Allen-Bradley Micro830

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72 Rockwell Automation Publication 2080-UM002G-EN-E - March 2015

Chapter 7 Motion Control

Sample Motion Wiring Configuration on 2080-LC30-xxQVB/2080-LC50-xxQVB

2080-LC30-xxQVB

2080-LC50-xxQVB

Kinetix3

+DC 24

-DC 24

+CM0

+CM1

O-00

O-03

O-06

O-07

-CM0

-CM1

Pin 1, 2

Pin 49(CLK+)

Pin 12(CLK-)

Pin25(DIR+)

Pin 14(DIR-)

Pin 3(Enable)

Pin 7(RST)

24V

Power

Supply

–

Encoder

Motor

Encoder signal cable

Motor power cable

24V

Power

Supply

To help you configure Kinetix3 drive parameters so the drive can communicate and be controlled

by a Micro830/Micro850 controller, see publication CC-QS025.

46056

Notes:

(1) Drive Enable (Pin 3) and Reset Drive (Pin 7) will be operating as sourcing inputs when (Pin1,2)

connected to – of the Power Supply 2.

Main Page

Default Chapter3
- Additional Resources3
Preface3
- Purpose of this Manual3
- Who Should Use this Manual3
- Table of Contents7
Chapter 1 Hardware Features15
Hardware Overview15
- Micro830 Controllers16
- Micro850 Controllers18
- Programming Cables20
- Embedded Ethernet Support21
- Embedded Serial Port Cables21
Chapter 2 Programming Software for Micro800 Controllers23
- Obtain Connected Components Workbench23
- Use Connected Components Workbench23
- Using Run Mode Change23
About Your Controller23
- Uncommitted Changes25
Chapter 3 Controller Mounting Dimensions41
- Mounting Dimensions41
- DIN Rail Mounting43
- Panel Mounting44
- Panel Mounting Dimensions44
- System Assembly47
Install Your Controller41
Chapter 449
Wire Your Controller49
- Wiring Requirements and Recommendation49
- Use Surge Suppressors50
  - Recommended Surge Suppressors52
- Grounding the Controller53
- Wiring Diagrams53
- Controller I/O Wiring56
- Embedded Serial Port Wiring59
Chapter 561
Communication Connections61
- Overview61
- Supported Communication Protocols61
- CIP Communications Pass-Thru64
  - Examples of Supported Architectures65
- Configure Serial Port66
- Use Modems with Micro800 Controllers66
  - Making a DF1 Point-To-Point Connection66
  - Construct Your Own Modem Cable66
- Configure Ethernet Settings72
  - Ethernet Host Name74
- Configure CIP Serial Driver74
- OPC Support Using Rslinx Enterprise74
Chapter 6 Overview of Program Execution75
Program Execution in Micro80075
- Rockwell Automation Publication 2080-UM002G-EN-E - March75
- Controller Load and Performance Considerations76
  - Periodic Execution of Programs77
- Execution Rules76
- Power up and First Scan77
  - Variable Retention78
- Guidelines and Limitations for Advanced Users78
- Memory Allocation78
Chapter 7 Use the Micro800 Motion Control Feature82
Motion Control82
- Input and Output Signals84
- Motion Control Function Blocks87
  - General Rules for the Motion Control Function Blocks89
- Motion Axis and Parameters97
- Function Block and Axis Status Error Codes106
- Major Fault Handling109
- Motion Axis Configuration in Connected Components Workbench109
- Monitor an Axis121
- Homing Function Block122
- Use PTO for PWM Control130
  - POU Pwm_Program131
- HSC Feedback Axis132
Chapter 8133
- High-Speed Counter Overview133
- Programmable Limit Switch Overview133
Use the High-Speed Counter and Programmable Limit Switch133
- What Is High-Speed Counter134
  - Features and Operation134
- HSC Inputs and Wiring Mapping135
- High Speed Counter (HSC) Data Structures139
- HSC STS (HSC Status) Data Structure150
- HSC (High Speed Counter) Function Block157
  - HSC Commands (Hsccmd)157
- HSC_SET_STS Function Block159
- Programmable Limit Switch (PLS) Function159
- HSC Interrupts162
- HSC Interrupt Status Information165
- Use HSC166
Chapter 9 Controller Security167
- Compatibility167
- Controller Security167
- Exclusive Access167
- Password Protection167
- Work with a Locked Controller168
- Configure Controller Password170
- Recover from a Lost Password170
Appendix A Micro830 Controllers171
- Micro830 10-Point Controllers171
- Micro830 16-Point Controllers175
- Micro830 24-Point Controllers178
- Micro830 48-Point Controllers182
- Micro830 and Micro850 Relay Charts187
Specifications171
- Micro850 Controllers187
Appendix B Modbus Mapping197
- Endian Configuration197
- Mapping Address Space and Supported Data Types197
- Example 1, Panelview Component HMI (Master) to Micro800198
- (Slave)198
- Example 2, Micro800 (Master) to Powerflex 4M Drive (Slave)199
- Performance202
Modbus Mapping for Micro800197
- Flash Upgrade Your Micro800 Firmware203
- Controller through USB208
- Establish Communications between Rslinx and a Micro830/Micro850208
- Configure Controller Password214
- Use the High Speed Counter218
- Forcing I/Os231
  - Checking if Forces (Locks) Are Enabled231
  - I/O Forces after a Power Cycle232
- Using Run Mode Change233
  - Create the Project233
  - Edit the Project Using Run Mode Change236
Appendix C203
Appendix D Information about Using Interrupts241
- What Is an Interrupt241
- When Can the Controller Operation be Interrupted242
- Priority of User Interrupts242
- User Interrupt Configuration244
- User Fault Routine244
User Interrupts241
- User Interrupt Instructions245
- Selectable Time Interrupt (STI) Function Configuration and Status251
- Using the Selectable Timed Interrupt (STI) Function251
- Using the Event Input Interrupt (EII) Function253
- Event Input Interrupt (EII) Function Configuration and Status254
  - EII Function Configuration254
  - EII Function Status Information255
Appendix E Status Indicators on the Controller257
- Error Conditions258
- Normal Operation258
- Error Codes259
- Controller Error Recovery Model266
- Calling Rockwell Automation for Assistance267
Appendix F270
- How to Autotune271
  - How Autotune Works272
- Troubleshooting an Autotune Process273
- PID Application Example274
  - PID Code Sample275
Appendix G277
- Calculate Total Power for Your Micro830/Micro850 Controller277

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