Rockwell Automation ControlLogix 1756-HYD02 User manual

User Manual
Catalog Numbers
1756-HYD02
ControlLogix Hydraulic
Servo Module

Important User Information
Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the
Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales
office or online at http://literature.rockwellautomation.com) describes some important differences between solid state equipment and hard-
wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all
persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or
application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements
associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the
examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in
this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
Allen-Bradley, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
WARNING Identifies information about practices or circumstances that can cause an explosion in a
hazardous environment, which may 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.
ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death,
property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and
recognize the consequence
SHOCK HAZARD Labels may be on or inside the equipment, for example, a drive or motor, to alert people that
dangerous voltage may be present.
BURN HAZARD Labels may be on or inside the equipment, for example, a drive or motor, to alert people that
surfaces may reach dangerous temperatures.

3Publication 1756-UM525A-EN-P - June 2003 3
Table of Contents
Preface Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Who Should Use This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
The Purpose of This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Chapter 1
What is the 1756-HYD02 Module?
What the Module Does . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Using A ControlLogix Hydraulic Servo Module in the
ControlLogix System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Physical Features of the ControlLogix Hydraulic Servo Module . 10
Certifying Agency Approvals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Full Class I Division 2 Compliance. . . . . . . . . . . . . . . . . . . . . . . . . 11
Preventing Electrostatic Discharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Removal and Insertion Under Power . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 2
Installing the 1756-HYD02 Module
What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Note the Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Installing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Keying the Removable
Terminal Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Connecting Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Two Types of RTBs (each RTB comes with housing) . . . . . . . . . 16
Wiring the 1756-HYD02 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Wiring Registration Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Wiring the Home Limit Switch Input. . . . . . . . . . . . . . . . . . . . . . . 20
Wiring the OK Contacts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Connecting LDTs to Your Hydraulic Module . . . . . . . . . . . . . . . . 21
Assembling The Removable Terminal Block and the Housing. . . . . . 23
Choosing the Extended-Depth Housing . . . . . . . . . . . . . . . . . . . . . . . 24
Suggestions for Using the Extended-Depth Housing . . . . . . . . . . 25
Cabinet Size Considerations With the
Extended-Depth Housing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Installing the Removable Terminal Block. . . . . . . . . . . . . . . . . . . . . . . 26
Removing the Removable Terminal Block . . . . . . . . . . . . . . . . . . . . . . 28
Removing the Module from the Chassis. . . . . . . . . . . . . . . . . . . . . . . . 29
Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4Publication 1756-UM525A-EN-P - June 2003
Table of Contents
Chapter 3
Configuring the 1756-HYD02
Module
Using RSLogix 5000 Configuration Software. . . . . . . . . . . . . . . . . . . . 31
Overview of the Configuration Process . . . . . . . . . . . . . . . . . . . . . . . . 32
Creating a New Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Configuring General Module Features . . . . . . . . . . . . . . . . . . . . . . . . . 35
Configuring the Axes Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Downloading New Configuration Data . . . . . . . . . . . . . . . . . . . . . . . . 37
Editing Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Reconfiguring Module Parameters in Run Mode . . . . . . . . . . . . . . . . . 39
Reconfiguring Module Parameters in Program Mode . . . . . . . . . . . . . 39
Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Chapter 4
Using the 1756-HYD02 Module
Features
What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Using General Module Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Servo Update Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Module Fault Reporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Fully Software Configurable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Electronic Keying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Using Axes Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
General Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Motion Planner Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Units Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Servo Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Feedback Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Conversion Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Homing Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Hookup Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Tune Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Dynamics Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Gains Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Output Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Limits Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Offset Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Fault Actions Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Tag Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Publication 1756-UM525A-EN-P - June 2003 5
Table of Contents
Chapter 5
Troubleshooting the 1756-HYD02
Module
What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Using the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Using the OK Indicator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Using the FDBK Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Using the DRIVE Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Using RSLogix 5000 to Troubleshoot the Module. . . . . . . . . . . . . . . . 81
Warning Signal in Controller Organizer . . . . . . . . . . . . . . . . . . . . . 81
Fault Message in Status Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Notification in Axis Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Appendix A
Specifications
Glossary
Index

6Publication 1756-UM525A-EN-P - June 2003
Table of Contents

7Publication 1756-UM525A-EN-P - June 2003 7
Preface
Using This Manual
This preface describes how to use this manual.
Who Should Use This
Manual
To effectively use this manual, you should be able to program and operate the
Rockwell Automation ControlLogix controllers to efficiently use your
ControlLogix Hydraulic Servo module. In this manual, we also refer to the
module as the 1756-HYD02 module.
If you need more information about programming and operating the
ControlLogix controllers, refer to the Logix5000 Controller User Manual,
publication number
1756-UM001 .
The Purpose of This Manual
This manual describes how to set up, configure and troubleshoot your
1756-HYD02 module. The following table lists describes each section in this
manual:
If you are looking for this information: See this section
Description of the module and what it does. Chapter 1
What is the 1756-HYD02 Module?
Step by step description of how to install and
wire the module. Chapter 2
Installing the 1756-HYD02 Module
Description of how to use RSLogix 5000
programming software to configure the
module.
Chapter 3
Configuring the 1756-HYD02 Module
Complete listing of the module’s features,
including the general module features and
features that specifically affect the data
coming from axes connected to either of the
module’s channels.
Chapter 4
Using the 1756-HYD02 Module Features
Description of how to troubleshoot any
problems with the module, including the use
of status indicators on the module and
software fault messages in RSLogix 5000.
Chapter 5
Troubleshooting the 1756-HYD02 Module
Specifications for the module. Appendix A
Specifications

8Publication 1756-UM525A-EN-P - June 2003
Preface Preface
Related Documentation
The following table lists related ControlLogix documentation:
To view or order the publications listed above, visit:
•http://literature.rockwellautomation.com
Publication
Number Publication Description
1756-IN580 ControlLogix Hydraulic Servo Module
Installation Instructions Provides instructions for installing, wiring, and troubleshooting your 1756-HYD02 module.
1756-IN080 ControlLogix Chassis Installation Instructions Provides instructions for installing a
ControlLogix chassis
1756-IN613 ControlLogix Power Supply Installation
Instructions Provides instructions for installing a ControlLogix power supply
1756-IN573 ControlLogix Redundant Power Supply
Installation Instructions Provides instructions for installing a ControlLogix redundant power supply
1756-IN574 ControlLogix Redundant Power Supply Chassis
Adapter Module Installation Instructions Provides instructions for installing a ControlLogix redundant power supply chassis
adapter module
1756-UM001 Logix5000 Controller User Manual Provides information for using your Logix5000
controller and its components.
1756-RM003 Logix5000 Controller Instruction Set Reference
Manual Provides descriptions of all the instructions supported by the RSLogix 5000 programming
software.

9Publication 1756-UM525A-EN-P - June 2003 9
Chapter 1
What is the 1756-HYD02 Module?
This chapter describes the ControlLogix Hydraulic Servo module.
What the Module Does
THe 1756-HYD02 module is typically used for accurate positioning and
control of a hydraulic cylinder. The module can be wired to a linear
displacement transducer (LDT) for feedback and a proportional or servo valve
for control of a hydraulic axis and connects to a hydraulic system to close a
high-speed position loop. Each Logix controller can support up to 16
1756-HYD02 modules. Each 1756-HYD02 module can control up to two
axes.
The 1756-HYD02 module monitors the position feedback via the linear
displacement transducer (LDT) input and generates an analog command
reference for the valve to make sure that the actuator (cylinder) follows the
profile. The 1756-HYD02 module closes the position loop at a programmed
rate using position feedback as the input and produces a +/-10V analog
output velocity command.
The module is programmed with motion instructions in the RSLogix 5000
programming software and must be in the same chassis as the ControlLogix
controller that controls the module. If you distribute motion control that uses
the 1756-HYD02 module across different locations, place a ControlLogix
controller in each chassis that has a 1756-HYD02 module. In this case, use a
1756-SYNCH module to synchronize motion between the multiple chassis.
Transducers connected to the 1756-HYD02 must accept external
interrogation signals. In this case, the transducer generates its position
information each time that it receives an interrogation pulse. Do not use
transducers configured for internal interrogation because they will not be
properly synchronized to the module.
For more information about: See page:
What the Module Does 9
Using A ControlLogix Hydraulic Servo Module in
the ControlLogix System 10
Certifying Agency Approvals 11
Preventing Electrostatic Discharge 12
Removal and Insertion Under Power 12

10 Publication 1756-UM525A-EN-P - June 2003
Chapter 1 What is the 1756-HYD02 Module?
Using A ControlLogix
Hydraulic Servo Module in
the ControlLogix System
A ControlLogix Hydraulic Servo module mounts in a ControlLogix chassis
and uses a removable terminal block (RTB) or interface module (IFM) to
connect all field-side wiring.
Before you install and use your module you should have already:
• installed and grounded a ControlLogix chassis and power supply. To
install these products, refer to the publications listed in on page 7.
• ordered and received an RTB or IFM and its components for your
application.
Physical Features of the ControlLogix Hydraulic Servo Module
IMPORTANT RTBs and IFMs are not included with your module purchase.
You must order them separately. For more information, contact
your local distributor or Rockwell Automation representative.
ControlLogix
Backplane
Connector
Removable
Terminal
Block
Indicators
Locking tab
Slots for
keying the
RTB
Connector
pins
Top and
bottom
guides
41623