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Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No manuály

Uživatelské manuály a uživatelské příručky pro Zařízení Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No.
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Rockwell automation 999 IMC S Class Compact Motion Controller (Cat. No Uživatelský manuál (190 strany)


Značka: Rockwell-automation | Kategorie: Zařízení | Velikost: 1.33 MB |

 

Tabulka s obsahem

Installation

1

Important User

2

Information

2

Chapter 1 – Safety

3

Chapter 2 – Introduction

3

Chapter 7 – Troubleshooting

8

Who Should Use this

11

Purpose of this Manual

11

Safety Precautions

11

Contents of this Manual

12

Compact Product

13

Receiving and Storage

13

Responsibility

13

Allen-Bradley Support

13

P-4 Preface

14

Read This Manual

15

1-2 Safety

16

Introduction

17

Features

18

Introduction 2-3

19

Model Numbering System

20

Pre-Engineered Cable

20

Assemblies

20

Mechanical Specifications

21

General Specifications

22

Environmental Specifications

23

Electrical Specifications

23

Encoder Input Specifications

23

Servo Output Specifications

24

Dedicated Discrete I/O

24

Specifications

24

Serial I/O Specifications

25

DH-485 Specifications

25

Flex I/O Compatibility

26

Servo Performance

26

Remote I/O Adapter

27

2-12 Introduction

28

IMC-S/23x Remote I/O Adapter

28

AxisLink Specifications

29

2-14 Introduction

30

Technical Overview

31

Encoder Counter

33

Software Feedback

34

Calculations

34

Servo Amplifiers and

35

High Level Motion

36

Functions

36

Indexing and Jogging

37

Backlash Compensation

37

Electronic Cam

37

Electronic Gearing

37

Velocity Feedforward

38

CPU Watchdog

39

Software Overtravel Limits

39

Serial Communication

39

DH-485 Communication

40

Axis-Specific Discrete I/O

40

Status LEDs

41

Installation and Hookup

43

4-2 Installation and Hookup

44

Complying with European

45

Union Directives

45

4-4 Installation and Hookup

46

(1/4 in. by 1 1/4 in.)

47

Installing the IMC-S/23x

48

Configuring the IMC-S/23x

49

Configure the Serial Ports

50

4-10 Installation and Hookup

52

4-12 Installation and Hookup

54

4-14 Installation and Hookup

56

Serial Communications

57

Connecting RS-232 Devices

58

Connecting RS-422 Devices

60

Connecting Encoders

61

4-20 Installation and Hookup

62

Allen-Bradley 845K Encoders

63

Allen-Bradley 845P Encoders

63

Connecting Servo Amplifiers

64

Other Servo Amplifiers

65

Connecting Hydraulic Valves

66

Connecting Axis-Specific

67

Discrete I/O

67

The Drive Enable Outputs

68

The Drive Fault Inputs

68

Connecting Registration

69

Using the Registration Inputs

70

Connecting the CPU

71

Watchdog

71

Connecting Flex I/O

72

Connect the I/O Power Supply

72

Connect the AC Power

73

Connecting Remote I/O

74

(Optional)

74

Connecting AxisLink

75

4-34 Installation and Hookup

76

Connecting DH-485 (Optional)

78

4-38 Installation and Hookup

80

Understanding

81

IMC-S/23x Setups

81

Using the Setup Menus

82

Disabling Feedback

83

Disabling DH-485

83

Select: AXIS 0

84

Another AXIS? NO

84

Application Setup Menu

85

Inhibit Program Upload? NO

86

Edit AxisLink Config? NO

86

Edit AxisLink Config? YES

86

AxisLink? NO

86

Edit DH-485 Config? NO

86

Edit DH-485 Config? YES

87

DH-485? NO

87

Network Node Address?

87

Select: VIRTUAL AXIS 0

88

A Virtual Axis is MASTER ONLY

88

Controller Address? #

89

Axis Type is COMMAND

89

Select: IMAGINARY

90

Position Units = Inches

90

Position Unit = Inch

90

Display Fields

91

Averaged Velocity Timebase

91

Move and Jog Profiles

92

Trapezoidal

92

Parabolic

93

Editing the Axis Fault

94

Action Configuration

94

Editing the Direct

96

Command Mode

96

Multidrop?

97

Linefeed Insertion? YES

97

Setup Pasword?

98

Runtime Display? YES

98

Runtime Display Disabled!

99

Display Refresh Time (Sec) =

100

Channel A Baudrate? 9600

100

Channel B Baudrate? 9600

100

Channel # Baudrate? 1200

101

Changing Baudrate

101

Edit RIO Config? NO

101

Edit RIO Config? YES

101

RIO? NO

101

RIO Baud Rate

102

RIO Rack Size

102

Running the Application

103

Program on Power-Up

103

Machine Setup Menu

104

Editing the Feedback

105

Configuration

105

Unwind Reference Point

106

(Position Units) = +0

107

Overtravel Limit Switches

108

Software Travel Limits

108

Editing the Homing

109

Active Homing

110

Homing to an Encoder Marker

110

Homing to a Limit Switch

111

Home Direction: Positive

112

Home Direction: Positive

112

Select: converter card?

113

(converter card name)

113

(256/255 or CUSTOM)

114

Select: VIRTUAL AXIS 0

115

Edit Servo Configuration? NO

116

Servo Output Limiting

119

Editing the Positioning

120

When either

121

move back to the

121

Hookup Diagnostics Menu

122

Checking Motors and

123

Encoders

123

*** No Motion Detected!

125

*** Encoder Noise Detected!

125

Motor/Encoder Polarity Set

127

Drive Offset is ______

128

Adjust Drive Offset Pot

128

Press Any Key to Continue

128

Run Digital Battery Box? NO

128

Pulse Type?

130

Ready? NO

130

Press Any Key

130

*** Marker NOT Detected!

130

Align Absolute

131

Transducers

131

Alignment Completed OK

132

*** Check Transducer Hookup

132

OFF OFF OFF OFF OFF

133

DRIVE=1 STROBE=2

134

OFF OFF

134

Run Discrete Input Test? YES

134

Test Module 0

134

Servo Setup Menu

138

The Servo Loop Gains

138

Velocity Gain

139

Proportional Gain

139

Integral Gain

139

Select: AXIS #

140

Tune Servo Parameters? NO

140

Velocity Bandwidth (Hz) =

145

Position Bandwidth (Hz) =

145

Use Velocity Feedforward? NO

146

*** Fault Message

147

*** Gains Not Tuned!

147

Manually Tuning the

148

Loop Gains

148

Setting the Velocity Gain

149

InchesperMinute

150

Setting the Integral Gain

151

Setting the Feedforward Gain

152

Another Axis? NO

153

Save Setups to App Module? NO

153

Setup Menu Reference

154

Prompt Data

155

__________

156

Chapter Objectives

161

General Startup

161

Precautions

161

Setting Up Your Compact

162

Getting Started

163

Defining Preferences

163

Defining Your Axes

165

Applying Power

166

Establishing Communication

166

Downloading Your Diagram

167

Testing the Encoder Marker

168

Tuning a Velocity Loop

168

Tuning Servo Parameters

169

Saving Your Parameters

170

Troubleshooting

171

Replacing Modules

172

Troubleshooting 7-3

173

7-4 Troubleshooting

174

Understanding Status LEDs

175

Understanding the System

175

Understanding System Faults

176

Viewing Continuous Status

177

Troubleshooting General

178

System Problems

178

Cable Information

179

4100-CCF1 or 4100-CCF3

180

4100-CCS15F

180

4100-CCA15F

181

4100-CCW15F

182

4100-RCS3T

182

4100-CCAQB

183

A-6 Cable Information

184

Worldwide representation

190




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