Rockwell Automation 1732E-OB8M8SR EtherNet/IP Dual Port 8-Point SOE Input and Scheduled Output Modules UM - Manual (Page 21)

Rockwell Automation Publication 1732E-UM003B-EN-E - March 2014 11
Module Overview and Features Chapter 2
Motion Control
CIP Sync also provides a common time reference for distributed VFD drives,
servos, and controllers throughout the system. This allows controllers to request
axes, reach a pre-defined position at a known time reference, or run at a set speed
using the same reference. Since all drives and controllers in the system have the
same reference to time, the controller can issue simple requests for axes to reach
target positions in a synchronized fashion.
Global Position Registration
Registration refers to a function usually performed by the drive where a physical
input is triggered causing the drive to precisely capture the actual axis position
when the input event occurred. Rather than wiring inputs to the registration
input on all of the drives, this time-based system lets you wire an input to only
one time based SOE input module. The timestamp returned for that input, can
be used by the motion planner to calculate the actual axis position at the time the
input triggered. This simplifies system installation, reduces wiring costs, and
provides a global machine registration for all the axes in the system thru one SOE
input.
Introduction to Scheduled
Output Module The 1732E-OB8M8SR Scheduled Output module is designed to work in
conjunction with the MAOC motion instruction to provide position-based
output control (also known as PLS). The MAOC instruction by itself allows
position-based output control using the position of any motion axis in
ControlLogix as the position reference and any output or boolean as the output.
The MAOC updates the outputs based on motion axis position at the motion
group coarse update rate (typically 2…10 ms). While this is adequate for some
applications, it is too slow for many high speed applications typically found in
converting and packaging segments. The 1732E-OB8M8SR module improves
performance by supporting the ability to schedule the output turn-on/turn-
off time of its 8 outputs (outputs 0…7) in 1
µs increments. Outputs are
scheduled by entering data into one or more of the 16 schedules provided by the
output connection data store.
Operation
This scheduled output implementation schedules outputs on a per point basis
and each individual output point is controlled by its own timestamp.
IMPORTANT When using the 1732E-OB8M8SR module with the MAOC instruction,
make sure you use the default Communication Format for the module,
that is, Schedule Output Data Per Point. If you change the
Communication Format when the module is used with an MAOC
instruction, an error may result.