78 Rockwell Automation Publication 2080-UM002L-EN-E - November 2021
Chapter 7 Motion Control
Use the Micro800 Motion Control Feature
The Micro800 motion control feature has the following elements. New users
need to have a basic understanding of the function of each element to
effectively use the feature.
To use the Micro800 motion feature, you need to:
1.
Configure the Axis Properties
See Moti
on Axis Configuration in Connected Components Workbench
on page 101 for instructions.
ATTENTION: To use the Micro800 Motion feature effectively, users need to have
a basic understanding of the following:
• PTO components and parameters
See Use the Micro800 Motion Control Feature
on page 78 for a general overview
of Motion components and their relationships.
• Programming and working with elements in the Connected Components
Workbench software
The user needs to have a working knowledge of ladder diagram, structured te
xt,
or function block dia
gram programming to be able to work with motion
function
block
s, variables, and axis configuration para
meters.
ATTENTION: To learn more about Connected Components Workbench software
and detailed descriptions of the variables for the Motion Function Blocks, you
can refer to Connected Components Workbench software Online Help that
comes with your Connected Components Workbench software installation.
IMPORTANT
The PTO function can only be used with the controller’s embedded I/O. It
cannot be used with expansion I/O modules.
Components of Motion Control
Element Description Page
Pulse Train Outputs
Consists of one pulse output and one
direction output. A standard interface to
control a servo or stepper drive.
• Input and Output Signals on page 79
Axis
From a system point of view, an axis is a
mechanical apparatus that is driven by a
motor and drive combination. The drive
receives position commands through the
Micro800 pulse train outputs interface
based on the PLC execution of motion
function blocks.
On the Micro800 controller, it is a pulse
train output and a set of inputs, outputs,
and configuration.
• Motion Axis and Parameters
on
page 90
• Motion Axis Configuration in
Connected Components Workbench
on page 101
Motion Function Blocks
A set of instructions that configure or act
upon an axis of motion.
• Connected Components Workbench
Online Help
• Motion Control Function Blocks
on
page 82
• Axis_Ref Data Type on page 96
• Function Block and Axis Status Error
Codes on page 98
• Homing Function Block on page 111
Jerk
Rate of change of acceleration. The Jerk
component is mainly of interest at the
start and end of motion. Too high of a Jerk
may induce vibrations.
• See Acceleration, Deceleration, and
Jerk Inputs on page 83.
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