Rockwell-automation 1746-HSRV SLC Servo Control Module User Manual Manuel d'utilisateur Page 65
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- Table des matières
- DEPANNAGE
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
Publication 1746-6.1.2 - July 2000
5-22
Wiring the SLC Servo Module
Figure 5.18 Wiring Diagram for 1389 Drives (continued)
T1
T2
Chassis
Ground Stud
J1 - 5
J1 - 1,4,7
J1 - 3,6,9
J1 - 2
J1 - 8
J1 - 3
J1 - 1
J1 - 2
1389 Drive Servo A mplifier
+
-
BK1
A
B
C
BK2
MT
Motor
Thermal
Switch
Brake
Option
Motor
R otor 1 (R ed/W hite)
Rotor 2
(Yel/W h)
SINE 1
(Red)
SINE 3
(Blk)
COS 2
(Yel)
COS 4 (Blue)
Shield N.C.
Resolver
Bulletin 1326
Servo Motor
GND
TB3 - 1
TB3 - 2
TB3 - 3
TB2-1(Rotor1)
TB2 - 2 (Rotor 2)
TB2-3(Shield)
TB2-4(Sine1)
TB2-5(Sine3)
TB2-6(Shield)
TB2 - 7 (Cos 4)
TB2 - 8 (Cos 2)
TB2-9(Shield)
TB2 - 10 (Shield)
Blk
Wht
Blk
Red
Blk
Grn
J2 - 1,4
J2 - 2,5
J2 - 3,6
J2 - 7
J2 - 8
J2 - 9
J2 - 1
J2 - 2
J2 - 3
J2 - 4
J2 - 5
J2 - 6
+12V
GND
- 12V
Sys
Enable
Sys
Pur
Axis
Fault
TB1-1TachOutput
TB1 - 2 IC MD and Torque Monitor
TB1 - 3
TB1 - 4
TB1 - 5
TB1 - 6
TB1 - 7
TB1 - 8
TB1 - 9
TB1 - 10
TB1 - 11
TB1 - 12
TB1 - 13
TB1 - 14
TB1 - 15
Common
Ref +
Ref -
S hield
Pos Source
Pos RTN
Neg Source
Neg RTN
Source
CMD
RTN
Drive OK
(isolated)
1
Limit
CMD
Torque
Clamp
CMD
Velocity
Command
A
B
C
E
F
G
D
Power
Supply
Chassis
Module
- Servo Control 1
- Important User Information 2
- European Communities (EC) 3
- Directive Compliance 3
- Chapter 4 5
- Chapter 5 5
- Chapter 6 5
- Setting Up Your SLC Servo 6
- Programming the SLC 7
- Processor to Run the SLC 7
- Servo Module 7
- Programming System 8
- Variables 8
- Input/Output Quick 9
- Reference 9
- Cable Dimensions and 9
- Wiring Diagram 9
- Programming Examples 10
- Wiring Without the 10
- Termination Panel 10
- Table of Contents 11
- viii 11
- Who Should Use this 12
- Purpose of this Manual 12
- Safety Precautions 12
- Contents of this Manual 13
- Preface 14
- Related Documentation 15
- Conventions Used in this 16
- Product Receiving and 16
- Storage Responsibility 16
- Rockwell Automation 17
- Support 17
- On the Web 18
- P-8 19
- Overview 20
- Operation 21
- Configuration Mode Operation 22
- Command Mode Operation 22
- Specifications and 23
- Compatibility 23
- Selecting a Power Supply 24
- Selecting a User-Side 26
- Power Supply 26
- Using Fast Inputs and 27
- Selecting an Encoder 28
- 500 µV (max) 30
- General Wiring Practices 32
- Routing Wires 33
- Classifying Your 34
- Conductors 34
- Placing Your SLC Servo 34
- Unpacking and Inspecting 36
- Your SLC Servo Module 36
- Installing the SLC Servo 37
- An invalid configuration is 38
- CONFIG INV 38
- When: This LED is on: 38
- Grounding the SLC Servo 39
- Mounting the Termination 40
- Connecting the Termination 42
- Wiring the SLC Servo Module 44
- Wiring Fast Inputs and 45
- Wiring Hardware 47
- Overtravels 47
- Connecting Home Limit 48
- Switch as a Fast Input 48
- Wiring Estop Connections 49
- Wiring for Normal Operation 50
- 4 form C 51
- ATTENTION 52
- Wiring Power Supplies 55
- Wiring Encoders 56
- Differential 57
- Line Driver 57
- Customer 57
- Typical Vendor Encoder Wiring 58
- Wiring the SLC Servo to 61
- Allen-Bradley Drives 61
- M1INPUT FUSING 69
- Necessary Figure 5.24 71
- Figure 5.25 71
- Figure 5.26 71
- Not Necessary Figure 5.24 71
- 1746 HSRV/IMC 110 72
- (1746-HT) 72
- C #15) wire swapped 73
- Connecting the Velocity 75
- Powering Up Your SLC 76
- Testing Estop Wiring 78
- Understanding the Theory 81
- Powering Up the SLC Servo 82
- Configuring the SLC 82
- Processor 82
- Software 83
- If you are using: Go to: 83
- When Working: Go to: 86
- The SLC Servo Module 90
- Configuring the SLC Servo 90
- Before Programming the 91
- Communicating Between 92
- Entering Encoder Lines and 92
- Computing Counts 92
- Initializing DAC Output 95
- Voltage for Drive Symmetry 95
- Setting Initial Loop Type 95
- Defining Positive Axis 96
- Movement for the SLC 96
- Coarse Calibrating 97
- Fine Calibrating 97
- Computing Excess 98
- Following Error Limit 98
- Selecting Loop Type 99
- Selecting Axis 100
- Acceleration Rate 100
- Determining Velocity and 102
- Acceleration Feedforward 102
- Specific Parameters 103
- Programming Conventions 103
- Setting Axis and Home 103
- Configuration Errors 104
- Configuration Parameters 105
- Servo Loop Parameters 106
- Motion Parameters 108
- Axis Parameters 109
- Homing Parameters 109
- System Parameters 110
- Homing Options 111
- Option 1 Example 112
- Option 2 Example 113
- Option 3 Example 114
- Option 4 Example 115
- Homing to a Limit Switch 116
- SLC Servo Module 118
- XX XXXX XXXX 120
- Command and Status 121
- Information 121
- Module Communication 121
- Interface 121
- Discrete Bit Commands 122
- Word 0 Discrete Bit Commands 123
- 124
- Discrete Block Commands 125
- Recovering from Estop 126
- Executing Simultaneous Moves 127
- Using Simple Move 128
- Commands 128
- Velocity 131
- Using the Speed Move Command 132
- Planning a Speed Move 133
- Planning a Monitor Move 134
- N31:0 16 0 0 0 0 0 1 136
- Execute several 139
- Blending Speed Moves 141
- F47:0 0.75 500.0 143
- Word 0 1 2 3 4 5 143
- Programming System Variables 144
- • Set In-Position Band 145
- Using the Set Home Command 146
- for word 5, bit 4 appear in 150
- XXX XX1X 151
- XXXX X1XX 152
- Status Information 154
- Processor Status 158
- Floating-Point Values 159
- Troubleshooting 160
- Hardware Setup 161
- Software Setup 161
- If CONFIG INV LED is Lit 162
- Troubleshooting 163
- Troubleshooting LED 165
- Indicators 165
- Error Messages and 166
- Diagnosis 166
- Informational Messages 167
- Minor Fault Messages 169
- Major Fault Messages 171
- Input/Output Quick Reference 174
- Word 1 Parameters 177
- Word 2 Parameters 178
- Multi-Word Parameters 178
- Feedback Parameters 180
- Word 0 184
- Word 1 185
- Word 2 185
- SLC Servo Module to SLC 186
- Processor Discrete Control 186
- Blended Configuration 187
- Appendix 188
- Ladder Rung Examples 191
- Rung 2 – Timer Delay 193
- Figure C.7 Rung 3 194
- Figure C.8 Rung 4 194
- Programming Examples 195
- Figure C.12 Rung 6 197
- Figure C.13 Rung 7 197
- Rung 8 – Clear All Faults Bit 198
- Rung 9 – Cancel Move 198
- Rung 10 – Hold/Unhold 198
- Rung 12 – ABSOLUTE Move 199
- Rung 13 – INCREMENTAL Move 201
- Rung 14 – SPEED Command 203
- Rung 15 – MONITOR Move 204
- Rung 16 – BLEND Move 205
- Rung 17 – Clearing Move Bits 206
- Figure C.33 Rung 18 207
- Address Command 207
- N31:0 0 0 207
- Rung 19 – HOME Axis 208
- Figure C.35 Rung 19 209
- F27:0 1.0 20.0 209
- Rung 20 – Final Rung 210
- Distances to User Devices 213
- Wiring Your User Devices 213
- Estop Circuitry Drawings 214
- I-2 217
- I-4 219
- I-6 221
- I-8 223
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