Rockwell Automation 1746-QS,D17466.19 SYNCHRONIZED AXES MODULE - Manual (Page 4)

toc–ii
Publication 1746-6.19 – March 1998
Adjusting Command-word Speed and Acceleration Values 4–7 . . . . .
Adjusting Feedforward Parameters 4–7 . . . . . . . . . . . . . . . . . . . . . .
Using Acceleration Feedforwards 4–8 . . . . . . . . . . . . . . . . . . . . . . .
Adjusting P-I-D Gains 4–8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Finding the Value of the Dead Band Eliminator 4–9 . . . . . . . . . . . . . . . .
Saving Parameters 4–10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using Ladder Logic Chapter 5
Chapter Objectives 5–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Obtaining Sample Ladder Program from the Internet 5–1 . . . . . . . . . . . .
To Access the Internet: 5–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring Your SLC Processor, Off-line 5–1 . . . . . . . . . . . . . . . . . . . .
Using the Sample Ladder Program 5–2 . . . . . . . . . . . . . . . . . . . . . . . .
Copy Configuration Parameters to the SLC Processor 5–3 . . . . . . . .
Copy Configuration Parameters to the Module 5–3 . . . . . . . . . . . . . .
Back and Forth Motion with State-machine Logic 5–4 . . . . . . . . . . . .
Jogging the Axes 5–7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Responds to Hydraulics On/Off 5–8 . . . . . . . . . . . . . . . . . . . . . . . . .
Running Synchronized Axes 5–9 . . . . . . . . . . . . . . . . . . . . . . . . . . .
Troubleshooting Chapter 6
Using LED Indicators 6–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Correcting Typical Problems 6–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Module Specifications Appendix A
Electrical A–2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Physical A–2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Environmental A–2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Certification A–2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring Without the
Interface Module
Appendix B
Wiring Example B–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Minimizing Interference from Radiated Electrical Noise B–2 . . . . . . . . . .
Checking Out the Wiring and Grounding B–2 . . . . . . . . . . . . . . . . . . . .
Using Processor Files Appendix C
Transferring Data C–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transferring Motion Commands and Axis Status C–2 . . . . . . . . . . . .
Transferring Configuration Parameters C–2 . . . . . . . . . . . . . . . . . . .
Using Floating-point for Values Above 32,767 C–3 . . . . . . . . . . . . . . .
Using M0 and M1 Files for Initial Configuration C–4 . . . . . . . . . . . . . . . .
M0 and M1 Memory Map for Ladder Logic C–4 . . . . . . . . . . . . . . . . .
Bit Map of Configuration Word (e:0, e:16, e:32. e:48) C–5 . . . . . . . . .
Using I/O Image Tables for Commands and Status C–5 . . . . . . . . . . . . .
Bit Map of Command Mode Word C–6 . . . . . . . . . . . . . . . . . . . . . . .
Bit Map of Axis Status Word C–6 . . . . . . . . . . . . . . . . . . . . . . . . . . .