 1<br />

Config Fault 2<br />

Axis Inhibit Status BOOL Tag If this bit is:<br />

• ON — An axis <strong>in</strong> the coord<strong>in</strong>ate system is <strong>in</strong>hibited.<br />

• OFF — None of the axis <strong>in</strong> the coord<strong>in</strong>ate system are <strong>in</strong>hibited.


Attribute Data Type Access Description<br />

Command Pos Tolerance<br />

Status<br />

Command Position<br />

Tolerance<br />

Create and Configure a Coord<strong>in</strong>ate System 5-21<br />

BOOL Tag Use the Command Position Tolerance Status bit to determ<strong>in</strong>e when a coord<strong>in</strong>ate<br />

move is with<strong>in</strong> the Command Position Tolerance.<br />

REAL GSV<br />

SSV<br />

The Command Position Tolerance Status bit is set for all term types whenever the<br />

distance to programmed endpo<strong>in</strong>t is less than the configured CT value. The bit<br />

will rema<strong>in</strong>s set after an <strong>in</strong>struction completes. The bit is reset when a new<br />

<strong>in</strong>struction is started.<br />

Coord<strong>in</strong>ation Units<br />

The Command Position Tolerance attribute value is a distance unit used when<br />

<strong>in</strong>structions such as MCLM, MCCM and so on specify a Term<strong>in</strong>ation Type of<br />

Command Position.<br />

Config Fault BOOL Tag The Configuration Fault bit is set when an update operation target<strong>in</strong>g an axis<br />

configuration attribute of an associated motion module has failed. Specific<br />

<strong>in</strong>formation concern<strong>in</strong>g the Configuration Fault may be found <strong>in</strong> the Attribute Error<br />

Code and Attribute Error ID attributes associated with the motion module.<br />

Coord<strong>in</strong>ate <strong>Motion</strong> Status DINT GSV<br />

Coord<strong>in</strong>ate System Auto<br />

Tag Update<br />

Tag<br />

SINT GSV<br />

SSV<br />

Coord<strong>in</strong>ate System Status DINT GSV<br />

Tag<br />

Lets you access the motion status bits for the coord<strong>in</strong>ate system <strong>in</strong> one 32-bit<br />

word.<br />

Status Bit<br />

Accel Status 0<br />

Decel Status 1<br />

Actual Pos Tolerance Status 2<br />

Command Pos Tolerance Status 3<br />

Stopp<strong>in</strong>g Status 4<br />

Reserved 5<br />

Move Status 6<br />

Transition Status 7<br />

Move Pend<strong>in</strong>g Status 8<br />

Move Pend<strong>in</strong>g Queue Full Status 9<br />

The Coord<strong>in</strong>ate System Auto Tag Update attribute configures whether the Actual<br />

Position attribute is automatically updated each motion task scan. This is similar<br />

to, but separate from the <strong>Motion</strong> Group’s “Auto Tag Update” attribute.<br />

0 – auto update disabled<br />

1 – auto update enabled (default)<br />

Lets you access the status bits for the coord<strong>in</strong>ate system <strong>in</strong> one 32-bit word.<br />

Status Bit<br />

Shutdown Status 0<br />

Ready Status 1<br />

<strong>Motion</strong>Status 2<br />

Axis Inhibit Status 3<br />

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5-22 Create and Configure a Coord<strong>in</strong>ate System<br />

Attribute Data Type Access Description<br />

Decel Status BOOL Tag Use the Decel Status bit to determ<strong>in</strong>e if the coord<strong>in</strong>ated (vectored) motion is<br />

currently be<strong>in</strong>g commanded to decelerate.<br />

Maximum Acceleration REAL GSV<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

SSV<br />

Maximum Deceleration REAL GSV<br />

The deceleration bit is set when a coord<strong>in</strong>ated move is <strong>in</strong> the decelerat<strong>in</strong>g phase<br />

due to the current coord<strong>in</strong>ated move. It is cleared when the coord<strong>in</strong>ated move has<br />

been stopped or the coord<strong>in</strong>ated move is complete.<br />

Coord<strong>in</strong>ation Units / Sec 2<br />

The Maximum Acceleration attribute value is used by motion <strong>in</strong>structions such as<br />

MCLM, MCCM and so on, to determ<strong>in</strong>e the acceleration rate to apply to the<br />

coord<strong>in</strong>ate system vector when the acceleration is specified as a percent of the<br />

Maximum.<br />

Coord<strong>in</strong>ation Units / Sec 2<br />

SSV The Maximum Deceleration attribute value is used by motion <strong>in</strong>structions such as<br />

MCLM, MCCM and so on, to determ<strong>in</strong>e the deceleration rate to apply to the<br />

coord<strong>in</strong>ate system vector when the deceleration is specified as a percent of the<br />

Maximum.<br />

Maximum Pend<strong>in</strong>g Moves DINT GSV The Maximum Pend<strong>in</strong>g Moves attribute is used to determ<strong>in</strong>e how many Move<br />

Pend<strong>in</strong>g queue slots should be created as part of the Coord<strong>in</strong>ate System’s create<br />

service.<br />

Maximum Speed REAL GSV<br />

Limited to a queue of one.<br />

Coord<strong>in</strong>ation Units / Sec<br />

SSV The value of the Maximum Speed attribute is used by various motion <strong>in</strong>structions<br />

(for example, MCLM, MCCM and so on) to determ<strong>in</strong>e the steady-state speed of<br />

the coord<strong>in</strong>ate system vector when the speed is specified as a percent of the<br />

Maximum.<br />

Module Fault BOOL Tag The Module Fault bit attribute is set when a serious fault has occurred with the<br />

motion module associated with the selected axis. Usually a module fault affects<br />

all axes associated with the motion module. A module fault generally results <strong>in</strong><br />

the shutdown of all associated axes. Reconfiguration of the motion module is<br />

required to recover from a module fault condition.<br />

<strong>Modules</strong> Faulted DINT GSV Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system have a module fault.<br />

Tag<br />

<strong>Motion</strong> Status BOOL Tag The <strong>Motion</strong> Status bit attribute is set <strong>in</strong>dicat<strong>in</strong>g that at least one Coord<strong>in</strong>ate<br />

<strong>Motion</strong> <strong>in</strong>struction is active and the Coord<strong>in</strong>ate System is connected to its<br />

associated axes.<br />

Move Pend<strong>in</strong>g Queue Full<br />

Status<br />

If this bit is on Then this axis has a module fault<br />

0 0<br />

1 1<br />

2 2<br />

BOOL Tag The move pend<strong>in</strong>g queue full bit is set there is no room <strong>in</strong> the <strong>in</strong>struction queue<br />

for the next coord<strong>in</strong>ated move <strong>in</strong>struction. Once there is room <strong>in</strong> the queue, the bit<br />

is cleared.


Attribute Data Type Access Description<br />

Create and Configure a Coord<strong>in</strong>ate System 5-23<br />

Move Pend<strong>in</strong>g Status BOOL Tag The move pend<strong>in</strong>g bit is set once a coord<strong>in</strong>ated motion <strong>in</strong>struction is queued.<br />

Once the <strong>in</strong>struction has begun execut<strong>in</strong>g, the bit will be cleared, provided no<br />

subsequent coord<strong>in</strong>ated motion <strong>in</strong>structions have been queued <strong>in</strong> the mean time.<br />

In the case of a s<strong>in</strong>gle coord<strong>in</strong>ated motion <strong>in</strong>struction, the status bit may not be<br />

detected by the user <strong>in</strong> RS<strong>Logix5000</strong> s<strong>in</strong>ce the transition from queued to<br />

execut<strong>in</strong>g is faster than the coarse update. The real value of the bit comes <strong>in</strong> the<br />

case of multiple <strong>in</strong>structions. As long as an <strong>in</strong>struction is <strong>in</strong> the <strong>in</strong>struction queue,<br />

the pend<strong>in</strong>g bit will be set. This provides the RS<strong>Logix5000</strong> programmer a means<br />

of stream-l<strong>in</strong><strong>in</strong>g the execution of multiple coord<strong>in</strong>ated motion <strong>in</strong>structions. Ladder<br />

logic conta<strong>in</strong><strong>in</strong>g coord<strong>in</strong>ated motion <strong>in</strong>structions can be made to execute faster<br />

when the programmer allows <strong>in</strong>structions to be queued while a preced<strong>in</strong>g<br />

<strong>in</strong>struction is execut<strong>in</strong>g. When the MovePend<strong>in</strong>gStatus bit is clear, the next<br />

coord<strong>in</strong>ated motion <strong>in</strong>struction can be executed (that is, setup <strong>in</strong> the queue).<br />

Move Status BOOL Tag The move bit is set when coord<strong>in</strong>ated motion is generat<strong>in</strong>g motion for any<br />

associated axes. Once coord<strong>in</strong>ated motion is no longer be<strong>in</strong>g commanded, the<br />

move bit is cleared.<br />

Move Transition Status BOOL Tag The move transition bit is set once the blend po<strong>in</strong>t between two successive<br />

coord<strong>in</strong>ated moves has been reach. The bit rema<strong>in</strong>s set while the blend of the two<br />

moves <strong>in</strong>to one is <strong>in</strong> process. Once the blend is complete, the move transition bit<br />

is cleared.<br />

Physical Axes Faulted DINT GSV Shows which axes <strong>in</strong> this coord<strong>in</strong>ate system have a servo axis fault.<br />

Tag<br />

If this bit is on Then this axis has a servo axis fault<br />

0 0<br />

1 1<br />

2 2<br />

Physical Axis Fault BOOL Tag If the Physical Axis Fault bit is set, it <strong>in</strong>dicates that there is one or more fault<br />

conditions have been reported by the physical axis. The specific fault conditions<br />

can then be determ<strong>in</strong>ed through access to the fault attributes of the associated<br />

physical axis.<br />

Ready Status BOOL Tag The Ready bit is set when all associated axes are enabled. It is cleared after an<br />

MCSD, MGSD or a fault on any of the associated axes.<br />

Shutdown Status BOOL Tag The Coord<strong>in</strong>ate System bit will be set after an MCSD or MGSD is executed and all<br />

associated axes have stopped. A MCSR or a MGSR will reset the coord<strong>in</strong>ate<br />

system and clear the bit. Coord<strong>in</strong>ated moves cannot be <strong>in</strong>itiated while this bit is<br />

set.<br />

Stopp<strong>in</strong>g Status BOOL Tag The stopp<strong>in</strong>g bit is set when a MCS <strong>in</strong>struction is executed. The bit will rema<strong>in</strong><br />

set until all coord<strong>in</strong>ated motion is stopped. The bit is cleared when all coord<strong>in</strong>ated<br />

motion has stopped.<br />

Transform Source Status DINT Tag The transform source status bit is set when the coord<strong>in</strong>ate system is used <strong>in</strong> an<br />

MCT <strong>in</strong>struction as the source system. When the coord<strong>in</strong>ate system is no longer<br />

used as a source system, the bit will be cleared.<br />

Transform Target Status DINT Tag The transform target status bit is set when the coord<strong>in</strong>ate system is used <strong>in</strong> an<br />

MCT <strong>in</strong>struction as the target system. When the coord<strong>in</strong>ate system is no longer<br />

used as a target system, the bit will be cleared.<br />

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5-24 Create and Configure a Coord<strong>in</strong>ate System<br />

Group, Axis and Coord<strong>in</strong>ate<br />

System Relationships<br />

Group 1<br />

CoordSysListPtr<br />

Device Struct<br />

CoordSysPtr<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

The follow<strong>in</strong>g diagram shows the relationship between exist<strong>in</strong>g<br />

Device, <strong>Motion</strong> Group, Axis objects and the Coord<strong>in</strong>ate System object.<br />

Currently only one <strong>Motion</strong> Group <strong>in</strong>stance is supported per controller.<br />

The arrow labeled “all coord<strong>in</strong>ate groups” would only apply if more<br />

than one <strong>Motion</strong> Group <strong>in</strong>stance was supported.<br />

Coord<strong>in</strong>ate<br />

System 1<br />

GroupPtr<br />

AxisPtrArray[]<br />

X_Axis<br />

Y_Axis<br />

Axis 1<br />

CoordSysPtr<br />

Axis 2<br />

CoordSysPtr<br />

Coord<strong>in</strong>ate<br />

System 2<br />

GroupPtr<br />

AxisPtrArray[]<br />

Y_Axis<br />

Z_Axis<br />

all coord<strong>in</strong>ate groups<br />

CoordSysPtr will po<strong>in</strong>t to the Coord<strong>in</strong>ate System currently connected to the<br />

axis. If there is not a Coord<strong>in</strong>ate System connected, the po<strong>in</strong>ter will be NULL.<br />

Axis 3<br />

CoordSysPtr<br />

The <strong>in</strong>tent of the CoordSysPtr <strong>in</strong> the Axis Object is to provide a quick<br />

l<strong>in</strong>k to the Coord<strong>in</strong>ate System currently us<strong>in</strong>g the axis for Axis Stop<br />

and Axis Shutdown process<strong>in</strong>g.


Introduction<br />

Inhibit an Axis<br />

When to Inhibit an Axis Inhibit an axis when:<br />

Use this chapter to block the controller from us<strong>in</strong>g an axis.<br />

You want to block the controller from us<strong>in</strong>g an<br />

axis because the axis is faulted or not <strong>in</strong>stalled.<br />

You want to let the controller use the other axes.<br />

Example 1<br />

Chapter 6<br />

Suppose you make equipment that has between 8 and 12 axes,<br />

depend<strong>in</strong>g on which options your customer buys. In that case, set up<br />

one project for all 12 axes. When you <strong>in</strong>stall the equipment for a<br />

customer, <strong>in</strong>hibit those axes that the customer didn’t buy.<br />

Example 2<br />

Suppose you have 2 production l<strong>in</strong>es that use the same SERCOS r<strong>in</strong>g.<br />

And suppose one of the l<strong>in</strong>es gets a fault. In that case, <strong>in</strong>hibit the axes<br />

on that l<strong>in</strong>e. This lets you run the other l<strong>in</strong>e while you take care of the<br />

fault.<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


6-2 Inhibit an Axis<br />

Before You Beg<strong>in</strong><br />

Before you <strong>in</strong>hibit or un<strong>in</strong>hibit an axis,<br />

turn off all of the axes.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Before you <strong>in</strong>hibit or un<strong>in</strong>hibit an axis:<br />

1. Stop all motion.<br />

2. Open the servo loops of all the axes. Use an <strong>in</strong>struction such as the <strong>Motion</strong> Servo Off<br />

(MSF) <strong>in</strong>struction.<br />

This lets you stop motion under your control. Otherwise the axes turn off on their own when<br />

you <strong>in</strong>hibit or un<strong>in</strong>hibit one of them.<br />

The connections to the motion module shut down<br />

when you <strong>in</strong>hibit or un<strong>in</strong>hibit an axis.<br />

<strong>Control</strong>ler<br />

<strong>Motion</strong> Module<br />

The controller automatically restarts the connections. The SERCOS r<strong>in</strong>g also phases back up.<br />

Inhibit only certa<strong>in</strong> types of axes. You can <strong>in</strong>hibit only these types of axes:<br />

• AXIS_SERVO<br />

• AXIS_SERVO_DRIVE<br />

• AXIS_G<strong>EN</strong>ERIC_DRIVE<br />

This opens the servo loops of all the axes that are connected to<br />

the module. For a SERCOS <strong>in</strong>terface module, the SERCOS r<strong>in</strong>g<br />

also shuts down.<br />

Drive<br />

Motor<br />

Drive Motor<br />

SERCOS R<strong>in</strong>g<br />

SERCOS R<strong>in</strong>g


To <strong>in</strong>hibit all of the axes of a motion<br />

module, <strong>in</strong>hibit the module <strong>in</strong>stead.<br />

Do you want to <strong>in</strong>hibit all of the axes of a motion module?<br />

Inhibit an Axis 6-3<br />

• YES — Inhibit the motion module <strong>in</strong>stead.<br />

• NO — Inhibit the <strong>in</strong>dividual axes.<br />

It’s OK to <strong>in</strong>hibit all of the axes of a module one-by-one. It’s just easier to <strong>in</strong>hibit the module.<br />

Example: Suppose your motion module has 2 axes and you want to <strong>in</strong>hibit both of those<br />

axes. In that case, just <strong>in</strong>hibit the module.<br />

If you <strong>in</strong>hibit all of the axes on a SERCOS r<strong>in</strong>g, the drives phase up to phase 2. This happens<br />

whether you <strong>in</strong>hibit all the axis <strong>in</strong>dividually or you <strong>in</strong>hibit the motion module.<br />

<strong>Motion</strong><br />

Module<br />

Drive<br />

Drive<br />

Phase<br />

2<br />

Inhibited<br />

Phase<br />

2<br />

Inhibited<br />

<strong>Motion</strong><br />

Module<br />

Inhibited<br />

Drive<br />

Drive<br />

Phase<br />

2<br />

Phase<br />

2<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


6-4 Inhibit an Axis<br />

Do you have 1394 drives on a SERCOS<br />

r<strong>in</strong>g?<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Example: Inhibit an Axis<br />

1. Make sure all axes are off.<br />

2. Use a one-shot <strong>in</strong>struction to trigger the <strong>in</strong>hibit.<br />

3. Inhibit the axis.<br />

4. Wait for the <strong>in</strong>hibit process to f<strong>in</strong>ish.<br />

Inhibit an Axis 6-5<br />

This axis is off. And this axis is off. All axes are off.<br />

Your condition to <strong>in</strong>hibit<br />

the axis is on.<br />

The <strong>in</strong>hibit command<br />

turns on.<br />

Your condition to<br />

un<strong>in</strong>hibit the axis is off.<br />

All axes are off.<br />

Inhibit this axis.<br />

Inhibit the axis.<br />

Give the command to <strong>in</strong>hibit the<br />

axis.<br />

All of these have happened:<br />

• The axis is <strong>in</strong>hibited.<br />

• All un<strong>in</strong>hibited axes are ready.<br />

• The connections to the motion module are runn<strong>in</strong>g aga<strong>in</strong>.<br />

• For a SERCOS r<strong>in</strong>g, the SERCOS r<strong>in</strong>g has phased up aga<strong>in</strong>. What you want to do next<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


6-6 Inhibit an Axis<br />

Example: Un<strong>in</strong>hibit an Axis<br />

1. Make sure all axes are off.<br />

This axis is off. And this axis is off. All axes are off.<br />

2. Use a one-shot <strong>in</strong>struction to trigger the un<strong>in</strong>hibit.<br />

Your condition to<br />

un<strong>in</strong>hibit the axis is on.<br />

3. Un<strong>in</strong>hibit the axis.<br />

The un<strong>in</strong>hibit command<br />

turns on.<br />

4. Wait for the <strong>in</strong>hibit process to f<strong>in</strong>ish.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Your condition to <strong>in</strong>hibit<br />

the axis is off.<br />

All of these have happened:<br />

• The axis is un<strong>in</strong>hibited.<br />

• All un<strong>in</strong>hibited axes are ready.<br />

• The connections to the motion module are runn<strong>in</strong>g aga<strong>in</strong>.<br />

• For a SERCOS r<strong>in</strong>g, the SERCOS r<strong>in</strong>g has phased up aga<strong>in</strong>.<br />

All axes are off.<br />

Un<strong>in</strong>hibit this axis.<br />

Un<strong>in</strong>hibit the axis.<br />

Give the command to un<strong>in</strong>hibit<br />

the axis.<br />

This axis is on.<br />

This axis is OK to run.


Introduction<br />

1756-M02AE Module OK Light<br />

2 AXIS SERVO<br />

CH 0 CH 1<br />

FDBK<br />

DRIVE<br />

FDBK<br />

DRIVE<br />

OK<br />

Interpret Module Lights (LEDs)<br />

Chapter 7<br />

Use this chapter to <strong>in</strong>terpret the lights on the front of your module.<br />

For This Module See Page<br />

1756-M02AE Module 7-1<br />

1756-M02AS Module 7-3<br />

1756-HYD02 Module 7-6<br />

SERCOS <strong>in</strong>terface Module 7-9<br />

State Description Recommended Action<br />

Off The module is not operat<strong>in</strong>g. • Apply chassis power.<br />

• Verify the module is completely <strong>in</strong>serted <strong>in</strong>to the chassis<br />

and backplane.<br />

Flash<strong>in</strong>g green The module has passed <strong>in</strong>ternal diagnostics, but it is • None, if you have not configured the module.<br />

not communicat<strong>in</strong>g axis data over the backplane. • If you have configured the module, check the slot number<br />

<strong>in</strong> the 1756-M02AE Properties dialog box.<br />

Steady green • Axis data is be<strong>in</strong>g exchanged with the<br />

module.<br />

• The module is <strong>in</strong> the normal operat<strong>in</strong>g state.<br />

None. The module is ready for action.<br />

Flash<strong>in</strong>g red • A major recoverable failure has occurred.<br />

• A communication fault, timer fault, or NVS<br />

update is <strong>in</strong> progress.<br />

• The OK contact has opened.<br />

Solid red • A potential non-recoverable fault has<br />

occurred.<br />

• The OK contact has opened.<br />

• Check the servo fault word for the source of the error.<br />

• Clear the fault condition us<strong>in</strong>g the motion <strong>in</strong>structions.<br />

• Resume normal operation.<br />

• If the flash<strong>in</strong>g persists, reconfigure the module.<br />

• Reboot the module.<br />

• If the solid red persists, replace the module.<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


7-2 Interpret Module Lights (LEDs)<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

FDBK Light<br />

State Description Recommended Action<br />

Off The axis is not used. • None, if you are not us<strong>in</strong>g this axis.<br />

• If you are us<strong>in</strong>g this axis, make sure you configured the<br />

module and associated an axis tag with the module.<br />

Flash<strong>in</strong>g green The axis is <strong>in</strong> the normal servo loop <strong>in</strong>active state. None. You can change the servo axis state by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Steady green The axis is <strong>in</strong> the normal servo loop active state. None. You can change the servo axis state by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Flash<strong>in</strong>g red The axis servo loop error tolerance has been<br />

• Correct the source of the problem.<br />

exceeded.<br />

• Clear the servo fault us<strong>in</strong>g a fault reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

Solid red An axis encoder feedback fault has occurred. • Correct the source of the problem by check<strong>in</strong>g the<br />

encoder and power connections.<br />

• Clear the servo fault us<strong>in</strong>g the MAFR <strong>in</strong>struction.<br />

• Resume normal operation.<br />

DRIVE Light<br />

State Description Recommended Action<br />

Off • The axis is not used.<br />

• None, if you are not us<strong>in</strong>g the axis or have configured it<br />

• The axis is a position-only axis type.<br />

as a position-only axis.<br />

• Otherwise, make sure you have configured the module,<br />

associated an axis tag with the module, and configured<br />

the axis as a servo axis.<br />

Flash<strong>in</strong>g green The axis drive is <strong>in</strong> the normal disabled state. None. You can change the servo axis state by execut<strong>in</strong>g a<br />

motion <strong>in</strong>struction.<br />

Steady green The axis drive is <strong>in</strong> the normal enabled state. None. You can change the servo axis state by execut<strong>in</strong>g a<br />

motion <strong>in</strong>struction.<br />

Flash<strong>in</strong>g red The axis drive output is <strong>in</strong> the Shutdown state. • Check for faults that may have generated this state.<br />

• Execute the shutdown reset motion <strong>in</strong>struction.<br />

• Resume normal operation.<br />

Solid red The axis drive is faulted. • Check the drive status.<br />

• Clear the drive fault condition at the drive.<br />

• Execute a fault reset motion <strong>in</strong>struction.<br />

• Resume normal operation.<br />

• Check the configuration for the Drive Fault.<br />

• If configured to be normally open and there is no<br />

voltage, this is the normal condition.<br />

• If configured to be normally closed and there is 24V<br />

applied, this is the normal condition.


1756-M02AS Module OK Light<br />

2 AXIS SERVO / SSI<br />

CH0 CH1<br />

FDBK<br />

DRIVE<br />

FDBK<br />

DRIVE<br />

OK<br />

Interpret Module Lights (LEDs) 7-3<br />

State Description Recommended Action<br />

Off The module is not operat<strong>in</strong>g. • Apply chassis power.<br />

• Verify the module is completely <strong>in</strong>serted <strong>in</strong> chassis and<br />

backplane.<br />

Flash<strong>in</strong>g green The module has passed <strong>in</strong>ternal diagnostics, but it is<br />

not communicat<strong>in</strong>g axis data over the backplane.<br />

None, if you have not configured the module.<br />

If you have configured the module, check the slot number <strong>in</strong> the<br />

1756-M02AS Properties dialog box.<br />

Steady green One of the follow<strong>in</strong>g:<br />

None<br />

Flash<strong>in</strong>g red One of the follow<strong>in</strong>g:<br />

Steady red One of the follow<strong>in</strong>g:<br />

• Module is exchang<strong>in</strong>g axis data.<br />

• The module is <strong>in</strong> the normal operat<strong>in</strong>g state.<br />

• A major recoverable failure has occurred.<br />

• A communication fault, timer fault, or<br />

non-volatile memory storage (NVS) update is<br />

<strong>in</strong> progress.<br />

• The OK contact has opened.<br />

• A potential non- recoverable fault has<br />

occurred.<br />

• The OK contact has opened.<br />

If an NVS update is <strong>in</strong> progress, complete the NVS update.<br />

If an NVS update is not <strong>in</strong> progress:<br />

• Check the Servo Fault word for the source of the error.<br />

• Clear the servo fault condition via <strong>Motion</strong> Axis Fault<br />

Reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

• If the flash<strong>in</strong>g persists, reconfigure the module.<br />

Reboot the module.<br />

If the solid red persists, replace the module.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


7-4 Interpret Module Lights (LEDs)<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

FDBK Light<br />

State Description Recommended Action<br />

Off The axis is not used. None, if you are not us<strong>in</strong>g this axis.<br />

Flash<strong>in</strong>g green The axis is <strong>in</strong> the normal servo loop <strong>in</strong>active state.<br />

If you are us<strong>in</strong>g this axis, make sure the module is configured<br />

and an axis tag has been associated with the module.<br />

None. The servo axis state can be changed by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Steady green The axis is <strong>in</strong> the normal servo loop active state. None. The servo axis state can be changed by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Flash<strong>in</strong>g red The axis servo loop error tolerance has been<br />

• Correct the source of the problem.<br />

exceeded.<br />

• Clear the servo fault condition us<strong>in</strong>g the <strong>Motion</strong> Axis<br />

Fault Reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

Steady red An axis SSI feedback fault has occurred. • Correct the source of the problem by check<strong>in</strong>g the SSI<br />

device and power connections.<br />

• Clear the servo fault condition us<strong>in</strong>g the <strong>Motion</strong> Axis<br />

Fault Reset <strong>in</strong>struction.<br />

• Resume normal operation.


DRIVE Light<br />

State Description Recommended Action<br />

Off One of the follow<strong>in</strong>g:<br />

Interpret Module Lights (LEDs) 7-5<br />

• The axis is not used.<br />

None, if the axis is not used or is a position- only type.<br />

• The axis is a position- only axis type.<br />

Otherwise, make sure the module is configured, an axis tag has<br />

been associated with the module, and the axis type is servo.<br />

Flash<strong>in</strong>g green The axis drive is <strong>in</strong> the normal disabled state. None. The servo axis state can be changed by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Steady green The axis drive is <strong>in</strong> the normal enabled state. None. The servo axis state can be changed by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Flash<strong>in</strong>g red The axis drive output is <strong>in</strong> the shutdown state. • Check for faults that may have generated this state.<br />

• Execute the <strong>Motion</strong> Axis Shutdown Reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

Steady red The axis drive is faulted. • Check the drive status.<br />

• Clear the Drive Fault condition at the drive.<br />

• Clear the servo fault condition us<strong>in</strong>g the <strong>Motion</strong> Axis<br />

Fault Reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

• Check the configuration for the Drive Fault.<br />

• If configured to be normally open and there is no voltage,<br />

this is the normal condition.<br />

• If configured to be normally closed and 24V dc is applied,<br />

this is the normal condition.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


7-6 Interpret Module Lights (LEDs)<br />

1756-HYD02 Module OK Light<br />

HYDRAULIC<br />

AX0 AX1<br />

FDBK<br />

DRIVE<br />

FDBK<br />

DRIVE<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

OK<br />

State Description Recommended Action<br />

Off The module is not operat<strong>in</strong>g. • Apply chassis power.<br />

• Verify the module is completely <strong>in</strong>serted <strong>in</strong> chassis and<br />

backplane.<br />

Flash<strong>in</strong>g green The module has passed <strong>in</strong>ternal diagnostics, but it is<br />

not communicat<strong>in</strong>g axis data over the backplane.<br />

None, if you have not configured the module.<br />

If you have configured the module, check the slot number <strong>in</strong> the<br />

1756-HYD02 Properties dialog box.<br />

Steady green One of the follow<strong>in</strong>g:<br />

None<br />

Flash<strong>in</strong>g red One of the follow<strong>in</strong>g:<br />

Steady red One of the follow<strong>in</strong>g:<br />

• Module is exchang<strong>in</strong>g axis data.<br />

• The module is <strong>in</strong> the normal operat<strong>in</strong>g state.<br />

• A major recoverable failure has occurred.<br />

• A communication fault, timer fault, or<br />

non-volatile memory storage (NVS) update is<br />

<strong>in</strong> progress.<br />

• The OK contact has opened.<br />

• A potential non- recoverable fault has<br />

occurred.<br />

• The OK contact has opened.<br />

If an NVS update is <strong>in</strong> progress, complete the NVS update.<br />

If an NVS update is not <strong>in</strong> progress:<br />

• Check the Servo Fault word for the source of the error.<br />

• Clear the servo fault condition via <strong>Motion</strong> Axis Fault<br />

Reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

• If the flash<strong>in</strong>g persists, reconfigure the module.<br />

Reboot the module.<br />

If the solid red persists, replace the module.


FDBK Light<br />

State Description Recommended Action<br />

Off The axis is not used. None, if you are not us<strong>in</strong>g this axis.<br />

Interpret Module Lights (LEDs) 7-7<br />

Flash<strong>in</strong>g green The axis is <strong>in</strong> the normal servo loop <strong>in</strong>active state.<br />

If you are us<strong>in</strong>g this axis, make sure the module is configured<br />

and an axis tag has been associated with the module.<br />

None. The servo axis state can be changed by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Steady green The axis is <strong>in</strong> the normal servo loop active state. None. The servo axis state can be changed by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Flash<strong>in</strong>g red The axis servo loop error tolerance has been<br />

• Correct the source of the problem.<br />

exceeded.<br />

• Clear the servo fault condition us<strong>in</strong>g the <strong>Motion</strong> Axis<br />

Fault Reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

Steady red An axis LDT feedback fault has occurred.y • Correct the source of the problem by check<strong>in</strong>g the LDT<br />

and power connections.<br />

• Clear the servo fault condition us<strong>in</strong>g the <strong>Motion</strong> Axis<br />

Fault Reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


7-8 Interpret Module Lights (LEDs)<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

DRIVE Light<br />

State Description Recommended Action<br />

Off One of the follow<strong>in</strong>g:<br />

• The axis is not used.<br />

None, if the axis is not used or is a position- only type.<br />

• The axis is a position- only axis type.<br />

Otherwise, make sure the module is configured, an axis tag has<br />

been associated with the module, and the axis type is servo.<br />

Flash<strong>in</strong>g green The axis drive is <strong>in</strong> the normal disabled state. None. The servo axis state can be changed by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Steady green The axis drive is <strong>in</strong> the normal enabled state. None. The servo axis state can be changed by execut<strong>in</strong>g motion<br />

<strong>in</strong>structions.<br />

Flash<strong>in</strong>g red The axis drive output is <strong>in</strong> the shutdown state. • Check for faults that may have generated this state.<br />

• Execute the Shutdown Reset motion <strong>in</strong>struction.<br />

• Resume normal operation.<br />

Steady red The axis drive is faulted. • Check the drive status.<br />

• Clear the Drive Fault condition at the drive.<br />

• Clear the servo fault condition us<strong>in</strong>g the <strong>Motion</strong> Axis<br />

Fault Reset <strong>in</strong>struction.<br />

• Resume normal operation.<br />

• Check the configuration for the Drive Fault.<br />

• If configured to be normally open and there is no voltage,<br />

this is the normal condition.<br />

• If configured to be normally closed and 24V dc is applied,<br />

this is the normal condition.


SERCOS <strong>in</strong>terface Module<br />

1756-M03SE, 1756-M08SE, 1756-M16SE 1768-M04SE<br />

CP<br />

OK<br />

SERCOS Phase<br />

SERCOS R<strong>in</strong>g Status<br />

Module Status<br />

Interpret Module Lights (LEDs) 7-9<br />

SERCOS Phase<br />

SERCOS R<strong>in</strong>g Status<br />

Module Status<br />

If the lights on the module look like this Then do this<br />

CP R<strong>in</strong>g OK<br />

Off Off Off • Make sure the module is all the way <strong>in</strong> the chassis or connected and locked to<br />

the other modules.<br />

• Is this a 1768-M04SE module?<br />

• No — Check the power supply for power.<br />

Off Off Flash<strong>in</strong>g Red<br />

• Yes — Check the power supply and controller for power.<br />

Wait! Someone is updat<strong>in</strong>g the firmware of the module.<br />

Flash<strong>in</strong>g Off Flash<strong>in</strong>g • Look for cables that are broken, unplugged, or <strong>in</strong> the wrong port.<br />

Orange<br />

Green<br />

• Check the drives for faults.<br />

Solid Orange Flash<strong>in</strong>g Red Flash<strong>in</strong>g • Make sure each drive has its own address.<br />

Green<br />

• Make sure that all of the drives have the same baud rate.<br />

• Set the Data Rate of the SERCOS <strong>in</strong>terface module to Auto-Detect.<br />

• Check the Cycle Time of the SERCOS <strong>in</strong>terface module. See Specifications.<br />

Flash<strong>in</strong>g Red Flash<strong>in</strong>g Flash<strong>in</strong>g Did you configure the module?<br />

and Green Green Green<br />

• NO — Use RSLogix 5000 software to configure the module.<br />

• YES — Check the configuration of the module and drives <strong>in</strong> RSLogix 5000<br />

software.<br />

Flash<strong>in</strong>g Flash<strong>in</strong>g Flash<strong>in</strong>g Check the configuration of the axes <strong>in</strong> RSLogix 5000 software.<br />

Green Green Green<br />

Solid Green Solid Green Flash<strong>in</strong>g • Check the configuration of the drives <strong>in</strong> RSLogix 5000 software.<br />

Green<br />

• Check the motion group, drives, and axes for faults.<br />

Solid Green Solid Green Solid Green None — the axes are ready.<br />

Solid Green Solid Green Flash<strong>in</strong>g Red Check the motion group and axes for faults.<br />

Solid Red Solid Red Solid Red 1. Cycle power to the module.<br />

2. If the lights keep turn<strong>in</strong>g solid red, contact your distributor, Rockwell<br />

Automation representative, or Rockwell Automation support.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


7-10 Interpret Module Lights (LEDs)<br />

Notes:<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Introduction<br />

Why does my axis<br />

accelerate when I stop it?<br />

Troubleshoot Axis <strong>Motion</strong><br />

This chapter helps you troubleshoot some situations that could<br />

happen while you are runn<strong>in</strong>g an axis.<br />

While an axis is accelerat<strong>in</strong>g, you try to stop it. The axis keeps<br />

accelerat<strong>in</strong>g for a short time before it starts to decelerate.<br />

Chapter 8<br />

Example You start a <strong>Motion</strong> Axis Jog (MAJ) <strong>in</strong>struction. Before the axis gets to<br />

its target speed, you start a <strong>Motion</strong> Axis Stop (MAS) <strong>in</strong>struction. The<br />

axis cont<strong>in</strong>ues to speed up and then eventually slows to a stop.<br />

Look for<br />

Situation See page<br />

Why does my axis accelerate when I stop it? 8-1<br />

Why does my axis overshoot its target speed? 8-3<br />

Why is there a delay when I stop and then restart a jog? 8-6<br />

Why does my axis reverse direction when I stop and start it? 8-8<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


8-2 Troubleshoot Axis <strong>Motion</strong><br />

Stop while accelerat<strong>in</strong>g<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Cause When you use an S-Curve profile, jerk determ<strong>in</strong>es the acceleration<br />

and deceleration time of the axis.<br />

• An S-Curve profile has to get acceleration to 0 before the axis<br />

can slow down.<br />

• The time it takes depends on the acceleration and speed.<br />

• In the meantime, the axis cont<strong>in</strong>ues to speed up.<br />

The follow<strong>in</strong>g trends show how the axis stops with a trapezoidal<br />

profile and an S-Curve profile.<br />

Trapezoidal S-Curve<br />

The axis slows down as soon as you start the<br />

stopp<strong>in</strong>g <strong>in</strong>struction.<br />

<br />

<br />

<br />

The axis cont<strong>in</strong>ues to speed up until the S-Curve profile br<strong>in</strong>gs<br />

the acceleration rate to 0.<br />

Corrective action If you want the axis to slow down right away, use a trapezoidal<br />

profile.


Why does my axis<br />

overshoot its target speed?<br />

Troubleshoot Axis <strong>Motion</strong> 8-3<br />

While an axis is accelerat<strong>in</strong>g, you try to stop the axis or change its<br />

speed. The axis keeps accelerat<strong>in</strong>g and goes past its <strong>in</strong>itial target<br />

speed. Eventually it starts to decelerate.<br />

Example You start a <strong>Motion</strong> Axis Jog (MAJ) <strong>in</strong>struction. Before the axis gets to<br />

its target speed, you try to stop it with another MAJ <strong>in</strong>struction. The<br />

speed of the second <strong>in</strong>struction is set to 0. The axis cont<strong>in</strong>ues to speed<br />

up and overshoots its <strong>in</strong>itial target speed. Eventually it slows to a stop.<br />

Look for<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


8-4 Troubleshoot Axis <strong>Motion</strong><br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Cause When you use an S-Curve profile, jerk determ<strong>in</strong>es the acceleration<br />

and deceleration time of the axis.<br />

• An S-Curve profile has to get acceleration to 0 before the axis<br />

can slow down.<br />

• If you reduce the acceleration, it takes longer to get acceleration<br />

to 0.<br />

• In the meantime, the axis cont<strong>in</strong>ues past it’s <strong>in</strong>itial target speed.<br />

The follow<strong>in</strong>g trends show how the axis stops with a trapezoidal<br />

profile and an S-Curve profile.<br />

Stop while accelerat<strong>in</strong>g and reduce the acceleration rate<br />

Trapezoidal S-Curve<br />

The axis slows down as soon as you start the<br />

stopp<strong>in</strong>g <strong>in</strong>struction. The lower acceleration doesn’t<br />

change the response of the axis.<br />

The stopp<strong>in</strong>g <strong>in</strong>struction reduces the acceleration of the axis. It<br />

now takes longer to br<strong>in</strong>g the acceleration rate to 0. The axis<br />

cont<strong>in</strong>ues past its target speed until acceleration equals 0.


Corrective action Use a <strong>Motion</strong> Axis Stop (MAS) <strong>in</strong>struction to stop the axis.<br />

Or set up your <strong>in</strong>structions like this:<br />

<br />

<br />

<br />

<br />

<br />

<br />

Troubleshoot Axis <strong>Motion</strong> 8-5<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


8-6 Troubleshoot Axis <strong>Motion</strong><br />

Why is there a delay when I<br />

stop and then restart a jog?<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

While an axis is jogg<strong>in</strong>g at its target speed, you stop the axis. Before<br />

the axis stops completely, you restart the jog. The axis cont<strong>in</strong>ues to<br />

slow down before it speeds up.<br />

Example You use a <strong>Motion</strong> Axis Stop (MAS) <strong>in</strong>struction to stop a jog. While the<br />

axis is slow<strong>in</strong>g down, you use a <strong>Motion</strong> Axis Jog (MAJ) <strong>in</strong>struction to<br />

start the axis aga<strong>in</strong>. The axis doesn’t respond right away. It cont<strong>in</strong>ues<br />

to slow down. Eventually it speeds back up to the target speed.<br />

Look for


Start while decelerat<strong>in</strong>g<br />

Troubleshoot Axis <strong>Motion</strong> 8-7<br />

Cause When you use an S-Curve profile, jerk determ<strong>in</strong>es the acceleration<br />

and deceleration time of the axis. An S-Curve profile has to get<br />

acceleration to 0 before the axis can speed up aga<strong>in</strong>. The follow<strong>in</strong>g<br />

trends show how the axis stops and starts with a trapezoidal profile<br />

and an S-Curve profile.<br />

Trapezoidal S-Curve<br />

The axis speeds back up as soon as you start the jog<br />

aga<strong>in</strong>.<br />

The axis cont<strong>in</strong>ues to slow down until the S-Curve profile<br />

br<strong>in</strong>gs the acceleration rate to 0.<br />

Corrective action If you want the axis to accelerate right away, use a trapezoidal profile.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


8-8 Troubleshoot Axis <strong>Motion</strong><br />

Why does my axis reverse<br />

direction when I stop and<br />

start it?<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

While an axis is jogg<strong>in</strong>g at its target speed, you stop the axis. Before<br />

the axis stops completely, you restart the jog. The axis cont<strong>in</strong>ues to<br />

slow down and then reverse direction. Eventually the axis changes<br />

direction aga<strong>in</strong> and moves <strong>in</strong> the programmed direction.<br />

Example You use a <strong>Motion</strong> Axis Stop (MAS) <strong>in</strong>struction to stop a jog. While the<br />

axis is slow<strong>in</strong>g down, you use a <strong>Motion</strong> Axis Jog (MAJ) <strong>in</strong>struction to<br />

start the axis aga<strong>in</strong>. The axis cont<strong>in</strong>ues to slow down and then moves<br />

<strong>in</strong> the opposite direction. Eventually goes back to its programmed<br />

direction.<br />

Look for


Troubleshoot Axis <strong>Motion</strong> 8-9<br />

Cause When you use an S-Curve profile, jerk determ<strong>in</strong>es the acceleration<br />

and deceleration time of the axis.<br />

• An S-Curve profile has to get acceleration to 0 before the axis<br />

can speed up aga<strong>in</strong>.<br />

• If you reduce the acceleration, it takes longer to get acceleration<br />

to 0.<br />

• In the meantime, the axis cont<strong>in</strong>ues past 0 speed and moves <strong>in</strong><br />

the opposite direction.<br />

The follow<strong>in</strong>g trends show how the axis stops and starts with a<br />

trapezoidal profile and an S-Curve profile.<br />

Start while decelerat<strong>in</strong>g and reduce the deceleration rate<br />

Trapezoidal S-Curve<br />

The axis speeds back up as soon as you start the jog<br />

aga<strong>in</strong>. The lower deceleration doesn’t change the<br />

response of the axis.<br />

The jog <strong>in</strong>struction reduces the deceleration of the axis. It now<br />

takes longer to br<strong>in</strong>g the acceleration rate to 0. The speed<br />

overshoots 0 and the axis moves <strong>in</strong> the opposite direction.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


8-10 Troubleshoot Axis <strong>Motion</strong><br />

Corrective action Use the same deceleration rate <strong>in</strong> the <strong>in</strong>struction that starts the axis<br />

and the <strong>in</strong>struction that stops the axis.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Introduction<br />

Wir<strong>in</strong>g Diagrams<br />

Use the diagrams <strong>in</strong> this appendix to wire the motion control<br />

equipment of your control system.<br />

To wire this See page<br />

1756-M02AE Module A-2<br />

Ultra 100 Series Drive A-3<br />

Ultra 200 Series Drive A-3<br />

Ultra3000 Drive A-5<br />

1394 Servo Drive (<strong>in</strong> Torque Mode only) A-7<br />

1756-M02AS Module A-9<br />

1756-HYD02 Application Example A-10<br />

1756-HYD02 Module A-11<br />

LDTs A-12<br />

Temposonic GH Feedback Device A-13<br />

24V Registration Sensor A-14<br />

5V Registration Sensor A-14<br />

Home Limit Switch Input A-15<br />

OK Contacts A-15<br />

Appendix A<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


A-2 Wir<strong>in</strong>g Diagrams<br />

1756-M02AE Module<br />

+OUT-0<br />

-OUT-0<br />

+<strong>EN</strong>ABLE-0<br />

-<strong>EN</strong>ABLE-0<br />

DRVFLT-0<br />

CHASSIS<br />

IN_COM<br />

HOME-0<br />

REG24V-0<br />

REG5V-0<br />

+OK<br />

CHASSIS<br />

+CHA-0<br />

-CHA-0<br />

+CHB-0<br />

-CHB-0<br />

+CHZ-0<br />

-CHZ-0<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

2<br />

4<br />

6<br />

8<br />

10<br />

12<br />

14<br />

16<br />

18<br />

20<br />

22<br />

24<br />

26<br />

28<br />

30<br />

32<br />

34<br />

36<br />

1<br />

3<br />

5<br />

7<br />

9<br />

11<br />

13<br />

15<br />

17<br />

19<br />

21<br />

23<br />

25<br />

27<br />

29<br />

31<br />

33<br />

35<br />

+OUT-1<br />

-OUT-1<br />

+<strong>EN</strong>ABLE-1<br />

-<strong>EN</strong>ABLE-1<br />

DRVFLT-1<br />

CHASSIS<br />

IN_COM<br />

HOME-1<br />

REG24V-1<br />

REG5V-1<br />

-OK<br />

CHASSIS<br />

+CHA-1<br />

-CHA-1<br />

+CHB-1<br />

-CHB-1<br />

+CHZ-1<br />

-CHZ-1<br />

Notes<br />

General Cable<br />

C0720<br />

General Cable<br />

C0721<br />

General Cable<br />

C0722<br />

General Cable<br />

C0720<br />

General Cable<br />

C0720<br />

General Cable<br />

C0720<br />

To servo drive<br />

To servo drive<br />

To encoder<br />

To E-stop relay coil<br />

To home<br />

limit switch<br />

To registration<br />

sensor<br />

This example shows the wir<strong>in</strong>g for Axis 1 Wire Axis 0 the same way.


Ultra 100 Series Drive<br />

Ultra 200 Series Drive<br />

Notes<br />

Notes<br />

From<br />

1756-M02AE<br />

From<br />

1756-M02AE<br />

From<br />

1756-M02AE<br />

24 VDC<br />

Field Power Supply<br />

General Cable<br />

C0720<br />

General Cable<br />

C0721<br />

General Cable<br />

C0722<br />

24 VDC<br />

24 VCOM<br />

+OUT<br />

-OUT<br />

+<strong>EN</strong>ABLE<br />

-<strong>EN</strong>ABLE<br />

DRVFLT<br />

IN_COM<br />

+CHA<br />

-CHA<br />

+CHB<br />

-CHB<br />

+CHZ<br />

-CHZ<br />

J1 to 50-p<strong>in</strong><br />

Term<strong>in</strong>al Block<br />

(Kit P/N 9109-1391)<br />

J1-5 24VDC<br />

J1-26 24VDC<br />

J1-24 READY+<br />

J1-6 24VCOM<br />

J1-13 24VCOM<br />

J1-22 COMMAND+<br />

J1-23 COMMAND-<br />

J1-20 <strong>EN</strong>ABLE<br />

J1-25 READY-<br />

J1-7 AOUT+<br />

J1-8 AOUT-<br />

J1-9 BOUT+<br />

J1-10 BOUT-<br />

J1-11 IOUT+<br />

J1-12 IOUT-<br />

P/N 9109-1369-003<br />

Interface<br />

Cable<br />

Wir<strong>in</strong>g Diagrams A-3<br />

• This is an example of one way to wire the drive.<br />

• See Ultra 100 Series Drive Installation Manual, publication<br />

number 1398-5.2, for other configurations.<br />

From<br />

1756-M02AE<br />

From<br />

1756-M02AE<br />

From<br />

1756-M02AE<br />

General Cable<br />

C0720<br />

General Cable<br />

C0721<br />

General Cable<br />

C0722<br />

+OUT<br />

-OUT<br />

+<strong>EN</strong>ABLE<br />

-<strong>EN</strong>ABLE<br />

DRVFLT<br />

IN_COM<br />

+CHA<br />

-CHA<br />

+CHB<br />

-CHB<br />

+CHZ<br />

-CHZ<br />

J1 to 50-p<strong>in</strong><br />

Term<strong>in</strong>al Block<br />

(Kit P/N 9109-1391)<br />

J1-5 24VDC<br />

J1-24 READY+<br />

J1-6 or 13 24VCOM<br />

J1-22 COMMAND+<br />

J1-23 COMMAND-<br />

J1-20 <strong>EN</strong>ABLE<br />

J1-25 READY-<br />

J1-7 AOUT+<br />

J1-8 AOUT-<br />

J1-9 BOUT+<br />

J1-10 BOUT-<br />

J1-11 IOUT+<br />

J1-12 IOUT-<br />

P/N 9109-1369-003<br />

Interface<br />

Cable<br />

• This is an example of one way to wire the drive.<br />

Ultra 100 Series<br />

Digital Servo Drive<br />

• See Ultra 200 Series Drive Installation Manual, publication<br />

number 1398-5.0, for other configurations.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

J1<br />

Ultra 200 Series<br />

Digital Servo Drive<br />

J1


A-4 Wir<strong>in</strong>g Diagrams<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

1398-CFLAExx Cable<br />

1.0 <strong>in</strong>.<br />

Individually Jacketed pairs<br />

24V<br />

BRAKE<br />

RESET<br />

5.0 <strong>in</strong>.<br />

P<strong>in</strong>outs for 1398-CFLAExx Cable<br />

Wires<br />

Stripped<br />

Back<br />

.25 <strong>in</strong>.<br />

Wires<br />

Term<strong>in</strong>ated<br />

with<br />

Ferrules<br />

WHT/ORG 22GA<br />

WHT/YEL 22GA<br />

DRAIN<br />

TAN 28GA<br />

DRAIN<br />

WHT/RED 22GA<br />

WHT/BLK 22GA<br />

DRAIN<br />

WHT/GRN 22GA<br />

WHT/BLU 22GA<br />

DRAIN<br />

BROWN 28GA<br />

RED 28GA<br />

ORANGE 28GA<br />

YELLOW 28GA<br />

DRAIN<br />

GRE<strong>EN</strong> 28GA<br />

BLUE 28GA<br />

VIOLET 28GA<br />

GRAY 28GA<br />

WHITE 28GA<br />

BLACK 28G<br />

DRAIN<br />

49<br />

50<br />

21<br />

5<br />

6<br />

22<br />

23<br />

26<br />

24<br />

20<br />

25<br />

13<br />

7<br />

8<br />

9<br />

10<br />

11<br />

12<br />

1398-CFLAE J1<br />

BRAKE +<br />

BRAKE -<br />

RESET<br />

24VDC<br />

24VCOM<br />

COMMAND +<br />

COMMAND -<br />

24VDC<br />

READY +<br />

<strong>EN</strong>ABLE<br />

READY -<br />

24VCOM<br />

AOUT +<br />

AOUT -<br />

BOUT +<br />

BOUT -<br />

IOUT +<br />

IOUT -


Ultra3000 Drive Ultra3000 to 1756-M02AE Interconnect diagram.<br />

43<br />

44<br />

30<br />

28<br />

3<br />

2<br />

25<br />

26<br />

29<br />

31<br />

39<br />

27<br />

16<br />

17<br />

18<br />

19<br />

20<br />

21<br />

RELAY +<br />

RELAY -<br />

IO PWR<br />

IO COM<br />

AUX PWR +5<br />

AUXCOM ECOM<br />

ANALOG COMMAND +<br />

ANALOG COMMAND -<br />

IO POWER<br />

INPUT 1 <strong>EN</strong>ABLE 2<br />

OUTPUT 1 READY 3<br />

IO COM<br />

AOUT +<br />

AOUT -<br />

BOUT +<br />

BOUT -<br />

IOUT +<br />

IOUT -<br />

2090-U3AE-D44xx<br />

<strong>Control</strong>ler Interface<br />

Cable<br />

Ultra3000<br />

CN1 Connector<br />

(Axis 0)<br />

22<br />

23<br />

24<br />

1<br />

4<br />

5<br />

6<br />

7<br />

8<br />

9<br />

10<br />

11<br />

12<br />

13<br />

14<br />

15<br />

32<br />

33<br />

34<br />

35<br />

36<br />

37<br />

38<br />

40<br />

41<br />

42<br />

WHT/ORG 22GA<br />

WHT/YEL 22GA<br />

DRAIN<br />

WHT/RED 22GA<br />

WHT/BLACK 22GA<br />

DRAIN<br />

RED 22GA<br />

BLACK 22GA<br />

DRAIN<br />

2 AXIS SERVO<br />

CH0 CH1<br />

FDBK FDBK<br />

DRIVE DRIVE<br />

AXIS 0 OK<br />

AXIS 1<br />

WHT/GRN 22GA<br />

WHT/BLU 22GA<br />

DRAIN<br />

BROWN 28GA<br />

RED 28GA<br />

ORANGE 28GA<br />

YELLOW 28GA<br />

DRAIN<br />

GRE<strong>EN</strong> 28GA<br />

BLUE 28GA<br />

VIOLET 28GA<br />

GRAY 28GA<br />

WHITE 28GA<br />

BLACK 28GA<br />

DRAIN<br />

BLACK 28GA<br />

WHT/BLK 28GA<br />

BROWN 28GA<br />

WHT/BRN 28GA<br />

RED 28GA<br />

WHT/RED 28GA<br />

ORANGE 28GA<br />

WHT/ORG 28GA<br />

YELLOW 28GA<br />

WHT/YEL 28GA<br />

GRE<strong>EN</strong> 28GA<br />

WHT/GRN 28GA<br />

BLUE 28GA<br />

WHT/BLU 28GA<br />

VIOLET 28GA<br />

WHT/VIO 28GA<br />

GRAY 28GA<br />

WHT/GRY 28GA<br />

PINK 28GA<br />

WHT/PNK 28GA<br />

WHT/BLK/RED 28GA<br />

RED/BLK 28GA<br />

WHT/BLK/ORG 28GA<br />

ORG/BLK 28GA<br />

WHT/BLK/YEL 28GA<br />

YEL/BLK 28GA<br />

DRAIN<br />

RELAY<br />

(user configured)<br />

+OUT-0<br />

-OUT-0<br />

CHASSIS<br />

+<strong>EN</strong>ABLE-0<br />

-<strong>EN</strong>ABLE-0<br />

DRVFLT-0<br />

IN_COM<br />

+CHA-0<br />

-CHA-0<br />

+CHB-0<br />

-CHB-0<br />

+CHZ-0<br />

-CHZ-0<br />

CHASSIS<br />

2<br />

4<br />

12<br />

6<br />

8<br />

10<br />

14<br />

26<br />

28<br />

30<br />

32<br />

34<br />

36<br />

24<br />

ACOM ANALOG GRD<br />

ANALOG OUT PROG<br />

ILIMIT<br />

EPWR +5 OUT<br />

AX+<br />

AX-<br />

BX+<br />

BX-<br />

IX+<br />

IX-<br />

AM+<br />

AM-<br />

BM+<br />

BM-<br />

IM+<br />

IM-<br />

INPUT 2<br />

INPUT 3<br />

INPUT 4<br />

INPUT 5<br />

INPUT 6<br />

INPUT 7<br />

INPUT 8<br />

OUTPUT 2<br />

OUTPUT 3<br />

OUTPUT 4<br />

2<br />

4<br />

6<br />

8<br />

10<br />

12<br />

14<br />

16<br />

18<br />

20<br />

22<br />

24<br />

26<br />

28<br />

30<br />

32<br />

34<br />

36<br />

1<br />

3<br />

5<br />

7<br />

9<br />

11<br />

13<br />

15<br />

17<br />

19<br />

21<br />

23<br />

25<br />

27<br />

29<br />

31<br />

33<br />

35<br />

RELAY<br />

(user configured)<br />

1 1<br />

IO PWR IO PWR<br />

AUX PWR<br />

(optional)<br />

1<br />

3<br />

11<br />

5<br />

7<br />

9<br />

13<br />

25<br />

27<br />

29<br />

31<br />

33<br />

35<br />

23<br />

1756-M02AE SERVO MODULE<br />

AUX PWR<br />

(optional)<br />

+OUT-1<br />

-OUT-1<br />

CHASSIS<br />

+<strong>EN</strong>ABLE-1<br />

-<strong>EN</strong>ABLE-1<br />

DRVFLT-1<br />

IN_COM<br />

+CHA-1<br />

-CHA-1<br />

+CHB-1<br />

-CHB-1<br />

+CHZ-1<br />

-CHZ-1<br />

CHASSIS<br />

ACOM ANALOG GRD<br />

ANALOG OUT PROG<br />

ILIMIT<br />

EPWR +5 OUT<br />

AX+<br />

AX-<br />

BX+<br />

BX-<br />

IX+<br />

IX-<br />

AM+<br />

AM-<br />

BM+<br />

BM-<br />

IM+<br />

IM-<br />

INPUT 2<br />

INPUT 3<br />

INPUT 4<br />

INPUT 5<br />

INPUT 6<br />

INPUT 7<br />

INPUT 8<br />

OUTPUT 2<br />

OUTPUT 3<br />

OUTPUT 4<br />

WHT/ORG 22GA<br />

WHT/YEL 22GA<br />

DRAIN<br />

WHT/RED 22GA<br />

WHT/BLACK 22GA<br />

DRAIN<br />

RED 22GA<br />

BLACK 22GA<br />

DRAIN<br />

WHT/GRN 22GA<br />

WHT/BLU 22GA<br />

DRAIN<br />

BROWN 28GA<br />

RED 28GA<br />

ORANGE 28GA<br />

YELLOW 28GA<br />

DRAIN<br />

GRE<strong>EN</strong> 28GA<br />

BLUE 28GA<br />

VIOLET 28GA<br />

GRAY 28GA<br />

WHITE 28GA<br />

BLACK 28GA<br />

DRAIN<br />

BLACK 28GA<br />

WHT/BLK 28GA<br />

BROWN 28GA<br />

WHT/BRN 28GA<br />

RED 28GA<br />

WHT/RED 28GA<br />

ORANGE 28GA<br />

WHT/ORG 28GA<br />

YELLOW 28GA<br />

WHT/YEL 28GA<br />

GRE<strong>EN</strong> 28GA<br />

WHT/GRN 28GA<br />

BLUE 28GA<br />

WHT/BLU 28GA<br />

VIOLET 28GA<br />

WHT/VIO 28GA<br />

GRAY 28GA<br />

WHT/GRY 28GA<br />

PINK 28GA<br />

WHT/PNK 28GA<br />

WHT/BLK/RED 28GA<br />

RED/BLK 28GA<br />

WHT/BLK/ORG 28GA<br />

ORG/BLK 28GA<br />

WHT/BLK/YEL 28GA<br />

YEL/BLK 28GA<br />

DRAIN<br />

Wir<strong>in</strong>g Diagrams A-5<br />

ANALOG COMMAND +<br />

ANALOG COMMAND -<br />

IO POWER<br />

2 INPUT 1 <strong>EN</strong>ABLE<br />

3 OUTPUT 1 READY<br />

IO COM<br />

AOUT +<br />

AOUT -<br />

BOUT +<br />

BOUT -<br />

IOUT +<br />

IOUT -<br />

For more <strong>in</strong>formation, see Ultra3000 Digital Servo Drives Installation<br />

Manual, publication number 2098-IN003.<br />

22<br />

23<br />

24<br />

1<br />

4<br />

5<br />

6<br />

7<br />

8<br />

9<br />

10<br />

11<br />

12<br />

13<br />

14<br />

15<br />

32<br />

33<br />

34<br />

35<br />

36<br />

37<br />

38<br />

40<br />

41<br />

42<br />

RELAY +<br />

RELAY -<br />

IO PWR<br />

IO COM<br />

AUX PWR +5<br />

AUXCOM ECOM<br />

43<br />

44<br />

30<br />

28<br />

25<br />

26<br />

29<br />

31<br />

39<br />

27<br />

16<br />

17<br />

18<br />

19<br />

20<br />

21<br />

Ultra3000<br />

CN1 Connector<br />

(Axis 1)<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

3<br />

2<br />

2090-U3AE-D44xx<br />

<strong>Control</strong>ler Interface<br />

Cable


A-6 Wir<strong>in</strong>g Diagrams<br />

P<strong>in</strong> 44<br />

P<strong>in</strong> 31<br />

Connector,<br />

D-sub, high<br />

density 44-p<strong>in</strong><br />

with 45˚ black<br />

PVC overmold<br />

P<strong>in</strong> 15<br />

P<strong>in</strong> 1<br />

AXIS 0 - CN1<br />

AXIS 0 - CN1<br />

AXIS 1 - CN1<br />

AXIS 1 - CN1<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

2090-U3AE-D44xx Cable.<br />

IO - AX0<br />

RELAY - AX0<br />

IO PWR - AX0<br />

AUX PWR - AX0<br />

AUX PWR - AX1<br />

IO PWR - AX1<br />

RELAY - AX1<br />

IO - AX1<br />

MO2AE<br />

view shown<br />

without cover


1394 Servo Drive (<strong>in</strong> Torque<br />

Mode only)<br />

+OUT 0<br />

-OUT 0<br />

+<strong>EN</strong>ABLE 0<br />

-<strong>EN</strong>ABLE 0<br />

DRVFLT 0<br />

CHASSIS<br />

IN_COM<br />

HOME 0<br />

REG24V 0<br />

REG5V 0<br />

+OK<br />

CHASSIS<br />

+CHA 0<br />

-CHA 0<br />

+CHB 0<br />

-CHB 0<br />

+CHZ 0<br />

-CHZ 0<br />

Notes<br />

Servo Module RTB<br />

A<br />

+OUT 1<br />

-OUT 1<br />

+<strong>EN</strong>ABLE 1<br />

-<strong>EN</strong>ABLE 1<br />

DRVFLT 1<br />

CHASSIS<br />

IN_COM<br />

HOME 1<br />

REG24V 1<br />

REG5V 1<br />

-OK<br />

CHASSIS<br />

+CHA 1<br />

-CHA 1<br />

+CHB 1<br />

-CHB 1<br />

+CHZ 1<br />

-CHZ 1<br />

5V DC<br />

Field Power<br />

Supply<br />

1394CCAExx<br />

RED<br />

BLK<br />

WHT<br />

BLK<br />

RED<br />

BLK<br />

WHT<br />

BLK<br />

RED<br />

BLK<br />

GRN<br />

BLK<br />

+5V DC<br />

+5 COM<br />

OK<br />

RED<br />

BLK<br />

24V DC<br />

Field Power<br />

Supply<br />

RED OK+<br />

BLK OK-<br />

<strong>EN</strong>A/DR OK 1<br />

<strong>EN</strong>C. PWR -1<br />

Wir<strong>in</strong>g Diagrams A-7<br />

• The wir<strong>in</strong>g diagram illustrates Axis 1 wir<strong>in</strong>g only. Other<br />

configurations are possible.<br />

• The 1394CCAExx cable is wired to connect to torque command<br />

reference <strong>in</strong>put p<strong>in</strong>s.<br />

• The xx <strong>in</strong> the cable number is the length of the cable.<br />

• An external +5V power supply is required to power the encoder<br />

driver circuit of the 1394 servo drive. Because this connection is<br />

shared by all four axis encoder driver circuits, only one<br />

connection is needed to the +5V field supply.<br />

To fault<br />

str<strong>in</strong>g<br />

WHT<br />

BLK<br />

RED<br />

BLK<br />

Axis 1<br />

24V DC<br />

24V COM<br />

+<strong>EN</strong>ABLE 1<br />

-<strong>EN</strong>ABLE 1<br />

DRVFLT 1<br />

IN_COM<br />

1756-M02AE<br />

1394CCAExx<br />

1394 Servo Drive<br />

W2<br />

24V DC<br />

W1<br />

24V COM<br />

TB2 15<br />

24V <strong>EN</strong>ABLE COM<br />

TB2 7<br />

A1 <strong>EN</strong>ABLE<br />

TB2 19 DROK<br />

TB2 18 DROK<br />

AQB1<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

A


A-8 Wir<strong>in</strong>g Diagrams<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

1394-CFLAExx Cable<br />

3.0 <strong>in</strong>.<br />

<strong>EN</strong>ABLE/DRIVE FAULT - AXIS 0<br />

7<br />

12<br />

1<br />

6<br />

Individually Jacketed Pairs<br />

M02AE - OK<br />

AXIS 0 1394-CFLAE<br />

P<strong>in</strong>outs for the 1394-CFLAE<br />

+5V<br />

+5VCOM<br />

CHANNEL A HIGH<br />

CHANNEL A LOW<br />

CHANNEL B HIGH<br />

CHANNEL B LOW<br />

CHANNEL Z HIGH<br />

CHANNEL Z LOW<br />

VREF+<br />

TREF+<br />

VREF-<br />

TREF-<br />

(DROK-0)<br />

(24V <strong>EN</strong> COM)<br />

(24V)<br />

(AX_-<strong>EN</strong>ABLE)<br />

TO SYSTEM<br />

FAULT STRING<br />

3<br />

9<br />

4<br />

10<br />

5<br />

11<br />

6<br />

12<br />

1<br />

2<br />

7<br />

8<br />

RED 22GA<br />

BLACK 22GA<br />

DRAIN<br />

ORANGE 22GA<br />

WHT/ORG 22GA<br />

YELLOW 22GA<br />

WHT/YEL 22GA<br />

GRE<strong>EN</strong> 22GA<br />

WHT/GRN 22GA<br />

DRAIN<br />

BLUE 22GA<br />

WHT/BLU 22GA<br />

DRAIN<br />

VIOLET 22GA<br />

WHT/VIO 22GA<br />

GRAY 22GA<br />

WHT/GRY 22GA<br />

DRAIN<br />

RED 22GA<br />

BLACK 22GA<br />

DRAIN<br />

1756-M02AE<br />

5.0 <strong>in</strong>.<br />

5V <strong>EN</strong>C PWR - AXIS 0<br />

1.0 <strong>in</strong>.


1756-M02AS Module<br />

+OUT-0<br />

-OUT-0<br />

+<strong>EN</strong>ABLE-0<br />

-<strong>EN</strong>ABLE-0<br />

DRVFLT-0<br />

CHASSIS<br />

IN_COM<br />

HOME-0.<br />

REG24V-0<br />

REG5V-0<br />

+OK<br />

CHASSIS<br />

+CLOCK-0<br />

-CLOCK-0<br />

+DATA-0<br />

-DATA-0<br />

SSI COM<br />

CHASSIS.<br />

+OUT-1<br />

-OUT-1<br />

+<strong>EN</strong>ABLE-1<br />

-<strong>EN</strong>ABLE-1<br />

DRVFLT-1<br />

CHASSIS<br />

IN_COM<br />

HOME-1.<br />

REG24V-1<br />

REG5V-1<br />

-OK<br />

CHASSIS<br />

+CLOCK-1<br />

-CLOCK-1<br />

+DATA-1<br />

-DATA-1<br />

SSI COM<br />

CHASSIS.<br />

Notes<br />

General cable C0720<br />

General cable C0721<br />

General cable C0722<br />

General cable C0720<br />

General cable C0720<br />

General cable C0720<br />

Wir<strong>in</strong>g Diagrams A-9<br />

To servo drive or valve<br />

To servo drive, valve, or pump<br />

To Synchronous Serial<br />

Interface (SSI)<br />

To E-stop relay coil<br />

To home limit switch<br />

To registration sensor<br />

This example shows the wir<strong>in</strong>g for Axis 1 Wire Axis 0 the same way.<br />

43394<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


A-10 Wir<strong>in</strong>g Diagrams<br />

1756-HYD02 Application<br />

Example<br />

<strong>Control</strong>Logix<br />

controller<br />

PC with<br />

RSLogix 5000<br />

1756-HYD02<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

This example uses a 1-axis loop with a differential LDT <strong>in</strong>put.<br />

+ OUT<br />

– OUT<br />

CHASSIS<br />

+INT & –INT<br />

+RET & –RET<br />

CHASSIS<br />

Drive Output<br />

+ C –<br />

+/– 15V dc<br />

Power Supply<br />

for LDTs<br />

24V Power Supply<br />

+–C<br />

Servo or<br />

Proportional<br />

Amplifier<br />

Valve<br />

Piston-type Hydraulic<br />

Cyl<strong>in</strong>der and LDT<br />

IMPORTANT: This<br />

module’s analog<br />

output require an<br />

external amplifier to<br />

drive the valve.<br />

Earth Ground 43474


1756-HYD02 Module<br />

+OUT-0<br />

-OUT-0<br />

+<strong>EN</strong>ABLE-0<br />

-<strong>EN</strong>ABLE-0<br />

DRVFLT-0<br />

CHASSIS<br />

IN_COM<br />

HOME-0<br />

REG24V-0<br />

REG5V-0<br />

+OK<br />

CHASSIS<br />

+INT-0<br />

-INT-0<br />

+RET-0<br />

-RET-0<br />

LDT CMN<br />

CHASSIS<br />

+OUT-1<br />

-OUT-1<br />

+<strong>EN</strong>ABLE-1<br />

-<strong>EN</strong>ABLE-1<br />

DRVFLT-1<br />

CHASSIS<br />

IN_COM<br />

HOME-1<br />

REG24V-1<br />

REG5V-1<br />

-OK<br />

CHASSIS<br />

+INT-1<br />

-INT-1<br />

+RET-1<br />

-RET-1<br />

LDT CMN<br />

CHASSIS<br />

Notes<br />

Wir<strong>in</strong>g Diagrams A-11<br />

General cable C0720 To valve driver/amplifier<br />

General cable C0721<br />

General cable C0722<br />

General cable C0720<br />

General cable C0720<br />

General cable C0720<br />

To hydraulic control unit<br />

or<br />

To valve or pump<br />

To LDT<br />

To home<br />

limit switch<br />

To registration<br />

sensor<br />

To E-stop relay coil<br />

• This example shows the wir<strong>in</strong>g for Axis 1. Wire Axis 0 the same<br />

way.<br />

• Use transducers that use an external <strong>in</strong>terrogation signal.<br />

• Do not exceed the specified isolation voltage between power<br />

sources.<br />

43394<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


A-12 Wir<strong>in</strong>g Diagrams<br />

LDTs<br />

+/-12V dc<br />

Temposonics II,<br />

RPM or DPM<br />

(+)<br />

1<br />

9 7 5 3 2<br />

10 8 6 4<br />

Interrogate<br />

(-)<br />

Output Pulse<br />

Ground<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

These diagrams show the connections for Temposonic and Balluff<br />

LDTs.<br />

IMPORTANT<br />

+24V<br />

Ground<br />

Table 1.1 LDT Connections for Fabricat<strong>in</strong>g Your Own LDT Cable<br />

7<br />

6<br />

8<br />

Other suppliers also have compatible LDTs. Before<br />

you connect an LDT to your module, make sure that<br />

it is the best one LDT for your application.<br />

Interrogate (-)<br />

3<br />

1<br />

This table lists the LDT connections.<br />

5<br />

4<br />

Interrogate (+)<br />

2<br />

Pulse (-)<br />

Output<br />

Pulse (+)<br />

Output<br />

Balluff BTL type<br />

24V Connections +/- 15V Connections<br />

No shield connections on these examples<br />

Function (1) 1756-HYD02 RTB Wir<strong>in</strong>g (Numbers below<br />

represent term<strong>in</strong>al numbers)<br />

Temposonics II (2)<br />

RPM or DPM<br />

+15V<br />

-15V<br />

Ground<br />

Interrogate (-)<br />

7<br />

6<br />

8<br />

3<br />

1<br />

5<br />

4<br />

Interrogate (+)<br />

Balluff<br />

BTL type<br />

Channel 0 Channel 1 24V dc +/- 15V dc<br />

(+) Interrogate 26 25 9 - Yellow 1 - Yellow 1 - Yellow<br />

(-) Interrogate 28 27 10 - Green 3 - P<strong>in</strong>k 3 - P<strong>in</strong>k<br />

Power Supply N/A 5 - Red (+/-12V) 7 - Brown (+24V) 7 - Brown (+15V)<br />

8 - White (-15V)<br />

Ground 34 33 1 - White 6 - Blue<br />

8 - White<br />

6 - Blue<br />

Output Pulse 30 (+)<br />

29 (+)<br />

8 - Purple 2 - Gray (+) 2 - Gray (+)<br />

32 (-)<br />

31 (-)<br />

5 - Green (-) 5 - Green (-)<br />

(1) (+) and (-) wires of the same function should be a twisted pair with<strong>in</strong> the cable.<br />

(2) Do not connect to p<strong>in</strong>s 2, 3, 4, 6 or 7<br />

2<br />

Pulse (-)<br />

Output<br />

Pulse (+)<br />

Output<br />

43473


Temposonic GH Feedback<br />

Device<br />

+Interrogate or +Start<br />

-Interrogate or - Start<br />

+Gate or +Stop<br />

-Gate or -Stop<br />

+ Supply V DC<br />

Supply Com<br />

+ Supply V DC<br />

Supply Com<br />

+Interrogate or +Start<br />

-Interrogate or - Start<br />

+Gate or +Stop<br />

-Gate or -Stop<br />

Temposonic<br />

GH Series<br />

3<br />

4<br />

2<br />

1<br />

5<br />

6<br />

Temposonic<br />

GH Series<br />

5<br />

6<br />

3<br />

4<br />

2<br />

1<br />

Temposonic GH<br />

Cable Color Code<br />

Customer<br />

24 V DC LDT<br />

Power<br />

Supply<br />

Yellow<br />

Green<br />

P<strong>in</strong>k<br />

Gray<br />

Red or Brown<br />

White<br />

Dra<strong>in</strong><br />

White<br />

+24 V DC<br />

Red or Brown<br />

Supply Common<br />

Temposonic GH<br />

Cable Color Code<br />

Yellow<br />

Green<br />

P<strong>in</strong>k<br />

Gray<br />

Dra<strong>in</strong><br />

To Local<br />

Ground Bus<br />

1756-HYD02<br />

RTB<br />

26<br />

28<br />

30<br />

32<br />

Wir<strong>in</strong>g Diagrams A-13<br />

+ Int - 0<br />

-Int -0<br />

+ Ref - 0<br />

-Ref -0<br />

34<br />

LDT Cmn<br />

36 Chassis<br />

24 Chassis<br />

33<br />

25<br />

27<br />

29<br />

31<br />

35<br />

23<br />

LDT Cmn<br />

+ Int - 1<br />

-Int -1<br />

+ Ref - 1<br />

-Ref -1<br />

Chassis<br />

Chassis<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


A-14 Wir<strong>in</strong>g Diagrams<br />

24V Registration Sensor<br />

From the motion module<br />

5V Registration Sensor<br />

From the motion module<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Notes<br />

Notes<br />

General cable<br />

C0720<br />

REG24V<br />

IN_COM<br />

24V dc<br />

Field Power<br />

Supply<br />

+ –<br />

24 V<br />

Sourc<strong>in</strong>g-Type<br />

Registration<br />

Sensor<br />

Supply<br />

Output<br />

Common<br />

• Use sourc<strong>in</strong>g-type registration sensors.<br />

• Wire the <strong>in</strong>puts so that they get source current from the sensor.<br />

• Don’t use current s<strong>in</strong>k<strong>in</strong>g sensor configurations because the<br />

registration <strong>in</strong>put common (IN_ COM) is shared with the other<br />

24V servo module <strong>in</strong>puts.<br />

General cable<br />

C0720<br />

REG5V<br />

IN_COM<br />

5V dc<br />

Field Power<br />

Supply<br />

+ –<br />

5 V<br />

Sourc<strong>in</strong>g-Type<br />

Registration<br />

Sensor<br />

Supply<br />

Output<br />

Common<br />

• Use sourc<strong>in</strong>g-type registration sensors.<br />

• Wire the <strong>in</strong>puts so that they get source current from the sensor.<br />

• Don’t use current s<strong>in</strong>k<strong>in</strong>g sensor configurations because the<br />

registration <strong>in</strong>put common (IN_ COM) is shared with the other<br />

24V servo module <strong>in</strong>puts.<br />

43395<br />

43395


Home Limit Switch Input<br />

OK Contacts<br />

From the motion module<br />

From the motion module<br />

Notes<br />

Notes<br />

General cable<br />

C0720<br />

HOME<br />

IN_COM<br />

24V dc<br />

Field Power<br />

Supply<br />

+ –<br />

Wir<strong>in</strong>g Diagrams A-15<br />

• The home limit switch <strong>in</strong>puts to the servo module are designed<br />

for 24V dc nom<strong>in</strong>al operation.<br />

• Wire these <strong>in</strong>puts for current sourc<strong>in</strong>g operation.<br />

General cable<br />

C0720<br />

OK Pilot<br />

Relay<br />

Contacts<br />

Start<br />

CR1<br />

Stop<br />

CR1<br />

+OK<br />

-OK<br />

24V dc<br />

Field Power<br />

Supply<br />

+ –<br />

OK Pilot<br />

Relay<br />

• Use the OK relay contacts to connect to an E- stop str<strong>in</strong>g that<br />

controls power to the associated pumps or drives.<br />

• The OK contacts are rated to drive an external 24V dc pilot relay<br />

(for example, Allen-Bradley 700-HA32Z24) whose contacts can<br />

be <strong>in</strong>corporated <strong>in</strong>to the E-Stop str<strong>in</strong>g.<br />

CR1<br />

M1<br />

24V ac/dc<br />

or 120V ac<br />

typical<br />

43397<br />

43398<br />

43396<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


A-16 Wir<strong>in</strong>g Diagrams<br />

Notes:<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


Introduction<br />

Interpret<strong>in</strong>g the Diagrams<br />

Servo Loop Block Diagrams<br />

Appendix B<br />

This appendix shows the servo loop block diagrams for common<br />

motion configurations.<br />

For See page<br />

Interpret<strong>in</strong>g the Diagrams B-1<br />

AXIS_SERVO B-2<br />

AXIS_SERVO_DRIVE B-4<br />

The diagrams use these labels for axes attributes.<br />

Label AXIS Attribute<br />

Acc FF Ga<strong>in</strong> AccelerationFeedforwardGa<strong>in</strong><br />

Friction Comp FrictionCompensation<br />

Output Filter BW OutputFilterBandwidth<br />

Output Limit OutputLimit<br />

Output Offset OutputOffset<br />

Output Scal<strong>in</strong>g OutputScal<strong>in</strong>g<br />

Pos I Ga<strong>in</strong> PositionIntegralGa<strong>in</strong><br />

Pos P Ga<strong>in</strong> PositionProportionalGa<strong>in</strong><br />

Position Error PositionError<br />

Position Integrator Error PositionIntegratorError<br />

Registration Position RegistrationPosition<br />

Servo Output Level ServoOutputLevel<br />

Vel FF Ga<strong>in</strong> VelocityFeedforwardGa<strong>in</strong><br />

Vel I Ga<strong>in</strong> VelocityIntegralGa<strong>in</strong><br />

Vel P Ga<strong>in</strong> VelocityProportionalGa<strong>in</strong><br />

Velocity Command VelocityCommand<br />

Velocity Error VelocityError<br />

Velocity Feedback VelocityFeedback<br />

Velocity Integrator Error VelocityIntegratorError<br />

Watch Position WatchPosition<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


B-2 Servo Loop Block Diagrams<br />

AXIS_SERVO<br />

Torque<br />

Offset<br />

Velocity<br />

Offset<br />

Position<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Command<br />

Position<br />

Feedback<br />

(Coarse)<br />

Watch<br />

Event<br />

Hom<strong>in</strong>g<br />

Event<br />

Registration<br />

Event<br />

Watch<br />

Event<br />

Handler<br />

Watch<br />

Position<br />

Position<br />

Feedback<br />

d 2 /dt<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

d/dt<br />

For See Page<br />

Position Servo with Torque Servo Drive B-2<br />

Position Servo with Velocity Servo Drive B-3<br />

Position Servo with Torque Servo Drive<br />

Vel<br />

FF<br />

Ga<strong>in</strong><br />

Position<br />

Velocity<br />

Command Velocity<br />

Σ<br />

Error<br />

Pos P<br />

Ga<strong>in</strong> Σ Σ<br />

Error<br />

Error<br />

Accum<br />

-ulator<br />

Position<br />

Integrator<br />

Error<br />

Acc<br />

FF<br />

Ga<strong>in</strong><br />

Pos I<br />

Ga<strong>in</strong><br />

Position<br />

Accumulator<br />

Marker<br />

Event<br />

Handler<br />

Regist.<br />

Event<br />

Handler<br />

Velocity<br />

Feedback<br />

Low<br />

Pass<br />

Filter<br />

d/dt<br />

Error<br />

Accum<br />

-ulator<br />

Velocity<br />

Integrator<br />

Error<br />

Vel P<br />

Ga<strong>in</strong><br />

Vel I<br />

Ga<strong>in</strong><br />

Σ<br />

Output<br />

Filter<br />

BW<br />

Low<br />

Pass<br />

Filter<br />

Output<br />

Scal<strong>in</strong>g<br />

16-bit<br />

Encoder<br />

Counter<br />

This configuration gives full position servo control us<strong>in</strong>g an external<br />

torque loop servo drive. Synchronous <strong>in</strong>put data to the servo loop<br />

<strong>in</strong>cludes Position Command, Velocity Offset, and Torque Offset. The<br />

controller updates these values at the coarse update period of the<br />

motion group. The Position Command value is derived directly from<br />

the output of the motion planner, while the Velocity Offset and<br />

Torque Offset values are derived from the current value of the<br />

correspond<strong>in</strong>g attributes.<br />

Marker<br />

Latch<br />

Regist.<br />

Latch<br />

Friction<br />

Comp.<br />

Output<br />

Limit<br />

Servo Config = Position<br />

S<br />

Σ<br />

Encoder<br />

Polarity<br />

Servo<br />

Output<br />

Level<br />

Ch A/B<br />

Encoder<br />

Input<br />

Ch Z<br />

Marker<br />

Input<br />

Output<br />

Offset<br />

&<br />

Servo<br />

Polarity<br />

16 Bit<br />

DAC<br />

Torque<br />

Servo<br />

Drive<br />

Motor<br />

AQB<br />

Encoder<br />

Registration<br />

Input


Torque<br />

Offset<br />

Velocity<br />

Offset<br />

Position<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Command<br />

Position<br />

Feedback<br />

(Coarse)<br />

Watch<br />

Event<br />

Hom<strong>in</strong>g<br />

Event<br />

Registration<br />

Event<br />

Watch<br />

Event<br />

Handler<br />

Watch<br />

Position<br />

Position<br />

Feedback<br />

d 2 /dt<br />

d/dt<br />

Error<br />

Accum<br />

-ulator<br />

Position<br />

Error<br />

Position Servo with Velocity Servo Drive<br />

Vel<br />

FF<br />

Ga<strong>in</strong><br />

Pos P<br />

Ga<strong>in</strong><br />

Σ Σ Σ<br />

Position<br />

Integrator<br />

Error<br />

Acc<br />

FF<br />

Ga<strong>in</strong><br />

Pos I<br />

Ga<strong>in</strong><br />

Position<br />

Accumulator<br />

Marker<br />

Event<br />

Handler<br />

Regist.<br />

Event<br />

Handler<br />

Velocity<br />

Command<br />

Velocity<br />

Feedback<br />

Σ<br />

Output<br />

Filter<br />

BW<br />

Low<br />

Pass<br />

Filter<br />

Output<br />

Scal<strong>in</strong>g<br />

Servo Loop Block Diagrams B-3<br />

16-bit<br />

Encoder<br />

Counter<br />

This configuration provides full position servo control us<strong>in</strong>g an<br />

external velocity loop servo drive. Note that <strong>in</strong> this configuration the<br />

servo module does not close the velocity loop, but rather the drive<br />

does. Synchronous <strong>in</strong>put data to the servo loop <strong>in</strong>cludes Position<br />

Command and Velocity Offset. (Torque Offset is ignored.) The<br />

controller updates these values at the coarse update period of the<br />

motion group. The Position Command value is derived directly from<br />

the output of the motion planner, while the Velocity Offset value is<br />

derived from the current value of the correspond<strong>in</strong>g attributes.<br />

Marker<br />

Latch<br />

Regist.<br />

Latch<br />

Friction<br />

Comp.<br />

Output<br />

Limit<br />

Servo<br />

Output<br />

Level<br />

Servo Config = Position Servo<br />

Σ<br />

Encoder<br />

Polarity<br />

Ch A/B<br />

Encoder<br />

Input<br />

Ch Z<br />

Marker<br />

Input<br />

Output<br />

Offset<br />

&<br />

Servo<br />

Polarity<br />

16 Bit<br />

DAC<br />

Velocity<br />

Servo<br />

Drive<br />

Motor<br />

AQB<br />

Encoder<br />

Registration<br />

Input<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


B-4 Servo Loop Block Diagrams<br />

AXIS_SERVO_DRIVE<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

For See Page<br />

Motor Position Servo B-5<br />

Auxiliary Position Servo B-6<br />

Dual Feedback Servo B-7<br />

Motor Dual Command Servo B-8<br />

Auxiliary Dual Command Servo B-9<br />

Dual Command Feedback Servo B-10<br />

Velocity Servo B-10<br />

Torque Servo B-11<br />

Drive Ga<strong>in</strong>s B-11


Torque<br />

Offset<br />

Velocity<br />

Offset<br />

Position<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Feedback<br />

(Coarse)<br />

d/dt<br />

Error<br />

Accum<br />

-ulator<br />

Vel<br />

FF<br />

Ga<strong>in</strong><br />

Motor Position Servo<br />

Velocity<br />

Velocity<br />

Position<br />

Command<br />

Error<br />

Error<br />

Pos P <br />

Vel P Torque <br />

Ga<strong>in</strong><br />

Ga<strong>in</strong><br />

Scal<strong>in</strong>g<br />

Position<br />

Command<br />

Position<br />

Feedback<br />

d 2 /dt<br />

Position<br />

Integrator<br />

Error<br />

Acc<br />

FF<br />

Ga<strong>in</strong><br />

Pos I<br />

Ga<strong>in</strong><br />

Position<br />

Accumulator<br />

Velocity<br />

Feedback<br />

Low<br />

Pass<br />

Filter<br />

Servo Config = Motor Position Servo<br />

Error<br />

Accum<br />

-ulator<br />

Velocity<br />

Integrator<br />

Error<br />

Accel<br />

Command<br />

Vel I<br />

Ga<strong>in</strong><br />

Frict.<br />

Comp<br />

Servo Loop Block Diagrams B-5<br />

Output<br />

Low Pass<br />

Filter<br />

BW<br />

Output<br />

Notch<br />

Filter<br />

BW<br />

Hardware<br />

Feedback<br />

Position<br />

The Motor Position Servo configuration provides full position servo<br />

control us<strong>in</strong>g only the motor mounted feedback device to provide<br />

position and velocity feedback. This servo configuration is a good<br />

choice <strong>in</strong> applications where smoothness and stability are more<br />

important that position<strong>in</strong>g accuracy. Position<strong>in</strong>g accuracy is limited<br />

due to the fact that the controller has no way of compensat<strong>in</strong>g for<br />

non-l<strong>in</strong>earity <strong>in</strong> the mechanics external to the motor. Note that the<br />

motor mounted feedback device also provides motor position<br />

<strong>in</strong>formation necessary for commutation. Synchronous <strong>in</strong>put data to the<br />

servo loop <strong>in</strong>cludes Position Command, Velocity Offset, and Torque<br />

Offset. These values are updated at the coarse update rate of the<br />

associated motion group. The Position Command value is derived<br />

directly from the output of the motion planner, while the Velocity<br />

Offset and Torque Offset values are derived from the current value of<br />

the correspond<strong>in</strong>g attributes. These offset attributes may be changed<br />

programmatically via SSV <strong>in</strong>structions or direct Tag access which,<br />

when used <strong>in</strong> conjunction with future Function Block programs,<br />

provides custom “outer” control loop capability.<br />

Low<br />

Pass<br />

Filter<br />

Notch<br />

Filter<br />

Feedback<br />

Polarity<br />

Hardware<br />

Feedback<br />

Position<br />

Pos/Neg<br />

Torque<br />

Limit<br />

Torque<br />

Limit<br />

Motor<br />

Feedback<br />

Channel<br />

Aux<br />

Feedback<br />

Channel<br />

Torque<br />

Command<br />

Torque<br />

Amplifier<br />

Motor<br />

Motor<br />

Feedback<br />

Aux<br />

Feedback<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


B-6 Servo Loop Block Diagrams<br />

Torque<br />

Offset<br />

Velocity<br />

Offset<br />

Position<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Command<br />

Position<br />

Feedback<br />

(Coarse)<br />

Position<br />

Feedback<br />

d 2 /dt<br />

d/dt<br />

Error<br />

Accum<br />

-ulator<br />

Position<br />

Error<br />

Vel<br />

FF<br />

Ga<strong>in</strong><br />

Pos P<br />

Ga<strong>in</strong><br />

Pos I<br />

Ga<strong>in</strong><br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Auxiliary Position Servo<br />

Velocity<br />

Command<br />

Σ Σ Σ<br />

Σ<br />

Position<br />

Integrator<br />

Error<br />

Acc<br />

FF<br />

Ga<strong>in</strong><br />

Position<br />

Accumulator<br />

Servo Config = Aux Position Servo<br />

Velocity<br />

Feedback<br />

Low<br />

Pass<br />

Filter<br />

Error<br />

Accum<br />

-ulator<br />

Velocity<br />

Error<br />

Velocity<br />

Integrator<br />

Error<br />

Vel P<br />

Ga<strong>in</strong><br />

Vel I<br />

Ga<strong>in</strong><br />

Accel<br />

Command<br />

Σ<br />

Torque<br />

Scal<strong>in</strong>g<br />

Hardware<br />

Feedback<br />

Position<br />

The Auxiliary Position Servo configuration provides full position servo<br />

control us<strong>in</strong>g an auxiliary (that is, external to the motor) feedback<br />

device to provide position and velocity feedback. This servo<br />

configuration is a good choice <strong>in</strong> applications position<strong>in</strong>g accuracy is<br />

important. The smoothness and stability may be limited, however, due<br />

to the mechanical non-l<strong>in</strong>earities external to the motor. Note, that the<br />

motor mounted feedback device is still required to provide motor<br />

position <strong>in</strong>formation necessary for commutation. Synchronous <strong>in</strong>put<br />

data to the servo loop <strong>in</strong>cludes Position Command, Velocity Offset,<br />

and Torque Offset. These values are updated at the coarse update rate<br />

of the associated motion group. The Position Command value is<br />

derived directly from the output of the motion planner, while the<br />

Velocity Offset and Torque Offset values are derived from the current<br />

value of the correspond<strong>in</strong>g attributes. These offset attributes may be<br />

changed programmatically via SSV <strong>in</strong>structions or direct Tag access<br />

which, when used <strong>in</strong> conjunction with future Function Block<br />

programs, provides custom “outer” control loop capability.<br />

Σ<br />

Frict.<br />

Comp<br />

Output<br />

Low Pass<br />

Filter<br />

BW<br />

Low<br />

Pass<br />

Filter<br />

Output<br />

Notch<br />

Filter<br />

BW<br />

Notch<br />

Filter<br />

Feedback<br />

Polarity<br />

Hardware<br />

Feedback<br />

Position<br />

Motor<br />

Feedback<br />

Channel<br />

Aux<br />

Feedback<br />

Channel<br />

Pos/Neg<br />

Torque<br />

Limit<br />

Torque<br />

Limit<br />

Torque<br />

Command<br />

Torque<br />

Amplifier<br />

Motor<br />

Motor<br />

Feedback<br />

Aux<br />

Feedback


Torque<br />

Offset<br />

Velocity<br />

Offset<br />

Position<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Command<br />

Position<br />

Feedback<br />

(Coarse)<br />

Position<br />

Feedback<br />

d 2 /dt<br />

d/dt<br />

Error<br />

Accum<br />

-ulator<br />

Position<br />

Error<br />

Vel<br />

FF<br />

Ga<strong>in</strong><br />

Pos P<br />

Ga<strong>in</strong><br />

Pos I<br />

Ga<strong>in</strong><br />

Dual Feedback Servo<br />

Velocity<br />

Command<br />

Σ Σ Σ<br />

Σ<br />

Position<br />

Integrator<br />

Error<br />

Acc<br />

FF<br />

Ga<strong>in</strong><br />

Position<br />

Accumulator<br />

Servo Config = Dual Feedback<br />

Velocity<br />

Feedback<br />

Low<br />

Pass<br />

Filter<br />

Error<br />

Accum<br />

-ulator<br />

Velocity<br />

Error<br />

Velocity<br />

Integrator<br />

Error<br />

Vel P<br />

Ga<strong>in</strong><br />

Vel I<br />

Ga<strong>in</strong><br />

Accel<br />

Command<br />

Σ<br />

Torque<br />

Scal<strong>in</strong>g<br />

Servo Loop Block Diagrams B-7<br />

Hardware<br />

Feedback<br />

Position<br />

This configuration provides full position servo control us<strong>in</strong>g the<br />

auxiliary feedback device for position feedback and the motor<br />

mounted feedback device to provide velocity feedback. This servo<br />

configuration comb<strong>in</strong>es the advantages of accurate position<strong>in</strong>g<br />

associated with the auxiliary position servo with the smoothness and<br />

stability of the motor position servo configuration. Note that the motor<br />

mounted feedback device also provides motor position <strong>in</strong>formation<br />

necessary for commutation. Synchronous <strong>in</strong>put data to the servo loop<br />

<strong>in</strong>cludes Position Command, Velocity Offset, and Torque Offset. These<br />

values are updated at the coarse update rate of the associated motion<br />

group. The Position Command value is derived directly from the<br />

output of the motion planner, while the Velocity Offset and Torque<br />

Offset values are derived from the current value of the correspond<strong>in</strong>g<br />

attributes. These offset attributes may be changed programmatically<br />

via SSV <strong>in</strong>structions or direct Tag access which, when used <strong>in</strong><br />

conjunction with future Function Block programs, provides custom<br />

“outer” control loop capability.<br />

Σ<br />

Frict.<br />

Comp<br />

Output<br />

Low Pass<br />

Filter<br />

BW<br />

Low<br />

Pass<br />

Filter<br />

Output<br />

Notch<br />

Filter<br />

BW<br />

Notch<br />

Filter<br />

Feedback<br />

Polarity<br />

Hardware<br />

Feedback<br />

Position<br />

Motor<br />

Feedback<br />

Channel<br />

Aux<br />

Feedback<br />

Channel<br />

Pos/Neg<br />

Torque<br />

Limit<br />

Torque<br />

Limit<br />

Torque<br />

Command<br />

Torque<br />

Amplifier<br />

Motor<br />

Motor<br />

Feedback<br />

Aux<br />

Feedback<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


B-8 Servo Loop Block Diagrams<br />

Velocity<br />

Offset<br />

Velocity<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Command<br />

Position<br />

Feedback<br />

(Coarse)<br />

Position<br />

Feedback<br />

d/dt<br />

Error<br />

Accum<br />

-ulator<br />

Position<br />

Error<br />

Vel<br />

FF<br />

Ga<strong>in</strong><br />

Pos P<br />

Ga<strong>in</strong><br />

Σ Σ Σ<br />

Σ<br />

Position<br />

Integrator<br />

Error<br />

Acc<br />

FF<br />

Ga<strong>in</strong><br />

Pos I<br />

Ga<strong>in</strong><br />

Position<br />

Accumulator<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Motor Dual Command Servo<br />

Servo Config = Motor Dual Command<br />

Velocity<br />

Command Velocity<br />

Error<br />

Velocity<br />

Feedback<br />

Low<br />

Pass<br />

Filter<br />

Error<br />

Accum<br />

-ulator<br />

Velocity<br />

Integrator<br />

Error<br />

Vel P<br />

Ga<strong>in</strong><br />

Vel I<br />

Ga<strong>in</strong><br />

Accel<br />

Command<br />

Σ<br />

Torque<br />

Scal<strong>in</strong>g<br />

Hardware<br />

Feedback<br />

Position<br />

The Motor Dual Command Servo configuration provides full position<br />

servo control us<strong>in</strong>g only the motor mounted feedback device to<br />

provide position and velocity feedback. Unlike the Motor Position<br />

Servo configuration, however, both command position and command<br />

velocity are applied to the loop to provide smoother feedforward<br />

behavior. This servo configuration is a good choice <strong>in</strong> applications<br />

where smoothness and stability are important. Position<strong>in</strong>g accuracy is<br />

limited due to the fact that the controller has no way of compensat<strong>in</strong>g<br />

for non-l<strong>in</strong>earities <strong>in</strong> the mechanics external to the motor. Note that<br />

the motor mounted feedback device also provides motor position<br />

<strong>in</strong>formation necessary for commutation. Synchronous <strong>in</strong>put data to the<br />

servo loop <strong>in</strong>cludes Position Command, Velocity Command, and<br />

Velocity Offset. These values are updated at the coarse update rate of<br />

the associated motion group. The Position and Velocity Command<br />

values are derived directly from the output of the motion planner,<br />

while the Velocity Offset value is derived from the current value of the<br />

correspond<strong>in</strong>g attributes. The velocity offset attribute may be changed<br />

programmatically via SSV <strong>in</strong>structions or direct Tag access which,<br />

when used <strong>in</strong> conjunction with future Function Block programs,<br />

provides custom “outer” control loop capability.<br />

Torque<br />

Offset<br />

Σ<br />

Frict.<br />

Comp<br />

Output<br />

Low Pass<br />

Filter<br />

BW<br />

Low<br />

Pass<br />

Filter<br />

Output<br />

Notch<br />

Filter<br />

BW<br />

Notch<br />

Filter<br />

Feedback<br />

Polarity<br />

Hardware<br />

Feedback<br />

Position<br />

Motor<br />

Feedback<br />

Channel<br />

Aux<br />

Feedback<br />

Channel<br />

Pos/Neg<br />

Torque<br />

Limit<br />

Torque<br />

Limit<br />

Torque<br />

Command<br />

Torque<br />

Amplifier<br />

Motor<br />

Motor<br />

Feedback<br />

Aux<br />

Feedback


Velocity<br />

Offset<br />

Velocity<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Command<br />

(Coarse)<br />

F<strong>in</strong>e<br />

Interpolator<br />

Position<br />

Command<br />

Position<br />

Feedback<br />

(Coarse)<br />

Position<br />

Feedback<br />

d/dt<br />

Error<br />

Accum<br />

-ulator<br />

Position<br />

Error<br />

Vel<br />

FF<br />

Ga<strong>in</strong><br />

Pos P<br />

Ga<strong>in</strong><br />

Σ Σ Σ<br />

Σ<br />

Position<br />

Integrator<br />

Error<br />

Acc<br />

FF<br />

Ga<strong>in</strong><br />

Pos I<br />

Ga<strong>in</strong><br />

Position<br />

Accumulator<br />

Auxiliary Dual Command Servo<br />

Servo Config = Auxiliary Dual Command<br />

Velocity<br />

Command<br />

Velocity<br />

Feedback<br />

Low<br />

Pass<br />

Filter<br />

Error<br />

Accum<br />

-ulator<br />

Velocity<br />

Error<br />

Velocity<br />

Integrator<br />

Error<br />

Vel P<br />

Ga<strong>in</strong><br />

Vel I<br />

Ga<strong>in</strong><br />

Accel<br />

Command<br />

Σ<br />

Torque<br />

Scal<strong>in</strong>g<br />

Servo Loop Block Diagrams B-9<br />

Hardware<br />

Feedback<br />

Position<br />

The Auxiliary Dual Command Servo configuration provides full<br />

position servo control us<strong>in</strong>g only the auxiliary mounted feedback<br />

device to provide position and velocity feedback. Unlike the Auxiliary<br />

Position Servo configuration, however, both command position and<br />

command velocity are applied to the loop to provide smoother<br />

feedforward behavior. This servo configuration is a good choice <strong>in</strong><br />

applications where position<strong>in</strong>g accuracy and good feedforward<br />

performance is important. The smoothness and stability may be<br />

limited, however, due to the mechanical non-l<strong>in</strong>earities external to the<br />

motor. Note, that the motor mounted feedback device is still required<br />

to provide motor position <strong>in</strong>formation necessary for commutation.<br />

Synchronous <strong>in</strong>put data to the servo loop <strong>in</strong>cludes Position Command,<br />

Velocity Command, and Velocity Offset. These values are updated at<br />

the coarse update rate of the associated motion group. The Position<br />

and Velocity Command values are derived directly from the output of<br />

the motion planner, while the Velocity Offset value is derived from the<br />

current value of the correspond<strong>in</strong>g attributes. The velocity offset<br />

attribute may be changed programmatically via SSV <strong>in</strong>structions or<br />

direct Tag access which, when used <strong>in</strong> conjunction with future<br />

Function Block programs, provides custom “outer” control loop<br />

capability.<br />

Torque<br />

Offset<br />

Σ<br />

Frict.<br />

Comp<br />

Output<br />

Low Pass<br />

Filter<br />

BW<br />

Low<br />

Pass<br />

Filter<br />

Output<br />

Notch<br />

Filter<br />

BW<br />

Notch<br />

Filter<br />

Feedback<br />

Polarity<br />

Hardware<br />

Feedback<br />

Position<br />

Motor<br />

Feedback<br />

Channel<br />

Aux<br />

Feedback<br />

Channel<br />

Pos/Neg<br />

Torque<br />

Limit<br />

Torque<br />

Limit<br />

Torque<br />

Command<br />

Torque<br />

Amplifier<br />

Motor<br />

Motor<br />

Feedback<br />

Aux<br />

Feedback<br />

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B-10 Servo Loop Block Diagrams<br />

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Dual Command Feedback Servo<br />

The Motor Dual Command Feedback Servo configuration provides full<br />

position servo control us<strong>in</strong>g the auxiliary feedback device for position<br />

feedback and the motor mounted feedback device to provide velocity<br />

feedback. Unlike the Dual Feedback Servo configuration, however,<br />

both command position and command velocity are also applied to the<br />

loop to provide smoother feedforward behavior. This servo<br />

configuration is a good choice <strong>in</strong> applications where smoothness and<br />

stability are important as well as position<strong>in</strong>g accuracy. Note, that the<br />

motor mounted feedback device is still required to provide motor<br />

position <strong>in</strong>formation necessary for commutation. Synchronous <strong>in</strong>put<br />

data to the servo loop <strong>in</strong>cludes Position Command, Velocity<br />

Command, and Velocity Offset. These values are updated at the coarse<br />

update rate of the associated motion group. The Position and Velocity<br />

Command values are derived directly from the output of the motion<br />

planner, while the Velocity Offset value is derived from the current<br />

value of the correspond<strong>in</strong>g attributes. The velocity offset attribute may<br />

be changed programmatically via SSV <strong>in</strong>structions or direct Tag access<br />

which, when used <strong>in</strong> conjunction with future Function Block<br />

programs, provides custom “outer” control loop capability.<br />

Velocity Servo<br />

The Velocity Servo configuration provides velocity servo control us<strong>in</strong>g<br />

the motor mounted feedback device. Synchronous <strong>in</strong>put data to the<br />

servo loop <strong>in</strong>cludes Velocity Command, Velocity Offset, and Torque<br />

Offset. These values are updated at the coarse update rate of the<br />

associated motion group. The Velocity Command value is derived<br />

directly from the output of the motion planner, while the Velocity<br />

Offset and Torque Offset values are derived from the current value of<br />

the correspond<strong>in</strong>g attributes. These offset attributes may be changed<br />

programmatically via SSV <strong>in</strong>structions or direct Tag access which,<br />

when used <strong>in</strong> conjunction with future Function Block programs,<br />

provides custom “outer” control loop capability.


Torque Servo<br />

Servo Loop Block Diagrams B-11<br />

The Torque Servo configuration provides torque servo control us<strong>in</strong>g<br />

only the motor mounted feedback device for commutation.<br />

Synchronous <strong>in</strong>put data to the servo loop <strong>in</strong>cludes only the Torque<br />

Offset. This values are updated at the coarse update rate of the<br />

associated motion group. The Torque Offset value is derived from the<br />

current value of the correspond<strong>in</strong>g attribute. This offset attribute may<br />

be changed programmatically via SSV <strong>in</strong>structions or direct Tag access<br />

which, when used <strong>in</strong> conjunction with future Function Block<br />

programs, provides custom “outer” control loop capability.<br />

Drive Ga<strong>in</strong>s<br />

Rockwell Automation servo drives use Nested Digital Servo <strong>Control</strong><br />

Loop such as shown <strong>in</strong> the block diagrams above, consist<strong>in</strong>g typically<br />

of a position loop with proportional, <strong>in</strong>tegral and feed-forward ga<strong>in</strong>s<br />

around a digitally synthesized <strong>in</strong>ner velocity loop, aga<strong>in</strong> with<br />

proportional and <strong>in</strong>tegral ga<strong>in</strong>s for each axis. These ga<strong>in</strong>s provide<br />

software control over the servo dynamics, and allow the servo system<br />

to be completely stabilized. Unlike analog servo controllers, these<br />

digitally set ga<strong>in</strong>s do not drift. Furthermore, once these ga<strong>in</strong>s are set<br />

for a particular system, another SERCOS module programmed with<br />

these ga<strong>in</strong> values will operate identically to the orig<strong>in</strong>al one.<br />

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B-12 Servo Loop Block Diagrams<br />

Notes:<br />

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Introduction<br />

General Tab – AXIS_SERVO<br />

Axis Properties<br />

Appendix C<br />

Use this appendix for a description of the properties of an axis.<br />

The General screen depicted below is for an AXIS_SERVO data type.<br />

Axis Configuration Selects and displays the <strong>in</strong>tended use of the axis:<br />

• Feedback Only: If the axis is to be used only to display position<br />

<strong>in</strong>formation from the feedback <strong>in</strong>terface. This selection<br />

m<strong>in</strong>imizes the display of axis properties tabs and parameters.<br />

The Tabs for Servo, Tune, Dynamics, Ga<strong>in</strong>s, Output, Limits, and<br />

Offset are not displayed.<br />

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C-2 Axis Properties<br />

General Tab -<br />

AXIS_SERVO_DRIVE<br />

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• Servo: If the axis is to be used for full servo operation. This<br />

selection maximizes the display of axis properties tabs and<br />

parameters.<br />

Module Selects and displays the name of the motion module to which the axis<br />

is associated. Displays if the axis is not associated with any<br />

motion module.<br />

Channel Selects and displays the 1756-M02AE motion module channel - either<br />

0 or 1 - to which the axis is assigned. Disabled when the axis is not<br />

associated with any motion module.<br />

The General screen shown below is for an AXIS_SERVO DRIVE Data<br />

Type.<br />

Axis Configuration Selects and displays the <strong>in</strong>tended use of the axis:


Axis Properties C-3<br />

• Feedback Only: If the axis is to be used only to display position<br />

<strong>in</strong>formation from the feedback <strong>in</strong>terface. This selection<br />

m<strong>in</strong>imizes the display of axis properties tabs and parameters.<br />

The Tabs for Tune, Dynamics, Ga<strong>in</strong>s, Output, Limits, and Offset<br />

are not displayed.<br />

• Servo: If the axis is to be used for full servo operation. This<br />

selection maximizes the display of axis properties tabs and<br />

parameters.<br />

<strong>Motion</strong> Group Selects and displays the <strong>Motion</strong> Group to which the axis is associated.<br />

An axis assigned to a <strong>Motion</strong> Group appears <strong>in</strong> the <strong>Motion</strong> Groups<br />

branch of the <strong>Control</strong>ler Organizer, under the selected <strong>Motion</strong> Group<br />

sub-branch. Select<strong>in</strong>g term<strong>in</strong>ates the <strong>Motion</strong> Group<br />

association, and moves the axis to the Ungrouped Axes sub-branch of<br />

the <strong>Motion</strong>s Groups branch.<br />

Module Selects and displays the name of the SERCOS drive to which the axis<br />

is associated. Displays if the axis is not associated with any<br />

drive.<br />

Node Displays the base node of the associated SERCOS drive. Disabled<br />

when the axis is not associated with any drive.<br />

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C-4 Axis Properties<br />

Node with a K<strong>in</strong>etix 6000 Drive<br />

IMPORTANT<br />

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Do you want to use the auxiliary feedback port of a K<strong>in</strong>etix 6000 drive<br />

as a feedback-only axis?<br />

If YES, then make sure the drive has firmware revision 1.80 or<br />

later.<br />

When a K<strong>in</strong>etix 6000 drive is designated <strong>in</strong> the Associated Module<br />

box, there is an additional option for the Node value. It is the node<br />

associated with the drive plus 128 with (Auxiliary) after the number.<br />

The range is 129 to 234. When the Auxiliary Node assignment is


Axis Properties C-5<br />

chosen the axis configuration is changed to Feedback Only on the<br />

General Tab and the spat (*) appears next to General.<br />

This also places a spat (*) on the Aux Feedback Tab and you must go<br />

there and select the appropriate values. On the Drive/Motor Tab the<br />

Loop Configuration is changed to Aux Feedback Only.<br />

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C-6 Axis Properties<br />

General Tab -<br />

AXIS_VIRTUAL<br />

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The AXIS_VIRTUAL General Tab is shown below.<br />

<strong>Motion</strong> Group Selects and displays the <strong>Motion</strong> Group to which the axis is associated.<br />

An axis assigned to a <strong>Motion</strong> Group appears <strong>in</strong> the <strong>Motion</strong> Groups<br />

branch of the <strong>Control</strong>ler Organizer, under the selected <strong>Motion</strong> Group<br />

sub-branch. Select<strong>in</strong>g term<strong>in</strong>ates the <strong>Motion</strong> Group<br />

association, and moves the axis to the Ungrouped Axes sub-branch of<br />

the <strong>Motion</strong>s Groups branch.


General Tab –<br />

AXIS_G<strong>EN</strong>ERIC<br />

The AXIS_G<strong>EN</strong>ERIC General Tab is shown below.<br />

Axis Configuration Selects and displays the <strong>in</strong>tended use of the axis:<br />

Axis Properties C-7<br />

• Feedback Only: If the axis is to be used only to display position<br />

<strong>in</strong>formation from the feedback <strong>in</strong>terface. This selection<br />

m<strong>in</strong>imizes the display of axis properties tabs and parameters.<br />

The Tab for Dynamics is not available.<br />

• Servo: If the axis is to be used for full servo operation. This<br />

selection maximizes the display of axis properties tabs and<br />

parameters.<br />

<strong>Motion</strong> Group Selects and displays the <strong>Motion</strong> Group to which the axis is associated.<br />

An axis assigned to a <strong>Motion</strong> Group appears <strong>in</strong> the <strong>Motion</strong> Groups<br />

branch of the <strong>Control</strong>ler Organizer, under the selected <strong>Motion</strong> Group<br />

sub-branch. Select<strong>in</strong>g term<strong>in</strong>ates the <strong>Motion</strong> Group<br />

association, and moves the axis to the Ungrouped Axes sub-branch of<br />

the <strong>Motion</strong>s Groups branch.<br />

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C-8 Axis Properties<br />

<strong>Motion</strong> Planner Tab<br />

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Module Selects and displays the name of the motion module to which the axis<br />

is associated. Displays if the axis is not associated with any<br />

motion module.<br />

Channel Selects and displays the motion module channel - either 0 or 1 - to<br />

which the axis is assigned. Disabled when the axis is not associated<br />

with any motion module.<br />

The <strong>Motion</strong> Planner Tab is where you set/edit the number of Output<br />

Cam execution targets, the type of stop action to use, enable or<br />

disable Master Delay Compensation, enable or disable Master Position<br />

Filter, and set the bandwidth for Master Position Filter Bandwidth. The<br />

<strong>Motion</strong> Planner tab has the same fields regardless of the type of axis.<br />

Output Cam Execution Targets Determ<strong>in</strong>es how many Output Cam execution nodes (<strong>in</strong>stances) are<br />

created for a specific axis. Note that the Execution Target parameter<br />

for the MAOC/MDOC <strong>in</strong>structions specify which of the configured<br />

execution nodes the <strong>in</strong>struction is affect<strong>in</strong>g. In addition, the number


Axis Properties C-9<br />

specified <strong>in</strong> the Axis Properties dialog specifies the number of<br />

<strong>in</strong>stances of Output Cam <strong>in</strong> which the value of zero means “none”,<br />

and the value specified for Execution Target <strong>in</strong> the MAOC <strong>in</strong>struction<br />

references a specific <strong>in</strong>stance <strong>in</strong> which a value of zero selects the first<br />

<strong>in</strong>stance.<br />

Program Stop Action Select how a specific axis is stopped when the processor undergoes a<br />

mode change, or when an explicit <strong>Motion</strong> Group Programmed Stop<br />

(MGPS) <strong>in</strong>struction is executed:<br />

Master Delay Compensation<br />

Checkbox<br />

• Fast Disable: The axis is decelerated to a stop us<strong>in</strong>g the current<br />

configured value for maximum deceleration. Servo action is<br />

ma<strong>in</strong>ta<strong>in</strong>ed until the axis motion has stopped at which time the<br />

axis is disabled (that is, Drive Enable is disabled, and Servo<br />

Action is disabled).<br />

• Fast Shutdown: The axis is decelerated to a stop us<strong>in</strong>g the<br />

current configured value for maximum deceleration. Once the<br />

axis motion is stopped, the axis is placed <strong>in</strong> the shutdown state<br />

(that is, Drive Enable is disabled, Servo Action is disabled, and<br />

the OK contact is opened). To recover from this state, a reset<br />

<strong>in</strong>struction must be executed.<br />

• Fast Stop: The axis is decelerated to a stop us<strong>in</strong>g the current<br />

configured value for maximum deceleration. Servo action is<br />

ma<strong>in</strong>ta<strong>in</strong>ed after the axis motion has stopped. This mode is<br />

useful for gravity or loaded systems, where servo control is<br />

needed at all times.<br />

• Hard Disable: The axis is immediately disabled (that is, Drive<br />

Enable is disabled, Servo Action is disabled, but the OK contact<br />

is left closed). Unless the drive is configured to provide some<br />

form of dynamic break<strong>in</strong>g, this results <strong>in</strong> the axis coast<strong>in</strong>g to a<br />

stop.<br />

• Hard Shutdown: The axis is immediately placed <strong>in</strong> the<br />

shutdown state. Unless the drive is configured to provide some<br />

form of dynamic break<strong>in</strong>g, this results <strong>in</strong> the axis coast<strong>in</strong>g to a<br />

stop. To recover from this state, a reset <strong>in</strong>struction must be<br />

executed.<br />

Use this checkbox to Enable/Disable Master Delay Compensation.<br />

Master Delay Compensation is used balance the delay time between<br />

read<strong>in</strong>g the master axis command position and apply<strong>in</strong>g the<br />

associated slave command position to the slave’s servo loop. This<br />

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C-10 Axis Properties<br />

Enable Master Position Filter<br />

Checkbox<br />

Master Position Filter<br />

Bandwidth<br />

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feature ensures that the slave axis command position accurately tracks<br />

the actual position of the master axis that is, zero track<strong>in</strong>g error.<br />

Click<strong>in</strong>g on this box enables Master Delay Compensation. The default<br />

sett<strong>in</strong>g is Disabled.<br />

If the axis is configured for Feedback only, Master Delay<br />

Compensation should be disabled.<br />

Use this checkbox to Enable/Disable Master Position Filter. The<br />

default is disabled and must be checked to enable position filter<strong>in</strong>g.<br />

Master Position Filter, when enabled, effectively filters the specified<br />

master axis position <strong>in</strong>put to the slave axis’s gear<strong>in</strong>g or position<br />

camm<strong>in</strong>g operation. The filter smoothes out the actual position signal<br />

from the master axis, and thus smoothes out the correspond<strong>in</strong>g<br />

motion of the slave axis.<br />

When this feature is enabled the Master Position Filter Bandwidth field<br />

is enabled.<br />

The Master Position Filter Bandwidth field is enabled when the Enable<br />

Position Filter checkbox is selected. This field controls the bandwidth<br />

for master position filter<strong>in</strong>g. Enter a value <strong>in</strong> Hz <strong>in</strong> this field to set the<br />

bandwidth to for the Master Position Filter.<br />

IMPORTANT<br />

A value of zero for Master Position Filter Bandwidth<br />

effectively disables the master position filter<strong>in</strong>g.


Units Tab<br />

Axis Properties C-11<br />

The Units Tab is the same for all axis data types. Use this tab to<br />

determ<strong>in</strong>e the units to def<strong>in</strong>e your motion axis.<br />

Position Units User-def<strong>in</strong>ed eng<strong>in</strong>eer<strong>in</strong>g units (rather than feedback counts) used for<br />

label<strong>in</strong>g all motion-related values (for example, position, velocity, and<br />

so on) These position units can be different for each axis.<br />

Note: Position Units should be chosen for maximum ease of use <strong>in</strong><br />

your application. For example, l<strong>in</strong>ear axes might use position units of<br />

Inches, Meters, or mm whereas rotary axes might use units of Revs or<br />

Degrees.<br />

Average Velocity Timebase Specifies the time (<strong>in</strong> seconds) to be used for calculat<strong>in</strong>g the average<br />

velocity of the axis. This value is computed by tak<strong>in</strong>g the total<br />

distance the axis travels <strong>in</strong> the amount of time specified, and divid<strong>in</strong>g<br />

this value by the timebase.<br />

The average velocity timebase value should be large enough to filter<br />

out the small changes <strong>in</strong> velocity that would result <strong>in</strong> a "noisy" velocity<br />

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C-12 Axis Properties<br />

Servo Tab - AXIS_SERVO<br />

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value, but small enough to track significant changes <strong>in</strong> axis velocity. A<br />

value of 0.25 to 0.50 seconds should work well for most applications.<br />

Click on the Apply button to accept your changes.<br />

Click on the Servo Tab from the Axis Properties for AXIS_SERVO to<br />

access the Servo dialog.<br />

External Drive Configuration Select the drive type for the servo loop:<br />

• Velocity - disables the servo module’s <strong>in</strong>ternal digital velocity<br />

loop.<br />

• Torque - the servo module’s <strong>in</strong>ternal digital velocity loop is<br />

active, which is the required configuration for <strong>in</strong>terfac<strong>in</strong>g the<br />

servo axis to a torque loop servo drive.<br />

• Hydraulic - enables features specific to hydraulic servo<br />

applications.


Axis Properties C-13<br />

Loop Configuration Select the configuration of the servo loop. For this release, only<br />

Position Servo is available.<br />

Enable Drive Fault Input Check this box if you wish to enable the Drive Fault Input. When<br />

active the motion module receives notice whenever the external drive<br />

detects a fault.<br />

Drive Fault Input Specifies the usual state of the drive fault <strong>in</strong>put when a fault is<br />

detected on the drive.<br />

Enable Direct Drive Ramp<br />

<strong>Control</strong><br />

• Normally Open – when a drive fault is detected it opens its drive<br />

fault output contacts.<br />

• Normally Closed – when a drive fault is detected it closes its<br />

drive fault output contacts.<br />

Click<strong>in</strong>g on the Enable Direct drive Ramp <strong>Control</strong> check box lets you<br />

set the Direct Drive Ramp Rate <strong>in</strong> volts per second for when an MDO<br />

<strong>in</strong>struction is executed.<br />

Direct Drive Ramp Rate The Direct Drive Ramp Rate is a slew rate for chang<strong>in</strong>g the output<br />

voltage when a Direct Drive On (MDO) <strong>in</strong>struction is executed. A<br />

Direct Drive Ramp Rate of 0 disables the output rate limiter lett<strong>in</strong>g the<br />

Direct Drive On voltage to be applied directly.<br />

Real Time Axis Information<br />

Attribute 1/Attribute 2 Select up to two axis attributes whose status are transmitted – along<br />

with the actual position data – to the Logix processor. The values of<br />

the selected attributes can be accessed via the standard GSV or Get<br />

Attribute List service.<br />

Note: The servo status data update time is precisely the coarse update<br />

period.<br />

If a GSV is done to one of these servo status attributes without hav<strong>in</strong>g<br />

selected this attribute via the Drive Info Select attribute, the attribute<br />

value is static and does not reflect the true value <strong>in</strong> the servo module.<br />

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C-14 Axis Properties<br />

Feedback Tab –<br />

(AXIS_SERVO)<br />

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The Feedback Tab allows you to select the type of Feedback used<br />

with your Servo axis.<br />

Feedback Type Select the appropriate Feedback for your current configuration. Your<br />

options are dependent upon the motion module to which the axis is<br />

associated.<br />

A Quadrature B Encoder<br />

Interface (AQB)<br />

Synchronous Serial Interface<br />

(SSI)<br />

The 1756-M02AE servo module provides <strong>in</strong>terface hardware to<br />

support <strong>in</strong>cremental quadrature encoders equipped with standard<br />

5-Volt differential encoder <strong>in</strong>terface signals. The AQB option has no<br />

associated attributes to configure.<br />

The 1756-M02AS servo module provides an <strong>in</strong>terface to transducers<br />

with Synchronous Serial Interface (SSI) outputs. SSI outputs use<br />

standard 5V differential signals (RS422) to transmit <strong>in</strong>formation from<br />

the transducer to the controller. The signals consist of a Clock<br />

generated by the controller and Data generated by the transducer.


L<strong>in</strong>ear Displacement<br />

Transducer (LDT)<br />

Axis Properties C-15<br />

The 1756-HYD02 Servo module provides an <strong>in</strong>terface to the L<strong>in</strong>ear<br />

Magnetostrictive Displacement Transducer, or LDT. A Field<br />

Programmable Gate Array (FPGA) is used to implement a<br />

multi-channel LDT Interface. Each channel is functionally equivalent<br />

and is capable of <strong>in</strong>terfac<strong>in</strong>g to an LDT device with a maximum count<br />

of 240,000. The LDT <strong>in</strong>terface has transducer failure detection and<br />

digital filter<strong>in</strong>g to reduce electrical noise.<br />

The Feedback screen changes <strong>in</strong> appearance depend<strong>in</strong>g on the<br />

selected Feedback Type.<br />

When the servo axis is associated with a 1756-M02AS motion module<br />

the only Feedback Type available is SSI-Synchronous Serial Interface<br />

and the Feedback Tab screen looks like the follow<strong>in</strong>g illustration.<br />

Code Type The type of code, either B<strong>in</strong>ary or Gray, used to report SSI output. If<br />

the module’s sett<strong>in</strong>g does not match the feedback device, the<br />

positions jump around erratically as the axis moves.<br />

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C-16 Axis Properties<br />

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Data Length The length of output data <strong>in</strong> a specified number of bits between 8 and<br />

31. The data length for the selected feedback device can be found <strong>in</strong><br />

its specifications.<br />

Clock Frequency Sets the clock frequency of the SSI device to either 208 (default) or<br />

625 kHz. When the higher clock frequency is used, the data from the<br />

feedback device is more recent, but the length of the cable to the<br />

transducer must be shorter than with the lower frequency.<br />

Enable Absolute Feedback This checkbox allows you to either enable (checked) or disable<br />

(unchecked) the Absolute Feedback feature. The default is enabled. If<br />

Enable Absolute Feedback is set, the servo module adds the Absolute<br />

Feedback Offset to the current position of the feedback device to<br />

establish the absolute mach<strong>in</strong>e reference position. Absolute feedback<br />

devices reta<strong>in</strong> their position reference even through a power-cycle,<br />

therefore the mach<strong>in</strong>e reference system can be restored at power-up.<br />

Absolute Feedback Offset If Absolute feedback is enabled, this field becomes active. You can<br />

enter the amount of offset, <strong>in</strong> position units, to be added to the<br />

current position of the Feedback device.<br />

The SSI is an absolute feedback device. To establish an appropriate<br />

value for the Offset, the MAH <strong>in</strong>struction can be executed with the<br />

Home Mode set to Absolute (the only valid option if Enable Absolute<br />

Feedback is enabled). When executed, the module computes the<br />

Absolute Feedback Offset as the difference between the configured<br />

value for Home Position and the current absolute feedback position of<br />

the axis. The computed Absolute Feedback Offset is immediately<br />

applied to the axis upon completion of the MAH <strong>in</strong>struction. The<br />

actual position of the axis is re-referenced dur<strong>in</strong>g execution of the<br />

MAH <strong>in</strong>struction therefore, the servo loop must not be active. If the<br />

servo loop is active, the MAH <strong>in</strong>struction errors.<br />

When the Enable Absolute Feedback is disabled, the servo module<br />

ignores the Absolute Feedback Offset and treats the feedback device<br />

as an <strong>in</strong>cremental position transducer. A hom<strong>in</strong>g or redef<strong>in</strong>e position<br />

operation is required to establish the absolute mach<strong>in</strong>e reference<br />

position. The Absolute Home Mode is <strong>in</strong>valid.<br />

Note: If us<strong>in</strong>g S<strong>in</strong>gle-turn or Multi-turn Absolute SSI Feedback<br />

transducers, see the Hom<strong>in</strong>g Tab <strong>in</strong>formation for important details<br />

concern<strong>in</strong>g Absolute feedback tranducer’s marker reference.


Axis Properties C-17<br />

When the servo axis is associated to a 1756-HYD02 motion module,<br />

then LDT - L<strong>in</strong>ear Displacement Transducer is the only option for<br />

Feedback Type.<br />

LDT Type This field selects the type of LDT to use to provide feedback to the<br />

Hydraulic module. The available types are PWM, Start/Stop Ris<strong>in</strong>g, or<br />

Start/Stop Fall<strong>in</strong>g.<br />

Recirculations Use this field to set the number of repetitions to use to acquire a<br />

measurement from an LDT.<br />

Calibration Constant This is a number that is engraved on the LDT by the manufacturer. It<br />

specifies the characteristics of the <strong>in</strong>dividual LDT. Each LDT has its<br />

own calibration constant therefore, if you change the LDT, you must<br />

change the Calibration constant.<br />

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C-18 Axis Properties<br />

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Length This value def<strong>in</strong>es the stroke of travel of the hydraulic cyl<strong>in</strong>der. The<br />

length value is used with the number of recirculations to determ<strong>in</strong>e<br />

the m<strong>in</strong>imum servo update period.<br />

Scal<strong>in</strong>g Scal<strong>in</strong>g def<strong>in</strong>es the relationship between the LDT unit of measure<br />

(length field) and the unit of measure def<strong>in</strong>ed at the Units Tab.<br />

Enable Absolute Feedback This field is grayed out because it is always active when Feedback<br />

Type is LDT.<br />

Absolute Feedback Offset Enter the amount of offset, <strong>in</strong> position units, to be added to the<br />

current position of the LDT.<br />

Calculated Values Conversion Constant<br />

The LDT is an absolute feedback device. To establish an appropriate<br />

value for the Offset, the MAH <strong>in</strong>struction can be executed with the<br />

Home Mode set to Absolute (the only valid option if Enable Absolute<br />

Feedback is enabled). When executed, the module computes the<br />

Absolute Feedback Offset as the difference between the configured<br />

value for Home Position and the current absolute feedback position of<br />

the axis. The computed Absolute Feedback Offset is immediately<br />

applied to the axis upon completion of the MAH <strong>in</strong>struction. The<br />

actual position of the axis is re-referenced dur<strong>in</strong>g execution of the<br />

MAH <strong>in</strong>struction therefore, the servo loop must not be active. If the<br />

servo loop is active, the MAH <strong>in</strong>struction errors.<br />

When the Enable Absolute Feedback is disabled, the servo module<br />

ignores the Absolute Feedback Offset and treats the feedback device<br />

as an <strong>in</strong>cremental position transducer. A hom<strong>in</strong>g or redef<strong>in</strong>e position<br />

operation is required to establish the absolute mach<strong>in</strong>e reference<br />

position. The Absolute Home Mode is <strong>in</strong>valid.<br />

The Conversion Constant is calculated from the values entered on the<br />

Feedback screen when the Calculate button is selected. This<br />

calculated value must be typed <strong>in</strong>to the Conversion Constant field on<br />

the Conversion tab as it is not automatically updated.<br />

M<strong>in</strong>imum Servo Update Period<br />

The M<strong>in</strong>imum Servo Update period is calculated based on the values<br />

entered for Recirculations and Length on the Feedback Tab. When


Drive/Motor Tab -<br />

(AXIS_SERVO_DRIVE)<br />

Axis Properties C-19<br />

these values are changed, select<strong>in</strong>g the Calculate button recalculates<br />

the M<strong>in</strong>imum Servo Update Period based on the new values.<br />

Calculate Button<br />

The Calculate Button becomes active whenever you make changes to<br />

the values on the Feedback Tab. Click<strong>in</strong>g on the Calculate Button<br />

recalculates the Conversion Constant and M<strong>in</strong>imum Servo Update<br />

Period values. however, you must then reenter the Conversion<br />

Constant value at the Conversion Tab as the values are not updated<br />

automatically.<br />

Use this tab to configure the servo loop for an AXIS_SERVO_DRIVE<br />

axis, and open the Change Catalog dialog box.<br />

Amplifier Catalog Number Select the catalog number of the amplifier to which this axis is<br />

connected.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-20 Axis Properties<br />

Catalog Number Select the catalog number of the motor associated with this axis.<br />

When you change a Motor Catalog Number, the controller recalculates<br />

the values of the follow<strong>in</strong>g values us<strong>in</strong>g (among other values) the<br />

default Damp<strong>in</strong>g Factor of 0.8.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Table 3.A<br />

On this tab or dialog: These attributes are recalculated:<br />

Motor Feedback tab Motor Feedback Type<br />

Motor Feedback Resolution<br />

Ga<strong>in</strong>s tab Position Proportional Ga<strong>in</strong>s Velocity<br />

Proportional Ga<strong>in</strong>s<br />

Dynamics tab Maximum Velocity<br />

Note: The Associated Module selection (selected on the General tab),<br />

determ<strong>in</strong>es available catalog numbers.<br />

Loop Configuration Select the configuration of the servo loop:<br />

Maximum Acceleration<br />

Limits tab<br />

Maximum Deceleration<br />

Position Error Tolerance<br />

Custom Stop Action Attributes dialog Stopp<strong>in</strong>g Torque<br />

Custom Limit Attributes dialog Velocity Limit<br />

Bipolar Velocity Limit<br />

Positive Velocity Limit<br />

Negative Acceleration Limit<br />

Bipolar Acceleration Limit<br />

Positive Acceleration Limit<br />

Negative Torque Limit<br />

Bipolar Torque Limit<br />

Positive Torque Limit<br />

Tune Bandwidth dialog Position Loop Bandwidth<br />

Velocity Loop Bandwidth<br />

• Motor Feedback Only – Displayed when Axis Configuration is<br />

Feedback only<br />

• Aux Feedback Only – Displayed when Axis Configuration is<br />

Feedback only


• Position Servo<br />

• Aux Position Servo (not applicable to Ultra3000 drives)<br />

• Dual Position Servo<br />

• Dual Command Servo<br />

• Aux Dual Command Servo<br />

• Velocity Servo<br />

• Torque Servo<br />

• Dual Command/Feedback Servo<br />

Axis Properties C-21<br />

Drive Resolution Type <strong>in</strong> the number of counts per motor revolution, motor <strong>in</strong>ch, or<br />

motor millimeter. This value applies to all position data. Valid values<br />

range from 1 to 2^32 - 1. One Least Significant Bit (LSB) for position<br />

data equals 360° / Rotational Position Resolution.<br />

Note: Drive Resolution is also referred to as Rotational Position<br />

Resolution.<br />

When you save an edited Drive Resolution value, a message box<br />

appears, ask<strong>in</strong>g you if you want the controller to automatically<br />

recalculate certa<strong>in</strong> attribute sett<strong>in</strong>gs.<br />

Drive Resolution is especially helpful for either fractional unw<strong>in</strong>d<br />

applications or multi-turn applications requir<strong>in</strong>g cyclic compensation.<br />

You can modify the Drive Resolution value so that divid<strong>in</strong>g it by the<br />

Unw<strong>in</strong>d Value yields a whole <strong>in</strong>teger value. The higher the Drive<br />

Resolution sett<strong>in</strong>g, the f<strong>in</strong>er the resolution.<br />

Drive Enable Input Check<strong>in</strong>g To activate Drive Enable Input Check<strong>in</strong>g click on the checkbox. When<br />

active (box is checked) the drive regularly monitors the state of the<br />

Drive Enable Input. This dedicated <strong>in</strong>put enables the drive’s power<br />

structure and servo loop. If Drive Enable Input Check<strong>in</strong>g is not active<br />

then no such check<strong>in</strong>g of the Drive Enable Input occurs.<br />

Drive Enable Input Fault Click on the checkbox to activate the Drive Enable Input Fault. When<br />

active, a fault detected on the external drive notifies the motion<br />

module via Drive Fault Input.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-22 Axis Properties<br />

Real Time Axis Information<br />

Attribute 1/Attribute 2 Select up to two axis attributes whose status are transmitted – along<br />

with the actual position data – to the Logix processor. The values of<br />

the selected attributes can be accessed via the standard GSV or Get<br />

Attribute List service.<br />

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Note: The servo status data update time is precisely the coarse update<br />

period.<br />

If a GSV is done to one of these servo status attributes without the<br />

hav<strong>in</strong>g selected this attribute via the Drive Info Select attribute, the<br />

attribute value is static and does not reflect the true value <strong>in</strong> the servo<br />

module.<br />

Change Catalog…button The Change Catalog button accesses the motor database and provides<br />

for select<strong>in</strong>g a new motor catalog number. There are three boxes that<br />

can be used for ref<strong>in</strong>e the selection process.<br />

Catalog Number Lists the available catalog numbers from the Motor Database based on<br />

any selection criteria from the Filters fields.


Axis Properties C-23<br />

Filters There are three optional Filter fields that allow you to ref<strong>in</strong>e your<br />

search of the Motor Database. The Filter boxes are defaulted to all.<br />

Voltage<br />

Lets you select a voltage rat<strong>in</strong>g from the pull-down list to broaden or<br />

narrow your search. The default is all.<br />

Family<br />

The Family filter box pull down list lets you narrow your motor search<br />

by restrict<strong>in</strong>g it to a particular family of motors. The default is all.<br />

Feedback Type<br />

The Feedback Type filter box pull-down list lets you manipulate your<br />

motor search by acceptable Feedback types. The default is all.<br />

Calculate... button The Calculate Button takes you to an <strong>in</strong>put screen that is designed to<br />

calculate the Drive Resolution and Conversion Constant based upon<br />

your <strong>in</strong>put for Position Unit Scal<strong>in</strong>g and Position Range for L<strong>in</strong>ear<br />

Position<strong>in</strong>g mode. If you are <strong>in</strong> Rotary Position<strong>in</strong>g Mode then it<br />

calculates the Drive Resolution, Conversion Constant, and Position<br />

Unw<strong>in</strong>d based upon your <strong>in</strong>puts for Position Unit Scal<strong>in</strong>g and Position<br />

Unit Unw<strong>in</strong>d.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-24 Axis Properties<br />

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When the Conversion screen has L<strong>in</strong>ear as the value for Position<br />

Mode, click<strong>in</strong>g on the Calculate button displays the follow<strong>in</strong>g screen.<br />

Position Unit Scal<strong>in</strong>g Position Unit Scal<strong>in</strong>g def<strong>in</strong>es the relationship between the Position<br />

Units def<strong>in</strong>ed on the Units tab and the units selected to measure<br />

position.<br />

Per The units used for Position Unit Scal<strong>in</strong>g. The options are: Motor Inch,<br />

Motor Millimeter, or Motor Rev<br />

Position Range Maximum travel limit that your system can go.<br />

Position Unit Unw<strong>in</strong>d For Rotary applications, the Position Unit Unw<strong>in</strong>d field displays. Enter<br />

the value for the maximum number of unw<strong>in</strong>ds <strong>in</strong> position units per<br />

unw<strong>in</strong>d cycle.


Axis Properties C-25<br />

Calculate Parameters The Calculate Parameters shows the values that are to be calculated<br />

based upon the values entered for the Position Unit Scal<strong>in</strong>g and<br />

Position Range.<br />

Drive Resolution Recalculates the resolution based upon the new values entered on this<br />

screen.<br />

Conversion Constant Recalculates the Conversion Constant based upon the new values<br />

entered on this screen.<br />

When the Conversion screen has Rotary as the value for Position<br />

Mode, click<strong>in</strong>g on the Calculate button displays the follow<strong>in</strong>g screen.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-26 Axis Properties<br />

Motor Feedback Tab -<br />

AXIS_SERVO_DRIVE<br />

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Use this tab to configure motor and auxiliary feedback device (if any)<br />

parameters, for an axis of the type AXIS_SERVO_DRIVE.<br />

Note: The Axis Configuration selection made on the General tab, and<br />

the Loop Configuration selection made on the Drive tab determ<strong>in</strong>e<br />

which sections of this dialog box – Motor and Auxiliary Feedback –<br />

are enabled.<br />

Feedback Type This field displays the type of feedback associated with the selected<br />

motor.<br />

Cycles The number of cycles of the associated feedback device. This helps<br />

the Drive Compute Conversion constant used to convert drive units to<br />

feedback counts. Depend<strong>in</strong>g on the feedback type you select, this<br />

value may be either read-only or editable.<br />

Per The units used to measure the cycles.


Aux Feedback Tab -<br />

AXIS_SERVO_DRIVE<br />

Axis Properties C-27<br />

Interpolation Factor This field displays a fixed, read-only value for each feedback type.<br />

This value is used to compute the resolution of the feedback device.<br />

The Auxiliary Feedback Tab is enabled only if the Drive tab’s Loop<br />

Configuration field is set to Aux Feedback Only, Aux Position Servo,<br />

Dual Position Servo, Dual Command Servo, or Aux Dual Command<br />

Servo.<br />

Use this tab to configure motor and auxiliary feedback device (if any)<br />

parameters, for an axis of the type AXIS_SERVO_DRIVE.<br />

Feedback Type For applications that use auxiliary feedback devices, select the type of<br />

auxiliary feedback device type. These are drive dependent.<br />

Cycles The number of cycles of the auxiliary feedback device. This helps the<br />

Drive Compute Conversion constant used to convert drive units to<br />

feedback counts. Depend<strong>in</strong>g on the feedback type selected, this value<br />

may either be read-only or editable.<br />

Per The units used to measure the cycles.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-28 Axis Properties<br />

Interpolation Factor This field displays a fixed constant value for the selected feedback<br />

type. This value is used to compute the resolution of the feedback<br />

device.<br />

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Feedback Ratio Represents the quantitative relationship between the auxiliary<br />

feedback device and the motor.<br />

Click on the Conversion Tab to access the Axis Properties Conversion<br />

dialog.<br />

The differences <strong>in</strong> the appearance of the Conversion Tab screens for<br />

the AXIS_SERVO and AXIS_SERVO_DRIVE are the default values for


Conversion Tab<br />

Axis Properties C-29<br />

Conversion Constant and Position Unw<strong>in</strong>d and the labels for these<br />

values.<br />

Use this tab to view/edit the Position<strong>in</strong>g Mode, Conversion Constant,<br />

and if configured as Rotary, the Unw<strong>in</strong>d values for an axis, of the tag<br />

types AXIS_SERVO, AXIS_SERVO_DRIVE and AXIS_VIRTUAL.<br />

Position<strong>in</strong>g Mode This parameter is not editable for an axis of the data type<br />

AXIS_CONSUMED. Instead, this value is set <strong>in</strong> and taken from a<br />

produc<strong>in</strong>g axis <strong>in</strong> a networked Logix processor. This value can be<br />

edited for AXIS_SERVO, AXIS_SERVO_DRIVE and AXIS_VIRTUAL.<br />

The option are:<br />

• L<strong>in</strong>ear - provides a maximum total l<strong>in</strong>ear travel of 1 billion<br />

feedback counts. With this mode, the unw<strong>in</strong>d feature is disabled<br />

and you can limit the l<strong>in</strong>ear travel distance traveled by the axis<br />

by specify<strong>in</strong>g the positive and negative travel limits for the axis.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-30 Axis Properties<br />

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• Rotary - enables the rotary unw<strong>in</strong>d capability of the axis. This<br />

feature provides <strong>in</strong>f<strong>in</strong>ite position range by unw<strong>in</strong>d<strong>in</strong>g the axis<br />

position whenever the axis moves through a complete unw<strong>in</strong>d<br />

distance. The number of encoder counts per unw<strong>in</strong>d of the axis<br />

is specified by the Position Unw<strong>in</strong>d parameter.<br />

Conversion Constant Type the number of feedback counts per position unit. This<br />

conversion – or “K” – constant allows axis position to be displayed,<br />

and motion to be programmed, <strong>in</strong> the position units set <strong>in</strong> the Units<br />

tab. The conversion constant is used to convert axis position units <strong>in</strong>to<br />

feedback counts and vice versa for the AXIS_SERVO type and for the<br />

AXIS_SERVO_DRIVE, the number of counts per motor revolution, as<br />

set <strong>in</strong> the Drive Resolution field of the Drive tab.<br />

Hom<strong>in</strong>g Tab - AXIS_SERVO<br />

and AXIS_SERVO_DRIVE<br />

Position Unw<strong>in</strong>d This parameter is not editable for an axis of the data type<br />

AXIS_CONSUMED. Instead, this value is set <strong>in</strong> and taken from a<br />

produc<strong>in</strong>g axis <strong>in</strong> a networked Logix processor. For a Rotary axis<br />

(AXIS_SERVO), this value represents the distance (<strong>in</strong> feedback counts)<br />

used to perform automatic electronic unw<strong>in</strong>d. Electronic unw<strong>in</strong>d<br />

allows <strong>in</strong>f<strong>in</strong>ite position range for rotary axes by subtract<strong>in</strong>g the<br />

unw<strong>in</strong>d distance from both the actual and command position, every<br />

time the axis travels the unw<strong>in</strong>d distance.<br />

For axes of the type AXIS_SERVO_DRIVE:<br />

• when you save an edited Conversion Constant or a Drive<br />

Resolution value, a message box appears, ask<strong>in</strong>g you if you<br />

want the controller to automatically recalculate certa<strong>in</strong> attribute<br />

sett<strong>in</strong>gs. (Refer to Conversion Constant and Drive Resolution<br />

Attributes.)<br />

• the label <strong>in</strong>dicates the number of counts per motor revolution,<br />

as set <strong>in</strong> the Drive Resolution field of the Drive tab.<br />

Click on Apply to accept your changes.<br />

Use this tab to configure the attributes related to hom<strong>in</strong>g an axis of the<br />

type AXIS_SERVO or AXIS_SERVO_DRIVE.


Mode Select the hom<strong>in</strong>g mode:<br />

Axis Properties C-31<br />

• Active: In this mode, the desired hom<strong>in</strong>g sequence is selected by<br />

specify<strong>in</strong>g whether a home limit switch and/or the encoder<br />

marker is used for this axis. Active hom<strong>in</strong>g sequences always<br />

use the trapezoidal velocity profile. For LDT and SSI feedback<br />

selections, the only valid Home Sequences for Hom<strong>in</strong>g Mode<br />

are immediate or switch, as no physical marker exists for the<br />

LDT or SSI feedback devices.<br />

• Passive: In this mode, hom<strong>in</strong>g redef<strong>in</strong>es the absolute position of<br />

the axis on the occurrence of a home switch or encoder marker<br />

event. Passive hom<strong>in</strong>g is most commonly used to calibrate<br />

uncontrolled axes, although it can also be used with controlled<br />

axes to create a custom hom<strong>in</strong>g sequence. Passive hom<strong>in</strong>g, for a<br />

given home sequence, works similar to the correspond<strong>in</strong>g active<br />

hom<strong>in</strong>g sequence, except that no motion is commanded; the<br />

controller just waits for the switch and marker events to occur.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-32 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

• Absolute: (AXIS_SERVO_DRIVE, and AXIS_SERVO when<br />

associated with a 1756-HYD02 [LDT feedback] or 1756-M02AS<br />

[SSI feedback] module only) In this mode, the absolute hom<strong>in</strong>g<br />

process establishes the true absolute position of the axis by<br />

apply<strong>in</strong>g the configured Home Position to the reported position<br />

of the absolute feedback device. The only valid Home Sequence<br />

for an absolute Hom<strong>in</strong>g Mode is immediate. In the LDT and SSI<br />

cases, the absolute hom<strong>in</strong>g process establishes the true absolute<br />

position of the axis by apply<strong>in</strong>g the configured Home Position<br />

less any enabled Absolute Feedback Offset to the reported<br />

position of the absolute feedback device. Prior to execution of<br />

the absolute hom<strong>in</strong>g process us<strong>in</strong>g the MAH <strong>in</strong>struction, the axis<br />

must be <strong>in</strong> the Axis Ready state with the servo loop disabled.<br />

IMPORTANT<br />

For the SSI feedback transducer no physical marker<br />

pulse exists. However, a pseudo marker reference is<br />

established by the M02AS module firmware at the<br />

feedback device’s roll over po<strong>in</strong>t. A s<strong>in</strong>gle-turn<br />

Absolute SSI feedback device rolls over at its<br />

maximum “turns count” = 1 rev. A multi-turn<br />

Absolute SSI feedback device (there are multiple revs<br />

or feedback-baseunit-distances) the device rolls over<br />

at its maximum “turns count” which is usually either<br />

1024 or 2048.<br />

If you need to establish the rollover of the feedback<br />

device, a ladder rung us<strong>in</strong>g an SSV to set<br />

Home_Sequence equal “Home to marker” with the<br />

follow<strong>in</strong>g parameters: Class Name = SSI_Axis,<br />

Attribute_Name = Home_Sequence, and Value = 2<br />

(to Marker) must be added to the application<br />

program (cannot be set Axis Properties and must be<br />

reset back to its <strong>in</strong>itial value 0 = Immediate or 1 =<br />

Switch after establish<strong>in</strong>g the rollover). The Home<br />

Sequence = to Marker must be used to allow<br />

feedback to travel until the rollover (that is, pseudo<br />

marker) is found. This must be done without the<br />

motor attached to any axis as this could cause up to<br />

Maximum number of turn’s before pseudo marker is<br />

found.<br />

Position Type the desired absolute position, <strong>in</strong> position units, for the axis after<br />

the specified hom<strong>in</strong>g sequence has been completed. In most cases,<br />

this position is set to zero, although any value with<strong>in</strong> the software<br />

travel limits can be used. After the hom<strong>in</strong>g sequence is complete, the<br />

axis is left <strong>in</strong> this position.


Axis Properties C-33<br />

If the Position<strong>in</strong>g Mode (set <strong>in</strong> the Conversion tab) of the axis is<br />

L<strong>in</strong>ear, then the home position should be with<strong>in</strong> the travel limits, if<br />

enabled. If the Position<strong>in</strong>g Mode is Rotary, then the home position<br />

should be less than the unw<strong>in</strong>d distance <strong>in</strong> position units.<br />

Offset Type the desired offset (if any) <strong>in</strong> position units the axis is to move,<br />

upon completion of the hom<strong>in</strong>g sequence, to reach the home<br />

position. In most cases, this value is zero.<br />

Sequence Select the event that causes the Home Position to be set:<br />

Table 3.B<br />

Sequence Type: Description:<br />

Immediate Sets the Home Position to the present actual position,<br />

without motion.<br />

Switch Sets the Home Position when axis motion encounters a<br />

home limit switch.<br />

Marker Sets the Home Position when axis encounters an encoder<br />

marker.<br />

Switch-Marker Sets the Home Position when axis first encounters a<br />

home limit switch, then encounters an encoder marker.<br />

Note: See the section “Hom<strong>in</strong>g Configurations,” below, for a detailed<br />

description of each comb<strong>in</strong>ation of hom<strong>in</strong>g mode, sequence and<br />

direction.<br />

Limit Switch If a limit switch is used, <strong>in</strong>dicate the normal state of that switch (that<br />

is, before be<strong>in</strong>g engaged by the axis dur<strong>in</strong>g the hom<strong>in</strong>g sequence):<br />

• Normally Open<br />

• Normally Closed<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-34 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Direction For active hom<strong>in</strong>g sequences, except for the Immediate Sequence<br />

type, select the desired hom<strong>in</strong>g direction:<br />

Table 3.C<br />

Direction Description<br />

Forward Uni-directional The axis jogs <strong>in</strong> the positive axial direction until a hom<strong>in</strong>g<br />

event (switch or marker) is encountered, then cont<strong>in</strong>ues <strong>in</strong><br />

the same direction until axis motion stops (after<br />

decelerat<strong>in</strong>g or mov<strong>in</strong>g the Offset distance).<br />

Forward Bi-directional The axis jogs <strong>in</strong> the positive axial direction until a hom<strong>in</strong>g<br />

event (switch or marker) is encountered, then reverses<br />

direction until motion stops (after decelerat<strong>in</strong>g or mov<strong>in</strong>g<br />

the Offset distance).<br />

Reverse Uni-directional The axis jogs <strong>in</strong> the negative axial direction until a<br />

hom<strong>in</strong>g event (switch or marker) is encountered, then<br />

cont<strong>in</strong>ues <strong>in</strong> the same direction until axis motion stops<br />

(after decelerat<strong>in</strong>g or mov<strong>in</strong>g the Offset distance).<br />

Reverse Bi-directional The axis jogs <strong>in</strong> the negative axial direction until a<br />

hom<strong>in</strong>g event (switch or marker) is encountered, then<br />

reverses direction until motion stops (after decelerat<strong>in</strong>g<br />

or mov<strong>in</strong>g the Offset distance).<br />

Speed Type the speed of the jog profile used <strong>in</strong> the first leg of an active<br />

hom<strong>in</strong>g sequence. The hom<strong>in</strong>g speed specified should be less than<br />

the maximum speed and greater than zero.<br />

Return Speed The speed of the jog profile used <strong>in</strong> the return leg(s) of an active<br />

hom<strong>in</strong>g sequence. The home return speed specified should be less<br />

than the maximum speed and greater than zero.


Hom<strong>in</strong>g Tab -<br />

AXIS_VIRTUAL<br />

Axis Properties C-35<br />

Use this tab to configure the attributes related to hom<strong>in</strong>g an axis of the<br />

type AXIS_VIRTUAL.<br />

Only an Active Immediate Hom<strong>in</strong>g sequence can be performed for an<br />

axis of the type AXIS_VIRTUAL. When this sequence is performed, the<br />

controller immediately enables the servo drive and assigns the Home<br />

Position to the current axis actual position and command position.<br />

This hom<strong>in</strong>g sequence produces no axis motion.<br />

Mode This read-only parameter is always set to Active.<br />

Position Type the desired absolute position, <strong>in</strong> position units, for the axis after<br />

the specified hom<strong>in</strong>g sequence has been completed. In most cases,<br />

this position is set to zero, although any value with<strong>in</strong> the software<br />

travel limits can be used. After the hom<strong>in</strong>g sequence is complete, the<br />

axis is left at this position.<br />

If the Position<strong>in</strong>g Mode (set <strong>in</strong> the Conversion tab) of the axis is<br />

L<strong>in</strong>ear, then the home position should be with<strong>in</strong> the travel limits, if<br />

enabled. If the Position<strong>in</strong>g Mode is Rotary, then the home position<br />

should be less than the unw<strong>in</strong>d distance <strong>in</strong> position units.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-36 Axis Properties<br />

Hookup Tab - AXIS_SERVO<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Sequence This read-only parameter is always set to Immediate.<br />

Use this tab to configure and <strong>in</strong>itiate axis hookup and marker test<br />

sequences for an axis of the type AXIS_SERVO.<br />

When a parameter transitions to a read-only state, any pend<strong>in</strong>g<br />

changes to parameter values are lost, and the parameter reverts to the<br />

most recently saved parameter value.<br />

Test Increment Specifies the amount of distance traversed by the axis when execut<strong>in</strong>g<br />

the Output & Feedback test. The default value is set to approximately<br />

a quarter of a revolution of the motor <strong>in</strong> position units.<br />

Feedback Polarity The polarity of the encoder feedback, this field is automatically set by<br />

execut<strong>in</strong>g either the Feedback Test or the Output & Feedback Test:<br />

• Positive<br />

• Negative<br />

Note: When properly configured, this sett<strong>in</strong>g <strong>in</strong>sures that axis Actual<br />

Position value <strong>in</strong>creases when the axis is moved <strong>in</strong> the user def<strong>in</strong>ed


Axis Properties C-37<br />

positive direction. This bit can be configured automatically us<strong>in</strong>g the<br />

MRHD and MAHD motion <strong>in</strong>structions.<br />

ATT<strong>EN</strong>TION<br />

Output Polarity The polarity of the servo output to the drive, this field is automatically<br />

set by execut<strong>in</strong>g the Output & Feedback Test:<br />

• Positive<br />

• Negative<br />

Modify<strong>in</strong>g automatically <strong>in</strong>put polarity values by<br />

runn<strong>in</strong>g the Feedback or Output & Feedback Tests<br />

can cause a runaway condition result<strong>in</strong>g <strong>in</strong><br />

unexpected motion, damage to the equipment, and<br />

physical <strong>in</strong>jury or death.<br />

Note: When properly configured, this sett<strong>in</strong>g and the Feedback<br />

Polarity sett<strong>in</strong>g <strong>in</strong>sure that, when the axis servo loop is closed, it is<br />

closed as a negative feedback system and not an unstable positive<br />

feedback system. This bit can be configured automatically us<strong>in</strong>g the<br />

MRHD and MAHD motion <strong>in</strong>structions.<br />

Test Marker Runs the Marker test, which ensures that the encoder A, B, and Z<br />

channels are connected correctly and phased properly for marker<br />

detection. When the test is <strong>in</strong>itiated, you must manually move the axis<br />

one revolution for the system to detect the marker. If the marker is not<br />

detected, check the encoder wir<strong>in</strong>g and try aga<strong>in</strong>.<br />

Test Feedback Runs the Feedback Test, which checks and, if necessary, reconfigures<br />

the Feedback Polarity sett<strong>in</strong>g. When the test is <strong>in</strong>itiated, you must<br />

manually move the axis one revolution for the system to detect the<br />

marker. If the marker is not detected, check the encoder wir<strong>in</strong>g and<br />

try aga<strong>in</strong>.<br />

Test Output & Feedback Runs the Output & Feedback Test, which checks and, if necessary,<br />

reconfigures both the polarity of encoder feedback (the Feedback<br />

Polarity sett<strong>in</strong>g) and the polarity of the servo output to the drive (the<br />

Output Polarity sett<strong>in</strong>g), for an axis configured for Servo operation <strong>in</strong><br />

the General tab.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-38 Axis Properties<br />

Hookup Tab Overview -<br />

AXIS_SERVO_DRIVE<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Note: Execut<strong>in</strong>g any test operation automatically saves all changes to<br />

axis properties.<br />

Use this tab to configure and <strong>in</strong>itiate axis hookup and marker test<br />

sequences for an axis of the type AXIS_SERVO_DRIVE.<br />

When a parameter transitions to a read-only state, any pend<strong>in</strong>g<br />

changes to parameter values are lost, and the parameter reverts to the<br />

most recently saved parameter value.<br />

Test Increment Specifies the amount of distance traversed by the axis when execut<strong>in</strong>g<br />

the Command & Feedback test. The default value is set to<br />

approximately a quarter of a revolution of the motor <strong>in</strong> position units.<br />

Drive Polarity The polarity of the servo loop of the drive, set by execut<strong>in</strong>g the<br />

Command & Feedback Test:<br />

• Positive


• Negative<br />

Axis Properties C-39<br />

Note: Proper wir<strong>in</strong>g guarantees that the servo loop is closed with<br />

negative feedback. However there is no guarantee that the servo drive<br />

has the same sense of forward direction as the user for a given<br />

application. Negative Polarity <strong>in</strong>verts the polarity of both the<br />

command position and actual position data of the servo drive. Thus,<br />

select<strong>in</strong>g either Positive or Negative Drive Polarity makes it possible to<br />

configure the positive direction sense of the drive to agree with that of<br />

the user. This attribute can be configured automatically us<strong>in</strong>g the<br />

MRHD and MAHD motion <strong>in</strong>structions.<br />

ATT<strong>EN</strong>TION<br />

Modify<strong>in</strong>g polarity values, automatically <strong>in</strong>put by<br />

runn<strong>in</strong>g the Command & Feedback Test, can cause a<br />

runaway condition.<br />

Test Marker Runs the Marker test, which ensures that the encoder A, B, and Z<br />

channels are connected correctly and phased properly for marker<br />

detection. When the test is <strong>in</strong>itiated, you must manually move the axis<br />

one revolution for the system to detect the marker. If the marker is not<br />

detected, check the encoder wir<strong>in</strong>g and try aga<strong>in</strong>.<br />

Test Feedback Runs the Feedback Test, which checks and, if necessary, reconfigures<br />

the Feedback Polarity sett<strong>in</strong>g. When the test is <strong>in</strong>itiated, you must<br />

manually move the axis one revolution for the system to detect the<br />

marker. If the marker is not detected, check the encoder wir<strong>in</strong>g and<br />

try aga<strong>in</strong>.<br />

Test Command & Feedback Runs the Command & Feedback Test, which checks and, if necessary,<br />

reconfigures both the polarity of encoder feedback (the Feedback<br />

Polarity sett<strong>in</strong>g) and the polarity of the servo output to the drive (the<br />

Output Polarity sett<strong>in</strong>g), for an axis configured for Servo operation <strong>in</strong><br />

the General tab.<br />

Note: Execut<strong>in</strong>g any test operation automatically saves all changes to<br />

axis properties.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-40 Axis Properties<br />

Tune Tab - AXIS_SERVO,<br />

AXIS_SERVO_DRIVE<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Use this tab to configure and <strong>in</strong>itiate the axis tun<strong>in</strong>g sequence for an<br />

axis of the types AXIS_SERVO or AXIS_SERVO_DRIVE.<br />

Travel Limit Specifies a limit to the excursion of the axis dur<strong>in</strong>g the tune test. If the<br />

servo module determ<strong>in</strong>es that the axis is not able to complete the<br />

tun<strong>in</strong>g process before exceed<strong>in</strong>g the tun<strong>in</strong>g travel limit, it term<strong>in</strong>ates<br />

the tun<strong>in</strong>g profile and report that this limit was exceeded.<br />

Torque/Force<br />

(AXIS_SERVO_DRIVE)<br />

Speed Determ<strong>in</strong>es the maximum speed for the tune process. This value<br />

should be set to the desired maximum operat<strong>in</strong>g speed of the motor<br />

(<strong>in</strong> eng<strong>in</strong>eer<strong>in</strong>g units) prior to runn<strong>in</strong>g the tune test.<br />

The maximum torque of the tune test. Force is used only when a<br />

l<strong>in</strong>ear motor is connected to the application. This attribute should be<br />

set to the desired maximum safe torque level prior to runn<strong>in</strong>g the tune<br />

test. The default value is 100%, which yields the most accurate<br />

measure of the acceleration and deceleration capabilities of the<br />

system.


Axis Properties C-41<br />

Note: In some cases a lower tun<strong>in</strong>g torque limit value may be<br />

desirable to limit the stress on the mechanics dur<strong>in</strong>g the tun<strong>in</strong>g<br />

procedure. In this case the acceleration and deceleration capabilities<br />

of the system are extrapolated based on the ratio of the tun<strong>in</strong>g torque<br />

to the maximum torque output of the system. Extrapolation error<br />

<strong>in</strong>creases as the Tun<strong>in</strong>g Torque value decreases.<br />

Torque (AXIS_SERVO) The maximum torque of the tune test. This attribute should be set to<br />

the desired maximum safe torque level prior to runn<strong>in</strong>g the tune test.<br />

The default value is 100%, which yields the most accurate measure of<br />

the acceleration and deceleration capabilities of the system.<br />

Note: In some cases a lower tun<strong>in</strong>g torque limit value may be<br />

desirable to limit the stress on the mechanics dur<strong>in</strong>g the tun<strong>in</strong>g<br />

procedure. In this case the acceleration and deceleration capabilities<br />

of the system are extrapolated based on the ratio of the tun<strong>in</strong>g torque<br />

to the maximum torque output of the system. Extrapolation error<br />

<strong>in</strong>creases as the Tun<strong>in</strong>g Torque value decreases.<br />

Direction The direction of the tun<strong>in</strong>g motion profile. The follow<strong>in</strong>g options are<br />

available:<br />

• Forward Uni-directional – the tun<strong>in</strong>g motion profile is <strong>in</strong>itiated<br />

<strong>in</strong> the forward tun<strong>in</strong>g direction only.<br />

• Forward Bi-directional – the tun<strong>in</strong>g motion profile is first<br />

<strong>in</strong>itiated <strong>in</strong> the forward tun<strong>in</strong>g direction and then, if successful,<br />

is repeated <strong>in</strong> the reverse direction. Information returned by the<br />

Bi-directional Tun<strong>in</strong>g profile can be used to tune Friction<br />

Compensation and Torque Offset.<br />

• Reverse Uni-directional – the tun<strong>in</strong>g motion profile is <strong>in</strong>itiated <strong>in</strong><br />

the reverse tun<strong>in</strong>g direction only.<br />

• Reverse Bi-directional – the tun<strong>in</strong>g motion profile is first <strong>in</strong>itiated<br />

<strong>in</strong> the reverse tun<strong>in</strong>g direction and then, if successful, is<br />

repeated <strong>in</strong> the forward direction. Information returned by the<br />

Bi-directional Tun<strong>in</strong>g profile can be used to tune Friction<br />

Compensation and Torque Offset.<br />

Damp<strong>in</strong>g Factor Specifies the dynamic response of the servo axis. The default is set to<br />

0.8. When ga<strong>in</strong>s are tuned us<strong>in</strong>g a small damp<strong>in</strong>g factor, a step<br />

response test performed on the axis may generate uncontrolled<br />

oscillation. The ga<strong>in</strong>s generated us<strong>in</strong>g a larger damp<strong>in</strong>g factor would<br />

produce a system step response that has no overshoot and is stable,<br />

but may be sluggish <strong>in</strong> response to changes.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-42 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Note: The tun<strong>in</strong>g procedure uses the Damp<strong>in</strong>g Factor that is set <strong>in</strong> this<br />

field. However, when the controller recalculates certa<strong>in</strong> attributes <strong>in</strong><br />

response to a Motor Catalog Number change (on the Motor/Feedback<br />

tab), the controller uses the default Damp<strong>in</strong>g Factor value of 0.8, and<br />

not a different value set <strong>in</strong> this field.<br />

Tune Select the ga<strong>in</strong>s to be determ<strong>in</strong>ed by the tun<strong>in</strong>g test:<br />

• Position Error Integrator – determ<strong>in</strong>es whether or not to<br />

calculate a value for the Position Integral Ga<strong>in</strong>.<br />

• Velocity Feedforward – determ<strong>in</strong>es whether or not to calculate a<br />

value for the Velocity Feedforward Ga<strong>in</strong>.<br />

• Velocity Error Integrator – determ<strong>in</strong>es whether or not to<br />

calculate a value for the Velocity Integral Ga<strong>in</strong>.<br />

• Acceleration Feedforward – determ<strong>in</strong>es whether or not to<br />

calculate a value for the Acceleration Feedforward Ga<strong>in</strong>.<br />

• Friction Compensation – determ<strong>in</strong>es whether or not to calculate<br />

a value for the Friction Compensation Ga<strong>in</strong>.<br />

• Torque Offset – determ<strong>in</strong>es whether or not to calculate a value<br />

for the Torque Offset. This tun<strong>in</strong>g configuration is only valid if<br />

configured for bidirectional tun<strong>in</strong>g.<br />

• Output Filter – determ<strong>in</strong>es whether or not to calculate a value<br />

for the Output Filter Bandwidth.


Dynamics Tab<br />

Axis Properties C-43<br />

Start Tun<strong>in</strong>g Click on this button to beg<strong>in</strong> the tun<strong>in</strong>g test. If the tun<strong>in</strong>g process<br />

completes successfully the follow<strong>in</strong>g attributes are set.<br />

Table 3.D<br />

On this tab: These attributes are set:<br />

Ga<strong>in</strong>s tab Velocity Feedforward Ga<strong>in</strong> (if checked under Tune, above)<br />

Acceleration Feedforward Ga<strong>in</strong> (if checked under Tune, above)<br />

Position Proportional Ga<strong>in</strong> Position Integral Ga<strong>in</strong> (if checked under<br />

Tune, above)<br />

Velocity Proportional Ga<strong>in</strong> Velocity Integral Ga<strong>in</strong> (if checked under<br />

Tune, above)<br />

Dynamics tab Maximum Velocity<br />

Maximum Acceleration<br />

Maximum Deceleration<br />

Output tab Torque Scal<strong>in</strong>g<br />

Velocity Scal<strong>in</strong>g (AXIS_SERVO only)<br />

Low Pass Output Filter (see Note, below)<br />

Limits Position Error Tolerance<br />

The Tune Bandwidth dialog opens for Servo drives, where you can<br />

"tweak" bandwidth values.<br />

Note: Dur<strong>in</strong>g tun<strong>in</strong>g, if the controller detects a high degree of tun<strong>in</strong>g<br />

<strong>in</strong>ertia, it enables the Low Pass Output Filter and calculates and sets a<br />

value for Low Pass Output Filter Bandwidth.<br />

Execut<strong>in</strong>g a Tune operation automatically saves all changes to axis<br />

properties.<br />

ATT<strong>EN</strong>TION<br />

This tun<strong>in</strong>g procedure may cause axis motion with<br />

the controller <strong>in</strong> program mode. Unexpected motion<br />

may cause damage to the equipment, personal<br />

<strong>in</strong>jury, or death.<br />

Use this tab to view or edit the dynamics related parameters for an<br />

axis of the type AXIS_SERVO or AXIS_SERVO_DRIVE configured for<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-44 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Servo operations <strong>in</strong> the General tab of this dialog box, or<br />

AXIS_VIRTUAL.<br />

IMPORTANT<br />

The parameters on this tab can be edited <strong>in</strong> either of<br />

two ways:<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by


Axis Properties C-45<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Maximum Velocity The steady-state speed of the axis, it is <strong>in</strong>itially set to Tun<strong>in</strong>g Speed by<br />

the tun<strong>in</strong>g process. This value is typically set to about 90% of the<br />

maximum speed rat<strong>in</strong>g of the motor. This provides sufficient<br />

“head-room” for the axis to operate at all times with<strong>in</strong> the speed<br />

limitations of the motor. Any change <strong>in</strong> value, caused by manually<br />

chang<strong>in</strong>g the sp<strong>in</strong> control, is <strong>in</strong>stantaneously sent to the controller.<br />

Maximum Acceleration The maximum acceleration rate of the axis, <strong>in</strong> Position Units/second,<br />

it is <strong>in</strong>itially set to about 85% of the measured tun<strong>in</strong>g acceleration rate<br />

by the tun<strong>in</strong>g process. If set manually, this value should typically be<br />

set to about 85% of the maximum acceleration rate of the axis. This<br />

provides sufficient “<br />

head-room” for the axis to operate at all times with<strong>in</strong> the acceleration<br />

limits of the drive and motor. Any change <strong>in</strong> value, caused by<br />

manually chang<strong>in</strong>g the sp<strong>in</strong> control, is <strong>in</strong>stantaneously sent to the<br />

controller.<br />

Maximum Deceleration The maximum deceleration rate of the axis, <strong>in</strong> Position Units/second,<br />

it is <strong>in</strong>itially set to about 85% of the measured tun<strong>in</strong>g deceleration rate<br />

by the tun<strong>in</strong>g process. If set manually, this value should typically be<br />

set to about 85% of the maximum deceleration rate of the axis. This<br />

provides sufficient “head-room” for the axis to operate at all times<br />

with<strong>in</strong> the deceleration limits of the drive and motor. Any change <strong>in</strong><br />

value, caused by manually chang<strong>in</strong>g the sp<strong>in</strong> control, is<br />

<strong>in</strong>stantaneously sent to the controller.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-46 Axis Properties<br />

Ga<strong>in</strong>s Tab - AXIS_SERVO<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Manual Adjust Click on this button to open the Dynamics tab of the Manual Adjust<br />

dialog for onl<strong>in</strong>e edit<strong>in</strong>g of the Maximum Velocity, Maximum<br />

Acceleration, and Maximum Deceleration parameters.<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when offl<strong>in</strong>e edits to the above parameters have<br />

not yet been saved or applied.<br />

Use this tab to perform the follow<strong>in</strong>g offl<strong>in</strong>e functions:<br />

• adjust, or “tweak” ga<strong>in</strong> values that have been automatically set<br />

by the tun<strong>in</strong>g process (<strong>in</strong> the Tune tab of this dialog)<br />

• manually configure ga<strong>in</strong>s for the velocity and position loops


Axis Properties C-47<br />

for an axis of the type AXIS_SERVO, which has been configured for<br />

Servo operations (set <strong>in</strong> the General tab of this dialog box), with<br />

Position Loop Configuration.<br />

The drive module uses a nested digital servo control loop consist<strong>in</strong>g<br />

of a position loop with proportional, <strong>in</strong>tegral and feed-forward ga<strong>in</strong>s<br />

around an optional digitally synthesized <strong>in</strong>ner velocity loop. The<br />

parameters on this tab can be edited <strong>in</strong> either of two ways:<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-48 Axis Properties<br />

Proportional (Position) Ga<strong>in</strong> Position Error is multiplied by the Position Loop Proportional Ga<strong>in</strong>, or<br />

Pos P Ga<strong>in</strong>, to produce a component to the Velocity Command that<br />

ultimately attempts to correct for the position error. Too little Pos P<br />

Ga<strong>in</strong> results <strong>in</strong> excessively compliant, or mushy, axis behavior. Too<br />

large a Pos P Ga<strong>in</strong>, on the other hand, can result <strong>in</strong> axis oscillation<br />

due to classical servo <strong>in</strong>stability.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

To set the ga<strong>in</strong> manually, you must first set the appropriate output<br />

scal<strong>in</strong>g factor (either the Velocity Scal<strong>in</strong>g factor or Torque Scal<strong>in</strong>g<br />

factor) <strong>in</strong> the Output tab of this dialog. Your selection of External<br />

Drive Configuration type – either Torque or Velocity – <strong>in</strong> the Servo tab<br />

of this dialog determ<strong>in</strong>es which scal<strong>in</strong>g factor you must configure<br />

before manually sett<strong>in</strong>g ga<strong>in</strong>s.<br />

If you know the desired loop ga<strong>in</strong> <strong>in</strong> <strong>in</strong>ches per m<strong>in</strong>ute per mil or<br />

millimeters per m<strong>in</strong>ute per mil, use the follow<strong>in</strong>g formula to calculate<br />

the correspond<strong>in</strong>g P ga<strong>in</strong>:<br />

Pos P Ga<strong>in</strong> = 16.667 * Desired Loop Ga<strong>in</strong> (IPM/mil)<br />

If you know the desired unity ga<strong>in</strong> bandwidth of the position servo <strong>in</strong><br />

Hertz, use the follow<strong>in</strong>g formula to calculate the correspond<strong>in</strong>g P<br />

ga<strong>in</strong>:<br />

Pos P Ga<strong>in</strong> = Bandwidth (Hertz) * 6.28<br />

The typical value for the Position Proportional Ga<strong>in</strong> is ~100 Sec-1.<br />

Integral (Position) Ga<strong>in</strong> The Integral (that is, summation) of Position Error is multiplied by the<br />

Position Loop Integral Ga<strong>in</strong>, or Pos I Ga<strong>in</strong>, to produce a component to<br />

the Velocity Command that ultimately attempts to correct for the<br />

position error. Pos I Ga<strong>in</strong> improves the steady-state position<strong>in</strong>g<br />

performance of the system. Increas<strong>in</strong>g the <strong>in</strong>tegral ga<strong>in</strong> generally<br />

<strong>in</strong>creases the ultimate position<strong>in</strong>g accuracy of the system. Excessive<br />

<strong>in</strong>tegral ga<strong>in</strong>, however, results <strong>in</strong> system <strong>in</strong>stability.<br />

In certa<strong>in</strong> cases, Pos I Ga<strong>in</strong> control is disabled. One such case is when<br />

the servo output to the axis’ drive is saturated. Cont<strong>in</strong>u<strong>in</strong>g <strong>in</strong>tegral<br />

control behavior <strong>in</strong> this case would only exacerbate the situation.<br />

When the Integrator Hold parameter is set to Enabled, the servo loop<br />

automatically disables the <strong>in</strong>tegrator dur<strong>in</strong>g commanded motion.<br />

While the Pos I Ga<strong>in</strong>, if employed, is typically established by the<br />

automatic servo tun<strong>in</strong>g procedure (<strong>in</strong> the Tun<strong>in</strong>g tab of this dialog),<br />

the Pos I Ga<strong>in</strong> value may also be set manually. Before do<strong>in</strong>g this it<br />

must be stressed that the Output Scal<strong>in</strong>g factor for the axis must be<br />

established for the drive system. Once this is done, the Pos I Ga<strong>in</strong> can


Axis Properties C-49<br />

be computed based on the current or computed value for the Pos P<br />

Ga<strong>in</strong> us<strong>in</strong>g the follow<strong>in</strong>g formula:<br />

Pos I Ga<strong>in</strong> = .025 * 0.001 Sec/mSec * (Pos P Ga<strong>in</strong>)2<br />

Assum<strong>in</strong>g a Pos P Ga<strong>in</strong> value of 100 Sec-1 this results <strong>in</strong> a Pos I Ga<strong>in</strong><br />

value of 2.5 ~0.1 mSec-1 - Sec-1.<br />

Differential Position Differential Ga<strong>in</strong> helps predict a large overshoot before it<br />

happens and makes the appropriate attempt to correct it before the<br />

overshoot actually occurs.<br />

Proportional (Velocity) Ga<strong>in</strong> Note: This parameter is enabled for all loop types except Torque<br />

loop.<br />

Velocity Error is multiplied by the Velocity Proportional Ga<strong>in</strong> to<br />

produce a component to the Servo Output or Torque Command that<br />

ultimately attempts to correct for the velocity error, creat<strong>in</strong>g a damp<strong>in</strong>g<br />

effect. Thus, <strong>in</strong>creas<strong>in</strong>g the Velocity Proportional Ga<strong>in</strong> results <strong>in</strong><br />

smoother motion, enhanced acceleration, reduced overshoot, and<br />

greater system stability. However, too much Velocity Proportional<br />

Ga<strong>in</strong> leads to high frequency <strong>in</strong>stability and resonance effects.<br />

If you know the desired unity ga<strong>in</strong> bandwidth of the velocity servo <strong>in</strong><br />

Hertz, you can use the follow<strong>in</strong>g formula to calculate the<br />

correspond<strong>in</strong>g P ga<strong>in</strong>.<br />

Velocity P Ga<strong>in</strong> = Bandwidth (Hertz) / 6.28<br />

The typical value for the Velocity Proportional Ga<strong>in</strong> is 250.<br />

Integral (Velocity) Ga<strong>in</strong> Note: This parameter is enabled for all loop types except Torque<br />

loop.<br />

At every servo update the current Velocity Error is accumulated <strong>in</strong> a<br />

variable called the Velocity Integral Error. This value is multiplied by<br />

the Velocity Integral Ga<strong>in</strong> to produce a component to the Servo<br />

Output or Torque Command that attempts to correct for the velocity<br />

error. The higher the Vel I Ga<strong>in</strong> value, the faster the axis is driven to<br />

the zero Velocity Error condition. Unfortunately, I Ga<strong>in</strong> control is<br />

<strong>in</strong>tr<strong>in</strong>sically unstable. Too much I Ga<strong>in</strong> results <strong>in</strong> axis oscillation and<br />

servo <strong>in</strong>stability.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-50 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

In certa<strong>in</strong> cases, Vel I Ga<strong>in</strong> control is disabled. One such case is when<br />

the servo output to the axis’ drive is saturated. Cont<strong>in</strong>u<strong>in</strong>g <strong>in</strong>tegral<br />

control behavior <strong>in</strong> this case would only exacerbate the situation.<br />

When the Integrator Hold parameter is set to Enabled, the servo loop<br />

automatically disables the <strong>in</strong>tegrator dur<strong>in</strong>g commanded motion.<br />

Due to the destabiliz<strong>in</strong>g nature of Integral Ga<strong>in</strong>, it is recommended<br />

that Position Integral Ga<strong>in</strong> and Velocity Integral Ga<strong>in</strong> be considered<br />

mutually exclusive. If Integral Ga<strong>in</strong> is needed for the application, use<br />

one or the other, but not both. In general, where static position<strong>in</strong>g<br />

accuracy is required, Position Integral Ga<strong>in</strong> is the better choice.<br />

The typical value for the Velocity Proportional Ga<strong>in</strong> is ~15 mSec-2.<br />

Velocity Feedforward Velocity Feedforward Ga<strong>in</strong> scales the current Command Velocity by<br />

the Velocity Feedforward Ga<strong>in</strong> and adds it as an offset to the Velocity<br />

Command. Hence, the Velocity Feedforward Ga<strong>in</strong> allows the<br />

follow<strong>in</strong>g error of the servo system to be reduced to nearly zero when<br />

runn<strong>in</strong>g at a constant speed. This is important <strong>in</strong> applications such as<br />

electronic gear<strong>in</strong>g, position camm<strong>in</strong>g, and synchronization<br />

applications, where it is necessary that the actual axis position not<br />

significantly lag beh<strong>in</strong>d the commanded position at any time. The<br />

optimal value for Velocity Feedforward Ga<strong>in</strong> is 100%, theoretically. In<br />

reality, however, the value may need to be tweaked to accommodate<br />

velocity loops with non-<strong>in</strong>f<strong>in</strong>ite loop ga<strong>in</strong> and other application<br />

considerations.<br />

Acceleration Feedforward Acceleration Feedforward Ga<strong>in</strong> scales the current Command<br />

Acceleration by the Acceleration Feedforward Ga<strong>in</strong> and adds it as an<br />

offset to the Servo Output generated by the servo loop. With this<br />

done, the servo loops do not need to generate much of a contribution<br />

to the Servo Output, hence the Position and/or Velocity Error values<br />

are significantly reduced. Hence, when used <strong>in</strong> conjunction with the<br />

Velocity Feedforward Ga<strong>in</strong>, the Acceleration Feedforward Ga<strong>in</strong> allows<br />

the follow<strong>in</strong>g error of the servo system dur<strong>in</strong>g the acceleration and<br />

deceleration phases of motion to be reduced to nearly zero. This is<br />

important <strong>in</strong> applications such as electronic gear<strong>in</strong>g, position<br />

camm<strong>in</strong>g, and synchronization applications, where it is necessary that<br />

the actual axis position not significantly lag beh<strong>in</strong>d the commanded<br />

position at any time. The optimal value for Acceleration Feedforward<br />

is 100%, theoretically. In reality, however, the value may need to be<br />

tweaked to accommodate velocity loops with non-<strong>in</strong>f<strong>in</strong>ite loop ga<strong>in</strong><br />

and other application considerations.<br />

Note: Acceleration Feedforward Ga<strong>in</strong> is not applicable for<br />

applications employ<strong>in</strong>g velocity loop servo drives. Such systems


Ga<strong>in</strong>s Tab -<br />

AXIS_SERVO_DRIVE<br />

Axis Properties C-51<br />

would require the acceleration feedforward functionality to be located<br />

<strong>in</strong> the drive itself.<br />

Integrator Hold If the Integrator Hold parameter is set to:<br />

• Enabled, the servo loop temporarily disables any enabled<br />

position or velocity <strong>in</strong>tegrators while the command position is<br />

chang<strong>in</strong>g. This feature is used by po<strong>in</strong>t-to-po<strong>in</strong>t moves to<br />

m<strong>in</strong>imize the <strong>in</strong>tegrator w<strong>in</strong>d-up dur<strong>in</strong>g motion.<br />

• Disabled, all active position or velocity <strong>in</strong>tegrators are always<br />

enabled.<br />

Manual Adjust Click on this button to access the Ga<strong>in</strong>s tab of the Manual Adjust<br />

dialog for onl<strong>in</strong>e edit<strong>in</strong>g.<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when you have not yet saved or applied your<br />

offl<strong>in</strong>e edits to the above parameters.<br />

Use this tab to perform the follow<strong>in</strong>g offl<strong>in</strong>e functions:<br />

• Adjust, or "tweak" ga<strong>in</strong> values that have been automatically set<br />

by the tun<strong>in</strong>g process (<strong>in</strong> the Tune tab of this dialog)<br />

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C-52 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

• Manually configure ga<strong>in</strong>s for the velocity and position loops<br />

• for an axis of the type AXIS_SERVO_DRIVE.<br />

The drive module uses a nested digital servo control loop consist<strong>in</strong>g<br />

of a position loop with proportional, <strong>in</strong>tegral and feed-forward ga<strong>in</strong>s<br />

around an optional digitally synthesized <strong>in</strong>ner velocity loop. The<br />

specific design of this nested loop depends upon the Loop<br />

Configuration selected <strong>in</strong> the Drive tab. For a discussion, <strong>in</strong>clud<strong>in</strong>g a<br />

diagram, of a loop configuration, click on the follow<strong>in</strong>g loop<br />

configuration types:<br />

• Motor Position Servo Loop<br />

• Auxiliary Position Servo Loop<br />

• Dual Position Servo Loop<br />

• Motor Dual Command Servo Loop<br />

• Auxiliary Dual Command Servo Loop<br />

• Velocity Servo Loop<br />

• Torque Servo Loop<br />

The parameters on this tab can be edited <strong>in</strong> either of two ways:


Axis Properties C-53<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Velocity Feedforward Velocity Feedforward Ga<strong>in</strong> scales the current command velocity<br />

(derivative of command position) by the Velocity Feedforward Ga<strong>in</strong><br />

and adds it as an offset to the Velocity Command. Hence, the Velocity<br />

Feedforward Ga<strong>in</strong> allows the follow<strong>in</strong>g error of the servo system to be<br />

reduced to nearly zero when runn<strong>in</strong>g at a constant speed. This is<br />

important <strong>in</strong> applications such as electronic gear<strong>in</strong>g and<br />

synchronization applications, where it is necessary that the actual axis<br />

position not significantly lag beh<strong>in</strong>d the commanded position at any<br />

time. The optimal value for Velocity Feedforward Ga<strong>in</strong> is 100%,<br />

theoretically. In reality, however, the value may need to be tweaked<br />

to accommodate velocity loops with non-<strong>in</strong>f<strong>in</strong>ite loop ga<strong>in</strong> and other<br />

application considerations.<br />

Acceleration Feedforward Acceleration Feedforward Ga<strong>in</strong> scales the current Command<br />

Acceleration by the Acceleration Feedforward Ga<strong>in</strong> and adds it as an<br />

offset to the Servo Output generated by the servo loop. With this<br />

done, the servo loops do not need to generate much of a contribution<br />

to the Servo Output, hence the Position and/or Velocity Error values<br />

are significantly reduced. Hence, when used <strong>in</strong> conjunction with the<br />

Velocity Feedforward Ga<strong>in</strong>, the Acceleration Feedforward Ga<strong>in</strong> allows<br />

the follow<strong>in</strong>g error of the servo system dur<strong>in</strong>g the acceleration and<br />

deceleration phases of motion to be reduced to nearly zero. This is<br />

important <strong>in</strong> applications such as electronic gear<strong>in</strong>g and<br />

synchronization applications, where it is necessary that the actual axis<br />

position not significantly lag beh<strong>in</strong>d the commanded position at any<br />

time. The optimal value for Acceleration Feedforward is 100%,<br />

theoretically. In reality, however, the value may need to be tweaked<br />

to accommodate velocity loops with non-<strong>in</strong>f<strong>in</strong>ite loop ga<strong>in</strong> and other<br />

application considerations.<br />

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C-54 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Note: Acceleration Feedforward Ga<strong>in</strong> is not applicable for<br />

applications employ<strong>in</strong>g velocity loop servo drives. Such systems<br />

would require the acceleration feedforward functionality to be located<br />

<strong>in</strong> the drive itself.<br />

Proportional (Position) Ga<strong>in</strong> Position Error is multiplied by the Position Loop Proportional Ga<strong>in</strong>, or<br />

Pos P Ga<strong>in</strong>, to produce a component to the Velocity Command that<br />

ultimately attempts to correct for the position error. Too little Pos P<br />

Ga<strong>in</strong> results <strong>in</strong> excessively compliant, or mushy, axis behavior. Too<br />

large a Pos P Ga<strong>in</strong>, on the other hand, can result <strong>in</strong> axis oscillation<br />

due to classical servo <strong>in</strong>stability.<br />

Note: To set the ga<strong>in</strong> manually, you must first set the Torque scal<strong>in</strong>g<br />

<strong>in</strong> the Output tab of this dialog.<br />

If you know the desired loop ga<strong>in</strong> <strong>in</strong> <strong>in</strong>ches per m<strong>in</strong>ute per mil or<br />

millimeters per m<strong>in</strong>ute per mil, use the follow<strong>in</strong>g formula to calculate<br />

the correspond<strong>in</strong>g P ga<strong>in</strong>:<br />

Pos P Ga<strong>in</strong> = 16.667 * Desired Loop Ga<strong>in</strong> (IPM/mil)<br />

If you know the desired unity ga<strong>in</strong> bandwidth of the position servo <strong>in</strong><br />

Hertz, use the follow<strong>in</strong>g formula to calculate the correspond<strong>in</strong>g P<br />

ga<strong>in</strong>:<br />

Pos P Ga<strong>in</strong> = Bandwidth (Hertz) * 6.28<br />

The typical value for the Position Proportional Ga<strong>in</strong> is ~100 Sec-1.<br />

Integral (Position) Ga<strong>in</strong> The Integral (that is, summation) of Position Error is multiplied by the<br />

Position Loop Integral Ga<strong>in</strong>, or Pos I Ga<strong>in</strong>, to produce a component to<br />

the Velocity Command that ultimately attempts to correct for the<br />

position error. Pos I Ga<strong>in</strong> improves the steady-state position<strong>in</strong>g<br />

performance of the system. Increas<strong>in</strong>g the <strong>in</strong>tegral ga<strong>in</strong> generally<br />

<strong>in</strong>creases the ultimate position<strong>in</strong>g accuracy of the system. Excessive<br />

<strong>in</strong>tegral ga<strong>in</strong>, however, results <strong>in</strong> system <strong>in</strong>stability.<br />

In certa<strong>in</strong> cases, Pos I Ga<strong>in</strong> control is disabled. One such case is when<br />

the servo output to the axis’ drive is saturated. Cont<strong>in</strong>u<strong>in</strong>g <strong>in</strong>tegral<br />

control behavior <strong>in</strong> this case would only exacerbate the situation.<br />

When the Integrator Hold parameter is set to Enabled, the servo loop<br />

automatically disables the <strong>in</strong>tegrator dur<strong>in</strong>g commanded motion.<br />

While the Pos I Ga<strong>in</strong>, if employed, is typically established by the<br />

automatic servo tun<strong>in</strong>g procedure (<strong>in</strong> the Tun<strong>in</strong>g tab of this dialog),<br />

the Pos I Ga<strong>in</strong> value may also be set manually. Before do<strong>in</strong>g this it


Axis Properties C-55<br />

must be stressed that the Torque Scal<strong>in</strong>g factor for the axis must be<br />

established for the drive system (<strong>in</strong> the Output tab of this dialog box).<br />

Once this is done, the Pos I Ga<strong>in</strong> can be computed based on the<br />

current or computed value for the Pos P Ga<strong>in</strong> us<strong>in</strong>g the follow<strong>in</strong>g<br />

formula:<br />

Pos I Ga<strong>in</strong> = .025 * 0.001 Sec/mSec * (Pos P Ga<strong>in</strong>)2<br />

Assum<strong>in</strong>g a Pos P Ga<strong>in</strong> value of 100 Sec-1 this results <strong>in</strong> a Pos I Ga<strong>in</strong><br />

value of 2.5 ~0.1 mSec-1 - Sec-1.<br />

Proportional (Velocity) Ga<strong>in</strong> Note: This parameter is enabled only for external drives configured<br />

for Torque loop operation <strong>in</strong> the Servo tab.<br />

Velocity Error is multiplied by the Velocity Proportional Ga<strong>in</strong> to<br />

produce a component to the Torque Command that ultimately<br />

attempts to correct for the velocity error, creat<strong>in</strong>g a damp<strong>in</strong>g effect.<br />

Thus, <strong>in</strong>creas<strong>in</strong>g the Velocity Proportional Ga<strong>in</strong> results <strong>in</strong> smoother<br />

motion, enhanced acceleration, reduced overshoot, and greater<br />

system stability. However, too much Velocity Proportional Ga<strong>in</strong> leads<br />

to high frequency <strong>in</strong>stability and resonance effects.<br />

If you know the desired unity ga<strong>in</strong> bandwidth of the velocity servo <strong>in</strong><br />

Hertz, you can use the follow<strong>in</strong>g formula to calculate the<br />

correspond<strong>in</strong>g P ga<strong>in</strong>.<br />

Vel P Ga<strong>in</strong> = Bandwidth (Hertz) / 6.28<br />

The typical value for the Velocity Proportional Ga<strong>in</strong> is ~250 mSec-1.<br />

Integral (Velocity) Ga<strong>in</strong> Note: This parameter is enabled only for external drives configured<br />

for Torque loop operation <strong>in</strong> the Servo tab.<br />

At every servo update the current Velocity Error is accumulated <strong>in</strong> a<br />

variable called the Velocity Integral Error. This value is multiplied by<br />

the Velocity Integral Ga<strong>in</strong> to produce a component to the Torque<br />

Command that attempts to correct for the velocity error. The higher<br />

the Vel I Ga<strong>in</strong> value, the faster the axis is driven to the zero Velocity<br />

Error condition. Unfortunately, I Ga<strong>in</strong> control is <strong>in</strong>tr<strong>in</strong>sically unstable.<br />

Too much I Ga<strong>in</strong> results <strong>in</strong> axis oscillation and servo <strong>in</strong>stability.<br />

In certa<strong>in</strong> cases, Vel I Ga<strong>in</strong> control is disabled. One such case is when<br />

the servo output to the axis’ drive is saturated. Cont<strong>in</strong>u<strong>in</strong>g <strong>in</strong>tegral<br />

control behavior <strong>in</strong> this case would only exacerbate the situation.<br />

When the Integrator Hold parameter is set to Enabled, the servo loop<br />

automatically disables the <strong>in</strong>tegrator dur<strong>in</strong>g commanded motion.<br />

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C-56 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Due to the destabiliz<strong>in</strong>g nature of Integral Ga<strong>in</strong>, it is recommended<br />

that Position Integral Ga<strong>in</strong> and Velocity Integral Ga<strong>in</strong> be considered<br />

mutually exclusive. If Integral Ga<strong>in</strong> is needed for the application, use<br />

one or the other, but not both. In general, where static position<strong>in</strong>g<br />

accuracy is required, Position Integral Ga<strong>in</strong> is the better choice.<br />

While the Vel I Ga<strong>in</strong>, if employed, is typically established by the<br />

automatic servo tun<strong>in</strong>g procedure (<strong>in</strong> the Tune tab of this dialog box),<br />

the Pos I Ga<strong>in</strong> value may also be set manually. Before do<strong>in</strong>g this it<br />

must be stressed that the Torque Scal<strong>in</strong>g factor for the axis must be<br />

established for the drive system, <strong>in</strong> the Output tab. Once this is done<br />

the Vel I Ga<strong>in</strong> can be computed based on the current or computed<br />

value for the Vel P Ga<strong>in</strong> us<strong>in</strong>g the follow<strong>in</strong>g formula:<br />

Vel I Ga<strong>in</strong> = 0.25 * 0.001 Sec/mSec * (Vel P Ga<strong>in</strong>)2<br />

The typical value for the Velocity Proportional Ga<strong>in</strong> is ~15 mSec-2.<br />

Integrator Hold If the Integrator Hold parameter is set to:<br />

• Enabled, the servo loop temporarily disables any enabled<br />

position or velocity <strong>in</strong>tegrators while the command position is<br />

chang<strong>in</strong>g. This feature is used by po<strong>in</strong>t-to-po<strong>in</strong>t moves to<br />

m<strong>in</strong>imize the <strong>in</strong>tegrator w<strong>in</strong>d-up dur<strong>in</strong>g motion.<br />

• Disabled, all active position or velocity <strong>in</strong>tegrators are always<br />

enabled.


Axis Properties C-57<br />

Manual Adjust Click on this button to access the Ga<strong>in</strong>s tab of the Manual Adjust<br />

dialog for onl<strong>in</strong>e edit<strong>in</strong>g.<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when you have not yet saved or applied your<br />

offl<strong>in</strong>e edits to the above parameters.<br />

Set Custom Ga<strong>in</strong>s Click on this button to open the Custom Ga<strong>in</strong> Attributes dialog.<br />

At this dialog box you can edit the VelocityDroop attribute.<br />

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C-58 Axis Properties<br />

Output Tab - AXIS_SERVO<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

When a parameter transitions to a read-only state, any pend<strong>in</strong>g<br />

changes to parameter values are lost, and the parameter reverts to the<br />

most recently saved parameter value.<br />

When multiple workstations connect to the same controller us<strong>in</strong>g<br />

RSLogix 5000 and <strong>in</strong>voke the Axis Wizard or Axis Properties dialog,<br />

the firmware allows only the first workstation to make any changes to<br />

axis attributes. The second workstation switches to a Read Only<br />

mode, <strong>in</strong>dicated <strong>in</strong> the title bar, so that you may view the changes<br />

from that workstation, but not edit them.<br />

Attribute The follow<strong>in</strong>g attribute value can be monitored and edited <strong>in</strong> this<br />

dialog box.<br />

Table 3.E<br />

Attribute Description<br />

VelocityDroop This 32-bit unsigned attribute – also<br />

referred to as "static ga<strong>in</strong>" – acts as a very<br />

slow discharge of the velocity loop<br />

<strong>in</strong>tegrator. VelocityDroop may be used as a<br />

component of an external position loop<br />

system where sett<strong>in</strong>g this parameter to a<br />

higher, non-zero value elim<strong>in</strong>ates servo<br />

hunt<strong>in</strong>g due to load/stick friction effects.<br />

This parameter only has effect if<br />

VelocityIntegralGa<strong>in</strong> is not zero. Its value<br />

ranges from 0 to 2.14748x10^12.<br />

Use this dialog for offl<strong>in</strong>e configuration of:<br />

Note: This value is not applicable<br />

for Ultra3000 drives.<br />

• scal<strong>in</strong>g values, which are used to generate ga<strong>in</strong>s, and<br />

• the servo’s low-pass digital output filter<br />

for an axis of the type AXIS_SERVO configured as a Servo drive <strong>in</strong> the<br />

General tab of this dialog.


Axis Properties C-59<br />

The parameters on this tab can be edited <strong>in</strong> either of two ways:<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Velocity Scal<strong>in</strong>g The Velocity Scal<strong>in</strong>g attribute is used to convert the output of the<br />

servo loop <strong>in</strong>to equivalent voltage to an external velocity servo drive.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-60 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

This has the effect of “normaliz<strong>in</strong>g” the units of the servo loop ga<strong>in</strong><br />

parameters so that their values are not affected by variations <strong>in</strong><br />

feedback resolution, drive scal<strong>in</strong>g, or mechanical gear ratios. The<br />

Velocity Scal<strong>in</strong>g value is typically established by servo’s automatic<br />

tun<strong>in</strong>g procedure but these values can be calculated, if necessary,<br />

us<strong>in</strong>g the follow<strong>in</strong>g guidel<strong>in</strong>es.<br />

If the axis is configured for a velocity external servo drive (<strong>in</strong> the<br />

Servo tab of this dialog), the software velocity loop <strong>in</strong> the servo<br />

module is disabled. In this case the Velocity Scal<strong>in</strong>g value can be<br />

calculated by the follow<strong>in</strong>g formula:<br />

Velocity Scal<strong>in</strong>g = 100% / (Speed @ 100%)<br />

For example, if this axis is us<strong>in</strong>g position units of motor revolutions<br />

(revs), and the servo drive is scaled such that with an <strong>in</strong>put of 100%<br />

(for example, 10 Volts) the motor goes 5,000 RPM (or 83.3 RPS), the<br />

Velocity Scal<strong>in</strong>g attribute value would be calculated as:<br />

Velocity Scal<strong>in</strong>g = 100% / (83.3 RPS) = 1.2% / Revs Per Second<br />

Torque Scal<strong>in</strong>g The Torque Scal<strong>in</strong>g attribute is used to convert the acceleration of the<br />

servo loop <strong>in</strong>to equivalent % rated torque to the motor. This has the<br />

effect of “normaliz<strong>in</strong>g” the units of the servo loops ga<strong>in</strong> parameters so<br />

that their values are not affected by variations <strong>in</strong> feedback resolution,<br />

drive scal<strong>in</strong>g, motor and load <strong>in</strong>ertia, and mechanical gear ratios. The<br />

Torque Scal<strong>in</strong>g value is typically established by the controller’s<br />

automatic tun<strong>in</strong>g procedure but the value can be manually calculated,<br />

if necessary, us<strong>in</strong>g the follow<strong>in</strong>g guidel<strong>in</strong>es:<br />

Torque Scal<strong>in</strong>g = 100% Rated Torque / (Acceleration @ 100% Rated<br />

Torque)<br />

For example, if this axis is us<strong>in</strong>g position units of motor revolutions<br />

(revs), with 100% rated torque applied to the motor, if the motor<br />

accelerates at a rate of 3000 Revs/Sec2, the Torque Scal<strong>in</strong>g attribute<br />

value would be calculated as shown below:<br />

Torque Scal<strong>in</strong>g = 100% Rated / (3000 RPS2) = 0.0333% Rated/ Revs Per<br />

Second2<br />

Note: If the Torque Scal<strong>in</strong>g value does not reflect the true torque to<br />

acceleration characteristic of the system, the ga<strong>in</strong>s also does not reflect<br />

the true performance of the system.


Axis Properties C-61<br />

Enable Low-pass Output Filter Select this to enable the servo’s low-pass digital output filter. De-select<br />

this to disable this filter.<br />

Low-pass Output Filter<br />

Bandwidth<br />

Note: Dur<strong>in</strong>g tun<strong>in</strong>g, if the controller detects a high degree of tun<strong>in</strong>g<br />

<strong>in</strong>ertia, it enables the Low Pass Output Filter and calculates and sets a<br />

value for Low Pass Output Filter Bandwidth.<br />

With Enable Low-pass Output Filter selected, this value sets the<br />

bandwidth, <strong>in</strong> Hertz, of the servo’s low-pass digital output filter. Use<br />

this output filter to filter out high frequency variation of the servo<br />

module output to the drive. All output from the servo module greater<br />

than the Filter Bandwidth sett<strong>in</strong>g is filtered-out, and not sent to the<br />

drive.<br />

If the Low-pass Output Filter Bandwidth value is set to zero, the<br />

low-pass output filter is disabled. The lower the Filter Bandwidth<br />

value, the greater the attenuation of these high frequency components<br />

of the output signal. Because the low-pass filter adds lag to the servo<br />

loop, which pushes the system towards <strong>in</strong>stability, decreas<strong>in</strong>g the<br />

Filter Bandwidth value usually requires lower<strong>in</strong>g the Position or<br />

Velocity Proportional Ga<strong>in</strong> sett<strong>in</strong>gs to ma<strong>in</strong>ta<strong>in</strong> stability. The output<br />

filter is particularly useful <strong>in</strong> high <strong>in</strong>ertia applications where resonance<br />

behavior can severely restrict the maximum bandwidth capability of<br />

the servo loop.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-62 Axis Properties<br />

Output Tab Overview -<br />

AXIS_SERVO_DRIVE<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Manual Adjust Click on this button to access the Output tab of the Manual Adjust<br />

dialog for onl<strong>in</strong>e edit<strong>in</strong>g.<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when you have not yet saved or applied your<br />

offl<strong>in</strong>e edits to the above parameters.<br />

Use this dialog box to make the follow<strong>in</strong>g offl<strong>in</strong>e configurations:<br />

• set the torque scal<strong>in</strong>g value, which is used to generate ga<strong>in</strong>s<br />

• enable and configure the Notch Filter<br />

• enable and configure servo’s low-pass digital output filter


Axis Properties C-63<br />

for an axis of the type AXIS_SERVO_DRIVE, configured as a Servo<br />

drive <strong>in</strong> the General tab of this dialog.<br />

The parameters on this tab can be edited <strong>in</strong> either of two ways:<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-64 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Motor Inertia The Motor Inertia value represents the <strong>in</strong>ertia of the motor without<br />

any load attached to the motor shaft <strong>in</strong> Torque Scal<strong>in</strong>g units.<br />

Load Inertia Ratio The Load Inertia Ratio value represents the ratio of the load <strong>in</strong>ertia to<br />

the motor <strong>in</strong>ertia.<br />

Torque Scal<strong>in</strong>g The Torque Scal<strong>in</strong>g attribute is used to convert the acceleration of the<br />

servo loop <strong>in</strong>to equivalent % rated torque to the motor. This has the<br />

effect of "normaliz<strong>in</strong>g" the units of the servo loops ga<strong>in</strong> parameters so<br />

that their values are not affected by variations <strong>in</strong> feedback resolution,<br />

drive scal<strong>in</strong>g, motor and load <strong>in</strong>ertia, and mechanical gear ratios. The<br />

Torque Scal<strong>in</strong>g value is typically established by the controller’s<br />

automatic tun<strong>in</strong>g procedure but the value can be manually calculated,<br />

if necessary, us<strong>in</strong>g the follow<strong>in</strong>g guidel<strong>in</strong>es:<br />

Torque Scal<strong>in</strong>g = 100% Rated Torque / (Acceleration @ 100% Rated<br />

Torque)<br />

For example, if this axis is us<strong>in</strong>g position units of motor revolutions<br />

(revs), with 100% rated torque applied to the motor, if the motor<br />

accelerates at a rate of 3000 Revs/Sec2, the Torque Scal<strong>in</strong>g attribute<br />

value would be calculated as shown below:<br />

Torque Scal<strong>in</strong>g = 100% Rated / (3000 RPS2) = 0.0333% Rated/ Revs Per<br />

Second2<br />

Note: If the Torque Scal<strong>in</strong>g value does not reflect the true torque to<br />

acceleration characteristic of the system, the ga<strong>in</strong>s also do not reflect<br />

the true performance of the system.<br />

Enable Notch Filter Select this to enable the drive’s notch filter. De-select this to disable<br />

this filter.<br />

Notch Filter With Enable Notch Filter selected, this value sets the center frequency<br />

of the drive’s digital notch filter. If the Notch Filter value is set to zero,<br />

the notch filter is disabled.<br />

Currently implemented as a 2nd order digital filter with a fixed Q, the<br />

Notch Filter provides approximately 40DB of output attenuation at the<br />

Notch Filter frequency. This output notch filter is particularly useful <strong>in</strong><br />

attenuat<strong>in</strong>g mechanical resonance phenomena. The output filter is<br />

particularly useful <strong>in</strong> high <strong>in</strong>ertia applications where mechanical


Axis Properties C-65<br />

resonance behavior can severely restrict the maximum bandwidth<br />

capability of the servo loop.<br />

Note: This value is not applicable for Ultra3000 drives.<br />

Enable Low-pass Output Filter Select this to enable the servo’s low-pass digital output filter. De-select this to disable<br />

this filter.<br />

Low-pass Output Filter<br />

Bandwidth<br />

Note: Dur<strong>in</strong>g tun<strong>in</strong>g, if the controller detects a high degree of tun<strong>in</strong>g<br />

<strong>in</strong>ertia, the controller enables the Low Pass Output Filter and<br />

calculates and sets a value for Low Pass Output Filter Bandwidth.<br />

With Enable Low-pass Output Filter selected, this value sets the<br />

bandwidth, <strong>in</strong> Hertz, of the servo’s low-pass digital output filter. Use<br />

this output filter to filter out high frequency variation of the servo<br />

module output to the drive. All output from the servo module greater<br />

than the Filter Bandwidth sett<strong>in</strong>g is filtered-out, and not sent to the<br />

drive.<br />

If the Low-pass Output Filter Bandwidth value is set to zero, the<br />

low-pass output filter is disabled. The lower the Filter Bandwidth<br />

value, the greater the attenuation of these high frequency components<br />

of the output signal. Because the low-pass filter adds lag to the servo<br />

loop, which pushes the system towards <strong>in</strong>stability, decreas<strong>in</strong>g the<br />

Filter Bandwidth value usually requires lower<strong>in</strong>g the Position or<br />

Velocity Proportional Ga<strong>in</strong> sett<strong>in</strong>gs to ma<strong>in</strong>ta<strong>in</strong> stability. The output<br />

filter is particularly useful <strong>in</strong> high <strong>in</strong>ertia applications where resonance<br />

behavior can severely restrict the maximum bandwidth capability of<br />

the servo loop.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-66 Axis Properties<br />

Limits Tab - AXIS_SERVO<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Manual Adjust Click on this button to open the Output tab of the Manual Adjust<br />

dialog for onl<strong>in</strong>e edit<strong>in</strong>g of Torque/Force Scal<strong>in</strong>g, the Notch Filter<br />

Frequency, and the Low-pass Output Filter parameters.<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when offl<strong>in</strong>e edits to the above parameters have<br />

not yet been saved or applied.<br />

Use this tab to make the follow<strong>in</strong>g offl<strong>in</strong>e configurations:<br />

• enable and set maximum positive and negative software travel<br />

limits, and<br />

• configure both Position Error Tolerance and Position Lock<br />

Tolerance, and<br />

• set the servo drive’s Output Limit


Axis Properties C-67<br />

for an axis of the type AXIS_SERVO configured as a Servo drive <strong>in</strong> the<br />

General tab of this dialog.<br />

The parameters on this tab can be edited <strong>in</strong> either of two ways:<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-68 Axis Properties<br />

Soft Travel Limits Enables software overtravel check<strong>in</strong>g for an axis when Position<strong>in</strong>g<br />

Mode is set to L<strong>in</strong>ear (<strong>in</strong> the Conversion tab of this dialog). If an axis<br />

is configured for software overtravel limits and if that axis passes<br />

beyond these maximum travel limits (positive or negative), a software<br />

overtravel fault is issued. The response to this fault is specified by the<br />

Soft Overtravel sett<strong>in</strong>g (<strong>in</strong> the Fault Actions tab of this dialog).<br />

Software overtravel limits are disabled dur<strong>in</strong>g the tun<strong>in</strong>g process.<br />

Maximum Positive Type the maximum positive position to be used for software<br />

overtravel check<strong>in</strong>g, <strong>in</strong> position units.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Note: The Maximum Positive limit must always be greater than the<br />

Maximum Negative limit.<br />

Maximum Negative Type the maximum negative position to be used for software<br />

overtravel check<strong>in</strong>g, <strong>in</strong> position units.<br />

Note: The Maximum Negative limit must always be less than the<br />

Maximum Positive limit.<br />

Position Error Tolerance Specifies how much position error the servo tolerates before issu<strong>in</strong>g a<br />

position error fault. This value is <strong>in</strong>terpreted as a +/- quantity.<br />

For example, sett<strong>in</strong>g Position Error Tolerance to 0.75 position units<br />

means that a position error fault is generated whenever the position<br />

error of the axis is greater than 0.75 or less than -0.75 position units,<br />

as shown here:<br />

Note: This value is set to twice the follow<strong>in</strong>g error at maximum speed<br />

based on the measured response of the axis, dur<strong>in</strong>g the autotun<strong>in</strong>g<br />

process. In most applications, this value provides reasonable<br />

protection <strong>in</strong> case of an axis fault or stall condition without nuisance<br />

faults dur<strong>in</strong>g normal operation. If you need to change the calculated<br />

position error tolerance value, the recommended sett<strong>in</strong>g is 150% to<br />

200% of the position error while the axis is runn<strong>in</strong>g at its maximum<br />

speed.<br />

Position Lock Tolerance Specifies the maximum position error the servo module accepts <strong>in</strong><br />

order to <strong>in</strong>dicate the Position Lock status bit is set. This is useful <strong>in</strong><br />

determ<strong>in</strong><strong>in</strong>g when the desired end position is reached for position<br />

moves. This value is <strong>in</strong>terpreted as a +/- quantity.


Axis Properties C-69<br />

For example, specify<strong>in</strong>g a lock tolerance of 0.01 provides a m<strong>in</strong>imum<br />

position<strong>in</strong>g accuracy of +/- 0.01 position units, as shown here:<br />

Output Limit Provides a method of limit<strong>in</strong>g the maximum servo output voltage of a<br />

physical axis to a specified level. The servo output for the axis as a<br />

function of position servo error, both with and without servo output<br />

limit<strong>in</strong>g, is shown below.<br />

The servo output limit may be used as a software current or torque<br />

limit if you are us<strong>in</strong>g a servo drive <strong>in</strong> torque loop mode. The<br />

percentage of the drive’s maximum current that the servo controller<br />

ever commands is equal to the specified servo output limit. For<br />

example, if the drive is capable of 30 Amps of current for a 10 Volt<br />

<strong>in</strong>put, sett<strong>in</strong>g the servo output limit to 5V limits the maximum drive<br />

current to 15 Amps.<br />

The servo output limit may also be used if the drive cannot accept the<br />

full ±10 Volt range of the servo output. In this case, the servo output<br />

limit value effectively limits the maximum command sent to the<br />

amplifier. For example, if the drive can only accept command signals<br />

up to ±7.5 Volts, set the servo output limit value to 7.5 volts.<br />

Manual Adjust Click on this button to open the Limits tab of the Manual Adjust dialog<br />

for onl<strong>in</strong>e edit<strong>in</strong>g of the Position Error Tolerance, Position Lock<br />

Tolerance, and Output Limit parameters.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-70 Axis Properties<br />

Limits Tab -<br />

AXIS_SERVO_DRIVE<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when offl<strong>in</strong>e edits to the above parameters have<br />

not yet been saved or applied.<br />

Use this tab to make the follow<strong>in</strong>g offl<strong>in</strong>e configurations:<br />

• enable and set maximum positive and negative software travel<br />

limits, and<br />

• configure both Position Error Tolerance and Position Lock<br />

Tolerance,<br />

for an axis of the type AXIS_SERVO_DRIVE configured as a Servo<br />

drive <strong>in</strong> the General tab of this dialog.<br />

The parameters on this tab can be edited <strong>in</strong> either of two ways:<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits


Axis Properties C-71<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Hard Travel Limits Enables a periodic test that monitors the current state of the positive<br />

and negative overtravel limit switch <strong>in</strong>puts, when Position<strong>in</strong>g Mode is<br />

set to L<strong>in</strong>ear (<strong>in</strong> the Conversion tab of this dialog). If an axis is<br />

configured for hardware overtravel check<strong>in</strong>g and if that axis passes<br />

beyond a positive or negative overtravel limit switch, a Positive Hard<br />

Overtravel Fault or Negative Hard Overtravel Fault is issued. The<br />

response to this fault is specified by the Hard Overtravel sett<strong>in</strong>g (<strong>in</strong><br />

the Fault Actions tab of this dialog).<br />

Soft Travel Limits Enables software overtravel check<strong>in</strong>g for an axis when Position<strong>in</strong>g<br />

Mode is set to L<strong>in</strong>ear (<strong>in</strong> the Conversion tab of this dialog). If an axis<br />

is configured for software overtravel limits and if that axis passes<br />

beyond these maximum travel limits (positive or negative), a software<br />

overtravel fault is issued. The response to this fault is specified by the<br />

Soft Overtravel sett<strong>in</strong>g (<strong>in</strong> the Fault Actions tab of this dialog).<br />

Software overtravel limits are disabled dur<strong>in</strong>g the tun<strong>in</strong>g process.<br />

Maximum Positive Type the maximum positive position to be used for software<br />

overtravel check<strong>in</strong>g, <strong>in</strong> position units.<br />

Note: The Maximum Positive limit must always be greater than the<br />

Maximum Negative limit.<br />

Maximum Negative Type the maximum negative position to be used for software<br />

overtravel check<strong>in</strong>g, <strong>in</strong> position units.<br />

Note: The Maximum Negative limit must always be less than the<br />

Maximum Positive limit.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-72 Axis Properties<br />

Position Error Tolerance Specifies how much position error the servo tolerates before issu<strong>in</strong>g a<br />

position error fault. This value is <strong>in</strong>terpreted as a +/- quantity.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

For example, sett<strong>in</strong>g Position Error Tolerance to 0.75 position units<br />

means that a position error fault is generated whenever the position<br />

error of the axis is greater than 0.75 or less than -0.75 position units,<br />

as shown here:<br />

Note: This value is set to twice the follow<strong>in</strong>g error at maximum speed<br />

based on the measured response of the axis, dur<strong>in</strong>g the autotun<strong>in</strong>g<br />

process. In most applications, this value provides reasonable<br />

protection <strong>in</strong> case of an axis fault or stall condition without nuisance<br />

faults dur<strong>in</strong>g normal operation. If you need to change the calculated<br />

position error tolerance value, the recommended sett<strong>in</strong>g is 150% to<br />

200% of the position error while the axis is runn<strong>in</strong>g at its maximum<br />

speed.<br />

Position Lock Tolerance Specifies the maximum position error the servo module accepts <strong>in</strong><br />

order to <strong>in</strong>dicate the Position Lock status bit is set. This is useful <strong>in</strong><br />

determ<strong>in</strong><strong>in</strong>g when the desired end position is reached for position<br />

moves. This value is <strong>in</strong>terpreted as a +/- quantity.<br />

For example, specify<strong>in</strong>g a lock tolerance of 0.01 provides a m<strong>in</strong>imum<br />

position<strong>in</strong>g accuracy of +/- 0.01 position units, as shown here:<br />

Peak Torque/Force Limit The Peak Torque/Force Limit specifies the maximum percentage of<br />

the motors rated current that the drive can command as either positive<br />

or negative torque/force. For example, a torque limit of 150% shall<br />

limit the current delivered to the motor to 1.5 times the cont<strong>in</strong>uous<br />

current rat<strong>in</strong>g of the motor.<br />

Cont<strong>in</strong>uous Torque/Force Limit The Cont<strong>in</strong>uous Torque/Force Limit specifies the maximum<br />

percentage of the motors rated current that the drive can command on<br />

a cont<strong>in</strong>uous or RMS basis. For example, a Cont<strong>in</strong>uous Torque/Force<br />

Limit of 150% limits the cont<strong>in</strong>uous current delivered to the motor to<br />

1.5 times the cont<strong>in</strong>uous current rat<strong>in</strong>g of the motor.<br />

Manual Adjust Click on this button to open the Limits tab of the Manual Adjust dialog<br />

for onl<strong>in</strong>e edit<strong>in</strong>g of the Position Error Tolerance, Position Lock


Axis Properties C-73<br />

Tolerance, Peak Torque/Force Limit, and Cont<strong>in</strong>uous Torque/Force<br />

Limit parameters.<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when offl<strong>in</strong>e edits to the above parameters have<br />

not yet been saved or applied.<br />

Set Custom Limits Click this button to open the Custom Limit Attributes dialog.<br />

From this dialog box you can monitor and edit the limit-related<br />

attributes.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-74 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

When RSLogix 5000 software is onl<strong>in</strong>e, the parameters on this tab<br />

transition to a read-only state. When a parameter transitions to a<br />

read-only state, any pend<strong>in</strong>g changes to parameter values are lost, and<br />

the parameter reverts to the most recently saved parameter value.<br />

When multiple workstations connect to the same controller us<strong>in</strong>g<br />

RSLogix 5000 and <strong>in</strong>voke the Axis Wizard or Axis Properties dialog,<br />

the firmware allows only the first workstation to make any changes to<br />

axis attributes. The second workstation switches to a Read Only<br />

mode, <strong>in</strong>dicated <strong>in</strong> the title bar, so that you may view the changes<br />

from that workstation, but not edit them.<br />

Attributes The follow<strong>in</strong>g attribute values can be monitored and edited <strong>in</strong> this<br />

dialog box.<br />

Table 3.F<br />

Attribute Description<br />

VelocityLimitBipolar This attribute sets the velocity limit<br />

symmetrically <strong>in</strong> both directions. If the<br />

command velocity exceeds this value,<br />

VelocityLimitStatusBit of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of 0 to 2.14748x10 12 .<br />

AccelerationLimitBipolar This attribute sets the acceleration and<br />

deceleration limits for the drive. If the<br />

command acceleration exceeds this value,<br />

AccelLimitStatusBit of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of 0 to 2.14748x10 15 .<br />

TorqueLimitBipolar This attribute sets the torque limit<br />

symmetrically <strong>in</strong> both directions. When<br />

actual torque exceeds this value<br />

TorqueLimitStatus of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of 0 to 1000.<br />

VelocityLimitPositive This attribute displays the maximum<br />

allowable velocity <strong>in</strong> the positive direction.<br />

If the velocity limit is exceeded, bit 5<br />

("Velocity Command Above Velocity Limit")<br />

VelocityLimitStatusBit of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of 0 to 2.14748x10 12 .<br />

VelocityLimitNegative This attribute displays the maximum<br />

allowable velocity <strong>in</strong> the negative direction.<br />

If the velocity limit is exceeded, bit 5<br />

("Velocity Command Above Velocity Limit")<br />

VelocityLimitStatusBit of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of -2.14748x10 12 to 0.


Table 3.F<br />

Attribute Description<br />

Axis Properties C-75<br />

VelocityThreshold This attribute displays the velocity<br />

threshold limit. If the motor velocity is less<br />

than this limit, VelocityThresholdStatus of<br />

the DriveStatus attribute is set. This<br />

attribute has a value range of 0 to<br />

2.14748x1012 .<br />

VelocityW<strong>in</strong>dow This attribute displays the limits of the<br />

velocity w<strong>in</strong>dow. If the motor’s actual<br />

velocity differs from the command velocity<br />

by an amount less that this limit<br />

VelocityLockStatus of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of 0 to 2.14748x1012 .<br />

VelocityStandstillW<strong>in</strong>dow This attribute displays the velocity limit for<br />

the standstill w<strong>in</strong>dow. If the motor velocity<br />

is less than this limit<br />

VelocityStandStillStatus of the DriveStatus<br />

bit is set. This attribute has a value range of<br />

0 to 2.14748x10 12 .<br />

AccelerationLimitPositive This attribute limits the maximum<br />

acceleration ability of the drive to the<br />

programmed value. If the command<br />

acceleration exceeds this value,<br />

AccelLimitStatusBit of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of 0 to 2.14748x10 15 .<br />

AccelerationLimitNegative This attribute limits the maximum<br />

acceleration ability of the drive to the<br />

programmed value. If the command<br />

acceleration exceeds this value, the<br />

AccelLimitStatus bit of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of -2.14748x1015 to 0.<br />

TorqueLimitPositive This attribute displays the maximum torque<br />

<strong>in</strong> the positive direction. If the torque limit<br />

is exceeded, the TorqueLimitStatus bit of<br />

the DriveStatus attribute is set. This<br />

attribute has a value range of 0 to 1000.<br />

TorqueLimitNegative This attribute displays the maximum torque<br />

<strong>in</strong> the negative direction. If the torque limit<br />

is exceeded, the TorqueLimitStatus bit of<br />

the DriveStatus attribute is set. This<br />

attribute has a value range of -1000 to 0.<br />

TorqueThreshold This attribute displays the torque threshold.<br />

If this limit is exceeded, the<br />

TorqueThreshold bit of the DriveStatus<br />

attribute is set. This attribute has a value<br />

range of 0 to 1000.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-76 Axis Properties<br />

Offset Tab - AXIS_SERVO<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Use this tab to make offl<strong>in</strong>e adjustments to the follow<strong>in</strong>g Servo Output<br />

values:<br />

• Friction Compensation<br />

• Velocity Offset<br />

• Torque Offset<br />

• Output Offset<br />

for an axis of the type AXIS_SERVO configured as a Servo drive <strong>in</strong> the<br />

General tab of this dialog.<br />

The parameters on this tab can be edited <strong>in</strong> either of two ways:<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.


Friction/Deadband<br />

Compensation<br />

Axis Properties C-77<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Friction Compensation The percentage of output level added to a positive current Servo<br />

Output value, or subtracted from a negative current Servo Output<br />

value, for the purpose of mov<strong>in</strong>g an axis that is stuck <strong>in</strong> place due to<br />

static friction.<br />

It is not unusual for an axis to have enough static friction (called<br />

“sticktion”) that, even with a significant position error, the axis refuses<br />

to budge. Friction Compensation is used to break “sticktion” <strong>in</strong> the<br />

presence of a non-zero position error. This is done by add<strong>in</strong>g, or<br />

subtract<strong>in</strong>g, a percentage output level), called Friction Compensation<br />

to the Servo Output value.<br />

The Friction Compensation value should be just less than the value<br />

that would break the “sticktion”<br />

A larger value can cause the axis to “dither”, that is, move rapidly back<br />

and forth about the commanded position.<br />

Friction Compensation W<strong>in</strong>dow To address the issue of dither when apply<strong>in</strong>g Friction Compensation<br />

and hunt<strong>in</strong>g from the <strong>in</strong>tegral ga<strong>in</strong>, a Friction Compensation W<strong>in</strong>dow<br />

is applied around the current command position when the axis is not<br />

be<strong>in</strong>g commanded to move. If the actual position is with<strong>in</strong> the Friction<br />

Compensation W<strong>in</strong>dow the Friction Compensation value is applied to<br />

the Servo Output but scaled by the ratio of the position error to the<br />

Friction Compensation W<strong>in</strong>dow. With<strong>in</strong> the w<strong>in</strong>dow, the servo<br />

<strong>in</strong>tegrators are also disabled. Thus, once the position error reaches or<br />

exceeds the value of the Friction Compensation W<strong>in</strong>dow attribute, the<br />

full Friction Compensation value is applied. If the Friction<br />

Compensation W<strong>in</strong>dow is set to zero, this feature is effectively<br />

disabled.<br />

A non-zero Friction Compensation W<strong>in</strong>dow has the effect of soften<strong>in</strong>g<br />

the Friction Compensation as its applied to the Servo Output and<br />

reduc<strong>in</strong>g the dither<strong>in</strong>g effect that it can create. This generally allows<br />

higher values of Friction Compensation to be applied. Hunt<strong>in</strong>g is also<br />

elim<strong>in</strong>ated at the cost of a small steady-state error.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-78 Axis Properties<br />

Backlash Compensation<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Reversal Offset Backlash Reversal Offset provides the capability to compensate for<br />

positional <strong>in</strong>accuracy <strong>in</strong>troduced by mechanical backlash. For<br />

example, power-tra<strong>in</strong> type applications require a high level of<br />

accuracy and repeatability dur<strong>in</strong>g mach<strong>in</strong><strong>in</strong>g operations. Axis motion<br />

is often generated by a number of mechanical components, a motor, a<br />

gearbox, and a ball-screw that may <strong>in</strong>troduce <strong>in</strong>accuracies and that are<br />

subject to wear over their lifetime. Therefore, when an axis is<br />

commanded to reverse direction, mechanical play <strong>in</strong> the mach<strong>in</strong>e<br />

(through the gear<strong>in</strong>g, ball-screw, and so on) may result <strong>in</strong> a small<br />

amount of motor motion without axis motion. As a result, the<br />

feedback device may <strong>in</strong>dicate movement even though the axis has not<br />

physically moved.<br />

If a value of zero is applied to the Backlash Reversal Offset, the<br />

feature is effectively disabled. Once enabled by a non-zero value, and<br />

the load is engaged by a reversal of the commanded motion, chang<strong>in</strong>g<br />

the Backlash Reversal Offset can cause the axis to shift as the offset<br />

correction is applied to the command position.<br />

Stabilization W<strong>in</strong>dow The Backlash Stabilization W<strong>in</strong>dow controls the Backlash Stabilization<br />

feature <strong>in</strong> the servo control loop.<br />

Properly configured with a suitable value for the Backlash<br />

Stabilization W<strong>in</strong>dow, entirely elim<strong>in</strong>ates the gearbox buzz without<br />

sacrific<strong>in</strong>g any servo performance. In general, this value should be set<br />

to the measured backlash distance. A Backlash Stabilization W<strong>in</strong>dow<br />

value of zero effectively disables the feature.<br />

Velocity Offset Provides a dynamic velocity correction to the output of the position<br />

servo loop, <strong>in</strong> position units per second.<br />

Torque Offset Provides a dynamic torque command correction to the output of the<br />

velocity servo loop, as a percentage of velocity servo loop output.<br />

Output Offset Corrects the problem of axis “drift”, by add<strong>in</strong>g a fixed voltage value<br />

(not to exceed ±10 Volts) to the Servo Output value. Input a value to<br />

achieve near zero drive velocity when the uncompensated Servo<br />

Output value is zero.


Offset Tab -<br />

AXIS_SERVO_DRIVE<br />

Axis Properties C-79<br />

When <strong>in</strong>terfac<strong>in</strong>g an external Servo Drive – especially for velocity<br />

servo drives, it is necessary to compensate for the effect of drive<br />

offset. Cumulative offsets of the servo module’s DAC output and the<br />

Servo Drive Input result <strong>in</strong> a situation where a zero commanded Servo<br />

Output value causes the axis to “drift”. If the drift is excessive, it can<br />

cause problems with the Hookup Diagnostic and Tun<strong>in</strong>g procedures,<br />

as well as result <strong>in</strong> a steady-state non-zero position error when the<br />

servo loop is closed.<br />

Manual Adjust Click on this button to open the Offset tab of the Manual Adjust dialog<br />

for onl<strong>in</strong>e edit<strong>in</strong>g of the Friction/Deadband Compensation, Backlash<br />

Compensation, Velocity Offset, Torque Offset, and Output Offset<br />

parameters.<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when offl<strong>in</strong>e edits to the above parameters have<br />

not yet been saved or applied.<br />

Use this tab to make offl<strong>in</strong>e adjustments to the follow<strong>in</strong>g Servo Output<br />

values:<br />

• Friction Compensation,<br />

• Velocity Offset, and<br />

• Torque Offset<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-80 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

for an axis of the type AXIS_SERVO_DRIVE configured as a Servo<br />

drive <strong>in</strong> the General tab of this dialog.<br />

The parameters on this tab can be edited <strong>in</strong> either of two ways:<br />

• edit on this tab by typ<strong>in</strong>g your parameter changes and then<br />

click<strong>in</strong>g on OK or Apply to save your edits<br />

• edit <strong>in</strong> the Manual Adjust dialog: click on the Manual Adjust<br />

button to open the Manual Adjust dialog to this tab and use the<br />

sp<strong>in</strong> controls to edit parameter sett<strong>in</strong>gs. Your changes are saved<br />

the moment a sp<strong>in</strong> control changes any parameter value.<br />

Note: The parameters on this tab become read-only and cannot be<br />

edited when the controller is onl<strong>in</strong>e if the controller is set to Hard Run<br />

mode, or if a Feedback On condition exists.<br />

When RSLogix 5000 is offl<strong>in</strong>e, the follow<strong>in</strong>g parameters can be edited<br />

and the program saved to disk us<strong>in</strong>g either the Save command or by<br />

click<strong>in</strong>g on the Apply button. You must re-download the edited<br />

program to the controller before it can be run.<br />

Friction Compensation The percentage of output level added to a positive current Servo<br />

Output value, or subtracted from a negative current Servo Output


Axis Properties C-81<br />

value, for the purpose of mov<strong>in</strong>g an axis that is stuck <strong>in</strong> place due to<br />

static friction.<br />

It is not unusual for an axis to have enough static friction – called<br />

"sticktion" – that, even with a significant position error, the axis<br />

refuses to budge. Friction Compensation is used to break "sticktion" <strong>in</strong><br />

the presence of a non-zero position error. This is done by add<strong>in</strong>g, or<br />

subtract<strong>in</strong>g, a percentage output level), called Friction Compensation<br />

to the Servo Output value.<br />

The Friction Compensation value should be just less than the value<br />

that would break the “sticktion”. A larger value can cause the axis to<br />

“dither”, that is, move rapidly back and forth about the commanded<br />

position.<br />

Friction Compensation W<strong>in</strong>dow To address the issue of dither when apply<strong>in</strong>g Friction Compensation<br />

and hunt<strong>in</strong>g from the <strong>in</strong>tegral ga<strong>in</strong>, a Friction Compensation W<strong>in</strong>dow<br />

is applied around the current command position when the axis is not<br />

be<strong>in</strong>g commanded to move. If the actual position is with<strong>in</strong> the Friction<br />

Compensation W<strong>in</strong>dow the Friction Compensation value is applied to<br />

the Servo Output but scaled by the ratio of the position error to the<br />

Friction Compensation W<strong>in</strong>dow. With<strong>in</strong> the w<strong>in</strong>dow, the servo<br />

<strong>in</strong>tegrators are also disabled. Thus, once the position error reaches or<br />

exceeds the value of the Friction Compensation W<strong>in</strong>dow attribute, the<br />

full Friction Compensation value is applied. If the Friction<br />

Compensation W<strong>in</strong>dow is set to zero, this feature is effectively<br />

disabled.<br />

Backlash Compensation<br />

A non-zero Friction Compensation W<strong>in</strong>dow has the effect of soften<strong>in</strong>g<br />

the Friction Compensation as its applied to the Servo Output and<br />

reduc<strong>in</strong>g the dither<strong>in</strong>g effect that it can create. This generally allows<br />

higher values of Friction Compensation to be applied. Hunt<strong>in</strong>g is also<br />

elim<strong>in</strong>ated at the cost of a small steady-state error.<br />

Reversal Offset Backlash Reversal Offset provides the capability to compensate for<br />

positional <strong>in</strong>accuracy <strong>in</strong>troduced by mechanical backlash. For<br />

example, power-tra<strong>in</strong> type applications require a high level of<br />

accuracy and repeatability dur<strong>in</strong>g mach<strong>in</strong><strong>in</strong>g operations. Axis motion<br />

is often generated by a number of mechanical components, a motor, a<br />

gearbox, and a ball-screw that may <strong>in</strong>troduce <strong>in</strong>accuracies and that are<br />

subject to wear over their lifetime. Therefore, when an axis is<br />

commanded to reverse direction, mechanical play <strong>in</strong> the mach<strong>in</strong>e<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-82 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

(through the gear<strong>in</strong>g, ball-screw, and so on) may result <strong>in</strong> a small<br />

amount of motor motion without axis motion. As a result, the<br />

feedback device may <strong>in</strong>dicate movement even though the axis has not<br />

physically moved.<br />

If a value of zero is applied to the Backlash Reversal Offset, the<br />

feature is effectively disabled. Once enabled by a non-zero value, and<br />

the load is engaged by a reversal of the commanded motion, chang<strong>in</strong>g<br />

the Backlash Reversal Offset can cause the axis to shift as the offset<br />

correction is applied to the command position.<br />

Stabilization W<strong>in</strong>dow The Backlash Stabilization W<strong>in</strong>dow controls the Backlash Stabilization<br />

feature <strong>in</strong> the servo control loop.<br />

Properly configured with a suitable value for the Backlash<br />

Stabilization W<strong>in</strong>dow, entirely elim<strong>in</strong>ates the gearbox buzz without<br />

sacrific<strong>in</strong>g any servo performance. In general, this value should be set<br />

to the measured backlash distance. A Backlash Stabilization W<strong>in</strong>dow<br />

value of zero effectively disables the feature.<br />

Velocity Offset Provides a dynamic velocity correction to the output of the position<br />

servo loop, <strong>in</strong> position units per second.<br />

Torque/Force Offset Provides a dynamic torque command correction to the output of the<br />

velocity servo loop, as a percentage of velocity servo loop output.<br />

Manual Adjust Click on this button to open the Offset tab of the Manual Adjust dialog<br />

for onl<strong>in</strong>e edit<strong>in</strong>g of the Friction/Deadband Compensation, Backlash


Fault Actions Tab -<br />

AXIS_SERVO<br />

Axis Properties C-83<br />

Compensation, Velocity Offset, Torque Offset, and Output Offset<br />

parameters.<br />

Note: The Manual Adjust button is disabled when RSLogix 5000 is <strong>in</strong><br />

Wizard mode, and when offl<strong>in</strong>e edits to the above parameters have<br />

not yet been saved or applied.<br />

Use this tab to specify the actions that are taken <strong>in</strong> response to the<br />

follow<strong>in</strong>g faults:<br />

• Drive Fault<br />

• Feedback Noise Fault<br />

• Feedback Loss Fault<br />

• Position Error Fault<br />

• Soft Overtravel Fault<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-84 Axis Properties<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

for an axis of the type AXIS_SERVO.<br />

When a parameter transitions to a read-only state, any pend<strong>in</strong>g<br />

changes to parameter values are lost, and the parameter reverts to the<br />

most recently saved parameter value.<br />

When multiple workstations connect to the same controller us<strong>in</strong>g<br />

RSLogix 5000 and <strong>in</strong>voke the Axis Wizard or Axis Properties dialog,<br />

the firmware allows only the first workstation to make any changes to<br />

axis attributes. The second workstation switches to a Read Only<br />

mode, <strong>in</strong>dicated <strong>in</strong> the title bar, so that you may view the changes<br />

from that workstation, but not edit them.<br />

Select one of the follow<strong>in</strong>g fault actions for each fault type:<br />

• Shutdown - If a fault action is set to Shutdown, then when the<br />

associated fault occurs, axis servo action is immediately<br />

disabled, the servo amplifier output is zeroed, and the<br />

appropriate drive enable output is deactivated. Shutdown is the<br />

most severe action to a fault and it is usually reserved for faults<br />

that could endanger the mach<strong>in</strong>e or the operator if power is not<br />

removed as quickly and completely as possible.


Axis Properties C-85<br />

• Disable Drive - If a fault action is set to Disable Drive, then<br />

when the associated fault occurs, axis servo action is<br />

immediately disabled, the servo amplifier output is zeroed, and<br />

the appropriate drive enable output is deactivated.<br />

• Stop <strong>Motion</strong> - If a fault action is set to Stop <strong>Motion</strong>, then when<br />

the associated fault occurs, the axis immediately starts<br />

decelerat<strong>in</strong>g the axis command position to a stop at the<br />

configured Maximum Deceleration Rate without disabl<strong>in</strong>g servo<br />

action or the servo modules Drive Enable output. This is the<br />

gentlest stopp<strong>in</strong>g mechanism <strong>in</strong> response to a fault. It is usually<br />

used for less severe faults. After the stop command fault action<br />

has stopped the axis, no further motion can be generated until<br />

the fault is first cleared.<br />

• Status Only - If a fault action is set to Status Only, then when the<br />

associated fault occurs, no action is taken. The application<br />

program must handle any motion faults. In general, this sett<strong>in</strong>g<br />

should only be used <strong>in</strong> applications where the standard fault<br />

actions are not appropriate.<br />

ATT<strong>EN</strong>TION<br />

Select<strong>in</strong>g the wrong fault action for your application<br />

can cause a dangerous condition result<strong>in</strong>g <strong>in</strong><br />

unexpected motion, damage to the equipment, and<br />

physical <strong>in</strong>jury or death. Keep clear of mov<strong>in</strong>g<br />

mach<strong>in</strong>ery.<br />

Drive Fault Specifies the fault action to be taken when a drive fault condition is<br />

detected, for an axis with the Drive Fault Input enabled (<strong>in</strong> the Servo<br />

tab of this dialog) that is configured as Servo (<strong>in</strong> the General tab of<br />

this dialog). The available actions for this fault are Shutdown and<br />

Disable Drive.<br />

Feedback Noise Specifies the fault action to be taken when excessive feedback noise is<br />

detected. The available actions for this fault are Shutdown, Disable<br />

Drive, Stop <strong>Motion</strong> and Status Only.<br />

Feedback Loss Specifies the fault action to be taken when feedback loss condition is<br />

detected. The available actions for this fault are Shutdown, Disable<br />

Drive, Stop <strong>Motion</strong> and Status Only.<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


C-86 Axis Properties<br />

Fault Actions Tab -<br />

AXIS_SERVO_DRIVE<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

Position Error Specifies the fault action to be taken when position error exceeds the<br />

position tolerance set for the axis, for an axis configured as Servo (<strong>in</strong><br />

the General tab of this dialog). The available actions for this fault are<br />

Shutdown, Disable Drive, Stop <strong>Motion</strong> and Status Only.<br />

Soft Overtravel Specifies the fault action to be taken when a software overtravel error<br />

occurs, for an axis with Soft Travel Limits enabled and configured (<strong>in</strong><br />

the Limits tab of this dialog) that is configured as Servo (<strong>in</strong> the General<br />

tab of this dialog). The available actions for this fault are Shutdown,<br />

Disable Drive, Stop <strong>Motion</strong> and Status Only.<br />

Use this tab to specify the actions that are taken <strong>in</strong> response to the<br />

follow<strong>in</strong>g faults:<br />

• Drive Thermal Fault<br />

• Motor Thermal Fault<br />

• Feedback Noise Fault<br />

• Feedback Fault<br />

• Position Error Fault<br />

• Hard Overtravel Fault<br />

• Soft Overtravel Fault


for an axis of the type AXIS_SERVO_DRIVE.<br />

Axis Properties C-87<br />

When a parameter transitions to a read-only state, any pend<strong>in</strong>g<br />

changes to parameter values are lost, and the parameter reverts to the<br />

most recently saved parameter value.<br />

When multiple workstations connect to the same controller us<strong>in</strong>g<br />

RSLogix 5000 and <strong>in</strong>voke the Axis Wizard or Axis Properties dialog,<br />

the firmware allows only the first workstation to make any changes to<br />

axis attributes. The second workstation switches to a Read Only<br />

mode, <strong>in</strong>dicated <strong>in</strong> the title bar, so that you may view the changes<br />

from that workstation, but not edit them.<br />

Select one of the follow<strong>in</strong>g fault actions for each fault type:<br />

• Shutdown - If a fault action is set to Shutdown, then when the<br />

associated fault occurs, axis servo action is immediately<br />

disabled, the servo amplifier output is zeroed, and the<br />

appropriate drive enable output is deactivated. Shutdown is the<br />

most severe action to a fault and it is usually reserved for faults<br />

that could endanger the mach<strong>in</strong>e or the operator if power is not<br />

removed as quickly and completely as possible.<br />

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C-88 Axis Properties<br />

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• Disable Drive - If a fault action is set to Disable Drive, then<br />

when the associated fault occurs, it br<strong>in</strong>gs the axis to a stop by<br />

apply<strong>in</strong>g the Stopp<strong>in</strong>g Torque for up to the Stopp<strong>in</strong>g Time Limit.<br />

Dur<strong>in</strong>g this period the servo is active but no longer track<strong>in</strong>g the<br />

command reference from logix. Once the axis is stopped (or the<br />

stopp<strong>in</strong>g limit is exceeded) the servo and power structure are<br />

disabled.<br />

• Stop <strong>Motion</strong> - If a fault action is set to Stop <strong>Motion</strong>, then when<br />

the associated fault occurs, the axis immediately starts<br />

decelerat<strong>in</strong>g the axis command position to a stop at the<br />

configured Maximum Deceleration Rate without disabl<strong>in</strong>g servo<br />

action or the servo modules Drive Enable output. This is the<br />

gentlest stopp<strong>in</strong>g mechanism <strong>in</strong> response to a fault. It is usually<br />

used for less severe faults. After the stop command fault action<br />

has stopped the axis, no further motion can be generated until<br />

the fault is first cleared.<br />

• Status Only - If a fault action is set to Status Only, then when the<br />

associated fault occurs, no action is taken. The application<br />

program must handle any motion faults. In general, this sett<strong>in</strong>g<br />

should only be used <strong>in</strong> applications where the standard fault<br />

actions are not appropriate.<br />

ATT<strong>EN</strong>TION<br />

Select<strong>in</strong>g the wrong fault action for your application<br />

can cause a dangerous condition. Keep clear of<br />

mov<strong>in</strong>g mach<strong>in</strong>ery.<br />

Drive Thermal Specifies the fault action to be taken when a Drive Thermal Fault is<br />

detected, for an axis configured as Servo (<strong>in</strong> the General tab of this<br />

dialog). The available actions for this fault are Shutdown, Disable<br />

Drive, Stop <strong>Motion</strong>, and Status Only.<br />

Motor Thermal Specifies the fault action to be taken when a Motor Thermal Fault is<br />

detected, for an axis configured as Servo (<strong>in</strong> the General tab of this<br />

dialog). The available actions for this fault are Shutdown, Disable<br />

Drive, Stop <strong>Motion</strong>, and Status Only.<br />

Feedback Noise Specifies the fault action to be taken when excessive feedback noise is<br />

detected. The available actions for this fault are Shutdown, Disable<br />

Drive, Stop <strong>Motion</strong>, and Status Only.


Axis Properties C-89<br />

Feedback Specifies the fault action to be taken when Feedback Fault is detected.<br />

The available actions for this fault are Shutdown, Disable Drive, Stop<br />

<strong>Motion</strong>, and Status Only.<br />

Position Error Specifies the fault action to be taken when position error exceeds the<br />

position tolerance set for the axis, for an axis configured as Servo (<strong>in</strong><br />

the General tab of this dialog). The available actions for this fault are<br />

Shutdown, Disable Drive, Stop <strong>Motion</strong> and Status Only.<br />

Hard Overtravel Specifies the fault action to be taken when an axis encounters a travel<br />

limit switch, for an axis configured as Servo (<strong>in</strong> the General tab of this<br />

dialog). The available actions for this fault are Shutdown, Disable<br />

Drive, Stop <strong>Motion</strong>, and Status Only.<br />

Soft Overtravel Specifies the fault action to be taken when a software overtravel error<br />

occurs, for an axis with Soft Travel Limits enabled and configured (<strong>in</strong><br />

the Limits tab of this dialog) that is configured as Servo (<strong>in</strong> the General<br />

tab of this dialog). The available actions for this fault are Shutdown,<br />

Disable Drive, Stop <strong>Motion</strong> and Status Only.<br />

Set Custom Stop Action Opens the Custom Stop Action Attributes dialog.<br />

Use this dialog to monitor and edit the Stop Action-related attributes.<br />

When a parameter transitions to a read-only state, any pend<strong>in</strong>g<br />

changes to parameter values are lost, and the parameter reverts to the<br />

most recently saved parameter value.<br />

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C-90 Axis Properties<br />

Tag Tab<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

When multiple workstations connect to the same controller us<strong>in</strong>g<br />

RSLogix 5000 and <strong>in</strong>voke the Axis Wizard or Axis Properties dialog,<br />

the firmware allows only the first workstation to make any changes to<br />

axis attributes. The second workstation switches to a Read Only<br />

mode, <strong>in</strong>dicated <strong>in</strong> the title bar, so that you may view the changes<br />

from that workstation, but not edit them.<br />

Attributes The follow<strong>in</strong>g attribute, or parameter, values can be monitored and<br />

edited <strong>in</strong> this dialog box.<br />

Table 3.G<br />

Attribute Description<br />

Stopp<strong>in</strong>gTorque This attribute displays the amount of torque<br />

available to stop the motor. This attribute<br />

has a value range of 0 to 1000.<br />

Stopp<strong>in</strong>gTimeLimit This attribute displays the maximum<br />

amount of time that the drive amplifier<br />

rema<strong>in</strong>s enabled while try<strong>in</strong>g to stop. It is<br />

useful for very slow velocity rate change<br />

sett<strong>in</strong>gs. This attribute has a value range of<br />

0 to 6553.5.<br />

BrakeEngageDelayTime When servo axis is disabled and the drive<br />

decelerates to a m<strong>in</strong>imum speed, the drive<br />

ma<strong>in</strong>ta<strong>in</strong>s torque until this time has<br />

elapsed. This time allows the motor’s brake<br />

to be set. This attribute has a value range of<br />

0 to 6.5535.<br />

BrakeReleaseDelayTime When the servo axis is enabled , the drive<br />

activates the torque to the motor but<br />

ignores the command values from the Logix<br />

controller until this time has elapsed. This<br />

time allows the motor’s brake to release.<br />

This attribute has a value of 0 to 6.5535.<br />

ResistiveBrakeContactDelay The Resistive Brake Contact Delay attribute<br />

is used to control an optional external<br />

Resistive Brake Module (RBM). The RBM<br />

sits between the drive and the motor and<br />

uses an <strong>in</strong>ternal contactor to switch the<br />

motor between the drive and a resisted<br />

load.<br />

Use this tab to modify the name and description of the axis. When<br />

you are onl<strong>in</strong>e, all of the parameters on this tab transition to a<br />

read-only state, and cannot be modified. If you go onl<strong>in</strong>e before you


save your changes, all pend<strong>in</strong>g changes revert to their<br />

previously-saved state.<br />

Axis Properties C-91<br />

Name Displays the name of the current tag. You can rename this tag, if you<br />

wish.<br />

Description Displays the description of the current tag, if any is available. You can<br />

edit this description, if you wish.<br />

Tag Type Indicates the type of the current tag. This type may be:<br />

• Base<br />

• Alias<br />

• Consumed<br />

Displays the data type associated with the current tag.<br />

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C-92 Axis Properties<br />

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Data Type Displays the axis data type of the current tag.<br />

Scope Displays the scope of the current tag. The scope is either controller<br />

scope, or program scope, based on one of the exist<strong>in</strong>g programs <strong>in</strong><br />

the controller.<br />

Style Displays the default style <strong>in</strong> which to display the value of the tag.<br />

Note that style is only applicable to an atomic tag; a structure tag does<br />

not have a display style.


Introduction<br />

How to Access Attributes<br />

Example<br />

Axis Attributes<br />

Appendix D<br />

Use this chapter to get configuration, status, and fault <strong>in</strong>formation<br />

about an axis. The controller store <strong>in</strong>formation about an axis as<br />

attributes of the axis.<br />

For See Page<br />

How to Access Attributes D-1<br />

Axis Attributes D-2<br />

Attribute Axis Type Data Type Access Description<br />

Acceleration<br />

GSV<br />

Feedforward<br />

Ga<strong>in</strong><br />

SSV<br />

Accel Status Tag<br />

Actual<br />

Acceleration<br />

The Access column shows how to access the attribute<br />

GSV<br />

Tag<br />

Use a Get System Value (GSV) <strong>in</strong>struction to get the value.<br />

Use a Set System Value (SSV) <strong>in</strong>struction to set or change<br />

the value.<br />

Use the tag for the axis to get the value.<br />

Use the tag for the axis or a GSV <strong>in</strong>struction to get the<br />

value. It’s easier to use the tag.<br />

1 Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


D-2 Axis Attributes<br />

Axis Attributes<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

This table describes each attribute of an axis.<br />

Attribute Axis Type Data Type Access Description<br />

Absolute<br />

Feedback Enable<br />

AXIS_SERVO SINT GSV<br />

SSV<br />

Important: Use this attribute only for an axis of a 1756-HYD02 or<br />

1756-M02AS module.<br />

This attribute controls whether or not the servo module uses the<br />

absolute position capability of the feedback device. If Absolute<br />

Feedback Enable is set to True, the servo module adds the Absolute<br />

Feedback Offset to the current position of the feedback device to<br />

establish the absolute mach<strong>in</strong>e reference position. S<strong>in</strong>ce absolute<br />

feedback devices reta<strong>in</strong> their position reference even through a<br />

power-cycle, the mach<strong>in</strong>e reference system can be restored at<br />

power-up.<br />

To establish a suitable value for the Absolute Feedback Offset attribute<br />

the MAH <strong>in</strong>struction may be executed with the Home Mode configured<br />

for Absolute (the only valid option when Absolute Feedback Enable is<br />

True). When executed, the servo module will compute the Absolute<br />

Feedback Offset as the difference between the configured value for<br />

Home Position and the current absolute feedback position of the axis.<br />

The computed Absolute Feedback Offset is immediately applied to the<br />

axis upon completion of the MAH <strong>in</strong>struction. Because the actual<br />

position of the axis is re-referenced dur<strong>in</strong>g execution of the MAH<br />

<strong>in</strong>struction, the servo loop must not be active. If the servo loop is active<br />

the MAH <strong>in</strong>struction errors.<br />

If Absolute Feedback Enable is set to False, the servo module ignores<br />

the Absolute Feedback Offset and treats the feedback device as an<br />

<strong>in</strong>cremental position transducer. In this case, a hom<strong>in</strong>g or redef<strong>in</strong>e<br />

position operation is therefore needed to establish the absolute mach<strong>in</strong>e<br />

reference position. The Absolute Home Mode <strong>in</strong> this case is considered<br />

<strong>in</strong>valid.<br />

This attribute is configurable if the Transducer Type is set to SSI. For an<br />

LDT transducer the Absolute Feedback Enable is forced to True. For an<br />

AQB transducer the Absolute Feedback Enable is forced to False.


Axis Attributes D-3<br />

Attribute Axis Type Data Type Access Description<br />

Absolute AXIS_SERVO REAL GSV Position Units<br />

Feedback Offset<br />

SSV<br />

Important<br />

• Use this attribute only for an axis of a 1756-HYD02 or<br />

1756-M02AS module.<br />

• Set the Absolute Feedback Enable attribute to True.<br />

This attribute is used to determ<strong>in</strong>e the relative distance between the<br />

absolute position of the feedback device and the absolute position of the<br />

mach<strong>in</strong>e. At power-up this attribute is sent to the servo module and<br />

added to the current position of the feedback device to restore the<br />

absolute mach<strong>in</strong>e position reference.<br />

Absolute<br />

Reference Status<br />

Accel Limit<br />

Status<br />

AXIS_SERVO_DRIVE BOOL Tag<br />

Accel Status AXIS_CONSUMED<br />

AXIS_G<strong>EN</strong>ERIC<br />

AXIS_SERVO<br />

AXIS_SERVO_DRIVE<br />

AXIS_VIRTUAL<br />

If the axis is configured for L<strong>in</strong>ear operation, absolute position may be<br />

recovered after power cycle as long as the feedback device has not<br />

exceeded its range limit. If the feedback device rolls over its count<br />

range, the absolute position of the axis is no longer valid.<br />

If the axis is configured for Rotary operation, the servo module is<br />

responsible for adjust<strong>in</strong>g the Absolute Feedback Offset dynamically<br />

based on the configured Unw<strong>in</strong>d value and the rollover of the absolute<br />

feedback device. If necessary, absolute position may be recovered after<br />

power cycle by periodically updat<strong>in</strong>g the controller’s Absolute Feedback<br />

Offset value. This can be done by select<strong>in</strong>g the Absolute Feedback<br />

Offset enumeration for one of the Axis Info Select attributes.<br />

If the bit is Then<br />

ON An absolute hom<strong>in</strong>g procedure happend. The bit stays<br />

set until either of these happen:<br />

• The drive resets its configuration parameters to<br />

default values.<br />

• The axis does an active or passive home or<br />

redef<strong>in</strong>e position.<br />

OFF The position of the axis has not been, or is no longer,<br />

referenced to the absolute mach<strong>in</strong>e reference system<br />

established by an absolute hom<strong>in</strong>g procedure.<br />

AXIS_SERVO_DRIVE BOOL Tag Set when the magnitude of the commanded acceleration to the velocity<br />

servo loop <strong>in</strong>put is greater than the configured Velocity Limit.<br />

BOOL Tag Set if the axis is currently be<strong>in</strong>g commanded to accelerate.<br />

Use the Accel Status bit and the Decel Status bit to see if the axis is<br />

accelerat<strong>in</strong>g or decelerat<strong>in</strong>g. If both bits are off, then the axis is mov<strong>in</strong>g<br />

at a steady speed or is at rest.<br />

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D-4 Axis Attributes<br />

Attribute Axis Type Data Type Access Description<br />

Acceleration<br />

Command<br />

AXIS_SERVO<br />

AXIS_SERVO_DRIVE<br />

REAL GSV<br />

Tag<br />

Important: To use this attribute, choose it as one of the attributes for<br />

Real Time Axis Information for the axis. Otherwise, you won’t see the<br />

right value as the axis runs. See Axis Info Select 1.<br />

Acceleration<br />

Data Scal<strong>in</strong>g<br />

Acceleration<br />

Data Scal<strong>in</strong>g Exp<br />

Acceleration<br />

Data Scal<strong>in</strong>g<br />

Factor<br />

Acceleration<br />

Feedback<br />

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Acceleration Command <strong>in</strong> Position Units / Sec2<br />

Acceleration Command is the current acceleration reference to the<br />

output summ<strong>in</strong>g junction, <strong>in</strong> the configured axis Position Units per<br />

Second 2 , for the specified axis. The Acceleration Command value,<br />

hence, represents the output of the <strong>in</strong>ner velocity control loop.<br />

Acceleration Command is not to be confused with Command Velocity,<br />

which represents the rate of change of Command Position <strong>in</strong>put to the<br />

position servo loop.<br />

AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute. See IDN 160 <strong>in</strong><br />

IEC 1491.<br />

AXIS_SERVO_DRIVE INT GSV This attribute is derived from the Drive Units attribute. See IDN 162 <strong>in</strong><br />

IEC 1491.<br />

AXIS_SERVO_DRIVE DINT GSV This attribute is derived from the Drive Units attribute. See IDN 161 <strong>in</strong><br />

IEC 1491.<br />

AXIS_SERVO<br />

AXIS_SERVO_DRIVE<br />

REAL GSV<br />

Tag<br />

Important: To use this attribute, choose it as one of the attributes for<br />

Real Time Axis Information for the axis. Otherwise, you won’t see the<br />

right value as the axis runs. See Axis Info Select 1.<br />

Acceleration Feedback <strong>in</strong> Position Units / Sec2<br />

Acceleration Feedback is the actual velocity of the axis as estimated by<br />

the servo module, <strong>in</strong> the configured axis Position Units per Second 2 . The<br />

Estimated Acceleration is calculated by tak<strong>in</strong>g the difference <strong>in</strong> the<br />

Estimated Velocity over the servo update <strong>in</strong>terval. Acceleration<br />

Feedback is a signed value—the sign (+ or -) depends on which direction<br />

the axis is currently mov<strong>in</strong>g.


Axis Attributes D-5<br />

Attribute Axis Type Data Type Access Description<br />

Acceleration AXIS_SERVO REAL GSV %<br />

Feedforward<br />

Ga<strong>in</strong><br />

AXIS_SERVO_DRIVE<br />

SSV<br />

AXIS_SERVO<br />

When you connect to a torque servo drive, use the Acceleration<br />

Feedforward Ga<strong>in</strong> to give the Torque Command output necessary to<br />

generate the commanded acceleration. It does this by scal<strong>in</strong>g the<br />

current Command Acceleration by the Acceleration Feedforward Ga<strong>in</strong><br />

and add<strong>in</strong>g it as an offset to the Servo Output generated by the servo<br />

loop. With this done, the servo loops do not need to generate much of a<br />

contribution to the Servo Output, hence the Position and/or Velocity<br />

Error values are significantly reduced. Hence, when used <strong>in</strong> conjunction<br />

with the Velocity Feedforward Ga<strong>in</strong>, the Acceleration Feedforward Ga<strong>in</strong><br />

lets the follow<strong>in</strong>g error of the servo system dur<strong>in</strong>g the acceleration and<br />

deceleration phases of motion be reduced to nearly zero. This is<br />

important <strong>in</strong> applications such as electronic gear<strong>in</strong>g and synchronization<br />

where the actual axis position must not significantly lag beh<strong>in</strong>d the<br />

commanded position at any time.<br />

When you connect to a velocity servo drive, use Acceleration<br />

Feedforward to add a term to the Velocity Command that is proportional<br />

to the commanded acceleration. This can be effective <strong>in</strong> cases where<br />

the external drive shows a steady-state velocity error dur<strong>in</strong>g<br />

acceleration and deceleration.<br />

The best value for Acceleration Feedforward depends on the drive<br />

configuration. Excessive Acceleration Feedforward values tend to<br />

produce axis overshoot. For torque servo drive applications the best<br />

value for Acceleration Feedforward is theoretically 100%. However, the<br />

value may need to be <strong>in</strong>creased slightly to accommodate servo loops<br />

with non-<strong>in</strong>f<strong>in</strong>ite loop ga<strong>in</strong> and other application considerations. For<br />

velocity servo drive applications the best value for Acceleration<br />

Feedforward is highly dependent on the drive’s speed scal<strong>in</strong>g and servo<br />

loop configuration. A value of 100%, <strong>in</strong> this case, means only that 100%<br />

of the commanded acceleration value is applied to the velocity<br />

command summ<strong>in</strong>g junction and may not be even close to the optimal<br />

value.<br />

To f<strong>in</strong>d the best Acceleration Feedforward Ga<strong>in</strong>, run a simple project that<br />

jogs the axis <strong>in</strong> the positive direction and monitors the Position Error of<br />

the axis dur<strong>in</strong>g the jog. Usually Acceleration Feedforward is used <strong>in</strong><br />

tandem with Velocity Feedforward to achieve near zero follow<strong>in</strong>g error<br />

dur<strong>in</strong>g the entire motion profile. To f<strong>in</strong>e tune the Acceleration<br />

Feedforward Ga<strong>in</strong>, the Velocity Feedforward Ga<strong>in</strong> must first be optimized<br />

us<strong>in</strong>g the procedure described above. While captur<strong>in</strong>g the peak Position<br />

Error dur<strong>in</strong>g the acceleration phase of the jog profile, <strong>in</strong>crease the<br />

Acceleration Feedforward Ga<strong>in</strong> until the peak Position Error is as small<br />

as possible, but still positive. If the peak Position Error dur<strong>in</strong>g the<br />

acceleration ramp is negative, the actual position of the axis is ahead of<br />

the command position dur<strong>in</strong>g the acceleration ramp. If this occurs,<br />

decrease the Acceleration Feedforward Ga<strong>in</strong> such that the Position Error<br />

is aga<strong>in</strong> positive. To be thorough the same procedure should be done for<br />

the deceleration ramp to verify that the peak Position Error dur<strong>in</strong>g<br />

deceleration is acceptable. Note that reasonable maximum velocity,<br />

acceleration, and deceleration values must be entered to jog the axis.<br />

Cont<strong>in</strong>ued on next page<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006


D-6 Axis Attributes<br />

Attribute Axis Type Data Type Access Description<br />

Acceleration<br />

Feedforward<br />

Ga<strong>in</strong> (cont.)<br />

Acceleration<br />

Limit Bipolar<br />

Acceleration<br />

Limit Negative<br />

AXIS_SERVO_DRIVE REAL GSV<br />

SSV<br />

AXIS_SERVO_DRIVE REAL GSV<br />

SSV<br />

Publication <strong>LOGIX</strong>-<strong>UM002A</strong>-<strong>EN</strong>-P - February 2006<br />

AXIS_SERVO_DRIVE<br />

The Acceleration Feedforward Ga<strong>in</strong> attribute is used to provide the<br />

Torque Command output necessary to generate the commanded<br />

acceleration. It does this by scal<strong>in</strong>g the current Command Acceleration<br />

by the Acceleration Feedforward Ga<strong>in</strong> and add<strong>in</strong>g it as an offset to the<br />

Servo Output generated by the servo loop. With this done, the servo<br />

loops do not need to generate much control effort, hence the Position<br />

and/or Velocity Error values are significantly reduced. When used <strong>in</strong><br />

conjunction with the Velocity Feedforward Ga<strong>in</strong>, the Acceleration<br />

Feedforward Ga<strong>in</strong> allows the follow<strong>in</strong>g error of the servo system dur<strong>in</strong>g<br />

the acceleration and deceleration phases of motion to be reduced to<br />

nearly zero. This is important <strong>in</strong> applications such as electronic gear<strong>in</strong>g<br />

and synchronization applications where it is necessary that the actual<br />

axis position not significantly lag beh<strong>in</strong>d the commanded position at any<br />

time.<br />

The optimal value for Acceleration Feedforward is 100% theoretically. In<br />

reality, however, the value may need to be tweaked to accommodate<br />

torque loops with non-<strong>in</strong>f<strong>in</strong>ite loop ga<strong>in</strong> and other application<br />

considerations. One th<strong>in</strong>g that may force a smaller Acceleration<br />

Feedforward value is that <strong>in</strong>creas<strong>in</strong>g amounts of feedforward tends to<br />

exacerbate axis overshoot.<br />

When necessary, the Acceleration Feedforward Ga<strong>in</strong> may be “tweaked”<br />

from the 100% value by runn<strong>in</strong>g a simple user program that jogs the axis<br />

<strong>in</strong> the positive direction and monitors the Position Error of the axis<br />

dur<strong>in</strong>g the jog. Usually Acceleration Feedforward is used <strong>in</strong> tandem with<br />

Velocity Feedforward to achieve near zero follow<strong>in</strong>g error dur<strong>in</strong>g the<br />

entire motion profile. To f<strong>in</strong>e-tune the Acceleration Feedforward Ga<strong>in</strong>,<br />

the Velocity Feedforward Ga<strong>in</strong> must first be optimized us<strong>in</strong>g the<br />

procedure described above. While captur<strong>in</strong>g the peak Position Error<br />

dur<strong>in</strong>g the acceleration phase of the jog profile, <strong>in</strong>crease the<br />

Acceleration Feedforward Ga<strong>in</strong> until the peak Position Error is as small<br />

as possible, but still positive. If the peak Position Error dur<strong>in</strong>g the<br />

acceleration ramp is negative, the actual position of the axis is ahead of<br />

the command position dur<strong>in</strong>g the acceleration ramp. If this occurs,<br />

decrease the Acceleration Feedforward Ga<strong>in</strong> such that the Position Error<br />

is aga<strong>in</strong> positive. To be thorough the same procedure should be done for<br />

the deceleration ramp to verify that the peak Position Error dur<strong>in</strong>g<br />

deceleration is acceptable. Note that reasonable maximum velocity,<br />

acceleration, and deceleration values must be entered to jog the axis.<br />

Position Units / sec 2<br />

This attribute maps directly to a SERCOS IDN. See the SERCOS Interface<br />

standard for a description. This attribute is automatically set. You<br />

usually don’t have to change it.<br />

Position Units / sec 2<br />

This attribute maps directly to a SERCOS IDN. See the SERCOS Interface<br />

standard for a description. This attribute is automatically set. You<br />

usually don’t have to change it.


Axis Attributes D-7<br />

Acceleration AXIS_SERVO_DRIVE REAL GSV Position Units / sec<br />

Limit Positive<br />

SSV<br />

2<br />

Attribute Axis Type Data Type Access Description<br />

This attribute maps directly to a SERC