Rockwell-automation 1784-PM16SE SoftLogix Motion Card Setup and Config Bedienungsanleitung Seite 416
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Publication 1784-UM003A-EN-P – June 2003
408 Motion Object Attributes
There are practical limitations to the maximum Velocity Servo Bandwidth for
the velocity servo loop based on the drive system and the desired damping
factor of the system, Z. Exceeding these limits could result in an unstable
servo operation. These bandwidth limitations may be expressed as follows:
Max Velocity Servo Bandwidth (Hz) = 0.159 * 0.25 * 1/Z
2
* 1/Drive
Model Time Constant
The factor of 0.159 represents the 1/2PI factor required to convert Radians
per Second units to Hertz.
Position Servo Bandwidth
The value for the Position Servo Bandwidth represents the unity gain
bandwidth that is to be used to calculate the gains for a subsequent MAAT
(Motion Apply Axis Tune) instruction. The unity gain bandwidth is the
frequency beyond which the position servo is unable to provide any significant
position disturbance correction. In general, within the constraints of a stable
servo system, the higher the Position Servo Bandwidth the better the dynamic
performance of the system. A maximum value for the Position Servo
Bandwidth is generated by the MRAT (Motion Run Axis Tune) instruction.
Computing gains based on this maximum value via the MAAT instruction will
result in dynamic response in keeping with the current value of the Damping
Factor described above Alternatively, the responsiveness of the system can be
“softened” by reducing the value of the Position Servo Bandwidth before
executing the MAAT instruction.
There are limitations to the maximum bandwidth that can be achieved for the
position loop based on the dynamics of the inner velocity and current loops of
the servo system and the desired damping of the system, Z. Exceeding these
limits could result in an unstable system. These bandwidth limitations may be
expressed as follows:
Max Position Bandwidth (Hz) = 0.25 * 1/Z
2
* Velocity Bandwidth (Hz)
For example, if the maximum bandwidth of the velocity servo loop is 40 Hz
and the damping factor, Z, is 0.8, the maximum the maximum position
bandwidth is 16 Hz. Based on these numbers the corresponding proportional
gains for the loops can be computed.
GSV/SSV Access Attribute Name Data Type Values
SSV/GSV Position Servo Bandwidth REAL
Hertz
- SoftLogix 1
- Important User Information 2
- European Communities (EC) 3
- Directive Compliance 3
- Table of Contents 5
- ii 6
- Chapter 12 7
- Chapter 13 7
- iv 8
- Using This Manual 9
- Related Documentation 10
- Rockwell Automation 10
- On the Web 11
- 4 Using This Manual 12
- SoftLogix Motion Control 13
- Components of the 14
- SoftLogix Motion System 14
- SoftLogix Chassis Monitor 15
- The SoftLogix Controller 16
- (1784-PMO2AE) 17
- The 16 Axis SERCOS interface 17
- Module (1784-PM16SE) 17
- Developing a Motion 18
- Control Application 18
- Parameters 19
- Handling Motion Faults 20
- Minor/Major Faults 20
- SoftLogix Controller 21
- Accessing the New 22
- Controller Dialog 22
- Redundancy Enabled 23
- Chassis Type 24
- Slot Number 24
- Create In: 24
- Editing Controller 25
- Overview 27
- Serial Port Tab 28
- Baud Rate 28
- Data Bits 28
- Stop Bits 29
- Control Line 29
- Continuous Carrier 29
- RTS Send Delay 29
- RTS Off Delay 29
- System Protocol Tab 30
- Common Parameters 30
- Protocol 30
- Station Address 30
- Error Detection 31
- Enable Duplicate Detection 31
- ACK Timeout 31
- DF1 Point to Point Parameters 31
- DF1 Slave Parameters 32
- DF1 Master Parameters 32
- Normal Poll Node Tag 33
- Normal Poll Group Size 33
- Priority Poll Node Tag 33
- Active Station Tag 33
- DH485 Parameters 33
- Token Hold Factor 34
- User Protocol Tab 34
- Buffer Size 34
- Termination Character 1 and 2 35
- Append Character 1 and 2 35
- Echo Mode 35
- Delete Mode 36
- Major Faults Tab 36
- Recent Faults 37
- Clear Majors 37
- Minor Faults Tab 37
- Clear Minors 38
- Fault Bits 38
- Date/Time Tab 38
- Advanced Tab 40
- Memory Used 40
- Memory Unused 40
- Memory Total 40
- Controller Fault Handler 41
- Power-Up Handler 41
- System Overhead Time Slice 41
- SFC Execution Tab 41
- Execution Control 42
- Restart Position 42
- Last Scan of Active Steps 42
- File Tab 43
- Redundancy Tab 44
- Redundancy Status 44
- Partner Status 46
- Partner Minor Faults 46
- Advanced Button 47
- Nonvolatile Memory Tab 47
- Load Image 50
- Load Mode 50
- Image Note 50
- Load/Store 51
- Motion Module 53
- New Module 55
- Editing Your Motion Module 59
- Settings 59
- Inhibit Module checkbox 63
- Associated Axes Tab 64
- Servo Update Period 65
- Channel 0 65
- Channel 1 65
- Motion Modules 68
- Adding the 1784-PM16SE 69
- 4. Select 1784-PM16SE 70
- SERCOS interface Motion 74
- Card Overview 74
- Editing 1784-PM16SE Card 75
- SERCOS Interface Tab 80
- Data Rate 81
- Cycle Time 81
- Transmit Power 82
- SERCOS Interface Info Tab 82
- Ring Comm. Phase 82
- Fault Type 83
- The Motion Group 87
- 80 The Motion Group 88
- The Motion Group 81 89
- Editing the Motion Group 90
- The Motion Group 83 91
- Coarse Update Period 92
- Auto Tag Update 92
- General Fault Type 92
- Scan Times (elapsed time) 92
- Reset Max 92
- Tag Type (read-only) 93
- Data Type (read-only) 94
- Produce this tag for up to 94
- Base Tag 94
- Naming an Axis 95
- Editing Motion Axis 99
- General Tab – AXIS_SERVO 102
- Axis Configuration 102
- Assigned Motion Group 102
- Ellipsis (…) button 102
- New Group button 103
- Module Type 103
- General Tab - AXIS_VIRTUAL 105
- Motion Planner Tab 106
- Output Cam Execution Targets 106
- Program Stop Action 107
- Units Tab 109
- Position Units 109
- Average Velocity Timebase 109
- Servo Tab - AXIS_SERVO 110
- Feedback Tab – (AXIS_SERVO) 112
- Feedback Type 112
- Drive/Motor Tab 113
- (AXIS_SERVO_DRIVE) 113
- Amplifier Catalog Number 113
- Catalog Number 114
- Loop Configuration 114
- Drive Resolution 115
- Real Time Axis Information 115
- Attribute 1/Attribute 2 115
- Change Catalog…button 115
- Motor Feedback Tab 117
- AXIS_SERVO_DRIVE 117
- Feedback Type 117
- Interpolation Factor 118
- Aux Feedback Tab 118
- Feedback Ratio 119
- Conversion Tab 120
- Positioning Mode 121
- Conversion Constant 121
- Position Unwind 121
- Homing Tab - AXIS_SERVO and 122
- Position 123
- Sequence 124
- Limit Switch 124
- Direction 124
- Return Speed 125
- Homing Configurations 125
- Homing Tab - AXIS_VIRTUAL 126
- Hookup Tab - (AXIS_SERVO) 127
- Test Increment 127
- Feedback Polarity 128
- Output Polarity 128
- Test Marker 128
- Test Feedback 129
- Test Output & Feedback 129
- Drive Polarity 130
- Test Marker 130
- Test Command & Feedback 131
- Tune Tab - AXIS_SERVO 131
- Travel Limit 131
- Damping Factor 132
- Start Tuning 133
- Dynamics Tab 134
- Maximum Velocity 135
- Maximum Acceleration 135
- Maximum Deceleration 135
- Manual Adjust 136
- Gains Tab - AXIS_SERVO 137
- Velocity Feedforward 138
- Acceleration Feedforward 138
- Proportional (Position) Gain 139
- Integral (Position) Gain 139
- Proportional (Velocity) Gain 140
- Integral (Velocity) Gain 140
- Integrator Hold 141
- Gains Tab - AXIS_SERVO_DRIVE 142
- Set Custom Gains 148
- Attribute 148
- Output Tab - AXIS_SERVO 149
- Velocity Scaling 150
- Torque Scaling 150
- Output Tab (AXIS_SERVO_DRIVE) 153
- Enable Notch Filter 154
- Notch Filter 154
- Enable Low-pass Output Filter 154
- Limits Tab - AXIS_SERVO 156
- Soft Travel Limits 157
- Maximum Positive 157
- Maximum Negative 157
- Position Error Tolerance 157
- Position Lock Tolerance 158
- Output Limit 158
- Hard Travel Limits 161
- Attributes 163
- Set Custom Limits 163
- Offset Tab - AXIS_SERVO 165
- Friction Compensation 166
- Velocity Offset 166
- Torque Offset 166
- Output Offset 167
- Offset Tab - AXIS_SERVO_DRIVE 168
- Drive Fault 172
- Feedback Noise 172
- Feedback Loss 173
- Position Error 173
- Soft Overtravel 173
- Fault Actions Tab 174
- Drive Thermal 175
- Set Custom Stop Action 177
- Description 178
- Assigning Additional 179
- Motion Axes 179
- System Tag 181
- Entering Tag Information 183
- New Tag Parameters 183
- Tag Type 184
- Alias For: 184
- Data Type 185
- General Wizard Screen 186
- Units Wizard Screen 186
- Dynamics Wizard Screen 186
- Manual Adjust Button 186
- Tag Wizard Screen 186
- Editing Coordinate System 187
- Properties 187
- Axis Grid 189
- Coordination Units 191
- Vector Box 192
- Position Tolerance Box 193
- Dynamics Tab Manual Adjust 194
- Reset Button 194
- Right Mouse Click 196
- Cut, Copy, Paste, and Delete 197
- Behavior 197
- Copy/Paste 197
- Cut/Paste 198
- 1784-PM16SE motion module 199
- 1394x-SJTxx-D Digital 201
- Servo Drive Overview 201
- General Tab 202
- Electronic Keying 204
- Connection Tab 205
- Requested Packet Interval 205
- Inhibit Module Checkbox 206
- Module Fault 207
- Associated Axes Tab 207
- New Axis button 208
- Power Tab 209
- Bus Regulator ID 209
- Module Info tab 210
- Identification 210
- Module Identity 212
- Reset Module 212
- Editing the Ultra Drive 219
- Connection Tab 222
- Inhibit Module 223
- Ellipsis (...) 225
- New Axis 225
- Power Tab - Ultra Drive 226
- Module Info Tab 227
- Major/Minor Fault Status 228
- Internal State Status 228
- Configured 229
- Editing the Kinetix Drive 233
- General Tab 234
- Revision 235
- Power Tab - Kinetix Drive 240
- Bus Regulator Catalog Number 240
- Configuring an 8720MC Drive 245
- Editing the 8720MC Drive 248
- Associated Axes Tab (8720MC 254
- Power Tab - 8720MC Drive 255
- Motion Instructions 261
- Motion Move Instructions 262
- Motion Group Instructions 263
- Motion Event Instructions 263
- Motion Configuration 263
- Instructions 263
- Motion Coordinated Move 264
- Motion Direct Commands 265
- Accessing Direct 265
- Commands 265
- From Group in the Controller 267
- Organizer 267
- Supported Commands 270
- Motion Move 271
- Motion Group 271
- Motion Event 271
- Motion Direct Command 272
- Motion Group Shutdown Button 273
- Execute Button 273
- Close Button 273
- Help Button 273
- Motion Object Attributes 275
- Group Instance 276
- Map Instance 276
- Module Channel 276
- Module Class Code 276
- C2C Map Instance 276
- C2C Connection Instance 277
- Memory Use 277
- Memory Usage 277
- Axis Data Type 277
- Motion Object Status 278
- Motion Status Attributes 279
- Command Position 280
- Strobe Position 280
- Start Position 281
- Average Velocity 281
- Actual Velocity 282
- Command Velocity 282
- Actual Acceleration 283
- Command Acceleration 283
- Watch Position 283
- Registration Position 284
- Registration Time 285
- Interpolation Time 285
- Interpolated Actual Position 285
- Interpolated Command Position 285
- Master Offset 285
- Strobe Master Offset 286
- Start Master Offset 286
- Motion Status Bit Attributes 287
- Position Cam Pending Status 289
- Time Cam Pending Status 289
- Gearing Lock Status 289
- Position Cam Lock Status 289
- Master Offset Move Status 289
- Axis Status Bit Attributes 290
- Servo Action Status 290
- Drive Enable Status 290
- Shutdown Status 290
- Axis Fault Bit Attributes 291
- Physical Axis Fault 291
- Configuration Fault 291
- Module Fault Bit Attribute 291
- Control Sync Fault 292
- Axis Event Bit Attributes 292
- Home Event Status 294
- Output Cam Status 294
- Output Cam Pending Status 294
- Output Cam Lock Status 294
- Motion Object 295
- Configuration Attributes 295
- Motion Unit Configuration 295
- Motion Conversion 296
- Configuration 296
- Motion Homing 297
- Absolute 298
- Active Homing 299
- Active Immediate Home 299
- Passive Homing 304
- Passive Immediate Home 304
- Passive Home with Switch 304
- Passive Home with Marker 304
- Home Configuration Bits 305
- Home Switch Normally Closed 305
- Home Position 305
- Home Offset 306
- Home Speed 306
- Home Return Speed 306
- Motion Dynamics 307
- Programmed Stop Mode 308
- Fast Stop 308
- Fast Disable 308
- Hard Disable 308
- Fast Shutdown 308
- Servo Status Attributes 309
- Position Command 310
- Position Feedback 310
- Aux Position Feedback 311
- Position Integrator Error 311
- Velocity Command 311
- Velocity Feedback 312
- Velocity Error 312
- Velocity Integrator Error 312
- Acceleration Command 312
- Acceleration Feedback 313
- Servo Output Level 313
- Marker Distance 313
- Servo Status Bit Attributes 314
- Servo Fault Bit Attributes 318
- Feedback Loss Fault 319
- Feedback Noise Fault 319
- Position Error Fault 320
- Drive Fault 320
- Module Fault Bit Attributes 320
- Module Sync Fault 321
- Timer Event Fault 322
- Module Hardware Fault 322
- Attribute Error Code 322
- Commissioning Status 323
- Test Status 324
- Test Direction Forward 324
- Tune Status 324
- Tune Speed Scaling 325
- Tune Rise Time 325
- Tune Inertia 326
- Servo Configuration 327
- Servo Loop Configuration 328
- External Drive Type 328
- Fault Configuration Bits 329
- Soft Overtravel Checking 329
- Hard Overtravel Checking 329
- Drive Fault Checking 329
- Drive Fault Normally Closed 330
- Axis Info Select 330
- Servo Polarity Bits 330
- Feedback Polarity Negative 331
- Servo Polarity Negative 331
- Servo Loop Block Diagrams 331
- Servo Config = Position 332
- Servo Config = Velocity Servo 333
- Servo Config = Position Servo 334
- Velocity Feedforward Gain 337
- Acceleration Feedforward Gain 338
- Position Proportional Gain 339
- Loop Gain Method 339
- Bandwidth Method 339
- Maximum Bandwidth 340
- Position Integral Gain 340
- Velocity Proportional Gain 341
- Velocity Integral Gain 343
- Servo Limits 345
- Servo Offsets 348
- Servo Fault Configuration 350
- Commissioning 351
- Tuning Travel Limit 352
- Tuning Speed 352
- Tuning Torque 353
- Drive Model Time Constant 353
- Velocity Servo Bandwidth 354
- Position Servo Bandwidth 355
- Tuning Configuration Bits 355
- Tuning Direction Reverse 355
- Servo Drive Status 356
- Torque Command 360
- Torque Feedback 360
- DC Bus Voltage 362
- Torque Limit Source 362
- Drive Status Bit Attributes 363
- Change Pos Reference 368
- Drive Fault Bit Attributes 368
- Ground Short Fault 371
- Drive Hardware Fault 371
- Overspeed Fault 371
- Overload Fault 371
- Power Phase Loss Fault 373
- SERCOS Fault 373
- SERCOS Ring Fault 374
- Drive Warning Bit Attributes 375
- Overload Warning 375
- Drive Overtemperature Warning 375
- Motor Overtemperature Warning 375
- Cooling Error Warning 375
- Attribute Error ID 376
- SERCOS Error Code 376
- Servo Drive Configuration 380
- Drive Configuration 381
- Drive Axis ID 381
- Axis Type 381
- Advanced Servo Configuration 382
- Drive Scaling Bits 384
- Custom Scaling 384
- Advanced Scaling Attributes 385
- Custom Polarity 386
- Positive/Negative Polarity 386
- Advanced Polarity Attributes 387
- Motor and Feedback 388
- Motor Data 389
- Feedback Resolution 389
- Aux Feedback Ratio 389
- Motor Position Servo 391
- Auxiliary Position Servo 392
- Dual Position Servo 393
- Motor Dual Command Servo 394
- Auxiliary Dual Command Servo 395
- Velocity Servo 396
- Torque Servo 397
- Drive Gains 397
- Output LP Filter Bandwidth 404
- Output Notch Filter Frequency 404
- Integrator Hold Enable 405
- Drive Limits 406
- Figure 13.25 Position Error 407
- Drive Offsets 408
- Drive Fault Actions 409
- Shutdown 410
- Disable Drive 410
- Stop Command 410
- Status Only 411
- Brake Engage Delay 411
- Drive Power Attributes 412
- Tune Output Low-Pass Filter 418
- Troubleshooting 419
- SERCOS interface LED 420
- Indicators 420
- The OK LED 421
- The SERCOS Ring Status LED 422
- The Communication Phase LED 423
- 416 Troubleshooting 424
- Appendix 425
- 1784-PM02AE Motion Card 425
- Specifications 425
- 1784-M16SE Motion Card 426
- Wiring Diagrams 429
- Torque Servo Drive 430
- 424 Wiring Diagrams 432
- P3 and P4 433
- 1784-PM02AE-TP0x Cable 434
- Sync Cable 435
- 428 Wiring Diagrams 436
- Numerics 437
- 430 438
- 431 439
- 432 440
- 433 441
- 434 442
- 435 443
- 436 444
- 437 445
- 438 446
- 439 447
- 440 448
- 441 449
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