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96 Rockwell Automation Publication 2080-UM002K-EN-E - March 2019

Chapter 7 Motion Control

Example: Aborted Movement Function Block During

Acceleration/Deceleration

IMPORTANT

If MC_Halt aborts another movement function block during acceleration

and the MC_Halt Jerk input parameter is less than the Jerk of the

currently executing FB, the Jerk of the currently executing function block

is used to prevent excessively long deceleration.

Velocity

Time

Execute1

Busy

Halt Execute

CommandAborted

46050

Default Chapter3
- Additional Resources3
- Conformal Coated Catalogs3
Preface3
- Purpose of this Manual3
- Who Should Use this Manual3
- Table of Contents7
Chapter 1 Hardware Features16
Hardware Overview16
- Micro830 Controllers16
- Micro850 Controllers18
- Micro870 Controllers20
- Embedded Ethernet Support22
- Embedded Serial Port Cables22
- Programming Cables22
Chapter 2 Programming Software for Micro800 Controllers25
- Obtain Connected Components Workbench Software25
- Use Connected Components Workbench Software25
- Controller Changes in Run Mode25
- Using Run Mode Change (RMC)26
About Your Controller25
- Uncommitted Changes27
Chapter 3 Controller Mounting Dimensions47
- Mounting Dimensions47
- DIN Rail Mounting50
- Panel Mounting50
- Panel Mounting Dimensions51
- System Assembly53
Install Your Controller47
Chapter 455
Wire Your Controller55
- Wiring Requirements and Recommendation55
- Use Surge Suppressors56
  - Recommended Surge Suppressors58
- Grounding the Controller59
- Wiring Diagrams60
- Controller I/O Wiring66
- Embedded Serial Port Wiring69
Chapter 571
Communication Connections71
- Overview71
- Supported Communication Protocols71
- CIP Communications Pass-Thru76
  - Examples of Supported Architectures76
- Use Modems with Micro800 Controllers78
  - Making a DF1 Point-To-Point Connection78
  - Construct Your Own Modem Cable78
- Configure Serial Port79
- Configure Ethernet Settings84
  - Validate IP Address86
  - Ethernet Host Name86
- Configure CIP Serial Driver87
- OPC Support Using Rslinx Enterprise87
Chapter 6 Overview of Program Execution89
- Execution Rules90
Program Execution in Micro80089
- Optional Module90
- Controller Load and Performance Considerations91
  - Periodic Execution of Programs91
- Power up and First Scan92
  - Variable Retention92
- Guidelines and Limitations for Advanced Users93
- Memory Allocation93
Chapter 7 PTO Motion Control95
- Use the Micro800 Motion Control Feature97
Motion Control95
- Input and Output Signals98
- Motion Control Function Blocks101
  - General Rules for the Motion Control Function Blocks103
- Motion Axis and Parameters111
- Function Block and Axis Status Error Codes120
- Major Fault Handling123
- Motion Axis Configuration in Connected Components Workbench123
- Monitor an Axis135
- Homing Function Block136
- Use PTO for PWM Control144
  - POU Pwm_Program145
- HSC Feedback Axis146
Chapter 8147
- High-Speed Counter Overview147
- Programmable Limit Switch Overview147
Use the High-Speed Counter and Programmable Limit Switch147
- What Is High-Speed Counter148
  - Features and Operation148
- HSC Inputs and Wiring Mapping149
- High Speed Counter (HSC) Data Structures153
- HSC STS (HSC Status) Data Structure164
- HSC (High Speed Counter) Function Block171
  - HSC Commands (Hsccmd)171
- HSC_SET_STS Function Block173
- Programmable Limit Switch (PLS) Function173
- HSC Interrupts176
- HSC Interrupt Status Information179
- Use HSC180
Chapter 9181
Controller Security181
- Exclusive Access181
- Password Protection181
- Compatibility182
- Work with a Locked Controller183
- Configure Controller Password185
- Recover from a Lost Password186
- Using the Memory Module Plug-In186
Chapter 10191
- Overview191
- Project Backup and Restore192
- Data Log200
  - Data Log Directory Structure201
  - Data Log Function (DLG) Block202
- Recipe205
  - Recipe Directory Structure206
  - Recipe Function (RCP) Block206
- Quickstart Projects for Data Log and Recipe Function Blocks209
  - Use the Data Log Feature210
  - Use the Recipe Feature216
Appendix A Micro830 Controllers223
- The Following Tables Provide Specifications, Ratings, and Certifications223
- For the Micro830 Controllers223
- Micro830 10-Point Controllers223
- Micro830 16-Point Controllers226
- Micro830 24-Point Controllers228
- Micro830 48-Point Controllers231
- Environmental Specifications233
- Certifications234
Specifications223
- Micro850 Controllers235
- Micro870 Controllers243
- Relay Chart for Micro830, Micro850, and Micro870 Controllers248
- Micro800 Programmable Controller External AC Power Supply253
Appendix B Modbus Mapping255
- Endian Configuration255
- Mapping Address Space and Supported Data Types255
- Example 1, Panelview Component HMI (Master) to Micro800256
- (Slave)256
- Example 2, Micro800 (Master) to Powerflex 4M Drive (Slave)258
- Performance260
Modbus Mapping for Micro800255
- Establish Communications between Rslinx and a Micro830/Micro850268
- Micro870 Controller through USB268
- Configure Controller Password275
- Use the High Speed Counter278
- Forcing I/Os291
  - Checking if Forces (Locks) Are Enabled291
  - I/O Forces after a Power Cycle292
- Using Run Mode Change293
  - Create the Project293
  - Edit the Project Using Run Mode Change296
Appendix C Flash Upgrade Your Micro800 Firmware261
- Flash Upgrade from Microsd Card264
Appendix D Information about Using Interrupts301
- What Is an Interrupt301
- When Can the Controller Operation be Interrupted302
- Priority of User Interrupts302
- User Interrupt Configuration304
- User Fault Routine304
User Interrupts301
- User Interrupt Instructions305
- Using the Selectable Timed Interrupt (STI) Function311
- Selectable Time Interrupt (STI) Function Configuration and Status312
  - STI Function Configuration312
  - STI Function Status Information312
- Event Input Interrupt (EII) Function Configuration and Status314
  - EII Function Configuration314
  - EII Function Status Information315
Appendix E Status Indicators on the Controller317
- Using the Event Input Interrupt (EII) Function314
- Error Codes319
  - Fault Types319
  - Corrective Action for Recoverable and Non-Recoverable Faults327
- Normal Operation319
- Retrieve a Fault Log327
- Controller Error Recovery Model328
- Calling Rockwell Automation for Assistance329
Appendix F332
- PID Function Block332
- IPIDCONTROLLER Function Block335
- How to Autotune338
  - How Autotune Works339
- PID Application Example340
  - PID Code Sample342
Appendix G345
- Troubleshooting an Autotune Process340
- Calculate Total Power for Your Micro830/Micro850/Micro870345
- Controller345
- Rockwell Automation Publication 2080-UM002K-EN-E - March346
  - Index347
  - Index348
Index349
- Index350
- Index351
- Index352

Brand	Allen-Bradley
Model	Micro870
Category	Controller
Language	English

Allen-Bradley Micro870 User Manual

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