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Allen-Bradley GuardLogix User Manual

Allen-Bradley GuardLogix User Manual (354 pages)

Integrated Motion on the EtherNet/IP Network, Configuration and Startup

Brand: Allen-Bradley | Category: Controller | Size: 13.01 MB

Table of Contents

Table of Contents
3
Additional Resources
9
Preface

9
- Summary of Changes
  9
Chapter 1

11
Controller, Communication, Drive, and Software Options

11
Chapter 2

24
- Set Time Synchronization
  24
- Add an Ethernet Communication Module
  26
  - Network
    27
  - Network
    28
  - Network
    29
  - Network
    31
- Add a Kinetix Ethernet/Ip Drive
  32
Chapter 3

36
Chapter 4 Ethernet/Ip Drive

60
Chapter 5

101
Chapter 6

130
Chapter 7 About Axis Scheduling

146
- Timing Model
  147
  - One Cycle Timing
    148
  - Two Cycle Timing
    149
- Axis Scheduling Configuration
  150
- Configure the Update Periods
  151
- Motion Utilization
  158
- Example 1: Position Loop with Motor Feedback Only
  159
Chapter 8

163
Chapter 9

188
Chapter 10 Example 2: Velocity Control with Motor Feedback

214
- The Powerflex 527 Drive Example 2: Velocity Control with Motor Feedback
  214
- Example 3: Position Control with Motor Feedback
  217
Chapter 11 Commission an Axis Scaling

222
- Direct Coupled Rotary
  223
- Direct Coupled Linear
  224
- Rotary Transmission
  224
- Linear Actuator
  225
- Changing Scaling Factors
  225
Scaling

222
- Hookup Tests
  226
  - Run a Motor and Feedback Test
    228
  - Run a Motor Feedback Test
    230
  - Run a Marker Test
    230
- Applying the Commutation Hookup Test
  232
- Run a Commutation Test
  234
- Autotune
  235
- Polarity
  235
- Load
  239
- Load Observer
  241
  - Benefits of Load Observer
    241
  - How Load Observer Functions
    241
  - Load Observer Configuration
    242
- Adaptive Tuning
  243
  - Benefits of Adaptive Tuning
    244
  - How Adaptive Tuning Functions
    244
  - Adaptive Tuning Configuration
    245
  - Status Bits
    248
- Load Ratio Data from Motion Analyzer
  249
- Test an Axis with Motion Direct Commands
  249
Chapter 12 Guidelines for Homing

256
- Active Homing
  256
- Passive Homing
  257
Homing

256
- Examples
  258
  - Active Homing
    258
  - Passive Homing
    261
- Absolute Position Recovery (APR)
  262
  - APR Terminology
    262
  - Controllers
    262
  - Absolute Feedback Device
    263
  - SERCOS Versus Integrated Motion on Ethernet Networks
    263
  - APR Scenarios
    264
- APR Faults
  269
  - APR Fault Conditions
    269
  - APR Fault Generation
    270
  - Scaling
    272
  - Online Scaling
    272
  - Resetting an APR Fault
    273
  - Absolute Position Loss Without APR Faults
    273
  - Behavior of APR for Incremental Encoders
    274
  - Saving an ACD File Versus Upload of a Project
    274
Chapter 13 When to Manually Tune an Axis

275
- Axis Configuration Types
  275
- Current Tuning Configuration
  276
- Loop Responses
  277
- Motion Generator and Motion Direct Commands
  279
Manual Tune

275
- Additional Tune
  281
  - Feedforward Parameters
    281
  - Compensation Parameters
    282
  - Filters Parameters
    283
  - Limits Parameters
    284
  - Planner Parameters
    284
  - Configure Torque Values
    285
- Monitor Tags with the Quick Watch Window
  285
- Use Motion Generator
  286
Faults and Alarms Dialog Box

289
Chapter 14

291
- Quickview Pane
  291
- Connection Faults and Errors
  292
- Data Monitor
  292
- Drive Status Indicators
  292
- Manage Motion Faults
  293
- Troubleshoot Faults
  293
- Configure the Exception Actions for AXIS_CIP_DRIVE
  294
- Inhibit an Axis
  297
  - Example: Inhibit an Axis
    298
  - Example: Uninhibit an Axis
    299
- Digital I/O Status Indicators
  300
Parameter Dialog-Box Listings

303
Appendix A

305
Appendix B

305
- Definition of Jerk
  305
- Choose a Profile
  306
- Use % of Time for the Easiest Programming of Jerk
  307
- Velocity Profile Effects
  308
- Jerk Rate Calculation
  308
- Profile Operand
  313
- Program a Velocity Profile and Jerk Rate
  305
- Enter Basic Logic
  316
  - Example Motion Control Program
    317
  - Download a Project
    318
- Choose a Motion Instruction
  318
- Troubleshoot Axis Motion
  321
- Programming with the MDSC Function
  329
- Powerflex Out-Of-Box Configuration
  332
  - Recommended Out-Of-Box Settings
    332
- Setting the ACO/AVO Attributefor PF527 Drives Only
  336
Glossary

337
Index

341
- Rockwell Automation Publication MOTION-UM003K-EN-P - January
  342

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