Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 5)

Publication 1746-6.1.2 - July 2000
Table of Contents ii
Routing Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Classifying Your Conductors . . . . . . . . . . . . . . . . . . . . . . . 3-3
Placing Your SLC Servo Module. . . . . . . . . . . . . . . . . . . . . 3-3
Installing Your SLC Servo
Module Chapter 4
Unpacking and Inspecting Your SLC Servo Module System . 4-1
Installing the SLC Servo Module. . . . . . . . . . . . . . . . . . . . . 4-2
Grounding the SLC Servo Module . . . . . . . . . . . . . . . . . . . 4-4
Mounting the Termination Panel . . . . . . . . . . . . . . . . . . . . 4-5
Connecting the Termination Panel . . . . . . . . . . . . . . . . . . . 4-7
Wiring the SLC Servo
Module Chapter 5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Complying with European Union Directives . . . . . . . . . . . . 5-1
EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Wiring Fast Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . 5-2
Wiring Hardware Overtravels. . . . . . . . . . . . . . . . . . . . . . . 5-4
Software Overtravel Limits . . . . . . . . . . . . . . . . . . . . . . 5-5
Connecting Home Limit Switch as a Fast Input . . . . . . . . . . 5-5
Wiring Estop Connections . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Wiring the Estop for a One-Axis System . . . . . . . . . . . . 5-7
Wiring for Normal Operation . . . . . . . . . . . . . . . . . . . . . . 5-7
Maintaining Electrical Continuity . . . . . . . . . . . . . . . . . . . 5-7
Verifying Connections and Operation . . . . . . . . . . . . . . . . 5-7
Wiring the Estop for System with Two or More Axes . . . 5-10
Wiring Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Wiring Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
Typical Vendor Encoder Wiring . . . . . . . . . . . . . . . . . . 5-15
Encoder Feedback Direction . . . . . . . . . . . . . . . . . . . 5-16
Wiring the SLC Servo to Allen-Bradley Drives. . . . . . . . . . . 5-18
Wiring the SLC Servo Module to 1398 ULTRA 100/200 . . 5-27
Wiring the SLC Servo Module – Homing to a Marker . . 5-28
Connecting the Velocity Command . . . . . . . . . . . . . . . . . . 5-32
Testing Your SLC Servo
Module Hardware Chapter 6
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Powering Up Your SLC Servo Module . . . . . . . . . . . . . . . . 6-1