Rockwell Automation Allen-Bradley Micro870

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198 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022

Chapter 9 Motion Control

Notes:

Main Page

Table of Contents3
Preface11
About this Publication11
Conformal Coated Catalogs11
Download Firmware, AOP, EDS, and Other Files11
Summary of Changes11
Additional Resources11
Hardware Overview15
Hardware Features16
Micro830 Controllers16
Micro850 Controllers17
Micro870 Controllers19
Programming Cables21
Embedded Serial Port Cables21
Embedded Ethernet Support22
About Your Controller23
Programming Software for Micro800 Controllers23
Obtain Connected Components Workbench Software23
Use Connected Components Workbench Software23
Controller Changes in Run Mode23
Using Run Mode Change (RMC)23
Uncommitted Changes25
RMC Memory25
Limitations of RMC27
Using Run Mode Configuration Change (RMCC)27
Using Modbus RTU Communication28
Using Ethernet/Ip Communication30
Safety Considerations31
Disconnect Main Power31
Safety Circuits32
Power Distribution32
Periodic Tests of Master Control Relay Circuit32
Power Considerations32
Isolation Transformers32
Power Supply Inrush32
Loss of Power Source33
Input States on Power down33
Other Types of Line Conditions33
Preventing Excessive Heat33
Master Control Relay33
Using Emergency-Stop Switches34
Install Your Controller37
Controller Mounting Dimensions37
Mounting Dimensions37
DIN Rail Mounting39
Panel Mounting39
Panel Mounting Dimensions39
System Assembly41
Wire Your Controller43
Wiring Requirements and Recommendation43
Use Surge Suppressors44
Recommended Surge Suppressors45
Grounding the Controller46
Wiring Diagrams46
Controller I/O Wiring50
Minimize Electrical Noise50
Analog Channel Wiring Guidelines50
Minimize Electrical Noise on Analog Channels50
Grounding Your Analog Cable51
Wiring Examples51
Embedded Serial Port Wiring52
Communication Connections55
Overview55
Supported Communication Protocols55
Modbus RTU56
CIP Serial Client/Server - DF157
Ascii57
Modbus TCP Client/Server57
CIP Symbolic Client/Server57
CIP Client Messaging58
Sockets Client/Server TCP/UDP59
CIP Communications59
Pass-Thru59
Examples of Supported Architectures59
Use Modems with Micro800 Controllers60
Making a DF1 Point-To-Point Connection60
Construct Your Own Modem Cable60
Configure Serial Port60
Configure CIP Serial Driver61
Configure Modbus RTU64
Configure ASCII65
Configure Ethernet Settings66
Validate IP Address67
Ethernet Host Name68
Configure CIP Serial Driver68
OPC Support Using Factorytalk Linx68
Overview69
Channel Configuration for DNP3 Slave69
Serial Port Link Layer Configuration70
Ethernet Layer Configuration71
DNP3 Slave Application Layer Configuration72
Serial Link Layer Configuration Parameters72
Ethernet Layer Configuration Parameters75
DNP3 Slave Application Layer Configuration Parameters79
DNP3 Slave Application Layer92
Function Codes92
Internal Indications96
DNP3 Objects and Controller Variables96
DNP3 Object Data97
DNP3 Configuration98
DNP3 Data Set Object98
Object Quality Flags104
DNP3 Device Attribute Object106
Event Reporting108
Generate Events108
DNP3 10K Event Logging110
Control Generating Event110
Report Event by Polled Response111
Report Event by Unsolicited Response111
Collision Avoidance112
Time Synchronization113
Diagnostics114
Diagnostics for Ethernet Channel115
Diagnostics for Secure Authentication116
Function Codes116
Implementation Table117
Program Execution in Micro800123
Overview of Program Execution123
Execution Rules124
Optional Module124
Controller Load and Performance Considerations124
Periodic Execution of Programs125
Power up and First Scan125
Variable Retention125
Memory Allocation126
Guidelines and Limitations for Advanced Users126
Ethernet/Ip Network129
Overview129
Ethernet/Ip Network Functionality129
Star Network Topology130
Implicit Messaging I/O Nodes on an Ethernet/Ip Network130
Devices Included in the Node Count131
Devices Excluded from the Node Count131
How to Add Powerflex 520-Series and Kinetix 5100 Drives over Ethernet/Ip131
Add a Powerflex 523 or Powerflex 525 Drive132
Add a Kinetix 5100 Drive133
Modify an Existing Module134
Module Properties135
Requested Packet Interval136
Type Definition in Module Dialog136
Module Inhibiting137
Predefined Tags in Powerflex 520-Series and Kinetix 5100 Drives138
Use of the User-Defined Function Block Library143
Download the User-Defined Function Block Instruction Files144
Import the User-Defined Function Block Instruction Files144
Connection Fault Codes147
Motion Control157
PTO Motion Control157
Use the Micro800 Motion Control Feature158
Input and Output Signals159
Motion Control Function Blocks162
General Rules for the Motion Control Function Blocks163
Motion Axis and Parameters170
Axis States171
Limits172
Motion Stop174
Motion Direction175
Axis Elements and Data Types175
Axis Error Scenarios176
Mc_Engine_Diag Data Type177
Function Block and Axis Status Error Codes177
Major Fault Handling179
Motion Axis Configuration in Connected Components Workbench180
Add New Axis180
Edit Axis Configuration181
Axis Start/Stop Velocity187
Real Data Resolution187
PTO Pulse Accuracy189
Motion Axis Parameter Validation189
Delete an Axis189
Monitor an Axis190
Homing Function Block190
Conditions for Successful Homing191
Mc_Home_Abs_Switch191
Mc_Home_Limit_Switch192
Mc_Home_Ref_With_Abs193
Mc_Home_Ref_Pulse194
Mc_Home_Direct195
Use PTO for PWM Control195
POU Pwm_Program197
HSC Feedback Axis197
Use the High-Speed Counter and Programmable Limit Switch199
High-Speed Counter Overview199
Programmable Limit Switch Overview199
What Is High-Speed Counter199
Features and Operation200
HSC Inputs and Wiring Mapping201
High-Speed Counter (HSC) Data Structures202
HSC APP Data Structure202
HSC STS (HSC Status) Data Structure211
High-Speed Counter (HSC) Function Block216
HSC Commands (Hsccmd)216
HSC_SET_STS Function Block217
Programmable Limit Switch (PLS) Function218
PLS Data Structure218
PLS Operation218
PLS Example219
HSC Interrupts220
HSC Interrupt Configuration220
HSC Interrupt POU221
HSC Interrupt Status Information222
Controller Security225
Protected Mode225
Exclusive Access225
Password Protection225
Compatibility226
Work with a Locked Controller227
Upload from a Password-Protected Controller227
Debug a Password-Protected Controller227
Download to a Password-Protected Controller227
Transfer Controller Program and Password-Protect Receiving Controller228
Back up and Restore a Password-Protected Controller228
Configure Controller Password229
Recover from a Lost Password229
Using the Memory Module Plug-In229
Using Microsd Cards233
Overview233
Project Backup and Restore234
Backup and Restore Directory Structure235
Power-Up Settings in Configmefirst.txt236
General Configuration Rules in Configmefirst.txt237
Configmefirst.txt Errors237
Deliver Project Updates to Customers through Email238
Data Log240
Data Log Directory Structure241
Data Log Function (DLG) Block242
Recipe245
Recipe Directory Structure246
Quickstart Projects for Data Log and Recipe Function Blocks248
Use the Data Log Feature248
Use the Recipe Feature254
Modbus Mapping for Micro800261
Modbus Mapping261
Endian Configuration261
Mapping Address Space and Supported Data Types261
Example 1, Panelview 800 HMI (Master) to Micro800 (Slave)262
Example 2, Micro800 (Master) to Powerflex 4M Drive (Slave)263
Performance265
Flash Upgrade Your Micro800 Firmware267
Flash Upgrade from Microsd Card269
Establish Communications between Rslinx and a Micro830/Micro850/Micro870272
Controller through USB272
Configure Controller Password276
Set Controller Password276
Change Password277
Clear Password278
Use the High-Speed Counter279
Create the HSC Project and Variables280
Assign Values to the HSC Variables283
Assign Variables to the Function Block285
Run the High-Speed Counter286
Use the Programmable Limit Switch (PLS) Function287
Forcing I/Os288
Checking if Forces (Locks) Are Enabled289
I/O Forces after a Power Cycle290
Use Run Mode Change290
Create the Project290
Edit the Project Using Run Mode Change292
User Interrupts295
Information about Using Interrupts295
What Is an Interrupt295
When Can the Controller Operation be Interrupted296
Priority of User Interrupts296
User Interrupt Configuration297
User Fault Routine297
User Interrupt Instructions298
STIS - Selectable Timed Start298
UID - User Interrupt Disable299
UIE - User Interrupt Enable300
UIF - User Interrupt Flush301
UIC - User Interrupt Clear302
Using the Selectable Timed Interrupt (STI) Function302
Selectable Time Interrupt (STI) Function Configuration and Status303
STI Function Configuration303
STI Function Status Information304
Using the Event Input Interrupt (EII) Function305
Event Input Interrupt (EII) Function Configuration and Status305
EII Function Configuration305
EII Function Status Information306
Troubleshooting307
Status Indicators on the Controller307
Normal Operation308
Error Codes309
Fault Types309
Corrective Action for Recoverable and Non-Recoverable Faults313
Retrieve a Fault Log314
Controller Error Recovery Model315
Ethernet Diagnostics316
General Diagnostic Information317
Ethernet/Ip Overview Diagnostic Information319
System Diagnostic Information321
Controller Diagnostic Information322
Calling Rockwell Automation for Assistance322
PID Function Blocks323
PID Function Block324
IPIDCONTROLLER Function Block326
How to Autotune328
How Autotune Works329
Troubleshooting an Autotune Process329
PID Application Example330
PID Code Sample331
System Loading333
Connect to Networks Using DF1335
DF1 Full-Duplex Protocol335
DF1 Half-Duplex Protocol336
DF1 Half-Duplex Operation336
Considerations When Communicating as a DF1 Slave on a Multi-Drop Link337
Using Modems with Micro800 Programmable Controllers337
Modem Control Line Operation338
DF1 Full-Duplex338
DF1 Half-Duplex Slave338
DF1 Half Duplex Master338
DF1 Radio Modem339
Configure DF1 Half-Duplex Parameters339
RTS Send Delay and RTS off Delay339
Configure a Standard-Mode DF1 Half-Duplex Master Station340
Minimum DF1 Half-Duplex Master ACK Timeout342
Determining Minimum Master ACK Timeout342
DF1 Half-Duplex Master Communication Diagnostics343
Configure a Message-Based Mode DF1 Half-Duplex343
Master Station343
Configure a Slave Station346
Configure Poll Timeout347
DF1 Half-Duplex Slave Communication Diagnostics347
Configure a Radio Modem Station348
DF1 Radio Modem Communication Diagnostics349
Configure the Store and Forward Table350
User-Defined Function Block Motion Instructions353
Kinetix 5100 Drive Device Object UDFB355
Configure Udfbs for Kinetix 5100 Drives357
Rac_Dvc_K5100357
Rac_Udt_Itf_K5100_Cfg357
Rac_Udt_Itf_K5100_Set359
Rac_Udt_Itf_K5100_Cmd360
Rac_Udt_Itf_K5100_Sts360
UDFB Motion Instruction Details362
Rac_Opr_K5100_Mso362
Rac_Opr_K5100_Msf363
Rac_Opr_K5100_Mafr364
Rac_Opr_K5100_Mas365
Rac_Opr_K5100_Maj367
Rac_Opr_K5100_Mam368
Rac_Opr_K5100_Mai372
Rac_Opr_K5100_Mag374
Rac_Opr_K5100_Mah377
Rac_Opr_K5100_Mat380
Error Codes382

Rockwell Automation Allen-Bradley Micro870 - Page 198

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