Rockwell Automation 1784-PM16SE SoftLogix Motion Card Setup and Configuration Manual User Manual

Softlogix, Motion card

SoftLogix

Motion

Card

(Cat.No. 1784-PM02AE, -PM16SE)

Setup and Configuration
Manual

This manual is related to the following products:

1784-PM02AE SoftLogix Motion Card Setup and Configuration Manual

Table of contents

Document Outline

1784-UM003A-EN-P, SoftLogix Motion Card Setup and Configuration Manual
Important User Information
European Communities (EC) Directive Compliance
- EMC Directive
- Low Voltage Directive
Preface
- Using This Manual
- Who Should Use This Manual
- The Purpose of This Manual
- Related Documentation
- Rockwell Automation Support
  - Local Product Support
  - Technical Product Assistance
- On the Web
Chapter 1
- The SoftLogix Motion Control System
- SoftLogix Motion Control
- Components of the SoftLogix Motion System
- Developing a Motion Control Application Program
Chapter 2
- SoftLogix Controller
- Introduction
- Accessing the New Controller Dialog
  - New Controller Dialog
- Editing Controller Properties
Chapter 3
- Adding and Configuring Your 1784-PM02AE Motion Module
- Adding the 1784-PM02AE Module
  - New Module
- Editing Your Motion Module Settings
- Assigning Additional Motion Modules
Chapter 4
- Configuring the1784-PM16SE Card
- Adding the 1784-PM16SE
- SERCOS interface Motion Card Overview
- Editing 1784-PM16SE Card Properties
Chapter 5
- The Motion Group
- Creating A Motion Group
- Editing the Motion Group Properties
Chapter 6
- Naming & Configuring Your Motion Axis
- Naming an Axis
  - Entering Tag Information
- Editing Motion Axis Properties
- Assigning Additional Motion Axes
Chapter 7
- Creating & Configuring Your Coordinate System Tag
- Introduction
- Creating a Coordinate System
  - Entering Tag Information
  - Coordinate System Wizard Screens
- Editing Coordinate System Properties
- Right Mouse Click Properties
  - Cut, Copy, Paste, and Delete Behavior
Chapter 8
- Configuring a 1394x-SJTxx-D Digital Servo Drive
- 1394x-SJTxx-D Digital Servo Drive Overview
Chapter 9
- Configuring an Ultra 3000 Drive
- Editing the Ultra Drive Properties
Chapter 10
- Configuring a Kinetix 6000 Drive
- Editing the Kinetix Drive Properties
Chapter 11
- Configuring an 8720MC Drive
- Editing the 8720MC Drive Properties
Chapter 12
- Motion Instructions
- Motion State Instructions
- Motion Move Instructions
- Motion Group Instructions
- Motion Event Instructions
- Motion Configuration Instructions
- Motion Coordinated Move Instructions
- Motion Direct Commands
- Accessing Direct Commands
- Supported Commands
- Motion Direct Command Dialog
  - Motion Direct Command Dialog On-line
Chapter 13
- Motion Object Attributes
- Object Support Attributes
  - Axis Instance
  - Group Instance
  - Map Instance
  - Module Channel
  - Module Class Code
  - C2C Map Instance
  - C2C Connection Instance
  - Memory Use
  - Memory Usage
  - Axis Data Type
  - Axis Configuration State
  - Axis State
  - Output Cam Execution Targets
- Motion Object Status Attributes
- Motion Status Attributes
  - Actual Position
  - Command Position
  - Strobe Position
  - Start Position
  - Average Velocity
  - Actual Velocity
  - Command Velocity
  - Actual Acceleration
  - Command Acceleration
  - Watch Position
  - Registration Position
  - Registration Time
  - Interpolation Time
  - Interpolated Actual Position
  - Interpolated Command Position
  - Master Offset
  - Strobe Master Offset
  - Start Master Offset
- Motion Status Bit Attributes
  - Motion Status Bits
  - Axis Status Bit Attributes
  - Axis Fault Bit Attributes
  - Module Fault Bit Attribute
    - Control Sync Fault
  - Axis Event Bit Attributes
  - Output Cam Status
  - Output Cam Pending Status
  - Output Cam Lock Status
  - Output Cam Transition Status
- Motion Object Configuration Attributes
- Motion Unit Configuration Attributes
  - Average Velocity Timebase
- Motion Conversion Configuration
  - Conversion Constant
  - Rotary Axis
  - Position Unwind
- Motion Homing Configuration
  - Home Mode
  - Home Sequence and Home Direction
  - Home Configuration Bits
    - Home Switch Normally Closed
  - Home Position
  - Home Offset
  - Home Speed
  - Home Return Speed
- Motion Dynamics Configuration
  - Maximum Speed
  - Maximum Acceleration/Deceleration
  - Programmed Stop Mode
- Servo Status Attributes
  - Servo Status Attributes
  - Position Command
  - Position Feedback
  - Aux Position Feedback
  - Position Error
  - Position Integrator Error
  - Velocity Command
  - Velocity Feedback
  - Velocity Error
  - Velocity Integrator Error
  - Acceleration Command
  - Acceleration Feedback
  - Servo Output Level
  - Marker Distance
- Servo Status Bit Attributes
  - Servo Status Bit Attributes
  - Axis Control Bit Attributes
  - Axis Response Bit Attributes
  - Servo Fault Bit Attributes
  - Module Fault Bit Attributes
  - Attribute Error Code
  - Attribute Error ID
- Commissioning Status Attributes
  - Test Status
  - Test Direction Forward
  - Tune Status
  - Tune Acceleration/Deceleration Time
  - Tune Acceleration/Deceleration
  - Tune Speed Scaling
  - Tune Rise Time
  - Tune Inertia
- Servo Configuration Attributes
  - Servo Configuration
  - Axis Type
  - Servo Loop Configuration
  - External Drive Type
  - Fault Configuration Bits
    - Soft Overtravel Checking
    - Hard Overtravel Checking
    - Drive Fault Checking
    - Drive Fault Normally Closed
  - Axis Info Select
  - Servo Polarity Bits
    - Feedback Polarity Negative
    - Servo Polarity Negative
  - Servo Loop Block Diagrams
  - Position Servo with Torque Servo Drive
  - Velocity Servo with Torque Servo Drive
  - Position Servo with Velocity Servo Drive
  - Velocity Servo with Velocity Servo Drive
  - Servo Gains
  - Velocity Feedforward Gain
  - Acceleration Feedforward Gain
  - Position Proportional Gain
    - Loop Gain Method
    - Bandwidth Method
    - Maximum Bandwidth
  - Position Integral Gain
  - Velocity Proportional Gain
    - Maximum Bandwidth
  - Velocity Integral Gain
  - Velocity Scaling
  - Torque Scaling
  - Output LP Filter Bandwidth
  - Integrator Hold Enable
- Servo Limits
  - Maximum Positive/Negative Travel
  - Position Error Tolerance
  - Position Lock Tolerance
  - Output Limit
- Servo Offsets
  - Friction Compensation
  - Velocity Offset
  - Torque Offset
  - Output Offset
- Servo Fault Configuration
  - Servo Fault Actions
- Commissioning Configuration Attributes
  - Test Increment
  - Tuning Travel Limit
  - Tuning Speed
  - Tuning Torque
  - Damping Factor
  - Drive Model Time Constant
  - Velocity Servo Bandwidth
  - Position Servo Bandwidth
  - Tuning Configuration Bits
- Servo Drive Status Attributes
  - Drive Status Attributes
  - Position Command
  - Position Feedback
  - Aux Position Feedback
  - Position Error
  - Position Integrator Error
  - Velocity Error
  - Velocity Integrator Error
  - Velocity Command
  - Velocity Feedback
  - Acceleration Command
  - Acceleration Feedback
  - Marker Distance
  - Torque Command
  - Torque Feedback
  - Pos./Neg. Dynamic Torque Limit
  - Motor Capacity
  - Drive Capacity
  - Power Capacity
  - Bus Regulator Capacity
  - Motor Electrical Degrees
  - DC Bus Voltage
  - Torque Limit Source
  - Drive Status Bit Attributes
    - Servo Action Status
    - Drive Enable Status
    - Shutdown Status
    - Process Status
    - Home Input Status
    - Registration 1/2 Input Status
    - Positive Overtravel Input Status
    - Negative Overtravel Input Status
    - Enable Input Status
    - Acceleration Limit Status
    - Absolute Reference Status
    - Velocity Lock Status
    - Velocity Standstill Status
    - Velocity Threshold
    - Torque Limit Status
    - Velocity Limit Status
    - Position Lock Status
    - Power Limit Status
  - Axis Control Bit Attributes
    - Abort Process
    - Shutdown Request
    - Abort Home Request
    - Abort Event Request
    - Change Cmd Reference
  - Axis Response Bit Attributes
    - Abort Process Acknowledge
    - Shutdown Request Acknowledge
    - Abort Home Acknowledge
    - Abort Event Acknowledge
    - Change Pos Reference
  - Drive Fault Bit Attributes
    - Positive/Negative Software Overtravel Faults
    - Positive/Negative Hardware Overtravel Faults
    - Position Error Fault
    - Feedback 1 or Feedback 2 Fault
    - Feedback 1 or Feedback 2 Noise Fault
    - Ground Short Fault
    - Drive Hardware Fault
    - Overspeed Fault
    - Overload Fault
    - Drive Overtemperature Fault
    - Motor Overtemperature Fault
    - Drive Cooling Fault
    - Drive Control Voltage Fault
    - Feedback Fault
    - Commutation Fault
    - Drive Overcurrent Fault
    - Drive Overvoltage Fault
    - Drive Undervoltage Fault
    - Power Phase Loss Fault
    - SERCOS Fault
  - Module Fault Bit Attributes
    - Control Sync Fault
    - Module Sync Fault
    - Timer Event Fault
    - Module Hardware Fault
    - SERCOS Ring Fault
  - Drive Warning Bit Attributes
    - Overload Warning
    - Drive Overtemperature Warning
    - Motor Overtemperature Warning
    - Cooling Error Warning
  - Attribute Error Code
  - Attribute Error ID
  - SERCOS Error Code
- Commissioning Status Attributes
  - Test Status
  - Test Direction Forward
  - Tune Status
  - Tune Acceleration/Deceleration Time
  - Tune Acceleration/Deceleration
  - Tune Inertia
- Servo Drive Configuration Attributes
  - Drive Configuration
  - Drive Axis ID
  - Axis Type
  - Servo Loop Configuration
  - Advanced Servo Configuration Attributes
  - Fault Configuration Bits
    - Soft Overtravel Checking
    - Hard Overtravel Checking
  - Drive Scaling Bits
    - Custom Scaling
  - Advanced Scaling Attributes
    - Rotational Position Resolution
  - Drive Polarity
    - Custom Polarity
    - Positive/Negative Polarity
  - Advanced Polarity Attributes
  - Axis Info Select
- Motor and Feedback Configuration
  - Motor ID
  - Motor Data
  - Feedback Type
  - Feedback Resolution
  - Aux Feedback Ratio
  - Advanced Feedback Attributes
- Servo Loop Block Diagrams
  - Motor Position Servo
  - Auxiliary Position Servo
  - Dual Position Servo
  - Motor Dual Command Servo
  - Auxiliary Dual Command Servo
  - Velocity Servo
  - Torque Servo
  - Drive Gains
  - Position Proportional Gain
  - Position Integral Gain
  - Velocity Feedforward Gain
  - Acceleration Feedforward Gain
  - Velocity Proportional Gain
    - Maximum Bandwidth
  - Velocity Integral Gain
  - Output LP Filter Bandwidth
  - Output Notch Filter Frequency
  - Torque Scaling
  - Integrator Hold Enable
  - Advanced Drive Gain Attributes
- Drive Limits
  - Maximum Positive/Negative Travel
  - Position Error Tolerance
  - Position Lock Tolerance
  - Advanced Drive Limits
- Drive Offsets
  - Friction Compensation
  - Velocity Offset
  - Torque Offset
- Drive Fault Actions
  - Shutdown
  - Disable Drive
  - Stop Command
  - Status Only
  - Advanced Stop Action Attributes
  - Brake Engage Delay
  - Brake Release Delay
- Drive Power Attributes
  - Power Supply ID
  - Bus Regulator ID
- Commissioning Configuration Attributes
  - Test Increment
  - Tuning Travel Limit
  - Tuning Speed
  - Tuning Torque
  - Damping Factor
  - Drive Model Time Constant
  - Velocity Servo Bandwidth
  - Position Servo Bandwidth
  - Tuning Configuration Bits
Chapter 14
- Troubleshooting
- 1784-PM02AE LED Indicator
  - Status LED
- SERCOS interface LED Indicators
Appendix A
- Specifications and Performance
- 1784-PM02AE Motion Card Specifications
- 1784-M16SE Motion Card Specifications
Appendix B
- Wiring Diagrams
- About Block Diagrams
  - Using a 1784-PM02AE Module With a Torque Servo Drive
  - Using a 1784-PM02AE Module With a Velocity Servo Drive
- Wiring Diagrams
Index
Back Cover