Rockwell Automation 2080-LC50 Getting Started with Motion Control Using a Simulated Axis User Manual
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Table of contents
Document Outline
- 2080-QS001A-EN-E Micro800 Programmable Controllers: Getting Started withMotion Control Using a Simulated Axis User Manual
- Important User Information
- Preface
- Where to Start
- 1 – Create a Micro800 Project
- Create a Micro800 Project
- Introduction
- Before You Begin
- What You Need
- Create a Micro800 Project in Connected Components Workbench
- 1. On the Device Toolbox, expand the list of Controllers by clicking the + sign.
- 2. Select major revision 2 when manually adding a Micro830 controller.
- 3. Drag your controller onto the Project Organizer pane.
- 4. Go to File ® Save Project As. Then, provide a project name for your project.
- 5. Click OK.
- Notes:
- 2 – Configure Motion Axis Properties
- Configure Motion Axis Properties
- Introduction
- Before You Begin
- What You Need
- Follow These Steps
- Configure General Properties
- 1. Open the project you have created in the previous chapter.
- 2. On the Project Organizer pane, double-click the controller name to bring up the Device Properties pane.
- 3. Under the Controller properties tree, go to Motion. Right-click <New Axis> and choose Create.
- 4. Provide the name "Simulator" for the axis. Alternatively, you can press F2 to name the axis.
- 5. Click General to bring up the General properties tab.
- 6. Configure the general properties as shown in the table.
- Configure Motor and Load Properties
- Configure Limits Properties
- Configure Dynamics Properties
- Configure Homing Properties
- Configure Embedded I/O Properties
- 3 – Write Your Motion Control Programs
- Write Your Motion Control Programs
- Introduction
- Before You Begin
- What You Need
- Follow These Steps
- Create Axis_PowerUp Program
- 1. Open the project for your controller in Connected Components Workbench.
- 2. On the Project Organizer pane, right-click Programs, select Add New LD: Ladder Diagram. Press F2 to rename the program to Axis_PowerUp. Press Enter.
- 3. Right-click Axis_PowerUp program, choose Open.
- 4. From the Toolbox, double-click Block to add it to the rung. Alternatively, you can drag and drop Block onto the rung. Your ladder rung should appear as shown.
- 5. On the Instruction Block Selector window that appears, type MC_Power on the default entry field to filter the MC_Power function block. Choose MC_Power. Click OK.
- 6. From the Toolbox, double-click Block to add it to the rung. Alternatively, you can drag and drop Block onto the rung.
- 7. On the Instruction Block Selector window that appears, type MC_Reset on the default entry field. Choose MC_Reset and click OK.
- Create and Assign Variables and Values for the Axis_PowerUp Program
- Create Homing Program
- 1. Click Programs, select Add ® New LD: Ladder Diagram. Press F2 and rename the program to Action_Homing.
- 2. From the Toolbox, double-click Block to add it to the rung. Alternatively, you can drag and drop Block onto the rung.
- 3. On the Instruction Block Selector window that appears, type MC_Home on the default entry field to filter out MC_Home.
- 4. Choose MC_Home. Click OK. Your ladder rung should appear as follows.
- 5. Create a second rung. From the Toolbox, select Rung and drag it onto the space just below the first rung.
- 6. Select Branch from the Toolbox and drag it onto the second rung.
- 7. Select Direct Contact from the Toolbox and drag it onto the second rung as shown.
- 8. Select Direct Contact from the Toolbox and drag it onto the branch on the second rung as shown.
- 9. Create a third rung. From the Toolbox, select rung and drag it onto the space just below the second rung.
- 10. Select Pulse Rising Edge Direct Contact from the Toolbox and drag it onto the third rung.
- 11. Select Set Coil from the Toolbox and drag it onto the third rung. Your third rung should appear as follows.
- 12. Create a fourth rung. From the Toolbox, select rung and drag it onto the space just below the third rung.
- 13. Select Branch from the Toolbox and drag it onto the fourth rung.
- 14. Select Pulse Rising Edge Direct Contact from the Toolbox and drag it onto the fourth rung as shown.
- 15. Select Block from the Toolbox and drag it onto the branch on fourth rung as shown.
- 16. On the Instruction Block Selector window that appears, type TON to filter out the TON function block. Choose TON. Click OK
- 17. Select Block from the Toolbox and drag it onto the branch on the fourth rung as shown.
- 18. On the Instruction Block Selector window that appears, type R_TRIG to filter out the R_TRIG function block. Choose R_TRIG. Click OK
- 19. Select Reset Coil from the Toolbox and drag it onto the fourth rung as shown.
- Create and Assign Variables and Values for the MC_Home Function Block
- 1. Create the following Global Variables with the data types and initial values (if any) as shown in the table.
- 2. On the first rung, assign the variables for the MC_Home function block elements as shown.
- 3. On the second rung, assign the variables as shown below.
- 4. On the third rung, assign the variables as shown below.
- 5. On the fourth rung, assign the variables as shown below.
- Create Program for MC_MoveRelative
- 1. Click Programs, select Add ® New LD: Ladder Diagram. Press F2 and rename the program to Action_MoveRelative.
- 2. From the Toolbox, select Reverse Contact and drag and drop it onto the rung.
- 3. From the Toolbox, select Return and drag and drop it onto the rung. Your first ladder rung should appear as shown.
- 4. Create a second rung. From the Toolbox, select Rung and drag and drop it just below the first rung.
- 5. From the Toolbox, select Block and drag and drop it onto the second rung.
- 6. On the Instruction Block Selector window that appears, type MC_MoveRelative to filter out the MC_MoveRelative function block. Choose MC_MoveRelative. Click OK. Your second rung should appear as shown.
- Create and Assign Variables and Values to the MC_MoveRelative Function Block
- Create Program for MC_MoveAbsolute Function Block
- 1. Click Programs, select Add ® New LD: Ladder Diagram. Press F2 and rename the program to Action_MoveAbsolute.
- 2. From the Toolbox, select Reverse Contact and drag and drop it onto the rung.
- 3. From the Toolbox, select Return and drag and drop it onto the rung. Your first ladder rung should appear as shown.
- 4. Create a second rung. From the Toolbox, select Rung and drag and drop it just below the first rung.
- 5. From the Toolbox, select Block and drag and drop it onto the second rung.
- 6. On the Instruction Block Selector window that appears, type MC_MoveAbsolute to filter out the MC_MoveAbsolute function block. Choose MC_MoveAbsolute. Click OK. Your second rung should appear as shown in the picture.
- 7. Create a third rung. From the Toolbox, select Rung and drag and drop it just below the second rung.
- 8. From the Toolbox, select Block and drag and drop it onto the third rung.
- 9. On the Instruction Block Selector window that appears, type MC_MoveAbsolute to filter out the MC_MoveAbsolute function block. Choose MC_MoveAbsolute. Click OK. Your third rung should appear as shown in the picture.
- Create and Assign Variables and Values to the MC_MoveAbsolute Function Block
- Create Program for MC_MoveVelocity Function Block
- 1. Click Programs, select Add ® New LD: Ladder Diagram. Press F2 and rename the program to Action_MoveVelocity.
- 2. From the Toolbox, select Reverse Contact and drag and drop it onto the rung.
- 3. From the Toolbox, select Return and drag and drop it onto the rung. The first rung should appear as shown.
- 4. Create a second rung. From the Toolbox, select Rung and drag and drop it onto the space just below the first rung.
- 5. From the Toolbox, select Block and drag and drop it onto the second rung.
- 6. On the Instruction Block Selector window that appears, type ANY_TO_SINT to filter out the function block. Choose ANY_TO_SINT. Click OK.
- 7. Create a third rung. From the Toolbox, select Rung and drag and drop it onto the space just below the second rung.
- 8. On the Instruction Block Selector window that appears, type MC_MoveVelocity to filter out the MC_MoveVelocity function block. Choose MC_MoveVelocity. Click OK.
- 9. Create a fourth rung. From the Toolbox, select Rung and drag and drop it onto the space just below the second rung.
- 10. From the Toolbox, select Block and drag and drop it onto the fourth rung.
- 11. On the Instruction Block Selector window that appears, type MC_Halt to filter out the MC_Halt function block. Choose MC_Halt. Click OK.
- Create and Assign Variables and Values to the MC_MoveVelocity Function Block
- 1. Create the following Global variables with these data types and initial values.
- 2. On the first rung, assign the variables as shown in the following picture.
- 3. On the second rung, assign the variables as shown.
- 4. On the third rung, assign the variables as shown.
- 5. On the fourth rung, assign the variables as shown.
- Create Program for MC_TouchProbe Function Block
- 1. Click Programs, select Add ® New LD: Ladder Diagram. Press F2 and rename the program to Action_TouchProbe.
- 2. From the Toolbox, select Reverse Contact and drag and drop it onto the rung.
- 3. From the Toolbox, select Return and drag and drop it onto the rung. Your first ladder rung should appear as shown.
- 4. Create a second rung. From the Toolbox, select Rung and drag and drop it below the first rung.
- 5. From the Toolbox, select Reverse Contact and drag and drop it onto the second rung.
- 6. From the Toolbox, select Direct Coil and drag and drop it onto the second rung.
- 7. Create a third rung. From the Toolbox, select Rung and drag and drop it below the second rung.
- 8. From the Toolbox, select Block and drag and drop it onto the third rung.
- 9. On the Instruction Block Selector window that appears, type MC_TouchProbe to filter out the MC_TouchProbe function block. Choose MC_TouchProbe. Click OK.
- 10. Create a fourth rung. From the Toolbox, select Rung and drag and drop it below the third rung.
- 11. From the Toolbox, select Block and drag and drop it onto the fourth rung.
- 12. On the Instruction Block Selector window that appears, type R_TRIG to filter out the R_TRIG function block. Choose R_TRIG. Click OK.
- 13. From the Toolbox, select Block and drag and drop it onto the fourth rung.
- 14. On the Instruction Block Selector window that appears, type 1 gain to filter out 1 gain. Choose 1 gain. Click OK.
- Create and Assign Variables and Values to the Action_TouchProbe program
- 1. Create the following Global Variables with these data types and initial values.
- 2. Assign variables to the elements on the first rung as shown.
- 3. Assign variables to the elements on the second rung as shown.
- 4. Assign variables to the elements on the third rung as shown.
- 5. Assign variables to the elements on the fourth rung as shown.
- 6. Save the program.
- Build and Download Programs
- 4 – Wire Your Controller for Motion Control
- 5 – Execute Your Motion Control Function Blocks
- Execute Your Motion Control Function Blocks
- Introduction
- Before You Begin
- What You Need
- Follow These Steps
- Go to Remote RUN Mode
- Axis Monitoring
- Power Up the Motion Axis
- Execute MC_Home
- 1. Moving part moves to its left side (in negative direction);
- 2. When home switch is detected, the moving part decelerates to a stop;
- 3. Moving part moves back (in positive direction) in creep velocity to detect Home Switch On ® Off edge.
- 4. Once Home Switch On ® Off is detected, record the position as mechanical home position, and decelerate to stop;
- 5. Move to the configured home position (the mechanical home position recorded during moving back sequence, plus the home offset configured in axis configuration in Connected Components Workbench.
- 1. Set the SWHome variable input to True to trigger the MC_Home function block. When the Homing sequence is complete with no error, the Done output will be True and the Home position will be set to 110 mm. (The Home Sensor is at position 100 mm and t...
- Execute MC_MoveRelative
- Execute MC_MoveAbsolute
- 2. Specify a distance value of 200 mm. Then, set the SWAbsolute variable to True to trigger the function block.
- Abort a Movement Function Block
- 1. Set the MC_MoveAbsolute1 distance input to 600.
- 2. To perform an aborted move, set the MC_MoveAbsolute2 function block distance input to 700.
- 3. Trigger MC_MoveAbsolute1. Before the function block finishes executing, trigger MC_MoveAbsolute2. In this case, MC_MoveAbsolute2 will abort MC_MoveAbsolute1. Note that all MC_MoveAbsolute1 output bits will be set to False, while CommandAborted goe...
- Execute MC_MoveVelocity and MC_Halt
- Execute MC_TouchProbe
- Implementing Motion Control in an Actual Environment
- Back Cover