Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 4)

EE Table of Contents
Publication 999-122 – January 1997
Chapter 3 – Technical Overview
Digital Control Loop ...................................... 3-1
Encoders ......................................................... 3-2
Encoder Counter ............................................ 3-3
Software Feedback Calculations.................... 3-4
Servo Amplifiers and Motors ......................... 3-5
High Level Motion Functions ........................ 3-6
Indexing and Jogging ................................... 3-7
Backlash Compensation .............................. 3-7
Electronic Cam ............................................ 3-7
Electronic Gearing ....................................... 3-7
Interpolation ................................................. 3-8
Velocity Feedforward .................................... 3-8
CPU Watchdog .............................................. 3-9
Software Overtravel Limits............................ 3-9
Serial Communication .................................... 3-9
DH-485 Communication .............................. 3-10
Axis-Specific Discrete I/O ........................... 3-10
Home Limit Switch Input .......................... 3-10
Overtravel Limit Switch Inputs ................. 3-10
Drive Fault Output ..................................... 3-11
Drive Enable Output .................................. 3-11
Position Registration Inputs ....................... 3-11
Status LEDs .................................................. 3-11
General Purpose Discrete I/O ...................... 3-12
The Imaginary Axis ..................................... 3-12
Remote I/O (Optional) ................................. 3-12
AxisLink (Optional)..................................... 3-12
Chapter 4 – Installation and Hookup
Introduction .................................................... 4-1
Complying with European Union Directives . 4-3
EMC Directive ............................................. 4-3
Low Voltage Directive ................................. 4-3
Installing the IMC-S/23x ............................... 4-6
Configuring the IMC-S/23x ........................... 4-7
Configure the Serial Ports ............................ 4-8
Select the Registration Input Voltage ........ 4-11
Select the Encoder Power Voltage ............. 4-12
Select the Servo Output Format................. 4-14
Serial Communications Devices .................. 4-15