Rockwell-automation 1771-QA Stepper Positioning Assembly User Manual Bedienungsanleitung Seite 23
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Chapter
3
Publication 1771-UM002A–EN–P – May 2000
Pr ogramming and Operation
The desired motion of the stepper motor can be accelerated,
decelerated or maintained at constant rate by controlling the pulse
rate from the pulse output expander module. Motion can be
rotational such as used to position an indexing table, or can be linear
such as obtained when a linear slide is driven forward or backward
by turning a threaded shaft. In either case, the position at any given
moment is defined by the number of pulses sent to the stepper motor.
It can result in some number of degrees of rotation or linear units of
travel.
The motion can be programmed by manipulating data table words
(control blocks) arranged in a convenient format. Blocks of data are
also used to indicate that commands were received and desired
motion was implemented (status block). Control and status blocks
are communicated bidirectionally between the PC processor and
stepper controller module by block transfer programming.
The task of programming requires that control and status block be
assigned in the data table and that control data be entered using the
industrial terminal. Control blocks sent to the stepper controller
module by write block transfers govern acceleration, deceleration,
final rate and final position. Control blocks also contain control
words. Bits in control words must be set according to the particular
application and desired motion.
The stepper controller module sends status blocks of data to the PC
processor using read block transfers. Status blocks contain current
position information and diagnostic bits set by the stepper
positioning assembly.
The format of the data blocks and the function of status and control
bits will be covered later in this chapter.
There are three stepper positioning concepts which should be
understood before learning how the stepper positioning assembly is
programmed. They are:
• Move Definition
• Moveset
• Positioning Modes
General
Positioning Concepts
- Positioning 1
- Assembly 1
- Allen-Bradley 1
- Important User 2
- Information 2
- Table of Contents 3
- Table of Contentsii 4
- Example Programs 5
- CSA Hazardous Location 5
- Approval 5
- Table of Contentsiv 6
- 7
- Understand Compliance to 8
- European Union Directives 8
- 1–3Introduction 9
- 1–4 Introduction 10
- Assembly and Installation 11
- Power Supply 12
- Considerations 12
- Pulse Output Expander 13
- Table 2.A 14
- Figure 2.2 14
- Output Format (S1) 15
- Input Logic (S2) 16
- Expander Module Address (S3) 16
- Switch Assembly S3 Expander 17
- ON OFF OFF 1 17
- OFF ON OFF 2 17
- ON ON OFF 3 17
- Diagnostic Indicators 18
- Installation 19
- Compatibility 21
- Module Specifications 21
- Pr ogramming and Operation 23
- Move Definition 24
- Positioning Modes 25
- MS Preset Word 30
- Not Used (Must be zero) 31
- 17 10 07 00 36
- Move Block 39
- • Single Move Control Word 39
- • Move Data 39
- Status Block 42
- • Status Word 42
- • Position Word 42
- Block Transfer 47
- Programming 47
- Programming Considerations 52
- , bit 13 54
- Table 3.A 56
- Size of Data Files 56
- Handshaking 57
- 13 Command Verify 00 59
- • Program length = 2K words 65
- Application 66
- Resonant Frequency 76
- Table 3.C 77
- Output Accuracy 77
- Table 3.D 77
- Ramp and Decel Time Accuracy 77
- Minimum Move Time 78
- Example Pr ograms 79
- Programming a 1-Axis Profile 80
- Example 1-Axis Program 83
- HEXADECIMAL DATA MONITOR 85
- FILE-TO-FILE MOVE 85
- POSITION: 001 85
- 4–8 Example Programs 86
- 4–9Example Programs 87
- Table 4.A 87
- Ignored in this example 88
- 4–11Example Programs 89
- 4–12 Example Programs 90
- 4–14 Example Programs 92
- 3-Axis Program 93
- Programming a 3-Axis 96
- 4–19Example Programs 97
- Example 3-Axis Program 98
- MS Preset 104
- 4–36 Example Programs 114
- 4–37Example Programs 115
- 4–38 Example Programs 116
- Operational Summary 117
- 4–42 Example Programs 120
- Tr oubleshooting 121
- 5–2 Troubleshooting 122
- Table 5.A 122
- Power-Up Troubleshooting 122
- Troubleshooting 124
- Illegal Bit Combinations 125
- 5–6 Troubleshooting 126
- Specifications 127
- CSA Hazar dous Location 129
- Appr oval 129
- Worldwide representation 132
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