Allen-Bradley 1746-HSTP1 User manual

Stepper Controller
Module
(Catalog No. 1746-HSTP1)
User Manual
http://www.roc-electric.com/

Important User Information
Because of the variety of uses for the products described in this
publication, those responsible for the application and use of this
control equipment must satisfy themselves that all necessary steps
have been taken to assure that each application and use meets all
performance and safety requirements, including any applicable laws,
regulations, codes and standards.
The illustrations, charts, sample programs and layout examples shown
in this guide are intended solely for purposes of example. Since there
are many variables and requirements associated with any particular
installation, Allen-Bradley does not assume responsibility or liability
(to include intellectual property liability) for actual use based upon
the examples shown in this publication.
Allen-Bradley publication SGI-1.1, Safety Guidelines for the
Application, Installation and Maintenance of Solid-State Control
(available from your local Allen-Bradley office), describes some
important differences between solid-state equipment and
electromechanical devices that should be taken into consideration
when applying products such as those described in this publication.
Reproduction of the contents of this copyrighted publication, in whole
or part, without written permission of Rockwell Automation, is
prohibited.
Throughout this manual we use notes to make you aware of safety
considerations:
Attention statements help you to:
•identify a hazard
•avoid a hazard
•recognize the consequences
Allen-Bradley is a trademark of Rockwell Automation
ATTENTION
!
Identifies information about practices or
circumstances that can lead to personal injury or
death, property damage or economic loss
IMPORTANT Identifies information that is critical for successful
application and understanding of the product.
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European Communities (EC)
Directive Compliance
If this product has the CE mark it is approved for installation within
the European Union and EEA regions. It has been designed and
tested to meet the following directives.
EMC Directive
This product is tested to meet the Council Directive 89/336/EC
Electromagnetic Compatibility (EMC) by applying the following
standards, in whole or in part, documented in a technical
construction file:
•EN 50081-2 EMC — Generic Emission Standard, Part 2 —
Industrial Environment
•EN 50082-2 EMC — Generic Immunity Standard, Part 2 —
Industrial Environment
This product is intended for use in an industrial environment.
Low Voltage Directive
This product is tested to meet Council Directive 73/23/EEC Low
Voltage, by applying the safety requirements of EN 61131-2
Programmable Controllers, Part 2 - Equipment Requirements and
Tests. For specific information required by EN 61131-2, see the
appropriate sections in this publication, as well as the Allen-Bradley
publication Industrial Automation Wiring and Grounding Guidelines
For Noise Immunity, publication 1770-4.1.
This equipment is classified as open equipment and must be
mounted in an enclosure during operation to provide safety
protection.
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iPublication 999-121 - December 1999
Table of Contents
Table of Contents
Preface
Using This Manual
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Contents of this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . P-2
Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-3
On the Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Chapter 1
Module Overview
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Stepper Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Configuration Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Command Mode Operation . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Diagnostic Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
LED Indicator Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Input/Output Terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Terminal Block Release Screws . . . . . . . . . . . . . . . . . . . . . 1-5
Chapter 2
Installation and Wiring
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Starting and Stopping the Module . . . . . . . . . . . . . . . . . . . 2-2
Wiring for a Differential Interface. . . . . . . . . . . . . . . . . . . . 2-2
Wiring to Optocoupler Interface . . . . . . . . . . . . . . . . . . . . 2-3
Wiring to Optocoupler Interface (Continued) . . . . . . . . . . . 2-5
Wiring Information for TTL Interface . . . . . . . . . . . . . . . . . 2-5
Typical Input Circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
Typical Encoder Timing Diagram. . . . . . . . . . . . . . . . . . . . 2-7
Encoder Feedback Connections . . . . . . . . . . . . . . . . . . . . . 2-8
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Table of Contents ii
Chapter 3
Start Up and Troubleshooting
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
System Start Up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Removing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Chapter 4
Module Operation
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Module Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Operation Using the Pulse and Direction Outputs . . . . . 4-2
Fixed Speed Operation . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Origin (Home) Search Sequence of Operation. . . . . . . . 4-3
Resetting the Current Absolute Position. . . . . . . . . . . . . 4-3
Chapter 5
Configuration and Programming
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Programming Conventions . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Configuration and Status Bits. . . . . . . . . . . . . . . . . . . . . . . 5-1
Program Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
SLC Processor Configuration . . . . . . . . . . . . . . . . . . . . . . . 5-1
Processor configuration using APS . . . . . . . . . . . . . . . . 5-2
Processor configuration using HHT (Catalog 1747–PT1). 5-2
Module Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Configuration Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Configuration mode output image table . . . . . . . . . . . . 5-3
Configuration mode input image table . . . . . . . . . . . . . 5-6
Invalid Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Programming Command Mode . . . . . . . . . . . . . . . . . . . . . 5-8
Output Words – SLC Processor to Stepper Controller. . . 5-8
Output Command Word 0 Bit Definition . . . . . . . . . . . . . . . . . . . 5-8
Command Mode Output Words. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Output Command Bits for Word 0 . . . . . . . . . . . . . . . . 5-10
Absolute/relative move commands . . . . . . . . . . . . . . . . 5-11
Homing Routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Home to Limit Switch. . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
Home to Proximity Limit Switch and Home Limit Switch 5-14
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Publication 999-121 - December 1999
Table of Contents iii
Home to Proximity Limit Switch and Marker . . . . . . . . . 5-14
Programming Simple Moves . . . . . . . . . . . . . . . . . . . . . . . 5-16
General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
Data File Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
Using the N Files for Motion Commands. . . . . . . . . . . . 5-17
Quadrature Encoder Input . . . . . . . . . . . . . . . . . . . . . . 5-17
Use of Direct Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17
Programming Blended Moves . . . . . . . . . . . . . . . . . . . . . . 5-18
General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
Blend move programming routine . . . . . . . . . . . . . . . . 5-19
Module Status Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
Input Word 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22
Input Word 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24
Input Words 2 and 3 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Input Words 4 and 5 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Diagnostics Feedback Test. . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Configuration Data for Loop Back Diagnostic Test. . . . . 5-26
Ladder Instructions for Loop Back Diagnostics Test. . . . 5-26
Command Mode Input Words . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28
Chapter 6
Application Examples
Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
Data table used for the program listing for
Sample Module Check Procedure . . . . . . . . . . . . . . . . . 6-1
Program Listing for Sample Module Check Procedure . . 6-1
Entering Negative Position Data . . . . . . . . . . . . . . . . . . 6-4
Converter Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Appendix A
Specifications
Industry Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
System Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Discrete Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Discrete Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Input/Output Terminals . . . . . . . . . . . . . . . . . . . . . . . . A-3
Environmental Operating Conditions . . . . . . . . . . . . . . A-3
Storage Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Feedback Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Program Storage Requirements . . . . . . . . . . . . . . . . . . . A-3
Processor Compatibility . . . . . . . . . . . . . . . . . . . . . . . . A-3
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Publication 999-121 - December 1999
Table of Contents iv
Appendix B
Input/Output Quick Reference
Index
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1Publication 999-121 - December 1999
Preface
Using This Manual
Overview
Read this chapter to familiarize yourself with the rest of the manual. It
provides information concerning the:
•contents of this manual
•intended audience
•conventions used
•hazards of injury or equipment damage
Contents of this Manual
This manual provides specific information relevant to the Stepper
Controller Module, Catalog Number 1746–HSTP1. The following table
identifies the chapters, titles and contents.
Chapter Title Contents
Preface Using This Manual An overview of this manual
1 Module Overview Module Overview, its operation and
hardware features
2 Installation and
Wiring
Interconnection diagrams for various
hardware interfaces for communication
with the Stepper Controller.
3 Start Up and
Troubleshooting
Start up, normal states of LED indicators,
troubleshooting and error handling
information.
4 Module Operation Describes interface selection, the Module’s
use of inputs and outputs, and operating
modes
5 Configuration and
Programming/Status
Provides the steps necessary to configure
the SLC™ Processor and Stepper Controller
6 Application Examples Illustrated sequencer, configuration and
command data files.
Appendix A Specifications Temperature, humidity, input output,
voltage, timing and cabling information.
Appendix B Input/Output Quick
Reference
A quick reference for the Input/Output
config and command bits and words.
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Publication 999-121 - December 1999
P-2 Using This Manual
Intended Audience
This manual is designed for the qualified first time user who has a
working knowledge of SLC 500™ products. If necessary, obtain the
proper training before using the Stepper Controller.
Conventions
The following terms are used throughout this manual:
Input file – refers to the Module's Input Data file. This file is updated
during the SLC Processor input scan
Output file – refers to the Module's Output Data file. This file is
updated during the SLC Processor output scan.
Module – refers to the Stepper Controller, catalog number
1746-HSTP1
Physical outputs – refers to actual outputs on the Stepper Controller
SLC Processor – refers to an SLC 500 family processor
Stepper Translator – refers to the interface between the Stepper
Controller and the stepper motor that converts pulse train outputs into
power signals used to run the motor.
Position Loop – refers to the ability of a controller to accurately
position a mechanism to a precise point based on a dynamic
comparison of command data and feedback from a sensor.
Engineering Units – refer to decimal fractions of units of
measurement; e.g., inches, millimeters and degrees.
CW – refers to rotation or movement in a clockwise direction.
CCW – refers to rotation or movement in a counter-clockwise
direction.
Rockwell Automation
Support
Rockwell Automation offers support services worldwide, with over 75
sales/support offices, 512 authorized distributors, and 260 authorized
systems integrators located throughout the United States. In addition,
Rockwell Automation representatives are located in every major
country in the world.
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Publication 999-121 - December 1999
Using This Manual P-3
Local Product Support
Contact your local Rockwell Automation representative for:
•sales and order support
•product technical training
•warranty support
•support service agreements
Technical Product Assistance
If you need to contact Rockwell Automation for technical assistance,
please review the information in this manual. If the problem persists,
call your local Rockwell Automation representative.
The Rockwell Automation Technical Support number is:
1-603-443-5419
On the Web
For information about Allen-Bradley, visit the following World Wide
Web site:
http://www.ab.com/
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