Rockwell-automation 1771-QB Linear Pos. Manuel d'utilisateur Page 1

Linear Positioning ModuleUser ManualCat. No. 1771-QB

PrefaceP2Chapter Describes:TitleAppendix E Command Block command block word assignmentsAppendix F Motion Block motion block word assignmentsAppendix

Formatting Module Data (WRITES)Chapter 7721Figure 7.27Gain Factor Word50070Gain factor,BCD or binary0.00 to 9.9915 14 13 12 11 10 09 08 07 06 05 04 0

Formatting Module Data (WRITES)Chapter 7722The integral term alters response to positioning errors. If the integral gain isrelatively high, the syste

Formatting Module Data (WRITES)Chapter 7723Figure 7.30Feedforward Gain Word50073Feedforward gain,BCD or binary0  99.9%15 14 13 12 11 10 09 08 07 06

Formatting Module Data (WRITES)Chapter 7724Global Acceleration/Deceleration (words 24, 25 and 53, 54)This parameter specifies the acceleration and de

Formatting Module Data (WRITES)Chapter 7725The velocity smoothing constant determines how quickly the system willchange its acceleration and decelera

Formatting Module Data (WRITES)Chapter 7726Figure 7.35Higher Velocity Smoothing Constant50020VelocityAccelerationDecelerationTimeTimeJog Rate (Low an

Formatting Module Data (WRITES)Chapter 7727Figure 7.36Jog Rate (Low and High) Words50077Low jog rate,BCD 99.99 ips or 999.9 mmps maxBinary 327.67 ips

Formatting Module Data (WRITES)Chapter 7728Figure 7.37Setpoint Block Word Assignments50078Up to62wordsSetpoint block control wordIncremental/absolute

Formatting Module Data (WRITES)Chapter 7729Setpoint Block Control Word (word 1)The setpoint block control word identifies the block as a setpoint blo

Formatting Module Data (WRITES)Chapter 7730Example: If the axis is stationary at +1 inch (from the zero-position offset), anabsolute setpoint move w

PrefaceP3Appendix A contains a complete glossary of terms and abbreviations used inthis manual.To make this manual easier for you to read and underst

Formatting Module Data (WRITES)Chapter 7731Figure 7.40Setpoint Position Words50081Setpoint position,BCD or binary799.900 inches or 7999.00 mm maxMost

Formatting Module Data (WRITES)Chapter 7732Local Acceleration/DecelerationThe local acceleration and deceleration words define the acceleration andde

Formatting Module Data (WRITES)Chapter 7733Figure 7.43Command Block Word Assignments50085WORD1234567891011121314Axis control word 1Axis control word

Formatting Module Data (WRITES)Chapter 7734Bit 0 – StartBit 0 in the first axis control word is the start bit. The transition of this bit fromlow to

Formatting Module Data (WRITES)Chapter 7735Bit 1 – Hardware Start EnableBit 1 in the first axis control word is the hardware start enable bit. Settin

Formatting Module Data (WRITES)Chapter 7736 On = high jog rateIf this bit changes state during a jog operation, the axis will accelerate ordecelera

Formatting Module Data (WRITES)Chapter 7737Bit 8 – Immediate StopSetting the immediate stop bit causes the module to immediately set the analogoutput

Formatting Module Data (WRITES)Chapter 7738Bits 12 and 13 – Readout SelectBits 12 and 13 are the readout select bits. The third and fourth status wor

Formatting Module Data (WRITES)Chapter 7739Bits 7 to 15 – ReservedBits 7 to 15 are reserved for future use. The programmable controller programmust s

Chapter 881Initializing and Tuning the AxesBefore you load an application ladder logic program into the programmablecontroller, you should follow the

Chapter 111Introducing the Linear Positioning ModuleThe Linear Positioning Module (Cat. No. 1771-QB) is a dual-loop positioncontroller occupying a si

Initializing and Tuning the AxesChapter 882The first step in initializing the module is to adjust the null on each servo valve.To do so, carry out th

Initializing and Tuning the AxesChapter 883Table 8.ADefault Parameter Block SettingsParameter Suggested Values CommentsInches MetricAnalog range 100

Initializing and Tuning the AxesChapter 884Figure 8.1Parameter Block Data Table123456789101112131415161718192021222324252627282930Project Name:Page o

Initializing and Tuning the AxesChapter 885Figure 8.2Command Block Data Table1234567Project Name:Page ofDesigner: Address ofDate: Block Description:A

Initializing and Tuning the AxesChapter 886Figure 8.3Program Rungs for QB_SETUPRung 2:0BTRENABLEN7:0] / [ 15BTWENABLEN7:5] / [ 15BTRBLOCK TRNSFR

Initializing and Tuning the AxesChapter 887You should verify the analog output polarity using low speed open-loop jogs asfollows:ATTENTION: Incorrect

Initializing and Tuning the AxesChapter 888Table 8.BTransducer CalibrationNumber ofTransducer Calibration ConstantCirculations Microsec/Inch Microsec

Initializing and Tuning the AxesChapter 8898. Record the new axis position value from the module. This value is in thestatus block words 12 and 13 at

Initializing and Tuning the AxesChapter 8810Each axis needs to be tuned to allow for its specific mechanical and electricalcharacteristics. If you ch

Initializing and Tuning the AxesChapter 8811Example: Maximum Velocity CalculationIf you have a cylinder with a 2 inch bore (inside diameter) and a se

Introducing the Linear Positioning ModuleChapter 112PLCsYou can use the module with any Allen-Bradley PLC that uses block transferprogramming in loca

Initializing and Tuning the AxesChapter 88122. Initialize the loop gains as follows:Proportional gain: KP = 0.0050 ips/milIntegral gain: KI = 0Deriva

Initializing and Tuning the AxesChapter 88135. Set the integral gain equal to 70% of the proportional gain at whichcontinuous oscillations occurred (

Chapter 99-1Advanced FeaturesThe advanced features of the Linear Positioning Module enable you tocreate complex movement profiles, synchronize multipl

Advanced FeaturesChapter 99-2Important: All segments in a motion block, and the programmable I/Oword, become valid as soon as they are downloaded to

Advanced FeaturesChapter 99-3Figure 9.2 illustrates a motion profile consisting of five motion segments.Segments 14 through 17 move the axis in one di

Advanced FeaturesChapter 99-4Motion Block Control WordThe motion block control word identifies the block as a motion block,specifies the number of mot

Advanced FeaturesChapter 99-5You can configure the general purpose inputs, INPUT 1 and/or INPUT 2 sothat, given their state and the trigger conditions

Advanced FeaturesChapter 99-6 low for the specified duration when triggered to pulseWhen an output changes to a high or low state, it is guaranteed t

Advanced FeaturesChapter 99-7Bit 7 - Normal/Complement OUTPUT 2If OUTPUT 2 is configured to be programmable, this bit defines whetherOUTPUT 2 is norma

Advanced FeaturesChapter 99-8Default I/O ConfigurationIf you do not download the programmable I/O control word, the moduledefaults both axes to:INPUT

Introducing the Linear Positioning ModuleChapter 113Santest Co. Ltd.c/o Ellis Power Systems123 Drisler AvenueWhite Plains, NY 10607(914) 592-5577Luca

Advanced FeaturesChapter 99-9Figure 9.5Motion Segment Control Words5009015 14 13 12 11 10 09 08 07 06 05 04 03 02 01 000...

Advanced FeaturesChapter 99-10Control Word 2: Bits 4 and 5 - Velocity/Position TriggerThese bits indicate if one of the velocity, relative position, o

Advanced FeaturesChapter 99-11Desired Position, Local Velocity, Local Acceleration and LocalDeceleration WordsThe format of the (MS) desired position,

Advanced FeaturesChapter 99-12As mentioned previously, because initiating a single motion segment fromthe command block can trigger a sequence of moti

Advanced FeaturesChapter 99-13Important: Incremental motion segments and relative position triggersare based on the current axis position at the begi

Chapter 10101Sample Application ProgramsThis chapter gives a general explanation of how to program programmable logiccontrollers and provides the cod

Sample Application ProgramsChapter 10102Figure 10.1Overview of Block TransfersPLCData TableStatusBlockParameterBlock50100Block Transfer ReadSetpointB

Sample Application ProgramsChapter 10103You should program a PLC-5 processor’s block transfer to use the bidirectionalmethod to avoid problems when t

Sample Application ProgramsChapter 10104Important: Note that: the program doesn’t issue the start command for each move until after themodule repor

Sample Application ProgramsChapter 10105Planning the Data Blocks for Application Program #1For this example, we assume a PLC-5/15 controller and assi

Introducing the Linear Positioning ModuleChapter 114Figure 1.2 shows one of the module’s two control loops within a linearpositioning system for clos

Sample Application ProgramsChapter 10106Figure 10.4Data Table Contents for Application Program #1  Parameter Block1234567891011121314151617181920212

Sample Application ProgramsChapter 10107Figure 10.5Data Table Contents for Application Program #1  Setpoint Block12345678910111213141516171819202122

Sample Application ProgramsChapter 10108Figure 10.6Data Table Contents for Application Program #1  Command Block1234567Project Name:Page ofDesigner:

Sample Application ProgramsChapter 10109Rung 2:1Rungs 2:1, 2:2, and 2:3 determine which block (parameter, setpoint, orcommand) will be sent to the mo

Sample Application ProgramsChapter 101010Figure 10.8Program Rungs for Application Program #150099Rung 2:0BTRENABLEN7:0] / [ 15BTWENABLEN7:5] / [

Sample Application ProgramsChapter 101011This application program illustrates how to use a module to control the motionof a single axis using motion

Sample Application ProgramsChapter 101012Important: Note that: due to the specified acceleration and deceleration rate of move #14, the axiswill not

Sample Application ProgramsChapter 101013Figure 10.10 to Figure 10.14 show the hexadecimal values for the motion andcommand blocks, and necessary seq

Sample Application ProgramsChapter 101014Figure 10.11Data Table Contents for Application Program #2  Motion Block 212345678910111213141516171819Proj

Sample Application ProgramsChapter 101015Figure 10.13Data Table Contents for Application Program #2  Command Block1234567Project Name:Page ofDesigne

Introducing the Linear Positioning ModuleChapter 115The module also connects to linear displacement transducers (one for each ofthe two axes) via wir

Sample Application ProgramsChapter 101016Program Rungs for Application Program #2Figure 10.15 and Figure 10.16 show the ladder diagram programming fo

Sample Application ProgramsChapter 101017Figure 10.15Program Rungs for Application Program # 2ELEMENT #50097Rung 2:0BTRENABLEN7:0] / [ 15BTWENABLEN

Sample Application ProgramsChapter 101018Figure 10.16Program Rungs for Application Program # 2 (continued)ELEMENT #50098Rung 2:4AXIS 1READYN44:2] [

Chapter 11111TroubleshootingThe module transfers diagnostic information to the programmable controller inthe status block. In addition, the module di

TroubleshootingChapter 11112Module Fault IndicatorThis red indicator is normally off. It turns on if there is a module fault in oneloop or both loops

TroubleshootingChapter 11113Table 11.ATroubleshooting IndicatorsIndication Description Probable CauseRecommended Action Fault Loop 1

TroubleshootingChapter 111144. Connect the -GATE terminal (3/4) to the -INTERR terminal (7/8).5. Power up the axis and check the status block for fee

TroubleshootingChapter 11115Figure 11.2Troubleshooting FlowchartSTARTAConsult PLCProcessorRUNIndicator?Assembly andInstallation ManualI/OadapterACTIV

TroubleshootingChapter 11116Figure 11.2Troubleshooting Flowchart (Continued)BCheck diagnosticProgrammingError?word(s) to determinethe cause of thepro

TroubleshootingChapter 11117Figure 11.2Troubleshooting Flowchart (Continued)ENDBMovesexecutedcorrectly?Execute a move toeach setpoint.NOYESEstablisha

Chapter 221Positioning ConceptsThis chapter explains concepts and principles of axis positioning. If you arethoroughly familiar with the concepts of

AppendixAA1Glossary of Terms & AbbreviationsAbsolute Position: A position described by its distance from the zero point of acoordinate axis.Accel

Glossary of Terms & AbbreviationsAppendix AA2Circulations: A digital process that involves re-triggering an interrogationpulse a fixed number of

Glossary of Terms & AbbreviationsAppendix AA3Feedback Resolution: The smallest increment of dimension that the feedbackdevice can distinguish and

Glossary of Terms & AbbreviationsAppendix AA4LS: Least significant (word, byte, or bit).mA: Milliamperes, a unit of measurement for electric curr

Glossary of Terms & AbbreviationsAppendix AA5Reverse Motion: Axis movement in a negative direction along a coordinateaxis.rms: Root mean square.S

AppendixBB1Status BlockFigure B.1Status Block Word Assignments50000WORD DESCRIPTIONAXIS 1 AXIS 212345101213161720222426283032(6)(7)(8)(9)(11)(14)(15)

Status BlockAppendix BB2Figure B.2Module Configuration Word (word 1)50001Binary Position Format:0 = Double Word1 = Single Word15 14 13 12 11 10 09 08

Status BlockAppendix BB3Figure B.4Status Word 2 (words 3 and 7)5005315 14 13 12 11 10 09 08 07 06 05 04 03 02 01 000 ...

Status BlockAppendix BB4Figure B.6Position/Error/Diagnostic Words (words 4, 5; 8, 9; 12, 13; and 14, 15)Position Format50055Position value,BCD or bin

Status BlockAppendix BB5Figure B.8Active Motion Segment/Setpoint (words 10 and 11)5009415 14 13 12 11 10 09 08 07 06 05 04 03 02 01 000000 0 ...

Positioning ConceptsChapter 222Closed-loop positioning is a precise means of moving an object from oneposition to another. In a typical application,

Status BlockAppendix BB6Figure B.11Desired Acceleration (words 24 and 25)50007Desired acceleration,BCD 999.9 ips/s or 9999 mmps/s maxBinary 3276.7 ip

Status BlockAppendix BB7Figure B.14Maximum Velocity (words 30, 31 and 32, 33)50028Maximum positive velocity,BCD 99.99 ips or 999.9 mmps maxBinary 327

Status BlockAppendix BB8Table B.AError CodesCode Definition00 No errors detected01 Invalid block identifier02 NonBCD number entered03 Invalid bit se

AppendixCC1Parameter BlockFigure C.1Parameter Block Word Assignments50057WORD123456789101112131415161718192021222324252627282930Parameter control wor

Parameter BlockAppendix CC2Figure C.2Parameter Block Control Word (word 1)50001Binary Position Format:0 = Double Word1 = Single Word15 14 13 12 11 10

Parameter BlockAppendix CC3Figure C.4Analog Calibration Constant Words (words 3, 4 and 32, 33)50027Analog calibration constant for positive motion:BC

Parameter BlockAppendix CC4Figure C.6ZeroPosition Offset Words (words 7, 8 and 36, 37)50029Zeroposition offset,BCD or binary799.900 inches or 7999.

Parameter BlockAppendix CC5Figure C.8InPosition Band Word (words 11 and 40)50006This value times two is the inposition band,BCD or binary9.999 inch

Parameter BlockAppendix CC6Figure C.12Maximum PID Error Word (words 15 and 44)50005Maximum PID error, BCD or binary9.999 inch or 99.99 mm maxIf nonz

Parameter BlockAppendix CC7Figure C.15Gain Break Speed Word (words 18 and 47)50011Gain break speed, BCD 99.99 ips or 999.9 mmps maxBinary 327.67 ips

Positioning ConceptsChapter 223Figure 2.3Circulations50035Gate(received from transducer)Gate(received from transducer)Duration(1 circulation)Duration

Parameter BlockAppendix CC8Figure C.18Derivative Gain Word (words 21 and 50)50072Derivative gain,BCD or binary0.9999 max, unitless15 14 13 12 11 10 0

Parameter BlockAppendix CC9Figure C.21Global Acceleration/Deceleration Words (words 24, 25 and 53, 54)50076Global acceleration rateBCD 999.9 ips/s or

Parameter BlockAppendix CC10Figure C.23Jog Rate (Low and High) Words (words 27, 28 and 56, 57)50077Low jog rate,BCD 99.99 ips or 999.9 mmps maxBinary

Parameter BlockAppendix CC11Table C.AParameter Block ValuesParameter LimitsAnalog Range 1% to 100%+ Analog Calibration Constant 0 to 327.67 ips 0 t

AppendixDD1Setpoint BlockFigure D.1Setpoint Block Word Assignments50078Up to62wordsSetpoint block control wordIncremental/absolute word(MS) Setpoint

Setpoint BlockAppendix DD2Figure D.3Incremental/Absolute Word (word 2)50080Setpoints 12 through 1(0 = absolute, 1 = incremental)15 14 13 12 11 10 09

Setpoint BlockAppendix DD3Figure D.6Local Acceleration/Deceleration Words50083Local acceleration rate,BCD 999.9 ips/s or 9999 mmps/s maxBinary 3276.7

AppendixEE1Command BlockFigure E.1Command Block Word Assignments50085WORD1234567891011121314Axis control word 1Axis control word 2(MS) Setpoint 13 po

Command BlockAppendix EE2Figure E.2Axis Control Word 1 (words 1 and 8)5008615 14 13 12 11 10 09 08 07 06 05 04 03 02 01 0010Start ...Controlwor

Command BlockAppendix EE3Figure E.4Setpoint 13Position Words (words 3, 4 and 10, 11)50081Setpoint position,BCD or binary799.900 inches or 7999.00 mm

Because of the variety of uses for the products described in this publication,those responsible for the application and use of this control equipment

Positioning ConceptsChapter 224In Figure 2.4: desired velocity is the desired speed of axis motion from one position toanother position command equal

Command BlockAppendix EE4Figure E.6Setpoint 13Local Acceleration/Deceleration Words (words 6, 7 and 13, 14)50083Local acceleration rateBCD 999.9 ips/

AppendixFF-1Motion BlockFigure F.1Motion Block Word Assignments50084Up to56 wordsMotion block control wordMotion segment control word 1Motion segment

Motion BlockAppendix FF-2Figure F.2Motion Block Control Word5008815 14 13 12 11 10 09 08 07 06 05 04 03 02 01 000 ...

Motion BlockAppendix FF-3Figure F.4Motion Segment Control Words5009015 14 13 12 11 10 09 08 07 06 05 04 03 02 01 000...

Motion BlockAppendix FF-4Figure F.5Desired/Trigger Position Words50081Desired/Trigger position,BCD or binary799.900 inches or 7999.00 mm maxMost signi

Motion BlockAppendix FF-5Figure F.7Local Acceleration/Deceleration Words50083Local acceleration rate,BCD 999.9 ips/s or 9999 mmps/s maxBinary 3276.7 i

AppendixGG1Hexadecimal Data Table FormsFor your convenience, we have included data table forms for each type of block,and both axes, where applicable

Hexadecimal Data Table FormsAppendix GG2123456789101112131415161718192021222324252627282930Project Name:Page ofDesigner: Address ofDate: Block Descri

Hexadecimal Data Table FormsAppendix GG33132333435363738394041424344454647484950515253545556575859Project Name:Page ofDesigner: Address ofDate: Bloc

Hexadecimal Data Table FormsAppendix GG4123456789101112131415161718192021222324252627282930Project Name:Page ofDesigner: Address ofDate: Block Descri

Positioning ConceptsChapter 225FeedforwardingTo decrease the following error without increasing the gain, you can add afeedforward component. (See Fi

Hexadecimal Data Table FormsAppendix GG533343536373839404142Project Name:Page ofDesigner: Address ofDate: Block Description:Axis No.PositionData Tab

Hexadecimal Data Table FormsAppendix GG6123456789101112131415161718192021222324252627282930Project Name:Page ofDesigner: Address ofDate: Block Descri

Hexadecimal Data Table FormsAppendix GG733343536373839404142Project Name:Page ofDesigner: Address ofDate: Block Description:Axis No.PositionData Tab

Hexadecimal Data Table FormsAppendix GG8123456789101112131415161718192021222324252627282930Project Name:Page ofDesigner: Address ofDate: Block Descri

Hexadecimal Data Table FormsAppendix GG935363738394041424344454647484950515253545556Project Name:Page ofDesigner: Address ofDate: Block Description:

Hexadecimal Data Table FormsAppendix GG101234567891011121314Project Name:Page ofDesigner: Address ofDate: Block Description:Axis No.PositionData Tabl

Hexadecimal Data Table FormsAppendix GG111234567891011121314151617181920Project Name:Page ofDesigner: Address ofDate: Block Description:Axis No.Posi

Hexadecimal Data Table FormsAppendix GG121234567891011121314151617181920Project Name:Page ofDesigner: Address ofDate: Block Description:Axis No.Posit

AppendixHH1Data FormatsBit 3 in the parameter control word (word 1 in the parameter block) determinesthe format of the data contained in block transf

Data FormatsAppendix HH2Following are two methods to get the negative of a number using the 2’scomplement method.Bit Inversion MethodTo get the 2’s c

Positioning ConceptsChapter 226Without integral control, the axis responds only to the size of the positioningerror, not its duration. Integral contr

Data FormatsAppendix HH3ExampleYou want to program a global velocity of 1.50 inches/second for axis 1. Thisvalue has an implied decimal between the d

Data FormatsAppendix HH4A sign bit is placed in each word to allow negative binary numbers even withthe first word zeroed. Simply signing the first

AppendixII1Product SpecificationsLocation• 1771 Universal I/O chassis• One slotSampling Period• 2 milliseconds for both loops (i.e., both axis positi

AAbsolute Positioning, 729Acceleration, 734Global, 724Local, 732With Velocity Smoothing, 724Analog Calibration Constants, 76Analog F

IndexI–2Hardware Stop Input, 47IImmediate Stop Bit, 68, 737InPosition Band, 713InPosition Bit, 64Inch/Metric Bit, 73Incremental M

IndexI–3Ready Bit, 63Reset Bit, 737Reset Control, 25SSetpoint 13 Words, 739Setpoint Block, 32Control Word, 728Setpoint Moves, 34

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Positioning ConceptsChapter 227Figure 2.7Derivative Control50039LinearDisplacementTransducerServo ValveDesiredVelocityAxisVelocityCommandsFollowingEr

Positioning ConceptsChapter 228You can control the integral and derivative components by defining a PID(proportional, integral and derivative) band.

Chapter 331Positioning with the Linear Positioning ModuleThis chapter explains how the Linear Positioning Module interacts with aprogrammable control

Positioning with the Linear PositioningModuleChapter 332The module is a dual-loop position controller, occupying a single slot in theAllen-Bradley 17

Positioning with the Linear PositioningModuleChapter 333Figure 3.2Trapezoidal Axis Movement50002VelocityTimeFinalVelocityStart0 FinishConstantVelocit

Positioning with the Linear PositioningModuleChapter 334Figure 3.4Axis Movement with Velocity Curve Smoothing50004VelocityTimeFinalVelocityStart0 Fin

Positioning with the Linear PositioningModuleChapter 335 turn on a hardware start enable bit (using the command block), which causesthe module to de

Preface P1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Organization of the Manual P1. . . . . . . . . . . . . .

Chapter 441Hardware DescriptionThis chapter describes the Linear Positioning Module hardware, as well as otherhardware required for a positioning sys

Hardware DescriptionChapter 442The module draws power for its internal circuitry and communicates with theprogrammable controller through the 1771 un

Hardware DescriptionChapter 443 analog output interface terminals discrete output terminalsThe terminals for these four groups are divided between

Hardware DescriptionChapter 444Use these equations to determine the maximum length and positioningresolution for the transducer:maximum length = 1680

Hardware DescriptionChapter 445Terminals 13 through 26 on the module’s wiring arm provide connection pointsfor discrete input signals. Seven terminal

Hardware DescriptionChapter 446Figure 4.3Simplified Schematic of a Discrete Input500411771 - QB MODULE27INPUT SUPPLY28DISCRETE INPUT(e.g. JOG FWD)INP

Hardware DescriptionChapter 447Hardware Stop InputThe module accepts the signal at the STOP terminal (17/18) as a low-truehardware stop input. A low

Hardware DescriptionChapter 448The analog output interface circuit is electrically isolated from the 1771 I/Ochassis. This feature protects other dev

Hardware DescriptionChapter 449Important: If you want to connect a discrete output of one axis to the discreteinput of another axis, the minimum dis

Hardware DescriptionChapter 4410to power the: supply:to these terminals:Transducer interface +5 VDC 9, 10Discrete inputs +24 VDC (max) 27, 28Servo va

Table of ContentsiiHardware Description 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . Indicators 41. . . . . . . . . . . . . . . . .

Chapter 551Installing the Linear Positioning ModuleThis chapter tells you how to install the module in the I/O chassis and how toconfigure the module

Installing the Linear Positioning ModuleChapter 552Electrostatic DischargeUnder some conditions, electrostatic discharge can degrade performance orda

Installing the Linear Positioning ModuleChapter 553Figure 5.1Locating the Analog Configuration Switches50043CURRENT RANGEVOLTAGE/CURRENTCURRENT RANGE

Installing the Linear Positioning ModuleChapter 5543. Set the current/voltage switch for each control loop as shown inFigure 5.2.Figure 5.2Configurin

Installing the Linear Positioning ModuleChapter 555A package of plastic keys (Cat. No. 1771-RK) is provided with every I/Ochassis. When properly inst

Installing the Linear Positioning ModuleChapter 5562. Open the module locking latch on the I/O chassis and insert the moduleinto the slot keyed for i

Installing the Linear Positioning ModuleChapter 557Figure 5.4Shielded Cable Grounding ConnectionsShielded cables are notrequired for these discretein

Installing the Linear Positioning ModuleChapter 558Using Twisted Wire PairsIt is recommended you use twisted wire pairs for a signal and its return p

Installing the Linear Positioning ModuleChapter 559Figure 5.6AC Power and Ground ConnectionsDisconnectPowerSupply forDiscreteInputsGL1 NPowerSupply f

Installing the Linear Positioning ModuleChapter 5510Power SuppliesThe 1771 backplane provides the power for most of the module circuits. You’llneed e

Table of Contents iiiConnecting the Analog Outputs 518. . . . . . . . . . . . . . . . . . . . . . . . . . Power Supply 519. . . . . . . . . . .

Installing the Linear Positioning ModuleChapter 5511Figure 5.7Transducer ConnectionsBelden 8723 or equivalent (50 ft. max.); Belden 8227, Belden 9207

Installing the Linear Positioning ModuleChapter 55123. Connect - VDC from your power supply to the transducer.4. Connect the common terminal on your

Installing the Linear Positioning ModuleChapter 5513Make sure that the voltage driving each input is at the appropriate level.Figure 5.8 shows the di

Installing the Linear Positioning ModuleChapter 5514Power SupplyTo connect the discrete input power supply, follow these steps:1. Connect the (+) sid

Installing the Linear Positioning ModuleChapter 5515ATTENTION: In servo valve control systems, axis drift may occurdue to imprecise valve nulling eve

Installing the Linear Positioning ModuleChapter 5516Jog Reverse InputThe jog reverse input is valid only in the manual mode. The jog reverse input is

Installing the Linear Positioning ModuleChapter 5517Pull-down resistors or double-throw switches are only required if you wish toconnect two or more

Installing the Linear Positioning ModuleChapter 5518The analog outputs provide the current (or voltage) by which the modulecontrols the servo valve.

Installing the Linear Positioning ModuleChapter 5519ATTENTION: The polarity of the analog outputs is affected by thesetting of the most significant b

Installing the Linear Positioning ModuleChapter 5520The two discrete outputs for each loop are powered by the discrete output powersupply. The charac

Table of ContentsivGain Factor (words 19 and 48) 720. . . . . . . . . . . . . . . . . . . . . . . . Integral Gain (words 20 and 49) 721. . . . .

Installing the Linear Positioning ModuleChapter 5521Power SupplyTo connect the discrete output power supply, follow these steps:1. Connect the (+) si

Installing the Linear Positioning ModuleChapter 5522Figure 5.13Connecting a Discrete Output to a Discrete Input50051Wiring Arm Terminals1416182022242

Chapter 661Interpreting ModuletoPLC Data (READS)This chapter explains how to monitor module operation from a programmablecontroller by reading and

Interpreting ModuletoPLC Data(READS)Chapter 662Word AssignmentThe assignment of the words within the status block is as follows:Figure 6.1Status Bl

Interpreting ModuletoPLC Data(READS)Chapter 663Figure 6.2Module Configuration Word50001Binary Position Format:0 = Double Word1 = Single Word15 14 1

Interpreting ModuletoPLC Data(READS)Chapter 664Figure 6.3Status Word 15005215 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00Ready ...

Interpreting ModuletoPLC Data(READS)Chapter 665Bit 4 – Auto ModeThe auto mode bit turns on when the loop is in auto mode, i.e., when theauto/manual

Interpreting ModuletoPLC Data(READS)Chapter 666Bit 10 – StartThe start bit reflects the state of the hardware start input (0 = no start, 1 = start)

Interpreting ModuletoPLC Data(READS)Chapter 667Status Word 2 (words 3 and 7)Status word 2 gives the active setpoint and provides additional statusi

Interpreting ModuletoPLC Data(READS)Chapter 668Bit 6 – Position ValidThe position valid bit is on if the next two status block words (i.e., words 4

Table of Contents vUsing the Motion Block 912. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sample Application Programs 101. . .

Interpreting ModuletoPLC Data(READS)Chapter 669Bit 13 – Feedback FaultThe feedback fault bit turns on when the module detects a fault in the transd

Interpreting ModuletoPLC Data(READS)Chapter 6610Diagnostic Information (words 4, 5 and 8, 9)After a reset command or powerup, the module displays d

Interpreting ModuletoPLC Data(READS)Chapter 6611Table 6.AError CodesCode Definition00 No errors detected01 Invalid block identifier02 NonBCD numbe

Interpreting ModuletoPLC Data(READS)Chapter 6612Figure 6.6Position Format50055Position value,BCD or binary format799.900 inches or 7999.00 mm maxMo

Interpreting ModuletoPLC Data(READS)Chapter 6613Figure 6.7Following Error Format50056Following error value,BCD or binary format180.000 inches or 45

Interpreting ModuletoPLC Data(READS)Chapter 6614Measured Velocity (words 20 and 21)Measured velocity is the instantaneous speed of the axis measure

Interpreting ModuletoPLC Data(READS)Chapter 6615Figure 6.10Desired Velocity Format50006Desired velocity,BCD 99.99 ips or 999.9 mmps maxBinary 327.6

Interpreting ModuletoPLC Data(READS)Chapter 6616Figure 6.12Desired Deceleration Format50087Desired deceleration,BCD 999.9 ips/s or 9999 mmps/s maxB

Interpreting ModuletoPLC Data(READS)Chapter 6617Maximum Velocity (words 30, 31 and 32, 33)The maximum velocity words represent the maximum speed th

Interpreting ModuletoPLC Data(READS)Chapter 6618 the accuracy is degraded if the axis is unstable or if the velocity is extremelylow. Velocities a

Table of ContentsviData Formats H1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . BCD H1. . . . . . . . . . . . . . . . .

Chapter 771Formatting Module Data (WRITES)Data blocks that you set up in the PLC data table enable you to control themodule from your PLC programs. T

Formatting Module Data (WRITES)Chapter 772Figure 7.1Parameter Block Word Assignments50057WORD123456789101112131415161718192021222324252627282930Param

Formatting Module Data (WRITES)Chapter 773Parameter Control Word (word 1)The parameter control word identifies the block as a parameter block andprov

Formatting Module Data (WRITES)Chapter 774Bit 3 – Binary/BCDBit 3 determines the format of the data contained in block transfer reads andwrites. BCD

Formatting Module Data (WRITES)Chapter 775Bit 7 – Binary Position FormatWhen bit 7 is set to 1, and binary format is specified in the parameter contr

Formatting Module Data (WRITES)Chapter 776Important: If the maximum analog range is negative, the +ANALOG and–ANALOG outputs behave as if they were

Formatting Module Data (WRITES)Chapter 777Figure 7.4Analog Calibration Constant Words50027Analog calibration constant for positive motion,BCD 99.99 i

Formatting Module Data (WRITES)Chapter 778Figure 7.5Transducer Calibration Constant Words50028Transducer calibration constant,BCD or binary99.9999 mi

Formatting Module Data (WRITES)Chapter 779Important: If you change the axis polarity, exchange the forward and reverseanalog calibration constants.

Formatting Module Data (WRITES)Chapter 7710If you program both software travel limits to zero, the module defaults to anegative software travel limit

PrefaceP1PrefaceThis manual explains how to install and configure the Linear PositioningModule. It includes sample application programs to illustrate

Formatting Module Data (WRITES)Chapter 7711Example: Default ConfigurationIf the zero-position and software travel limits are 0, all measurements arer

Formatting Module Data (WRITES)Chapter 7712Example: Retracting in the Positive DirectionIn this example, the polarity of the axis has been reversed.

Formatting Module Data (WRITES)Chapter 7713Examples: ZeroPosition Past the End of the TransducerThe next two examples show the origin past the fully

Formatting Module Data (WRITES)Chapter 7714If you leave the in-position band undefined (at zero), the module automaticallydefaults to twice the value

Formatting Module Data (WRITES)Chapter 7715Figure 7.17PID Band Word50065This value times two is the PID band,BCD or binary9.999 inch or 99.99 mm max1

Formatting Module Data (WRITES)Chapter 7716Excess Following Error (words 14 and 43)The excess following error is the maximum allowable axis error abo

Formatting Module Data (WRITES)Chapter 7717Figure 7.21Maximum PID Error Word50005Maximum PID error,BCD or binary9.999 inch or 99.99 mm maxIf nonzero

Formatting Module Data (WRITES)Chapter 7718Proportional Gain (words 17 and 46)The module uses the proportional gain factor KP at axis speeds below th

Formatting Module Data (WRITES)Chapter 7719If gain is relatively high, following error will be relatively small, because thesystem will be more sensi

Formatting Module Data (WRITES)Chapter 7720Figure 7.26Gain Break PlotCommanded AxisspeedFollowingError50069Immediate StopDesiredGainMaximum VelocityG