Rockwell Automation Allen-Bradley Micro870

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120 Rockwell Automation Publication 2080-UM002L-EN-E - November 2021

Chapter 7 Motion Control

Notes:

Main Page

Table of Contents3
Preface9
About this Publication9
Conformal Coated Catalogs9
Download Firmware, AOP, EDS, and Other Files9
Summary of Changes9
Additional Resources9
Hardware Overview13
Hardware Features13
Micro830 Controllers14
Micro850 Controllers15
Micro870 Controllers17
Programming Cables19
Embedded Serial Port Cables19
Embedded Ethernet Support19
About Your Controller21
Programming Software for Micro800 Controllers21
Obtain Connected Components Workbench Software21
Use Connected Components Workbench Software21
Controller Changes in Run Mode21
Using Run Mode Change (RMC)21
Uncommitted Changes23
RMC Memory23
Limitations of RMC25
Using Run Mode Configuration Change (RMCC)26
Using Modbus RTU Communication27
Using Ethernet/Ip Communication28
Safety Considerations30
Disconnect Main Power30
Safety Circuits30
Power Distribution31
Periodic Tests of Master Control Relay Circuit31
Power Considerations31
Isolation Transformers31
Power Supply Inrush31
Loss of Power Source32
Input States on Power down32
Other Types of Line Conditions32
Preventing Excessive Heat32
Master Control Relay33
Using Emergency-Stop Switches33
Install Your Controller37
Mounting Dimensions37
DIN Rail Mounting39
Panel Mounting39
Panel Mounting Dimensions40
System Assembly42
Wiring Requirements and Recommendation45
Use Surge Suppressors46
Recommended Surge Suppressors47
Grounding the Controller48
Wiring Diagrams49
Controller I/O Wiring53
Minimize Electrical Noise53
Analog Channel Wiring Guidelines53
Minimize Electrical Noise on Analog Channels54
Grounding Your Analog Cable54
Wiring Examples54
Embedded Serial Port Wiring55
Communication Connections57
Overview57
Supported Communication Protocols57
Modbus RTU58
CIP Serial Client/Server - RS-232 Only59
Ascii59
Modbus TCP Client/Server59
CIP Symbolic Client/Server60
CIP Client Messaging61
Sockets Client/Server TCP/UDP61
CIP Communications Pass-Thru62
Examples of Supported Architectures62
Use Modems with Micro800 Controllers63
Making a DF1 Point-To-Point Connection63
Construct Your Own Modem Cable63
Configure Serial Port64
Configure CIP Serial Driver64
Configure Modbus RTU65
Configure ASCII67
Configure Ethernet Settings68
Validate IP Address69
Ethernet Host Name69
Configure CIP Serial Driver70
OPC Support Using Factorytalk Linx70
Program Execution in Micro80071
Overview of Program Execution71
Execution Rules72
Optional Module72
Controller Load and Performance Considerations73
Periodic Execution of Programs73
Power up and First Scan73
Variable Retention74
Memory Allocation74
Guidelines and Limitations for Advanced Users75
PTO Motion Control77
Use the Micro800 Motion Control Feature78
Input and Output Signals79
Motion Control Function Blocks82
General Rules for the Motion Control Function Blocks83
Motion Axis and Parameters90
Axis States91
Limits92
Motion Stop94
Motion Direction96
Axis Elements and Data Types96
Axis Error Scenarios97
Mc_Engine_Diag Data Type98
Function Block and Axis Status Error Codes98
Major Fault Handling100
Motion Axis Configuration in Connected Components Workbench101
Add New Axis101
Edit Axis Configuration102
Axis Start/Stop Velocity107
Real Data Resolution108
PTO Pulse Accuracy110
Motion Axis Parameter Validation110
Delete an Axis110
Monitor an Axis111
Homing Function Block111
Conditions for Successful Homing112
Mc_Home_Abs_Switch113
Mc_Home_Limit_Switch114
Mc_Home_Ref_With_Abs115
Mc_Home_Ref_Pulse116
Mc_Home_Direct117
Use PTO for PWM Control117
POU Pwm_Program119
HSC Feedback Axis119
Use the High-Speed Counter and Programmable Limit Switch121
High-Speed Counter Overview121
Programmable Limit Switch Overview121
What Is High-Speed Counter121
Features and Operation122
HSC Inputs and Wiring Mapping123
High Speed Counter (HSC) Data Structures125
HSC APP Data Structure125
HSC STS (HSC Status) Data Structure134
High-Speed Counter (HSC) Function Block139
HSC Commands (Hsccmd)140
HSC_SET_STS Function Block141
Programmable Limit Switch (PLS) Function142
PLS Data Structure142
PLS Operation143
PLS Example144
HSC Interrupts145
HSC Interrupt Configuration145
HSC Interrupt POU146
HSC Interrupt Status Information147
Controller Security149
Exclusive Access149
Password Protection149
Compatibility150
Work with a Locked Controller150
Upload from a Password-Protected Controller150
Debug a Password-Protected Controller151
Download to a Password-Protected Controller151
Transfer Controller Program and Password-Protect Receiving152
Controller152
Back up and Restore a Password-Protected Controller152
Configure Controller Password153
Recover from a Lost Password153
Using the Memory Module Plug-In153
Using Microsd Cards157
Overview157
Project Backup and Restore158
Backup and Restore Directory Structure159
Power-Up Settings in Configmefirst.txt160
General Configuration Rules in Configmefirst.txt162
Configmefirst.txt Errors162
Deliver Project Updates to Customers through Email162
Data Log164
Data Log Directory Structure166
Data Log Function (DLG) Block166
Recipe169
Recipe Directory Structure170
Quickstart Projects for Data Log and Recipe Function Blocks172
Use the Data Log Feature173
Use the Recipe Feature178
Specifications185
Micro830 Controllers185
Micro830 10-Point Controllers185
Micro830 16-Point Controllers187
Micro830 24-Point Controllers189
Micro830 48-Point Controllers191
Environmental Specifications194
Certifications195
Micro850 Controllers195
Micro850 24-Point Controllers195
Micro850 48-Point Controllers198
Environmental Specifications200
Certifications201
Micro870 Controllers201
Micro870 24-Point Controllers201
Environmental Specifications204
Certifications205
Relay Chart for Micro830, Micro850, and Micro870 Controllers206
Micro800 Programmable Controller External AC Power Supply209
Modbus Mapping for Micro800211
Modbus Mapping211
Endian Configuration211
Mapping Address Space and Supported Data Types211
Example 1, Panelview Component HMI (Master) to212
Micro800 (Slave)212
Example 2, Micro800 (Master) to Powerflex 4M Drive (Slave)213
Performance216
Flash Upgrade Your Micro800 Firmware217
Flash Upgrade from Microsd Card219
Establish Communications between Rslinx and a Micro830/Micro850222
Micro870 Controller through USB222
Configure Controller Password227
Set Controller Password227
Change Password229
Clear Password229
Use the High-Speed Counter230
Create the HSC Project and Variables231
Assign Values to the HSC Variables234
Assign Variables to the Function Block236
Run the High-Speed Counter237
Use the Programmable Limit Switch (PLS) Function239
Forcing I/Os240
Checking if Forces (Locks) Are Enabled241
I/O Forces after a Power Cycle242
Use Run Mode Change242
Create the Project243
Edit the Project Using Run Mode Change245
Information about Using Interrupts249
What Is an Interrupt249
When Can the Controller Operation be Interrupted250
Priority of User Interrupts250
User Interrupt Configuration251
User Fault Routine252
User Interrupt Instructions252
STIS - Selectable Timed Start253
UID - User Interrupt Disable253
UIE - User Interrupt Enable254
UIF - User Interrupt Flush255
UIC - User Interrupt Clear256
Using the Selectable Timed Interrupt (STI) Function257
Selectable Time Interrupt (STI) Function Configuration and Status258
STI Function Configuration258
STI Function Status Information259
Using the Event Input Interrupt (EII) Function259
Event Input Interrupt (EII) Function Configuration and Status260
EII Function Configuration260
EII Function Status Information261
Status Indicators on the Controller263
Normal Operation265
Error Codes265
Fault Types265
Corrective Action for Recoverable and Non-Recoverable Faults270
Retrieve a Fault Log270
Controller Error Recovery Model270
Calling Rockwell Automation for Assistance271
PID Function Block274
IPIDCONTROLLER Function Block276
How to Autotune278
How Autotune Works279
Troubleshooting an Autotune Process280
PID Application Example280
PID Code Sample281
Controller283
Index285

Rockwell Automation Allen-Bradley Micro870 - Page 120

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