Rockwell Automation 1746-HSRV SLC Servo Control Module User Manual - Manual (Page 6)

Publication 1746-6.1.2 - July 2000
Table of Contents iii
Testing Estop Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Setting Up Your SLC Servo
Module Chapter 7
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Understanding the Theory of Motion Control . . . . . . . . . . . 7-2
Machine Mechanics . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Velocity Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Position Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
Powering Up the SLC Servo Module. . . . . . . . . . . . . . . . . . 7-3
Configuring the SLC Processor . . . . . . . . . . . . . . . . . . . . . . 7-3
Configuring Your Processor Using AI-500 Software . . . . 7-4
Configuring Your Processor Using APS Software . . . . . . 7-5
Configuring Your Processor Using RSLogix 500 Software 7-7
Automatically Configuring the SLC Servo Module . . . . . 7-7
Manually Configuring the SLC Servo Module . . . . . . . . . 7-8
The SLC Servo Module Interface . . . . . . . . . . . . . . . . . . . . 7-11
Configuring the SLC Servo Module. . . . . . . . . . . . . . . . . . . 7-11
Data Type Conversions . . . . . . . . . . . . . . . . . . . . . . . . 7-12
Before Programming the SLC Servo Module . . . . . . . . . . . . 7-12
Communicating – SLC Processor & SLC Servo Module . . . . 7-13
Entering Encoder Lines and Computing Counts . . . . . . . . . 7-13
Computing Counts Per Position Unit . . . . . . . . . . . . . . 7-14
Computing Maximum Speed Scaler . . . . . . . . . . . . . . . 7-14
Initializing DAC Output Voltage for Drive Symmetry. . . . . . 7-16
Setting Initial Loop Type . . . . . . . . . . . . . . . . . . . . . . . . . . 7-16
Defining Positive Axis Movement for SLC Servo Module . . . 7-17
Coarse Calibrating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
Fine Calibrating. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
Computing Excess Following Error Limit . . . . . . . . . . . . . . 7-19
Selecting Loop Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-20
Selecting Axis Acceleration Rate. . . . . . . . . . . . . . . . . . . . . 7-21
Determining Velocity and Acceleration Feedforward. . . . . . 7-23
Velocity Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . 7-23
Acceleration Feedforward. . . . . . . . . . . . . . . . . . . . . . . 7-23
Setting Axis and Home Specific Parameters . . . . . . . . . . . . 7-24
Programming Conventions . . . . . . . . . . . . . . . . . . . . . . . . 7-24
Downloading Your Configuration . . . . . . . . . . . . . . . . . 7-24
Configuration Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-25
Configuring the M0 File Data Tables . . . . . . . . . . . . . . . 7-25
Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 7-26
Feedback Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 7-26
Servo Loop Parameters. . . . . . . . . . . . . . . . . . . . . . . . . 7-27
Motion Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-29