Rockwell-automation 1746-HSTP1 Stepper Controller Module/ User Manual Uživatelský manuál

Stepper Controller Module(Catalog No. 1746-HSTP1)User Manual

Publication 999-121 - December 1999Using This Manual P-3Local Product SupportContact your local Rockwell Automation representative for:• sales

Publication 999-121 - December 1999P-4 Using This Manual

1 Publication 999-121 - December 1999Chapter 1Module OverviewChapter ObjectivesThe Module overview will permit you to understand the basic functions o

Publication 999-121 - December 19991-2 Module OverviewDifferential inputs are provided for:• Encoder Channel A and A NOT• Encoder Channel B and

Publication 999-121 - December 1999Module Overview 1-3The Module can be configured to:• Determine which inputs are used.• Determine the active

Publication 999-121 - December 19991-4 Module OverviewLED Indicator DiagnosticsThere are five diagnostic LED indicators provided as shown below

Publication 999-121 - December 1999Module Overview 1-5Input/Output TerminalsThese terminals supply power and inputs to the Module and outputs t

Publication 999-121 - December 19991-6 Module Overview

1 Publication 999-121 - December 1999 Chapter 2Installation and WiringChapter ObjectivesThis chapter provides information which permits you to properl

Publication 999-121 - December 19992-2 Installation and WiringWiringRefer to the following information on typical interface requirements before

Important User InformationBecause of the variety of uses for the products described in this publication, those responsible for the application and use

Publication 999-121 - December 1999 Installation and Wiring 2-3Figure 2.1 Differential InputWiring to OptocouplerInterfaceThe following diagram

Publication 999-121 - December 19992-4 Installation and WiringFigure 2.2 Optocoupler Input Common Supply16 AWG7-24V DC(+)

Publication 999-121 - December 1999 Installation and Wiring 2-5Wiring to OptocouplerInterface (Continued)Figure 2.3 Individually Isolated Optoc

Publication 999-121 - December 19992-6 Installation and WiringFigure 2.4 TTL InterfaceTypical Input CircuitryTwo basic circuits are used for in

Publication 999-121 - December 1999 Installation and Wiring 2-7Figure 2.6 Encoder input equivalent circuitTypical Encoder TimingDiagramA typica

Publication 999-121 - December 19992-8 Installation and WiringEncoder FeedbackConnectionsThe following two diagrams illustrate encoder connecti

Publication 999-121 - December 1999 Installation and Wiring 2-9Figure 2.8 15-volt encoder feedback connections Notes:1. Use 3-pair, #22 gauge i

Publication 999-121 - December 19992-10 Installation and Wiring

1 Publication 999-121 - December 1999 Chapter 3Start Up and TroubleshootingChapter ObjectivesThis chapter contains information that will help you perf

Publication 999-121 - December 19993-2 Start Up and TroubleshootingMore detailed troubleshooting information is provided in the following list:

European Communities (EC) Directive ComplianceIf this product has the CE mark it is approved for installation within the European Union and EEA region

Publication 999-121 - December 1999 Start Up and Troubleshooting 3-3Safety PrecautionsRemoving the ModuleRemoval of the Module is facilitated b

Publication 999-121 - December 19993-4 Start Up and Troubleshooting

1 Publication 999-121 - December 1999Chapter 4Module OperationChapter ObjectivesThe information in this chapter will give you a basic understanding of

Publication 999-121 - December 19994-2 Module OperationCommandThe Command mode directs all stepper motor operations, through the Stepper Transl

Publication 999-121 - December 1999Module Operation 4-3programmed velocity data. Use the Jog+ or Jog– to initiate and stop the motion.Origin (H

Publication 999-121 - December 19994-4 Module Operation

1 Publication 999-121 - December 1999Chapter 5Configuration and ProgrammingChapter ObjectivesThis chapter provides information to help you configure b

Publication 999-121 - December 19995-2 Configuration and ProgrammingProcessor configuration using APS1. Locate an open slot in your chassis. Th

Publication 999-121 - December 1999Configuration and Programming 5-3Use the EDT–DAT function to enter parameters into your bit or integer files

Publication 999-121 - December 19995-4 Configuration and Programmingupon by the Module until a valid configuration is received. The configurati

i Publication 999-121 - December 1999Table of ContentsTable of ContentsPrefaceUsing This ManualOverview . . . . . . . . . . . . . . . . . . . . . . .

Publication 999-121 - December 1999Configuration and Programming 5-5bit 10 1 when output pulse type is pulse train and direction0 when output p

Publication 999-121 - December 19995-6 Configuration and ProgrammingConfiguration mode input image tableThe data format of the input image tabl

Publication 999-121 - December 1999Configuration and Programming 5-7word 0 bit 13, to be true and turn on the red FLT LED indicator if attempte

Publication 999-121 - December 19995-8 Configuration and ProgrammingProgramming CommandModeOutput Words – SLC Processor to Stepper ControllerOu

Publication 999-121 - December 1999Configuration and Programming 5-915 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0Word 1reserved15 14 13 12 11 10 9 8 7

Publication 999-121 - December 19995-10 Configuration and ProgrammingOutput Command Bits for Word 0Bit Description0 Absolute Move1 Relative Mov

Publication 999-121 - December 1999Configuration and Programming 5-11Notes:1. A 0 to 1 transition of the above control bits must occur to cause

Publication 999-121 - December 19995-12 Configuration and ProgrammingIn an absolute move, the number of pulses generated by the Module equals t

Publication 999-121 - December 1999Configuration and Programming 5-13Hold move command: causes a controlled deceleration to the starting speed

Publication 999-121 - December 19995-14 Configuration and Programmingspeed and runs at that speed until the home limit switch is contacted or m

Publication 999-121 - December 1999Table of Contents iiChapter 3Start Up and TroubleshootingChapter Objectives . . . . . . . . . . . . . . . .

Publication 999-121 - December 1999Configuration and Programming 5-15Note: If you are using a home limit switch and a home proximity limit swit

Publication 999-121 - December 19995-16 Configuration and ProgrammingModule to output one pulse in the specified direction. This is referred to

Publication 999-121 - December 1999Configuration and Programming 5-17Using the N Files for Motion CommandsThe following example is used to deno

Publication 999-121 - December 19995-18 Configuration and Programmingterminals 6 through 11, respectively. The Module responds to these direct

Publication 999-121 - December 1999Configuration and Programming 5-19means the axis position must be valid for a blend move operation to take p

Publication 999-121 - December 19995-20 Configuration and Programming5. Resetting the send next blend move data bit causes the SLC Processor to

Publication 999-121 - December 1999Configuration and Programming 5-21

Publication 999-121 - December 19995-22 Configuration and ProgrammingModule Status InputsWhile the Module is operating in the command mode, its

Publication 999-121 - December 1999Configuration and Programming 5-23bit 9 send next blend move data bitbit 10 is reset if position is validbi

Publication 999-121 - December 19995-24 Configuration and ProgrammingNotes:1. Direction of travel (CW or CCW) is established looking at the sha

Publication 999-121 - December 1999 Table of Contents iiiHome to Proximity Limit Switch and Marker . . . . . . . . . 5-14Programming Simple Mov

Publication 999-121 - December 1999Configuration and Programming 5-25Notes:1. When set, bit 3 (external interrupt) indicates that the Module ha

Publication 999-121 - December 19995-26 Configuration and Programmingin order to generate the output pulses. Wiring for the diagnostic feedback

Publication 999-121 - December 1999Configuration and Programming 5-27This rung is used to test the loopback to specific tolerances as defined b

Publication 999-121 - December 19995-28 Configuration and ProgrammingCommand Mode Input WordsWord 0 InputStatus BitsWord 2 (MSW)Current Positio

1 Publication 999-121 - December 1999 Chapter 6Application ExamplesChapter ObjectivesThis chapter contains an application example, in the form of a la

Publication 999-121 - December 19996-2 Application Examples

Publication 999-121 - December 1999 Application Examples 6-3

Publication 999-121 - December 19996-4 Application ExamplesEntering Negative Position DataThe position data is sign magnitude. There are three

Publication 999-121 - December 1999 Application Examples 6-5To enter negative position data by manipulating the bits manually:1. Divide the abs

Publication 999-121 - December 19996-6 Application Examples

Publication 999-121 - December 1999Table of Contents ivAppendix BInput/Output Quick ReferenceIndex

Publication 999-121 - December 1999 Application Examples 6-7

Publication 999-121 - December 19996-8 Application Examples

1 Publication 999-121 - December 1999 Appendix ASpecificationsThis chapter defines module design characteristics, both electrical and mechanical, and

Publication 999-121 - December 1999 A-2 SpecificationsPower Requirements• Backplane 5 Volts DC 2 A• User Power 24 Volts DC 09A Max.System Li

Publication 999-121 - December 1999 Specifications A-3Input/Output TerminalsThese terminals supply power and inputs to the Module and outputs t

Publication 999-121 - December 1999 A-4 Specifications

1 Publication 999-121 - December 1999 Appendix BInput/Output Quick ReferenceCONFIG OUTPUT WORD 0 CONFIG INPUT WORD 0Bit 0 set when a CW limit switch i

Publication 999-121 - December 1999B-2 Input/Output Quick ReferenceBit 5 determines the active level of the home proximity limit switch inputBi

Publication 999-121 - December 1999 Input/Output Quick Reference B-3COMMAND OUTPUT WORD 4 COMMAND INPUT WORDS 2 and 3Velocity (pulses/sec) MSW

Publication 999-121 - December 1999B-4 Input/Output Quick Reference

1 Publication 999-121 - December 1999 PrefaceUsing This ManualOverviewRead this chapter to familiarize yourself with the rest of the manual. It provid

Publication 999-121 - December 1999 I-1Aapplication examples6-1Cchapter 1 objectivesP-1chapter 2 objectives1-1chapter 3 objectives4-1chapter 4

Publication 999-121 - December 1999I-2 operation3-1PProcessor configuration filesprogram listing for sample module check procedure6-1product su

Publication 999-121 - December 1999 4PN 1746-HSTP1Supersedes Publication 999-121 - January 1997 © 1999 Rockwell International Corporation. Printed i

Publication 999-121 - December 1999P-2 Using This ManualIntended AudienceThis manual is designed for the qualified first time user who has a wo