Rockwell-automation 1784-PM16SE SoftLogix Motion Card Setup and Config Bedienungsanleitung Seite 1

SoftLogixTM Motion Card (Cat.No. 1784-PM02AE, -PM16SE)Setup and Configuration Manual

Publication 1784-UM003A-EN-P – June 20032 Using This ManualRelated DocumentationThe following table lists related ControlLogix documentation:Fo

Publication 1784-UM003A-EN-P – June 200392 Naming & Configuring Your Motion AxisIn the Controller Organizer, right click on the axis to edi

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 93The General screen shown below is for an AXIS_SERVO DRIVE D

Publication 1784-UM003A-EN-P – June 200394 Naming & Configuring Your Motion AxisGeneral Tab – AXIS_SERVOUse this tab to do the following fo

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 95New Group buttonOpens the New Tag dialog box, where you can

Publication 1784-UM003A-EN-P – June 200396 Naming & Configuring Your Motion AxisAxis ConfigurationSelects and displays the intended use of

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 97General Tab - AXIS_VIRTUALUse this tab to associate the axi

Publication 1784-UM003A-EN-P – June 200398 Naming & Configuring Your Motion AxisPress Apply then select the Motion Planner tab to access th

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 99Program Stop ActionSelect how a specific axis is stopped wh

Publication 1784-UM003A-EN-P – June 2003100 Naming & Configuring Your Motion AxisEnable Master Position Filter CheckboxUse this checkbox to

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 101Units TabThe Units Tab is the same for all axis data types

Publication 1784-UM003A-EN-P – June 2003Using This Manual 3Local Product SupportContact your local Rockwell Automation representative for:• sal

Publication 1784-UM003A-EN-P – June 2003102 Naming & Configuring Your Motion AxisServo Tab - AXIS_SERVOClick on the Servo Tab from the Axis

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 103External Drive ConfigurationSelect the drive type for the

Publication 1784-UM003A-EN-P – June 2003104 Naming & Configuring Your Motion AxisFeedback Tab – (AXIS_SERVO)The Feedback Tab allows you to

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 105Drive/Motor Tab -(AXIS_SERVO_DRIVE)Use this tab to configu

Publication 1784-UM003A-EN-P – June 2003106 Naming & Configuring Your Motion AxisCatalog NumberSelect the catalog number of the motor assoc

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 107Drive ResolutionType in the number of counts per motor rev

Publication 1784-UM003A-EN-P – June 2003108 Naming & Configuring Your Motion AxisFigure 6.14 Change Catalog ScreenCatalog NumberLists the a

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 109Motor Feedback Tab -AXIS_SERVO_DRIVEUse this tab to config

Publication 1784-UM003A-EN-P – June 2003110 Naming & Configuring Your Motion AxisPerThe units used to measure the cycles.Interpolation Fact

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 111CyclesThe number of cycles of the auxiliary feedback devic

Publication 1784-UM003A-EN-P – June 20034 Using This Manual

Publication 1784-UM003A-EN-P – June 2003112 Naming & Configuring Your Motion AxisThe differences in the appearance of the Conversion Tab sc

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 113Positioning ModeThis parameter is not editable for an axis

Publication 1784-UM003A-EN-P – June 2003114 Naming & Configuring Your Motion AxisFor axes of the type AXIS_SERVO_DRIVE:• when you save an e

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 115ModeSelect the homing mode:• Active: In this mode, the des

Publication 1784-UM003A-EN-P – June 2003116 Naming & Configuring Your Motion AxisSequenceSelect the event that causes the Home Position to

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 117SpeedType the speed of the jog profile used in the first l

Publication 1784-UM003A-EN-P – June 2003118 Naming & Configuring Your Motion Axis Homing Tab - AXIS_VIRTUALUse this tab to configure the at

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 119If the Positioning Mode (set in the Conversion tab) of the

Publication 1784-UM003A-EN-P – June 2003120 Naming & Configuring Your Motion AxisFeedback PolarityThe polarity of the encoder feedback, thi

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 121Test FeedbackRuns the Feedback Test, which checks and, if

5 Publication 1784-UM003A-EN-P – June 2003Chapter 1The SoftLogix Motion Control SystemThis chapter describes the SoftLogix motion control system and i

Publication 1784-UM003A-EN-P – June 2003122 Naming & Configuring Your Motion AxisTest IncrementSpecifies the amount of distance traversed b

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 123Test Command & FeedbackRuns the Command & Feedback

Publication 1784-UM003A-EN-P – June 2003124 Naming & Configuring Your Motion AxisSpeedDetermines the maximum speed for the tune process. Th

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 125TuneSelect the gains to be determined by the tuning test:•

Publication 1784-UM003A-EN-P – June 2003126 Naming & Configuring Your Motion AxisDynamics TabUse this tab to view or edit the dynamics rela

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 127Maximum VelocityThe steady-state speed of the axis, it is

Publication 1784-UM003A-EN-P – June 2003128 Naming & Configuring Your Motion AxisManual AdjustClick on this button to open the Dynamics tab

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 129Gains Tab - AXIS_SERVOUse this tab to perform the followin

Publication 1784-UM003A-EN-P – June 2003130 Naming & Configuring Your Motion AxisNote: The parameters on this tab become read-only and cann

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 131Proportional (Position) GainPosition Error is multiplied b

Publication 1784-UM003A-EN-P – June 20036 The SoftLogix Motion Control SystemFigure 1.1 SoftLogix System with 1784-PM02AEFigure 1.2 SoftLogix S

Publication 1784-UM003A-EN-P – June 2003132 Naming & Configuring Your Motion AxisWhile the Pos I Gain, if employed, is typically establishe

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 133Due to the destabilizing nature of Integral Gain, it is re

Publication 1784-UM003A-EN-P – June 2003134 Naming & Configuring Your Motion AxisGains Tab - AXIS_SERVO_DRIVEUse this tab to perform the fo

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 135The parameters on this tab can be edited in either of two

Publication 1784-UM003A-EN-P – June 2003136 Naming & Configuring Your Motion AxisNote: Acceleration Feedforward Gain is not applicable for

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 137Output tab of this dialog box). Once this is done, the Pos

Publication 1784-UM003A-EN-P – June 2003138 Naming & Configuring Your Motion AxisDue to the destabilizing nature of Integral Gain, it is re

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 139Manual AdjustClick on this button to access the Gains tab

Publication 1784-UM003A-EN-P – June 2003140 Naming & Configuring Your Motion AxisSet Custom GainsClick on this button to open the Custom Ga

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 141Output Tab - AXIS_SERVOUse this dialog for offline configu

Publication 1784-UM003A-EN-P – June 2003The SoftLogix Motion Control System 7SoftLogix Chassis MonitorIt is at the Chassis Monitor where you ca

Publication 1784-UM003A-EN-P – June 2003142 Naming & Configuring Your Motion AxisVelocity ScalingThe Velocity Scaling attribute is used to

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 143Enable Low-pass Output Filter Select this to enable the se

Publication 1784-UM003A-EN-P – June 2003144 Naming & Configuring Your Motion AxisManual AdjustClick on this button to access the Output tab

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 145Output Tab (AXIS_SERVO_DRIVE)Use this dialog box to make t

Publication 1784-UM003A-EN-P – June 2003146 Naming & Configuring Your Motion AxisTorque ScalingThe Torque Scaling attribute is used to conv

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 147Note: During tuning, if the controller detects a high degr

Publication 1784-UM003A-EN-P – June 2003148 Naming & Configuring Your Motion AxisNote: The Manual Adjust button is disabled when RSLogix 50

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 149Note: The parameters on this tab become read-only and cann

Publication 1784-UM003A-EN-P – June 2003150 Naming & Configuring Your Motion AxisNote: This value is set to twice the following error at ma

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 151Manual AdjustClick on this button to open the Limits tab o

Publication 1784-UM003A-EN-P – June 20038 The SoftLogix Motion Control SystemAdditional information in the form of a tooltip about the modules

Publication 1784-UM003A-EN-P – June 2003152 Naming & Configuring Your Motion Axis Limits Tab - AXIS_SERVO_DRIVEUse this tab to make the fol

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 153Hard Travel LimitsEnables a periodic test that monitors th

Publication 1784-UM003A-EN-P – June 2003154 Naming & Configuring Your Motion AxisNote: This value is set to twice the following error at ma

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 155Set Custom LimitsClick this button to open the Custom Limi

Publication 1784-UM003A-EN-P – June 2003156 Naming & Configuring Your Motion AxisVelocityLimitPositive This attribute displays the maximum

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 157Offset Tab - AXIS_SERVOUse this tab to make offline adjust

Publication 1784-UM003A-EN-P – June 2003158 Naming & Configuring Your Motion AxisWhen RSLogix 5000 is offline, the following parameters can

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 159Output OffsetCorrects the problem of axis “drift”, by addi

Publication 1784-UM003A-EN-P – June 2003160 Naming & Configuring Your Motion AxisOffset Tab - AXIS_SERVO_DRIVEUse this tab to make offline

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 161When RSLogix 5000 is offline, the following parameters can

Publication 1784-UM003A-EN-P – June 2003The SoftLogix Motion Control System 9The Analog/Encoder Servo Module(1784-PMO2AE)The Analog/Encoder ser

Publication 1784-UM003A-EN-P – June 2003162 Naming & Configuring Your Motion AxisManual AdjustClick on this button to open the Offset tab o

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 163Fault Actions Tab - AXIS_SERVOUse this tab to specify the

Publication 1784-UM003A-EN-P – June 2003164 Naming & Configuring Your Motion AxisSelect one of the following fault actions for each fault t

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 165Feedback LossSpecifies the fault action to be taken when f

Publication 1784-UM003A-EN-P – June 2003166 Naming & Configuring Your Motion AxisFault Actions Tab -AXIS_SERVO_DRIVEUse this tab to specify

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 167Select one of the following fault actions for each fault t

Publication 1784-UM003A-EN-P – June 2003168 Naming & Configuring Your Motion AxisMotor ThermalSpecifies the fault action to be taken when a

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 169Set Custom Stop ActionOpens the Custom Stop Action Attribu

Publication 1784-UM003A-EN-P – June 2003170 Naming & Configuring Your Motion AxisTag TabUse this tab to modify the name and description of

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 171Tag TypeIndicates the type of the current tag. This type m

Publication 1784-UM003A-EN-P – June 200310 The SoftLogix Motion Control SystemDeveloping a Motion Control Application ProgramThis section provi

Publication 1784-UM003A-EN-P – June 2003172 Naming & Configuring Your Motion Axis

173 Publication 1784-UM003A-EN-P – June 2003Chapter 7Creating & Configuring Your Coordinate System TagIntroductionThe Coordinate System tag is use

Publication 1784-UM003A-EN-P – June 2003174 Creating & Configuring Your Coordinate System TagThe second way is to go the Controller organiz

Publication 1784-UM003A-EN-P – June 2003Creating & Configuring Your Coordinate System Tag 175Regardless of the method you use the New Tag w

Publication 1784-UM003A-EN-P – June 2003176 Creating & Configuring Your Coordinate System TagMake entries in the following fields.NameEnter

Publication 1784-UM003A-EN-P – June 2003Creating & Configuring Your Coordinate System Tag 177Data TypeIn the Data Type field select COORDIN

Publication 1784-UM003A-EN-P – June 2003178 Creating & Configuring Your Coordinate System Tag General Wizard ScreenThe General screen lets

Publication 1784-UM003A-EN-P – June 2003Creating & Configuring Your Coordinate System Tag 179Editing Coordinate System PropertiesOnce you h

Publication 1784-UM003A-EN-P – June 2003180 Creating & Configuring Your Coordinate System TagGeneral TabUse this tab to do the following fo

Publication 1784-UM003A-EN-P – June 2003Creating & Configuring Your Coordinate System Tag 181Axis GridThe Axis Grid is where you associate

Publication 1784-UM003A-EN-P – June 2003The SoftLogix Motion Control System 11 For more information about the MOTION_INSTRUCTION tag, refer t

Publication 1784-UM003A-EN-P – June 2003182 Creating & Configuring Your Coordinate System TagEnable Coordinate System Auto Tag UpdateThe En

Publication 1784-UM003A-EN-P – June 2003Creating & Configuring Your Coordinate System Tag 183Units TabThe Units Tab of the Coordinate Syste

Publication 1784-UM003A-EN-P – June 2003184 Creating & Configuring Your Coordinate System TagClick on the Apply button to preserve your edi

Publication 1784-UM003A-EN-P – June 2003Creating & Configuring Your Coordinate System Tag 185Maximum SpeedEnter the value for Maximum Speed

Publication 1784-UM003A-EN-P – June 2003186 Creating & Configuring Your Coordinate System TagDynamics Tab Manual AdjustAt this screen you c

Publication 1784-UM003A-EN-P – June 2003Creating & Configuring Your Coordinate System Tag 187Tag TabThe Tag Tab is for reviewing your Tag i

Publication 1784-UM003A-EN-P – June 2003188 Creating & Configuring Your Coordinate System TagTag TypeIndicates the type of the current Coor

Publication 1784-UM003A-EN-P – June 2003Creating & Configuring Your Coordinate System Tag 189The menu has the following options:• Monitor C

Publication 1784-UM003A-EN-P – June 2003190 Creating & Configuring Your Coordinate System TagCut/PasteA Cut/Paste operation is used for mov

191 Publication 1784-UM003A-EN-P – June 2003Chapter 8Configuring a 1394x-SJTxx-D Digital Servo DriveTo configure a 1394x-SJTxx-D drive module:1. In th

Important User InformationBecause of the variety of uses for the products described in this publication, those responsible for the application and use

Publication 1784-UM003A-EN-P – June 200312 The SoftLogix Motion Control SystemHandling Motion FaultsTwo types of motion faults exist.ErrorsExec

Publication 1784-UM003A-EN-P – June 2003192 Configuring a 1394x-SJTxx-D Digital Servo Drive3. You can also right click on a selected 1784-PM16S

Publication 1784-UM003A-EN-P – June 2003Configuring a 1394x-SJTxx-D Digital Servo Drive 1936. Fill in the required parameters for each page, th

Publication 1784-UM003A-EN-P – June 2003194 Configuring a 1394x-SJTxx-D Digital Servo DriveThe module for a 1394x-SJTxx-D drive has 5 tabs: Fig

Publication 1784-UM003A-EN-P – June 2003Configuring a 1394x-SJTxx-D Digital Servo Drive 195 On this tab, you can:• view the type and descriptio

Publication 1784-UM003A-EN-P – June 2003196 Configuring a 1394x-SJTxx-D Digital Servo DriveThe major revision is used to indicate the revision

Publication 1784-UM003A-EN-P – June 2003Configuring a 1394x-SJTxx-D Digital Servo Drive 197This feature prevents the inadvertent insertion of t

Publication 1784-UM003A-EN-P – June 2003198 Configuring a 1394x-SJTxx-D Digital Servo DriveInhibit Module CheckboxCheck/Uncheck this box to inh

Publication 1784-UM003A-EN-P – June 2003Configuring a 1394x-SJTxx-D Digital Servo Drive 199Module FaultDisplays the fault code returned from th

Publication 1784-UM003A-EN-P – June 2003200 Configuring a 1394x-SJTxx-D Digital Servo DriveNode X0Represents Axis 0 on the 1784-PM16SE SERCOS m

Publication 1784-UM003A-EN-P – June 2003Configuring a 1394x-SJTxx-D Digital Servo Drive 201 Power TabUse this tab to select a bus regulator for

13 Publication 1784-UM003A-EN-P – June 2003Chapter 2SoftLogix ControllerIntroductionBefore you can begin programming or configuring your controller, y

Publication 1784-UM003A-EN-P – June 2003202 Configuring a 1394x-SJTxx-D Digital Servo DriveModule Info tabUse this tab to display identifying a

Publication 1784-UM003A-EN-P – June 2003Configuring a 1394x-SJTxx-D Digital Servo Drive 203Product NameThe name displayed in the Product Name f

Publication 1784-UM003A-EN-P – June 2003204 Configuring a 1394x-SJTxx-D Digital Servo DriveModule IdentityThis field does not take into account

205 Publication 1784-UM003A-EN-P – June 2003Chapter 9Configuring an Ultra 3000 DriveThe Ultra3000 Digital Servo Drive with fiber optic SERCOS interfac

Publication 1784-UM003A-EN-P – June 2003206 Configuring an Ultra 3000 Drive4. Select New Module from the pop up menu.Figure 9.2 New Module Sele

Publication 1784-UM003A-EN-P – June 2003Configuring an Ultra 3000 Drive 207The Select Module Type dialog displays.Figure 9.3 Select Module Type

Publication 1784-UM003A-EN-P – June 2003208 Configuring an Ultra 3000 Drive6. Press the OK button to close the Select Module Type dialog. The U

Publication 1784-UM003A-EN-P – June 2003Configuring an Ultra 3000 Drive 2098. Fill in the required information and click on the Next button to

Publication 1784-UM003A-EN-P – June 2003210 Configuring an Ultra 3000 Drive10. There is no Bus regulator for the Ultra3000. Press Next to conti

Publication 1784-UM003A-EN-P – June 2003Configuring an Ultra 3000 Drive 211Editing the Ultra Drive PropertiesThe Module Properties for any of t

Publication 1784-UM003A-EN-P – June 200314 SoftLogix ControllerIn addition, if you have chosen a FlexLogix controller, 2 FlexBus adapters are c

Publication 1784-UM003A-EN-P – June 2003212 Configuring an Ultra 3000 DriveVendorDisplays the vendor of the module being created (read only).Na

Publication 1784-UM003A-EN-P – June 2003Configuring an Ultra 3000 Drive 213Electronic Keying Select one of these keying options for your module

Publication 1784-UM003A-EN-P – June 2003214 Configuring an Ultra 3000 DriveStatusDisplays the status the controller has about the module:Connec

Publication 1784-UM003A-EN-P – June 2003Configuring an Ultra 3000 Drive 215On this tab, you can: • Select a requested packet interval.• Choose

Publication 1784-UM003A-EN-P – June 2003216 Configuring an Ultra 3000 DriveWhen you check this box and go online, the icon representing this mo

Publication 1784-UM003A-EN-P – June 2003Configuring an Ultra 3000 Drive 217Associated Axes Tab (Ultra3000Drives)Use this tab to configure the s

Publication 1784-UM003A-EN-P – June 2003218 Configuring an Ultra 3000 DrivePower Tab - Ultra DriveUse this tab to select a bus regulator for yo

Publication 1784-UM003A-EN-P – June 2003Configuring an Ultra 3000 Drive 219Module Info TabThe Module Info Tab displays module and status inform

Publication 1784-UM003A-EN-P – June 2003220 Configuring an Ultra 3000 DriveIdentificationDisplays the module’s:• Vendor• Product Type• Product

Publication 1784-UM003A-EN-P – June 2003Configuring an Ultra 3000 Drive 221ConfiguredDisplays a yes or no value indicating whether the module h

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 15VendorDisplays the name of the controller’s manufacturer.TypeSelect the controll

Publication 1784-UM003A-EN-P – June 2003222 Configuring an Ultra 3000 DriveReset ModuleClick on this button to return a module to its power-up

223 Publication 1784-UM003A-EN-P – June 2003Chapter 10Configuring a Kinetix 6000 DriveThe Kinetix 6000 Digital Servo Drive with fiber optic SERCOS int

Publication 1784-UM003A-EN-P – June 2003224 Configuring a Kinetix 6000 Drive2. Select New Module from the pop up menu.Figure 10.2 New Module Se

Publication 1784-UM003A-EN-P – June 2003Configuring a Kinetix 6000 Drive 2254. Press the OK button to close the Select Module Type dialog. The

Publication 1784-UM003A-EN-P – June 2003226 Configuring a Kinetix 6000 DriveThe Module Properties screen displays.Figure 10.6 Module Properties

Publication 1784-UM003A-EN-P – June 2003Configuring a Kinetix 6000 Drive 227DescriptionEnter a description for the module here, up to 128 chara

Publication 1784-UM003A-EN-P – June 2003228 Configuring a Kinetix 6000 DriveStatusDisplays the status the controller has about the module:ATTEN

Publication 1784-UM003A-EN-P – June 2003Configuring a Kinetix 6000 Drive 229Connection TabUse this tab to define controller to module behavior.

Publication 1784-UM003A-EN-P – June 2003230 Configuring a Kinetix 6000 DriveInhibit ModuleCheck/Uncheck this box to inhibit/uninhibit your conn

Publication 1784-UM003A-EN-P – June 2003Configuring a Kinetix 6000 Drive 231Module FaultDisplays the fault code returned from the controller (r

Publication 1784-UM003A-EN-P – June 200316 SoftLogix ControllerChassis TypeSelect the appropriate chassis type from the pull-down menu, shown h

Publication 1784-UM003A-EN-P – June 2003232 Configuring a Kinetix 6000 DriveNodeDisplays the selected node of the Kinetix 6000 drive, as entere

Publication 1784-UM003A-EN-P – June 2003Configuring a Kinetix 6000 Drive 233Module Info TabThe Module Info Tab displays module and status infor

Publication 1784-UM003A-EN-P – June 2003234 Configuring a Kinetix 6000 DriveIdentificationDisplays the module’s:• Vendor• Product Type• Product

Publication 1784-UM003A-EN-P – June 2003Configuring a Kinetix 6000 Drive 235ConfiguredDisplays a yes or no value indicating whether the module

Publication 1784-UM003A-EN-P – June 2003236 Configuring a Kinetix 6000 DriveRefreshClick on this button to refresh the tab with new data from t

237 Publication 1784-UM003A-EN-P – June 2003Chapter 11Configuring an 8720MC DriveThe Allen-Bradley 8720MC Drive System is a family of products designe

Publication 1784-UM003A-EN-P – June 2003238 Configuring an 8720MC DriveOR1. Right click on the selected or 1784-PM16SE module in the I/O Config

Publication 1784-UM003A-EN-P – June 2003Configuring an 8720MC Drive 2393. In the Select Module Type dialog, select the desired drive module. Th

Publication 1784-UM003A-EN-P – June 2003240 Configuring an 8720MC DriveEditing the 8720MC Drive PropertiesThe Module Properties for any of the

Publication 1784-UM003A-EN-P – June 2003Configuring an 8720MC Drive 241TypeDisplays the type and description of the module being created (read

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 17Editing Controller PropertiesThe Controller Properties dialog displays controlle

Publication 1784-UM003A-EN-P – June 2003242 Configuring an 8720MC DriveElectronic Keying Select one of these keying options for your module dur

Publication 1784-UM003A-EN-P – June 2003Configuring an 8720MC Drive 243StatusDisplays the status the controller has about the module:Connection

Publication 1784-UM003A-EN-P – June 2003244 Configuring an 8720MC DriveOn this tab, you can: • Select a requested packet interval.• Choose to i

Publication 1784-UM003A-EN-P – June 2003Configuring an 8720MC Drive 245 Major Fault on Controller if Connection Fails checkboxCheck this box to

Publication 1784-UM003A-EN-P – June 2003246 Configuring an 8720MC DriveAssociated Axes Tab (8720MCDrives)Use this tab to configure the selected

Publication 1784-UM003A-EN-P – June 2003Configuring an 8720MC Drive 247Power Tab - 8720MC DriveUse this tab to select a bus regulator for your

Publication 1784-UM003A-EN-P – June 2003248 Configuring an 8720MC DriveModule Info TabThe Module Info Tab displays module and status informatio

Publication 1784-UM003A-EN-P – June 2003Configuring an 8720MC Drive 249IdentificationDisplays the module’s:• Vendor• Product Type• Product Code

Publication 1784-UM003A-EN-P – June 2003250 Configuring an 8720MC DriveConfiguredDisplays a yes or no value indicating whether the module has b

Publication 1784-UM003A-EN-P – June 2003Configuring an 8720MC Drive 251RefreshClick on this button to refresh the tab with new data from the mo

Publication 1784-UM003A-EN-P – June 200318 SoftLogix ControllerNameThe name of the controller. When you create a project, this is the same as t

Publication 1784-UM003A-EN-P – June 2003252 Configuring an 8720MC Drive

253 Publication 1784-UM003A-EN-P – June 2003Chapter 12Motion InstructionsThis chapter describes the motion instructions for RSLogix 5000 programming s

Publication 1784-UM003A-EN-P – June 2003254 Motion InstructionsFor more information about motion state instructions, refer to the Motion State

Publication 1784-UM003A-EN-P – June 2003Motion Instructions 255Motion Group InstructionsMotion group instructions initiate action on all axes i

Publication 1784-UM003A-EN-P – June 2003256 Motion InstructionsThe motion configuration instructions are:For more information about motion stat

Publication 1784-UM003A-EN-P – June 2003Motion Instructions 257Motion Direct CommandsThe Motion Direct Commands feature lets you issue motion c

Publication 1784-UM003A-EN-P – June 2003258 Motion InstructionsWhen you access the Motion Direct Commands dialog from the Tools pull-down, it d

Publication 1784-UM003A-EN-P – June 2003Motion Instructions 259From Group in the ControllerOrganizerYou can access the Motion Direct Commands b

Publication 1784-UM003A-EN-P – June 2003260 Motion InstructionsWhen the Motion Direct Commands dialog is accessed from the Motion Group in the

Publication 1784-UM003A-EN-P – June 2003Motion Instructions 261From Axis in the Controller OrganizerYou can access the Motion Direct Commands b

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 19Change Controller Type Dialog BoxOverviewUse this dialog to change your controll

Publication 1784-UM003A-EN-P – June 2003262 Motion InstructionsWhen the Motion Direct Commands dialog is accessed from an Axis in the Controlle

Publication 1784-UM003A-EN-P – June 2003Motion Instructions 263Motion MoveMotion GroupMotion EventFor more information about the use and operat

Publication 1784-UM003A-EN-P – June 2003264 Motion InstructionsMotion Direct Command DialogThe Motion Direct Commands dialog is similar in posi

Publication 1784-UM003A-EN-P – June 2003Motion Instructions 265At the top of the dialog, in the title bar, there is a number at the end of the

Publication 1784-UM003A-EN-P – June 2003266 Motion Instructions

267 Publication 1784-UM003A-EN-P – June 2003Chapter 13Motion Object AttributesThe Motion Object Attributes are included in this manual to provide you

Publication 1784-UM003A-EN-P – June 2003268 Motion Object AttributesGroup InstanceThe Assigned Group Instance attribute is used to determine wh

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 269C2C Connection InstanceWhen Axis Data Type is specified to be ‘Consumed’ th

Publication 1784-UM003A-EN-P – June 2003270 Motion Object AttributesAxis Configuration StateThe Axis Configuration State attribute is used for

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 271Motion Status AttributesThe Motion Status Attributes associated with the Ax

Publication 1784-UM003A-EN-P – June 200320 SoftLogix ControllerSerial Port TabThe Serial Port tab allows you to view and configure the controll

Publication 1784-UM003A-EN-P – June 2003272 Motion Object AttributesCommand PositionCommand Position is the desired or commanded position of a

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 273Since the MGSP instruction simultaneously stores the actual and command pos

Publication 1784-UM003A-EN-P – June 2003274 Motion Object AttributesFor example, on an axis with position units of inches and a conversion cons

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 275Actual AccelerationActual Acceleration is the current instantaneously measu

Publication 1784-UM003A-EN-P – June 2003276 Motion Object AttributesRegistration PositionTwo registration position attributes are provided to i

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 277Registration TimeThe two Registration Time values contain the lower 32-bits

Publication 1784-UM003A-EN-P – June 2003278 Motion Object AttributesStrobe Master OffsetThe Strobe Master Offset is the position offset that wa

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 279Motion Status Bit AttributesThis section describes the various Motion Axis

Publication 1784-UM003A-EN-P – June 2003280 Motion Object AttributesJog StatusThe Jog Status bit attribute is set if a Jog motion profile is cu

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 281Position Cam Pending StatusThe Position Cam Pending Status bit attribute is

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 21Stop BitsThe actual number of stop bits per character. Choose from 2 (ASCII only

Publication 1784-UM003A-EN-P – June 2003282 Motion Object AttributesAxis Status Bit AttributesServo Action StatusThe Servo Action Status bit at

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 283Axis Fault Bit AttributesAll of the fault bit attributes defined below can

Publication 1784-UM003A-EN-P – June 2003284 Motion Object AttributesThe fault bits are updated every coarse update period of the consuming Logi

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 285Watch Event Armed StatusThe Watch Event Armed Status bit attribute is set w

Publication 1784-UM003A-EN-P – June 2003286 Motion Object AttributesHome Event StatusThe Home Event Status bit attribute is set when a home eve

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 287Output Cam Transition StatusThe Output Cam Transition Status bit is set whe

Publication 1784-UM003A-EN-P – June 2003288 Motion Object AttributesMotion Conversion ConfigurationConversion ConstantTo allow axis position to

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 289Rotary AxisWhen the Rotary Axis attribute is set true (1), it enables the r

Publication 1784-UM003A-EN-P – June 2003290 Motion Object AttributesActiveWhen active homing is chosen as the homing mode, the desired homing s

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 291Active HomingActive homing sequences, with the exception of the “Immediate”

European Communities (EC) Directive ComplianceIf this product has the CE mark it is approved for installation within the European Union and EEA region

Publication 1784-UM003A-EN-P – June 200322 SoftLogix ControllerSystem Protocol TabThe System Protocol tab allows you to configure the controlle

Publication 1784-UM003A-EN-P – June 2003292 Motion Object AttributesWhen this sequence is performed, the axis moves in the specified Home Direc

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 293Active Bi-directional Home with MarkerThis active homing sequence is useful

Publication 1784-UM003A-EN-P – June 2003294 Motion Object AttributesActive Bi-directional Home with Switch then MarkerThis is the most precise

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 295When this sequence is performed in the Active Homing Mode, the axis moves i

Publication 1784-UM003A-EN-P – June 2003296 Motion Object AttributesWhen this sequence is performed in the Active Homing Mode, the axis moves i

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 297When this sequence is performed in the Passive Homing Mode, an external age

Publication 1784-UM003A-EN-P – June 2003298 Motion Object AttributesIn most cases, Home Position is set to zero, although any value, within the

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 299Motion Dynamics ConfigurationMaximum SpeedThe value of the Maximum Speed at

Publication 1784-UM003A-EN-P – June 2003300 Motion Object AttributesProgrammed Stop ModeThe Programmed Stop Mode attribute value determines how

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 301Hard ShutdownWhen configured for Hard Shutdown, the axis is immediately pla

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 23Error DetectionClick on one of the radio buttons to specify the error detection

Publication 1784-UM003A-EN-P – June 2003302 Motion Object AttributesFigure 13.6 Servo Loop with Servo AttributesPosition CommandPosition Comman

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 303Aux Position FeedbackAux Position Feedback is the current value of the posi

Publication 1784-UM003A-EN-P – June 2003304 Motion Object AttributesVelocity FeedbackVelocity Feedback is the actual velocity of the axis as es

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 305Acceleration FeedbackAcceleration Feedback is the actual velocity of the ax

Publication 1784-UM003A-EN-P – June 2003306 Motion Object AttributesServo Status Bit AttributesThis section describes the various Servo Axis Ob

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 307Process StatusThe Process Status bit attribute is set when there is an axis

Publication 1784-UM003A-EN-P – June 2003308 Motion Object AttributesAxis Control Bit AttributesAbort Process RequestWhen the Abort Process bit

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 309Axis Response Bit AttributesAbort Process AcknowledgeWhen the Abort Process

Publication 1784-UM003A-EN-P – June 2003310 Motion Object AttributesServo Fault Bit AttributesThe Servo Fault Bits attribute is a collection of

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 311Positive/Negative Hardware Overtravel FaultsIf either the Positive Hard Ove

Publication 1784-UM003A-EN-P – June 200324 SoftLogix ControllerDF1 Slave ParametersTransmit RetriesEnter the number of attempted transmits with

Publication 1784-UM003A-EN-P – June 2003312 Motion Object AttributesFor example, loss of channel quadrature for an encoder can be caused by phy

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 313All of the fault bit attributes defined below can be handled by the Control

Publication 1784-UM003A-EN-P – June 2003314 Motion Object AttributesTimer Event FaultIf the Timer Event Fault bit attribute is set it indicates

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 315Attribute Error IDThe Attribute Error ID is used to retain the ID of the se

Publication 1784-UM003A-EN-P – June 2003316 Motion Object AttributesTest Status The Test Status attribute returns status of the last run MRHD (

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 317Tune Acceleration/DecelerationTimeThe Tune Acceleration Time and Tune Decel

Publication 1784-UM003A-EN-P – June 2003318 Motion Object AttributesTune InertiaWhen the axis is configured for interface to a external torque

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 319When the Tune Inertia Bandwidth product reaches 4000 or greater, the LP fil

Publication 1784-UM003A-EN-P – June 2003320 Motion Object AttributesExternal software (RSLogix5000) also uses the current configured value for

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 321Fault Configuration BitsSoft Overtravel CheckingWhen the Soft Overtravel Ch

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 25Master TransmitChoose the master message transmit that designates when to send a

Publication 1784-UM003A-EN-P – June 2003322 Motion Object AttributesDrive Fault Normally ClosedThe Drive Fault Normally Closed bit attribute co

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 323Feedback Polarity NegativeThis Feedback Polarity Negative bit attribute con

Publication 1784-UM003A-EN-P – June 2003324 Motion Object AttributesPosition Servo with Torque ServoDriveThis configuration provides full posit

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 325Velocity Servo with Torque ServoDriveThis configuration provides velocity s

Publication 1784-UM003A-EN-P – June 2003326 Motion Object AttributesPosition Servo with Velocity ServoDriveThis configuration provides full pos

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 327Velocity Servo with Velocity ServoDriveThis configuration provides velocity

Publication 1784-UM003A-EN-P – June 2003328 Motion Object AttributesServo GainsThe 1784-PM02AE 2-Axis Servo module uses a Nested Digital Servo

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 329Velocity Feedforward GainServo Drives require non-zero command input to gen

Publication 1784-UM003A-EN-P – June 2003330 Motion Object AttributesAcceleration Feedforward GainThe Acceleration Feedforward Gain attribute is

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 331Position Proportional GainThe Position Error is multiplied by the Position

Publication 1784-UM003A-EN-P – June 200326 SoftLogix ControllerToken Hold FactorA value between 1 and 4.User Protocol TabThe User Protocol tab

Publication 1784-UM003A-EN-P – June 2003332 Motion Object AttributesIn general, however, modern position servo systems typically run with at le

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 333In certain cases, Pos I Gain control is disabled. One such case is when the

Publication 1784-UM003A-EN-P – June 2003334 Motion Object AttributesMaximum BandwidthThere are limitations to the maximum bandwidth that can be

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 335Velocity Integral GainWhen configured for a torque (current) loop servo dri

Publication 1784-UM003A-EN-P – June 2003336 Motion Object AttributesFor example, if this axis is using position units of motor revolutions (rev

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 337Output LP Filter BandwidthThe Output Filter Bandwidth attribute controls th

Publication 1784-UM003A-EN-P – June 2003338 Motion Object AttributesNote: The software travel limits are not enabled until the selected homing

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 339The position lock tolerance value is interpreted as a ± quantity. For examp

Publication 1784-UM003A-EN-P – June 2003340 Motion Object AttributesThe servo output limit may also be used if the drive cannot accept the full

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 341Torque OffsetTorque Offset compensation can be used to provide a dynamic to

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 27Termination Character 1 and 2Enter the characters that be used to define the end

Publication 1784-UM003A-EN-P – June 2003342 Motion Object AttributesServo Fault ConfigurationServo Fault ActionsEach axis can be configured to

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 343Disable DriveIf a fault action is set to Disable Drive, then when the assoc

Publication 1784-UM003A-EN-P – June 2003344 Motion Object AttributesTest IncrementThe Motor Feedback Test Increment attribute is used in conjun

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 345Tuning TorqueThe Tuning Torque attribute value determines the maximum torqu

Publication 1784-UM003A-EN-P – June 2003346 Motion Object AttributesVelocity Servo BandwidthThe value for the Velocity Servo Bandwidth represen

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 347Position Servo BandwidthThe value for the Position Servo Bandwidth represen

Publication 1784-UM003A-EN-P – June 2003348 Motion Object AttributesTune Position Error IntegratorThe Tune Position Error Integrator bit attrib

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 349Since Drive Status Attributes values are resident in the drive, these value

Publication 1784-UM003A-EN-P – June 2003350 Motion Object AttributesPosition CommandPosition Command is the current value of the Fine Command P

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 351Velocity ErrorVelocity Error is the difference, in configured axis Position

Publication 1784-UM003A-EN-P – June 200328 SoftLogix ControllerThis option is disabled when the Control Line option is configured for Half Dupl

Publication 1784-UM003A-EN-P – June 2003352 Motion Object AttributesAcceleration CommandAcceleration Command is the current acceleration refere

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 353Pos./Neg. Dynamic Torque LimitThese parameters represent the currently oper

Publication 1784-UM003A-EN-P – June 2003354 Motion Object AttributesDC Bus VoltageThis parameter is the present voltage on the DC Bus of the dr

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 355Drive Status Bit AttributesGSV/SSV Access Attribute Name Data Type ValuesGS

Publication 1784-UM003A-EN-P – June 2003356 Motion Object AttributesServo Action StatusThe Servo Action Status bit attribute is set when servo

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 357Enable Input StatusThe Enable Input Status bit attribute represents the cur

Publication 1784-UM003A-EN-P – June 2003358 Motion Object AttributesPosition Lock StatusThe Position Lock Status bit attribute is set when the

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 359Change Cmd Reference The Change Command Reference bit attribute is set when

Publication 1784-UM003A-EN-P – June 2003360 Motion Object AttributesChange Pos ReferenceThe Change Position Reference bit attribute is set when

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 361. GSV/SSV Access Attribute Name Data Type ValuesGSV Drive Fault Bits DINT D

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 29Number of Major Faults Since Last ClearedDisplays the number of major fault even

Publication 1784-UM003A-EN-P – June 2003362 Motion Object AttributesPositive/Negative Software Overtravel FaultsIf either the Positive Soft Ove

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 363Feedback 1 or Feedback 2 Noise FaultIf the Feedback Noise Fault bit attribu

Publication 1784-UM003A-EN-P – June 2003364 Motion Object AttributesDrive Overtemperature FaultThe Drive Overtemperature Fault bit is set when

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 365Power Phase Loss FaultThe Power Phase Loss Fault bit is set when the drive

Publication 1784-UM003A-EN-P – June 2003366 Motion Object AttributesControl Sync FaultThe Control Sync Fault bit attribute is set when the Logi

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 367Drive Warning Bit AttributesAll of the warning bit attributes defined below

Publication 1784-UM003A-EN-P – June 2003368 Motion Object AttributesAttribute Error CodeWhen an Axis Configuration Fault occurs, one or more ax

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 369Commissioning Status AttributesThe list of Commissioning Status Attributes

Publication 1784-UM003A-EN-P – June 2003370 Motion Object AttributesTest Direction ForwardThe Test Direction Forward attribute reports the dire

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 371Tune Acceleration/DecelerationThe Tune Acceleration Time and Tune Decelerat

Publication 1784-UM003A-EN-P – June 200330 SoftLogix ControllerRecent FaultsDisplays a description of the last eight minor faults that have occ

Publication 1784-UM003A-EN-P – June 2003372 Motion Object AttributesEnhancements have been made to the Logix tuning algorithm to address excess

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 373Drive ConfigurationThe Drive Configuration attributes provide basic drive c

Publication 1784-UM003A-EN-P – June 2003374 Motion Object AttributesServo Loop ConfigurationThe Servo Loop Configuration attribute determines t

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 375 Fault Configuration BitsGSV/SSV Access Attribute Name Data Type ValuesGSV

Publication 1784-UM003A-EN-P – June 2003376 Motion Object AttributesSoft Overtravel CheckingWhen the Soft Overtravel Checking bit is set it ena

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 377Advanced Scaling AttributesThe advanced attributes are derived from the Dri

Publication 1784-UM003A-EN-P – June 2003378 Motion Object AttributesDrive PolarityCustom PolarityCustom Polarity is used to enable custom polar

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 379Advanced Polarity AttributesThe Advanced Polarity Attributes are derived fr

Publication 1784-UM003A-EN-P – June 2003380 Motion Object AttributesAxis Info SelectAxis Info Select attributes are used to enable periodic dat

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 381Motor DataThe Motor Data attribute is a structure with a length element and

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 31DateThe wall clock date, in the format currently selected in the Regional Settin

Publication 1784-UM003A-EN-P – June 2003382 Motion Object AttributesAdvanced Feedback AttributesThe Advanced Feedback Attributes map directly t

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 383Motor Position ServoThe Motor Position Servo configuration provides full po

Publication 1784-UM003A-EN-P – June 2003384 Motion Object AttributesAuxiliary Position ServoThe Auxiliary Position Servo configuration provides

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 385Dual Position ServoThis configuration provides full position servo control

Publication 1784-UM003A-EN-P – June 2003386 Motion Object AttributesMotor Dual Command ServoThe Motor Dual Command Servo configuration provides

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 387Auxiliary Dual Command ServoThe Motor Dual Command Servo configuration prov

Publication 1784-UM003A-EN-P – June 2003388 Motion Object AttributesVelocity ServoThe Velocity Servo configuration provides velocity servo cont

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 389Torque ServoThe Torque Servo configuration provides torque servo control us

Publication 1784-UM003A-EN-P – June 2003390 Motion Object AttributesPosition Proportional GainThe Position Error is multiplied by the Position

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 391In general, modern position servo systems typically run with a unit gain ba

Publication 1784-UM003A-EN-P – June 200332 SoftLogix ControllerAll of the circular indicators are clear when you are offline.Advanced TabThe Ad

Publication 1784-UM003A-EN-P – June 2003392 Motion Object AttributesIn certain cases, Pos I Gain control is disabled. One such case is when the

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 393The optimal value for Velocity Feedforward Gain is 100% theoretically. In r

Publication 1784-UM003A-EN-P – June 2003394 Motion Object AttributesThe optimal value for Acceleration Feedforward is 100% theoretically. In re

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 395In general, modern velocity servo systems typically run with a unit gain ba

Publication 1784-UM003A-EN-P – June 2003396 Motion Object AttributesWhile the Vel I Gain, if employed, is typically established by the automati

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 397The output filter is particularly useful in high inertia applications where

Publication 1784-UM003A-EN-P – June 2003398 Motion Object AttributesAdvanced Drive Gain AttributesThe above advanced attributes map directly to

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 399For example, specifying a position error tolerance of 0.75 Position Units m

Publication 1784-UM003A-EN-P – June 2003400 Motion Object AttributesAdvanced Drive LimitsThe advanced attributes map directly to SERCOS IDNs. T

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 401Velocity OffsetVelocity Offset compensation can be used to correct to provi

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 33Controller Fault HandlerChoose the program that runs as the result of a system f

Publication 1784-UM003A-EN-P – June 2003402 Motion Object AttributesShutdownIf a fault action is set to Disable Drive, then when the associated

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 403Status OnlyIf a fault action is set to Status Only, then when the associate

Publication 1784-UM003A-EN-P – June 2003404 Motion Object AttributesBrake Release DelayThe Brake Release Delay attribute controls the amount of

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 405Commissioning Configuration AttributesThe Axis Object provides sophisticate

Publication 1784-UM003A-EN-P – June 2003406 Motion Object AttributesTuning SpeedThe Tuning Speed attribute value determines the maximum speed o

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 407Damping FactorThe Damping Factor attribute value is used in calculating the

Publication 1784-UM003A-EN-P – June 2003408 Motion Object AttributesThere are practical limitations to the maximum Velocity Servo Bandwidth for

Publication 1784-UM003A-EN-P – June 2003Motion Object Attributes 409Tuning Configuration Bits Tuning Direction ReverseThe Tune Direction Revers

Publication 1784-UM003A-EN-P – June 2003410 Motion Object AttributesTune Output Low-Pass FilterThe Tune Output Low-Pass Filter bit attribute de

411 Publication 1784-UM003A-EN-P – June 2003Chapter 14TroubleshootingThis chapter describes how to troubleshoot your SoftLogix motion control system u

Publication 1784-UM003A-EN-P – June 200334 SoftLogix ControllerExecution ControlThis determines the execution model for the SFC. Your options a

Publication 1784-UM003A-EN-P – June 2003412 TroubleshootingAt start up the LED goes through a sequence of color changes:• At power up LED is Gr

Publication 1784-UM003A-EN-P – June 2003Troubleshooting 413Below the SERCOS Ring Status LED is the CP LED. The CP LED shows the communication p

Publication 1784-UM003A-EN-P – June 2003414 TroubleshootingCard Status Using the OK IndicatorThe SERCOS Ring Status LEDThe SERCOS Ring Status L

Publication 1784-UM003A-EN-P – June 2003Troubleshooting 415SERCOS Ring Status The Communication Phase LEDThe Communication Phase (CP) LED provi

Publication 1784-UM003A-EN-P – June 2003416 TroubleshootingSERCOS Communication Phase Status Using the CP IndicatorIf the CP LED displays: Then

417 Publication 1784-UM003A-EN-P – June 2003Appendix ASpecifications and Performance This appendix shows specifications and performance guidelines for

Publication 1784-UM003A-EN-P – June 2003418 Specifications and Performance1784-M16SE Motion Card Specifications OK and Enable OutputsTypeOperat

Publication 1784-UM003A-EN-P – June 2003Specifications and Performance 419Glass Fiber Optic SpecificationsTransmission RangeCore DiameterCladdi

Publication 1784-UM003A-EN-P – June 2003420 Specifications and Performance

421 Publication 1784-UM003A-EN-P – June 2003Appendix B Wiring DiagramsThis appendix shows the loop interconnect diagrams for common motion configurati

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 35File TabThe File tab displays information about the project file.The fields on t

Publication 1784-UM003A-EN-P – June 2003422 Wiring DiagramsUsing a 1784-PM02AE Module With aTorque Servo DriveFigure B.1 Torque Servo Drive

Publication 1784-UM003A-EN-P – June 2003Wiring Diagrams 423Using a 1784-PM02AE Module With aVelocity Servo DriveFigure B.2 Velocity Servo Drive

Publication 1784-UM003A-EN-P – June 2003424 Wiring Diagramsfor wiring drives, encoders, etc. A termination panel, mounted separately from the c

Publication 1784-UM003A-EN-P – June 2003Wiring Diagrams 425Figure 5 P2 ConnectorP3 and P4The P3/P4 receptacles are for wiring the axes. P3 is

Publication 1784-UM003A-EN-P – June 2003426 Wiring Diagrams1784-PM02AE-TP0x CableThe 1784-PM02AE card is connected to the termination panel via

Publication 1784-UM003A-EN-P – June 2003Wiring Diagrams 427Sync CableUp to four (4) 1784-PM02AE cards may be installed in a single computer pro

Publication 1784-UM003A-EN-P – June 2003428 Wiring Diagrams1398 to Termination Panel WiringDiagramThis is a general wiring example of the 1398

Publication 1784-UM003A-EN-P – June 2003 429Symbols(Brackets) 181Numerics1394C Drive moduleAssociated Axes Tab 199New Axis button 200Node X0 200

Publication 1784-UM003A-EN-P – June 2003 430 Description 67Electronic Keying 68Compatible Module 68Exact Match 68Name 67Revision 68Slot 68Statu

Publication 1784-UM003A-EN-P – June 2003 431Filters 108Family 108Feedback Type 108Voltage 108Dynamics Tab 126Manual Adjust 128Maximum Accelerati

Publication 1784-UM003A-EN-P – June 200336 SoftLogix ControllerRedundancy TabThe Redundancy Tab is only present if the specified processor type

Publication 1784-UM003A-EN-P – June 2003 432 Position Error Tolerance 149Position Lock Tolerance 150Soft Travel Limits 149Limits Tab (AXIS_SERV

Publication 1784-UM003A-EN-P – June 2003 433Commissioning Status Attributes 315, 369Test Direction Forward 316, 370Test Status 316, 369Tune Acce

Publication 1784-UM003A-EN-P – June 2003 434 Drive Fault Inputs 321Drive Limits 398Advanced Drive Limits 400Maximum Positive/Negative Travel 39

Publication 1784-UM003A-EN-P – June 2003 435Transmit Retries 24DH485 Parameters 25Max Station Address 25Token Hold Factor 26Normal Poll Group Si

Publication 1784-UM003A-EN-P – June 2003 436 Ellipsis (...) 232New Axis 232Node 232Connection Tab 229Major Fault 230Module Fault 231Connection

Publication 1784-UM003A-EN-P – June 2003 437Motion Arm Registration (MAR) 255Motion Arm Watch Position (MAW) 255Motion Disarm Output Cam (MDOC)

Publication 1784-UM003A-EN-P – June 2003 438 Strobe Master Offset 278Strobe Position 272Watch Position 275Motion Status Bit Attributes 279Axis

Publication 1784-UM003A-EN-P – June 2003 439Acceleration Feedforward Gain 330Axis Info Select 322Axis Type 319Bandwidth Method 331External Drive

Publication 1784-UM003A-EN-P – June 2003 440 Positive Overtravel Input Status 356Power Limit Status 358Process Status 356Registration 1/2 Input

Publication 1784-UM003A-EN-P – June 2003 441Change Cmd Reference 308Shutdown Request 308Zero DAC Request 308Axis Response Bit Attributes 309Abor

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 374 – Primary with no partner8 – Synchronized Secondary 9 – Disqualified Secondary

Publication 1784-UM003A-EN-P - June 2003 1 PN 957400-34Copyright © 2003 Rockwell Automation. All rights reserved. Printed in USA.For more information

Rockwell Automation SoftLogix PCI Motion CardSetup and Configuration Manual

Publication 1784-UM003A-EN-P – June 200338 SoftLogix ControllerPartner StatusThis section shows information on the status of the Partner module

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 39Advanced ButtonThe Advanced Button displays configuration parameters for retaini

Publication 1784-UM003A-EN-P – June 200340 SoftLogix ControllerClick on the Load/Store button to access the Nonvolatile Memory Load/Store dialo

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 41Figure 2.16 Controller Properties Nonvolatile Memory TabNameThe name of the stor

i Publication 1784-UM003A-EN-P – June 2003 Table of ContentsPrefaceUsing This ManualWho Should Use This Manual. . . . . . . . . . . . . . . . . . . .

Publication 1784-UM003A-EN-P – June 200342 SoftLogix ControllerLoad ImageThe condition under which the image stored in nonvolatile memory is lo

Publication 1784-UM003A-EN-P – June 2003SoftLogix Controller 43StoredThe workstation date and time when the image was stored in nonvolatile mem

Publication 1784-UM003A-EN-P – June 200344 SoftLogix Controller

45 Publication 1784-UM003A-EN-P – June 2003Chapter 3Adding and Configuring Your 1784-PM02AE Motion ModuleThis chapter describes how to add, configure,

Publication 1784-UM003A-EN-P – June 200346 Adding and Configuring Your 1784-PM02AE Motion Module2. Select New Module. The Select Module Type wi

Publication 1784-UM003A-EN-P – June 2003Adding and Configuring Your 1784-PM02AE Motion Module 473. Click on the Clear All button to clear the d

Publication 1784-UM003A-EN-P – June 200348 Adding and Configuring Your 1784-PM02AE Motion ModuleMajor RevisionSelect the major revision number

Publication 1784-UM003A-EN-P – June 2003Adding and Configuring Your 1784-PM02AE Motion Module 495. Select OK. The Module Create Wizard displays

Publication 1784-UM003A-EN-P – June 200350 Adding and Configuring Your 1784-PM02AE Motion Module7. Press the Next button to proceed to the next

Publication 1784-UM003A-EN-P – June 2003Adding and Configuring Your 1784-PM02AE Motion Module 519. This screen lets you associate an axis with

Publication 1784-UM003A-EN-P – June 2003 iiChapter 4Configuring the1784-PM16SE CardAdding the 1784-PM16SE. . . . . . . . . . . . . . . . . . .

Publication 1784-UM003A-EN-P – June 200352 Adding and Configuring Your 1784-PM02AE Motion ModuleThis accesses the Module Properties screen. The

Publication 1784-UM003A-EN-P – June 2003Adding and Configuring Your 1784-PM02AE Motion Module 53The name must be IEC 1131-3 compliant. If you

Publication 1784-UM003A-EN-P – June 200354 Adding and Configuring Your 1784-PM02AE Motion ModuleWhen you insert a module into a slot in a Contr

Publication 1784-UM003A-EN-P – June 2003Adding and Configuring Your 1784-PM02AE Motion Module 55Inhibit Module checkboxCheck/Uncheck this box t

Publication 1784-UM003A-EN-P – June 200356 Adding and Configuring Your 1784-PM02AE Motion ModuleModule FaultDisplays the fault code returned fr

Publication 1784-UM003A-EN-P – June 2003Adding and Configuring Your 1784-PM02AE Motion Module 57Servo Update PeriodSelects the periodic rate at

Publication 1784-UM003A-EN-P – June 200358 Adding and Configuring Your 1784-PM02AE Motion ModuleThe data on this tab comes directly from the mo

Publication 1784-UM003A-EN-P – June 2003Adding and Configuring Your 1784-PM02AE Motion Module 59Major/Minor Fault StatusInternal State StatusTh

Publication 1784-UM003A-EN-P – June 200360 Adding and Configuring Your 1784-PM02AE Motion ModuleModule IdentityThis field does not take into ac

61 Publication 1784-UM003A-EN-P – June 2003Chapter 4Configuring the1784-PM16SE CardAdding the 1784-PM16SEThis chapter reviews the necessary steps for

Publication 1784-UM003A-EN-P – June 2003 iiiChapter 12Motion InstructionsMotion State Instructions . . . . . . . . . . . . . . . . . . . . .

Publication 1784-UM003A-EN-P – June 200362 Configuring the1784-PM16SE Card3. The Select Module Type screen displays. Select Clear All. Select M

Publication 1784-UM003A-EN-P – June 2003Configuring the1784-PM16SE Card 636. The Create Module Wizard opens.Figure 4.4 Module Properties Wizard

Publication 1784-UM003A-EN-P – June 200364 Configuring the1784-PM16SE Card8. The Connection Screen Wizard displays.Figure 4.5 Module Properties

Publication 1784-UM003A-EN-P – June 2003Configuring the1784-PM16SE Card 6510. The SERCOS interface screen displays.Figure 4.6 Module Properties

Publication 1784-UM003A-EN-P – June 200366 Configuring the1784-PM16SE CardSERCOS interface Motion Card OverviewThe 1784-PM16SE SERCOS interface

Publication 1784-UM003A-EN-P – June 2003Configuring the1784-PM16SE Card 67Editing 1784-PM16SE Card Properties General TabUse this tab to create

Publication 1784-UM003A-EN-P – June 200368 Configuring the1784-PM16SE CardSlotEnter the slot number where the card resides. The spin button con

Publication 1784-UM003A-EN-P – June 2003Configuring the1784-PM16SE Card 69Status – This is a Read Only field that displays the Controllers curr

Publication 1784-UM003A-EN-P – June 200370 Configuring the1784-PM16SE CardConnection TabThe Connection Tab reflects controller to card behavior

Publication 1784-UM003A-EN-P – June 2003Configuring the1784-PM16SE Card 71When you check this box and go online, the icon representing this car

Publication 1784-UM003A-EN-P – June 2003 ivChapter 14Troubleshooting1784-PM02AE LED Indicator . . . . . . . . . . . . . . . . . . . . . . . . .

Publication 1784-UM003A-EN-P – June 200372 Configuring the1784-PM16SE Card• Service Request Error - The controller is attempting to request a s

Publication 1784-UM003A-EN-P – June 2003Configuring the1784-PM16SE Card 73The SERCOS ring consists of the drives and axes connected to the 1784

Publication 1784-UM003A-EN-P – June 200374 Configuring the1784-PM16SE CardTransmit PowerSelect the optic transmit power range for the SERCOS ri

Publication 1784-UM003A-EN-P – June 2003Configuring the1784-PM16SE Card 75Fault TypeDisplays the current fault type, if any, on the SERCOS ring

Publication 1784-UM003A-EN-P – June 200376 Configuring the1784-PM16SE CardThe data on this tab comes directly from the card. If you selected a

Publication 1784-UM003A-EN-P – June 2003Configuring the1784-PM16SE Card 77Major/Minor Fault Status Internal State StatusThis field displays th

Publication 1784-UM003A-EN-P – June 200378 Configuring the1784-PM16SE CardModule Identity This field does not take into account the Electronic

79 Publication 1784-UM003A-EN-P – June 2003Chapter 5The Motion GroupCreating A Motion GroupEach .acd program must have one motion group. (There can be

Publication 1784-UM003A-EN-P – June 200380 The Motion Group3. Click on the respective radio button to select one of the following tag types:• B

Publication 1784-UM003A-EN-P – June 2003The Motion Group 81The Motion Group Wizard group - Axis Assignment screen displays. Figure 5.3 Motion G

1 Publication 1784-UM003A-EN-P – June 2003PrefaceUsing This ManualWho Should Use This ManualTo use this manual, you should be able to program and oper

Publication 1784-UM003A-EN-P – June 200382 The Motion GroupEditing the Motion Group PropertiesThe Motion Group properties can be edited by righ

Publication 1784-UM003A-EN-P – June 2003The Motion Group 83Axis Assignment TabThe Axis Assignment screen is where axes are either assigned or u

Publication 1784-UM003A-EN-P – June 200384 The Motion GroupWhen RSLogix 5000 software is online, all of the attributes on this tab transition t

Publication 1784-UM003A-EN-P – June 2003The Motion Group 85Tag TabUse this tab to modify the name and description of the group. Figure 5.7 Moti

Publication 1784-UM003A-EN-P – June 200386 The Motion GroupData Type (read-only)The axis data type: MOTION_GROUPScopeDisplays the scope of the

87 Publication 1784-UM003A-EN-P – June 2003Chapter 6Naming & Configuring Your Motion AxisThis chapter describes how to name, configure, and edit y

Publication 1784-UM003A-EN-P – June 200388 Naming & Configuring Your Motion AxisYou can also right click on the Motion Group and select New

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 89The New Tag window appears.Figure 6.4 New Tag DialogIf you

Publication 1784-UM003A-EN-P – June 200390 Naming & Configuring Your Motion AxisYou must set up only one consumed tag to get data from the

Publication 1784-UM003A-EN-P – June 2003Naming & Configuring Your Motion Axis 91Data TypeIn the Data Type field you can either enter the ty