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Publication 1756-UM001G-EN-P - January 2007

Develop Motion Applications

109

Program Motion Control

The controller gives you a set of motion control instructions for your
axes and:

•

uses these instructions just like the rest of the Logix5000
instructions.

You can program motion control in these programming
languages:

–

Ladder Diagram (LD)

–

Structured Text (ST)

–

Sequential Function Chart (SFC)

•

each motion instruction works on one or more axes.

•

each motion instruction needs a motion control tag. The tag uses
a MOTION_INSTRUCTION data type and stores the instruction’s
information status.

Motion Control Instruction

Example

Here’s an example of a simple ladder diagram that homes, jogs, and
moves an axis.

ATTENTION

Use the tag for the motion control operand of motion instruction
only once. Unintended operation of the control variables may
happen if you reuse of the same motion control tag in other
instructions.

Motion Control Tag

If Initialize_Pushbutton = on and the axis = off (My_Axis_X.ServoActionStatus = off) then

The MSO instruction turns on the axis.

If Home_Pushbutton = on and the axis hasn’t been homed (My_Axis_X.AxisHomedStatus = off) then

The MAH instruction homes the axis.

Содержание controllogix 1756-L55M12

Страница 1: ...ControlLogix Controllers 1756 L55M12 1756 L55M13 1756 L55M14 1756 L55M16 1756 L55M22 1756 L55M23 1756 L55M24 1756 L61 1756 L62 1756 L63 1756 L64 1756 L60M03SE Firmware Revision 16 User Manual...

Страница 2: ...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 equipm...

Страница 3: ...d information To find new and updated information look for change bars as shown next to this paragraph Updated Information The document contains these changes Topic Page 1756 L64 ControlLogix Controll...

Страница 4: ...Publication 1756 UM001G EN P January 2007 Summary of Changes 4 Notes...

Страница 5: ...itional Resources 25 ControlNet Network Communication 25 Connections Over a ControlNet Network 27 Additional Resources 28 DeviceNet Network Communication 28 Connections over DeviceNet 30 Additional Re...

Страница 6: ...Resources 57 Configure Distributed I O on a ControlNet Network 58 Additional Resources 58 Configure Distributed I O on a DeviceNet Network 59 Additional Resources 59 Address I O Data 60 Add 1756 I O a...

Страница 7: ...l Overview 85 How Equipment Changes States 86 Manually Change States 87 Compare PhaseManager to Other State Models 87 Minimum System Requirements 88 Equipment Phase Instructions 88 Chapter 8 Develop M...

Страница 8: ...ion Introduction 117 SIL 2 Overview 117 SIL 2 Application 118 Chapter 11 Maintain Nonvolatile Memory Introduction 119 Choose a Controller That Has Nonvolatile Memory 120 Prevent a Major Fault During a...

Страница 9: ...al Resources These core documents address the Logix5000 family of controllers To view or download manuals visit http literature rockwellautomation com literature To obtain a hard copy of a manual cont...

Страница 10: ...Publication 1756 UM001G EN P January 2007 10 Notes...

Страница 11: ...controllers in a single chassis multiple controllers joined across networks I O from multiple platforms that is distributed in many locations and connected over multiple I O links ControlLogix System...

Страница 12: ...undation Fieldbus and the Highway Addressable Remote Transducer HART a built in serial port on every ControlLogix controller Controller Memory for Data and Logic I O Nonvolatile Backup Memory 1756 L55...

Страница 13: ...ign a ControlLogix system select I O devices motion control and drives requirements communication modules controllers chassis power supplies software Install Hardware To install a ControlLogix control...

Страница 14: ...2007 14 ControlLogix System Overview make serial connections See the chapter Directly Connect to the Controller via the Serial Port load controller firmware make additional network connections See th...

Страница 15: ...download a project to the controller Connect the Controller to via the Serial Port To connect a serial cable perform this procedure 1 Obtain a 1756 CP3 serial cable You can also use a 1747 CP3 cable f...

Страница 16: ...ble to the controller and to your workstation TIP I If you make your own serial cable Limit the length to 15 2m 50 ft Wire the connectors this way Attach the shield to both connectors 2 RDX 3 TXD 4 DT...

Страница 17: ...e driver for serial communication To configure the driver perform this procedure 1 From the Communications pull down menu in RSLinx software choose Configure Drivers The Configure Drivers dialog appea...

Страница 18: ...From the Comm Port pull down menu choose the serial port on the workstation to which the cable is connected b From the Device pull down menu choose Logix 5550 Serial Port c Click Auto Configure 6 Was...

Страница 19: ...is procedure 1 Open an RSLogix 5000 project for the controller 2 From the Communications pull down menu choose Who Active 3 Expand the communication driver to the level of the controller 4 Select the...

Страница 20: ...Publication 1756 UM001G EN P January 2007 20 Directly Connect to the Controller via the Serial Port Notes...

Страница 21: ...et IP network ControlNet network Send and receive messages to and from other devices This includes access to the controller via RSLogix 5000 programming software EtherNet IP network ControlNet network...

Страница 22: ...cation you have several communication modules from which to choose EtherNet IP Communication Modules Serial Network Communication 31 DH 485 Network Communication 37 DH Network Communication 41 Univers...

Страница 23: ...rs produce and consume tags The controllers initiate MSG instructions that send and receive data or configure devices The personal computer uploads and downloads projects to the controllers The person...

Страница 24: ...ction is triggered by the requested packet interval RPI for I O control or the program such as a MSG instruction Unscheduled messaging lets you send and receive data when needed The 1756 EtherNet IP c...

Страница 25: ...olNet network is highly deterministic and repeatable and remains unaffected as devices are connected or disconnected from the network This robust quality results in dependable synchronized and coordin...

Страница 26: ...module only In this example the controllers produce and consume tags the controllers initiate MSG instructions that send and receive data or configure devices the personal computer uploads and downloa...

Страница 27: ...k A scheduled connection is unique to ControlNet communication A scheduled connection lets you send and receive data repeatedly at a predetermined interval which is the requested packet interval RPI F...

Страница 28: ...e proven Controller Area Network CAN technology which lowers installation costs and decreases installation time and costly downtime A DeviceNet network provides access to the intelligence present in y...

Страница 29: ...rview Software Functions Requirement RSLogix 5000 Configure ControlLogix projects Define EtherNet IP communication Yes RSNetWorx for DeviceNet Configure DeviceNet devices Define the scan list for thos...

Страница 30: ...the input and output data of the DeviceNet devices on the network Each device on your network requires either some input or output memory of the scanner Some devices both send and receive data so the...

Страница 31: ...d as the master node and up to 254 slave nodes Link slave nodes using modems or line drivers A master slave network can have node numbers from 0 254 Each node must have a unique node address Also at l...

Страница 32: ...n network Use serial communication to get information to and from remote controllers stations when the system contains three or more stations communication occurs on a regular basis and requires lease...

Страница 33: ...erform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right click your controller and select Properties The Controller Properties dialog appears 2 Click the Serial P...

Страница 34: ...ADA System Application Guide publication AG UM008 Communicate with ASCII Devices When you configure the serial port for user mode you can use it to read ASCII characters from a weigh scale module or b...

Страница 35: ...te over Networks 35 The Controller Properties dialog appears 2 Click the Serial Port tab 3 From the Mode pull down menu choose User 4 Specify ASCII communication settings 5 Click the User Protocol tab...

Страница 36: ...umber of characters up to and including the first set of termination characters AWA Send characters and automatically append one or two additional characters to mark the end of the data AWT Send chara...

Страница 37: ...controller can send and receive messages to and from other controllers on a DH 485 network The DH 485 connection supports remote programming and monitoring via RSLogix 5000 programming software Howeve...

Страница 38: ...for each controller Connect the serial port of the controller to either port 1 or port 2 of the 1761 NET AIC converter Use the RS 485 port to connect the converter to the DH 485 network Cable Selectio...

Страница 39: ...ck your controller and select Properties The Controller Properties dialog appears 2 Click the Serial Port tab 3 From the Mode pull down menu choose System 4 Specify DH 485 communication settings The b...

Страница 40: ...numbers to minimize the time required to initialize the network The maximum station address specifies the maximum node address of all the devices on the DH 485 network b From the Max Station Address...

Страница 41: ...k Communication For DH network communication use a 1756 DHRIO module to exchange information between PLC controllers and SLC controllers ControlLogix controllers and PLC or SLC controllers ControlLogi...

Страница 42: ...e The 1756 DHRIO module can route a message through up to four communication networks and three chassis This limit applies only to the routing of a message and not to the total number of networks or c...

Страница 43: ...iversal Remote I O Communication Overview Functions Required Module Establish connections between controllers and I O adapters Send data regularly Distribute control so that each controller has its ow...

Страница 44: ...ps 115 2 Kbps 230 4 Kbps you must assign unique partial and full racks to each channel used in remote I O scanner mode Both channels of a 1756 DHRIO module cannot scan the same partial or full rack ad...

Страница 45: ...er Manual publication RSFBUS UM001 Foundation Fieldbus Linking Device User Manual publication 1757 UM010 Application Required Linking Device Bridge an EtherNet IP network to Foundation Fieldbus Connec...

Страница 46: ...r control application with slow update requirements such as a tank farm Does not require external hardware to access HART signal Does not provide a direct connection to asset management software Proso...

Страница 47: ...unication modules controller to remote I O or remote communication modules controller to remote I O rack optimized modules produced and consumed tags messages controller access by RSLogix 5000 program...

Страница 48: ...ions Logix5000 Controllers Common Procedures Programming Manual publication 1756 PM001 Logix5000 Controllers Design Considerations Reference Manual publication 1756 RM094 Tag Type Description Produced...

Страница 49: ...ine Whether to Cache Message Connections When you configure a MSG instruction you can choose whether or not to cache the connection Caching Message Connections Message Type Communication Method Connec...

Страница 50: ...e The total connection requirements of a ControlLogix system include both local and remote connections Local Connections Local Connection Type Device Quantity Connections per Device Total Connections...

Страница 51: ...ct connection none I O configured as rack optimized connection 0 or 1 Remote I O module over a ControlNet network direct connection 1 Remote EtherNet IP communication module I O configured as direct c...

Страница 52: ...troller in this example uses these connections Example Connection Types ControlLogix Controller with 1756 ENBT and 1756 DNB Modules 1769 ADN Adapter with Compact I O Modules Redistation Series 9000 Ph...

Страница 53: ...nal blocks RTBs or 1492 wiring systems for the I O modules 1492 PanelConnect modules and cables to connect input modules to sensors Additional Resources For additional information consult the ControlL...

Страница 54: ...able Chassis Slots For empty slots use the 1756 N2 slot filler module The ControlLogix controller also supports distributed remote I O via these networks EtherNet IP ControlNet DeviceNet Universal rem...

Страница 55: ...Change of State COS Digital I O modules use COS to determine when to send data to the controller If a COS does not occur within the RPI the module multicasts data at the rate specified by the RPI Beca...

Страница 56: ...The controller maintains and monitors the connection between the controller and the I O module Any break in the connection such as a module fault or the removal of a module while under power causes th...

Страница 57: ...ion folder organize the modules into a hierarchy of tree branch and parent child Configuring I O on an EtherNet IP Network Additional Resources For additional information consult EtherNet IP Communica...

Страница 58: ...organize the modules into a hierarchy of tree branch and parent child Configuring I O on a ControlNet Network Additional Resources For additional information consult ControlNet Modules in Logix5000 C...

Страница 59: ...ices and the controller Configuring Distributed I O on a DeviceNet Network Additional Resources For additional information consult DeviceNet Communication Modules in Logix5000 Control Systems User Man...

Страница 60: ...ation LOCAL same chassis or DIN rail as the controller ADAPTER_NAME identifies remote communication adapter or bridge module Slot Slot number of I O module in its chassis or DIN rail Type Type of data...

Страница 61: ...ck optimized connections when adding ControlNet I O modules at runtime disable the Change of State COS feature on digital input modules because it can cause inputs to be sent more quickly than the RPI...

Страница 62: ...ou can create new rack optimized connections when adding EtherNet IP I O modules at runtime you can add I O modules until you reach the limits of the communication module Additional Resources For addi...

Страница 63: ...r Any Point on the Module Data is sent to the backplane at the RPI Remote or Local Analog No Yes Data is sent to the backplane at the RPI and at the end of every task Data is sent to the backplane at...

Страница 64: ...program logic Reconfigure a Module via RSLogix 5000 Programming Software To reconfigure a module perform this procedure 1 In RSLogix 5000 programming software right click a module in the I O Configura...

Страница 65: ...nue to control their output devices To reconfigure an I O module perform this procedure 1 Set the required member of the configuration tag of the module to the new value 2 Send a Module Reconfigure me...

Страница 66: ...Publication 1756 UM001G EN P January 2007 66 Place Configure and Monitor I O Modules Notes...

Страница 67: ...ks A Logix5000 controller lets you use multiple tasks to schedule and prioritize the execution of your programs based on specific criteria This multitasking allocates the controller s processing time...

Страница 68: ...tasks to configure controller execution programs to group data and logic routines to encapsulate executable code written in a single programming language Program Development Overview Control Applicati...

Страница 69: ...interrupted by a periodic or event task Task Execution Task Type Description All of the time Continuous The continuous task runs in the background Any CPU time not allocated to other operations such...

Страница 70: ...project The controller verifies unscheduled programs but does not execute them Define Routines A routine is a set of logic instructions in a single programming language such as Ladder Diagram Routines...

Страница 71: ...nd then modify to fit your application To obtain a list of sample projects perform this procedure 1 In RSlogix 5000 programming software from the Help menu choose Vendor Sample Projects 2 Scroll down...

Страница 72: ...0 controllers there is no fixed numeric format The tag name itself identifies the data This lets you organize your data to mirror your machinery document your application as you develop it Tag Organiz...

Страница 73: ...me You can use Add On Instructions across multiple projects You can define your instructions obtain them from somebody else or copy them from another project Required Language Programs Ladder diagram...

Страница 74: ...software programming editors Standard Ladder Function Block Diagram Structured Text Once you have created instructions you can use them in any RSLogix 5000 editor Export Add On Instructions You can e...

Страница 75: ...res system data in objects There is no status file as in the PLC 5 processor The GSV instruction retrieves the specified information and places it in the destination The SSV instruction sets the speci...

Страница 76: ...devices that have timed out A module fault code is produced which you can access via the Module Properties dialog a GSV instruction Determine if Communication Has Timed Out with Any Device If communi...

Страница 77: ...e If communication times out with a device module in the I O configuration of the controller the controller produces a fault code for the module The GSV instruction gets the fault code for Io_Module a...

Страница 78: ...ogic and execute the fault handler perform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right click the module and select Properties The Module Properties dialog a...

Страница 79: ...t tasks devoted to communication and background functions To select a system overhead percentage slice perform this procedure 1 In the Controller Organizer of RSLogix 5000 programming software right c...

Страница 80: ...ime to execute the continuous task While increasing the system overhead percentage does increase communication performance it also increases the amount of time it takes to execute a continuous task in...

Страница 81: ...cond If the controller only contains periodic tasks the system overhead time slice value has no effect System overhead runs whenever a periodic task is not running 1 ms 1 ms 1 ms 1 ms 1 ms Periodic Ta...

Страница 82: ...Publication 1756 UM001G EN P January 2007 82 Develop Applications Notes...

Страница 83: ...escription Equipment phase As with a program an equipment phase is run in a task and is given a set of routines and tags Unlike a program an equipment phase runs by a state model and lets you do one a...

Страница 84: ...Tags Controller Add Water Phase A PHASE tag gives you the status of an equipment phase An equipment phase directs one activity of your equipment A state model divides the activity into a series of st...

Страница 85: ...equipment can go from any state in the box to the stopping or aborting state Acting Waiting Acting states represent the things your equipment does at a given time Waiting states represent the conditi...

Страница 86: ...t Stop Restart Start Hold Abort Done Equipment goes to a waiting state when it is finished with what it is doing You do not give the equipment a command Instead you set up your code to signal when the...

Страница 87: ...Models You can compare PhaseManager state models to other state models Current Equipment Phase 1 Take ownership of the equipment phase 2 Give a command S88 PackML PhaseManager Idle Starting Ready Rese...

Страница 88: ...diagram LD and structured text ST instructions PhaseManager Instructions Instruction Instruction Function PSC Signal a phase that the state routine is complete and to proceed to the next state PCMD C...

Страница 89: ...ace Module 95 Add the Motion Group 97 Add Your Axes 100 Set Up Each Axis 101 Check the Wiring of Each Drive 104 Tune Each Axis 106 Obtain Axis Information 108 Program Motion Control 109 RSLogix 5000 P...

Страница 90: ...troller the CST master To make the controller the CST master perform this procedure 1 In RSLogix 5000 programming software right click the controller and select Properties The Controller Properties di...

Страница 91: ...le The Select Module dialog appears 2 Double click Motion 3 Select the motion module you want to add IMPORTANT For your motion modules use the firmware revision that matches that of your controller Se...

Страница 92: ...ox type the name of the new module 6 In the Slot box enter the slot the new module will occupy 7 Leave Open Module Properties unchecked 8 Click OK Additional Information For additional information con...

Страница 93: ...RSLogix 5000 programming software to set up the modules To add SERCOS interface modules perform this procedure 1 In the I O configuration tree in RSLogix 5000 programming software right click the SERC...

Страница 94: ...the new drive 6 In the Node box select the node number of the drive in the SERCOS ring 7 Click OK Additional Resources For additional information consult these publications Motion Analyzer Selection G...

Страница 95: ...e and cycle time for each SERCOS interface module in your project perform this procedure 1 In the I O configuration tree in RSLogix 5000 programming software right click your module and select Propert...

Страница 96: ...K Baud Rate of Drive Number of Drives on Ring Type of Drive Cycle Time 4 MB 1 or 2 Kinetix 6000 0 5 ms 3 or 4 1 ms 5 8 2 ms 9 16 Not possible You must have 2 motion modules 1 4 Not Kinetix 6000 1 ms 5...

Страница 97: ...eir priority IMPORTANT Add only one motion group for the project RSLogix 5000 software does not let you add more than one motion group Motion Planner Scans of your code System overhead and so on 0 ms...

Страница 98: ...January 2007 98 Develop Motion Applications The New Tag dialog appears 3 In the Name box enter the tag name 4 From the Data Type pull down menu choose MOTION_GROUP 5 Click OK The Motion Group Wizard...

Страница 99: ...M001G EN P January 2007 Develop Motion Applications 99 The Motion Group Wizard Attributes dialog appears 7 In the Coarse Update Period box enter the intervals at which you want to run your motion plan...

Страница 100: ...RSLogix 5000 programming software right click My Motion Group and select New Axis and then the type of axis you want to add The New Tag dialog appears 3 In the Name box enter the name of your new axis...

Страница 101: ...roups within RSLogix 5000 programming software click motion_group and then right click an axis and select Properties The Axis Properties Dialog appears 2 From the Module pull down menu choose the name...

Страница 102: ...drive 7 To select your motor s catalog number click Change Catalog 8 Click the Conversion tab 9 From the Positioning Mode pull down menu choose rotary or linear 10 In the Conversion Constant box type...

Страница 103: ...ations 103 12 Click the Homing tab 13 From the Sequence pull down menu choose one of these types of homing sequences Immediate Switch Marker Switch Marker 14 Within Active Home Sequence Group in the S...

Страница 104: ...est marker Verify that the encoder A B and Z channels are connected and phased properly for marker detection You must manually move the axis for this test Test feedback Verify the polarity of the feed...

Страница 105: ...revolutions you want the axis to turn during each test 4 Click Test Marker to check the channels for proper connection and phasing 5 Click Test Feedback to test the polarity of the feedback 6 Click Te...

Страница 106: ...n Motion Groups within RSLogix 5000 programming software click motion_group and then right click an axis and select Properties The Axis Properties dialog appears ATTENTION When you tune an axis it mov...

Страница 107: ...of revolutions to which you want to limit your axis during its tuning 4 In the Speed box type the number of revolutions per second to which you want to limit your axis during its tuning 5 Click Start...

Страница 108: ...n axis information take any one or all of these steps Obtaining Axis Information Use the Axis Properties dialog window to configure the axis Use a Get System Value GSV instruction or Set System Value...

Страница 109: ...g The tag uses a MOTION_INSTRUCTION data type and stores the instruction s information status Motion Control Instruction Example Here s an example of a simple ladder diagram that homes jogs and moves...

Страница 110: ...rs General Instructions Reference Manual publication 1756 RM003 If Jog_Pushbutton on and the axis on My_Axis_X ServoActionStatus on then The MAJ instruction jogs the axis forward at 8 units second If...

Страница 111: ...he primary controller chassis fails The redundant system switches from primary to secondary due to power loss to primary chassis hardware or firmware failure of any module in the primary chassis a maj...

Страница 112: ...e controlled by the highest priority task will experience a bumpless switchover For example outputs will not revert to a previous state Outputs in lower priority tasks may experience a change of state...

Страница 113: ...controller 3 Add one or more ControlNet 1756 CNB 1756 CNBR or EtherNet IP 1756 ENBT communication modules 4 Add one 1757 SRM redundancy module 5 Set up a second chassis that is identical to the first...

Страница 114: ...trollers synchronize data transfers to support a bumpless switchover A redundant controller has a significantly longer scan time than a nonredundant controller The scan time can affect high speed proc...

Страница 115: ...ion 13 supports IP address swapping in redundant systems Configure the primary and secondary EtherNet IP modules with the same IP address The primary EtherNet IP module takes the IP address the second...

Страница 116: ...ng Minimum System Requirements At a minimum a ControlLogix redundancy system must contain these items Quantity Item Notes 2 ControlLogix chassis Both chassis must be the same size 2 ControlLogix power...

Страница 117: ...Systems requirements It also includes a number of application independent standards DIN V 19250 and VDE 0801 application dependent standards prEN 50156 for ESD applications DIN EN 54 for fire and gas...

Страница 118: ...x SIL loop includes the overall safety loop the ControlLogix portion of the safety loop how other devices for example HMI connect to the loop while operating outside the loop SIL 2 Application Overvie...

Страница 119: ...ou apply power whenever there is no project in the controller and you apply power at any time via RSLogix 5000 programming software Topic Page Choose a Controller That Has Nonvolatile Memory 120 Use a...

Страница 120: ...6 L55M24 8 x or later No ControlLogix5560M03SE 1756 L60M03SE 13 x or later Yes ControlLogix5561 1756 L61 12 x or later Yes ControlLogix5562 1756 L62 12 x or later Yes ControlLogix5563 1756 L63 11 x or...

Страница 121: ...project that you most recently stored For additional flexibility the file system also lets you manually change which project loads from the CompactFlash card manually change the load parameters for a...

Страница 122: ...Publication 1756 UM001G EN P January 2007 122 Maintain Nonvolatile Memory Notes...

Страница 123: ...y ControlLogix5550 ControlLogix5555 ControlLogix5560M03SE 1756 BA1 ControlLogix5561 ControlLogix5562 ControlLogix5563 A 1756 BA1 ControlLogix5561 ControlLogix5562 ControlLogix5563 ControlLogix5564 B 1...

Страница 124: ...and after the BAT LED turns on 4 For each year of battery life decrease the time before the BAT LED turns on by the percentage that is shown in the table ATTENTION To prevent possible battery leakage...

Страница 125: ...wer Is Cut Off Power off 100 Power off 50 Yearly decrease 1756 L55M12 1756 L55M13 60 C 140 F 57 days 110 days 23 69 hours 25 C 77 F 63 days 123 days 17 76 hours 0 C 32 F 60 days 118 days 17 73 hours 1...

Страница 126: ...ays 13 76 days 25 C 77 F 133 days 253 days 5 142 days 0 C 32 F 105 days 220 days 6 112 days 1756 L55M22 1756 L55M23 Use the values for the 1756 L55M13 controller 1756 L55M24 Use the values for the 175...

Страница 127: ...y 18 weeks 14 weeks 10 weeks 8 weeks 5 weeks 1 per Day 24 weeks 21 weeks 18 weeks 16 weeks 11 weeks 1 per Month 26 weeks 26 weeks 26 weeks 26 weeks 26 weeks 41 45 C 105 8 113 F 3 per day 12 weeks 10 w...

Страница 128: ...on the chassis power Controller Project 1756 BATM Battery Module 1756 L55M12 Permitted 1756 L55M13 Permitted 1756 L55M14 Highly recommended 1756 L55M16 Highly recommended 1756 L55M22 Stored in nonvola...

Страница 129: ...local distributor Store Batteries Additional Resources For detailed guidelines on how to store batteries see Guidelines for Handling Lithium Batteries publication AG 5 4 which comes with the battery...

Страница 130: ...Publication 1756 UM001G EN P January 2007 130 Maintain the Battery Notes...

Страница 131: ...The controller is in Run mode Condition Indicates Recommended Action Off Either there are no devices in the I O configuration of the controller The controller does not contain a project controller mem...

Страница 132: ...tion if you enable I O forces If you enable I O forces ALL existing I O forces also take effect Color Description Recommended Action Off There is no activity No action is required Solid green Data is...

Страница 133: ...e update Update the controller with the correct firmware NOT a new controller previously in operation Major fault occurred Clear the fault Solid red The controller detected a non recoverable fault so...

Страница 134: ...Publication 1756 UM001G EN P January 2007 134 LED Indicators Notes...

Страница 135: ...uipment phase 87 change of state 55 chassis 54 coarse update period set 97 communication ControlNet network 25 determine timeout with any device 76 determine timeout with I O module 77 DeviceNet netwo...

Страница 136: ...led 27 coordinated system time master set 90 COS 55 CST master 90 See coordinated system time master D define programs 70 routines 70 tasks 69 define programs 70 design 13 develop applications 67 moti...

Страница 137: ...troller CST master 90 manage controller communication 47 tasks 67 message cache 49 overview 21 reconfigure I O module 65 Modbus support 37 monitor connections 76 controller status 75 motion applicatio...

Страница 138: ...rhead percentage 79 send messages 49 sequential function chart 73 SERCOS interface drive add to controller 93 SERCOS interface modules choose 91 set up 95 serial cable 15 communicate with ASCII device...

Страница 139: ...you Completeness all necessary information is provided 1 2 3 Can we add more information to help you procedure step illustration feature example guideline other explanation definition Technical Accura...

Страница 140: ...NECESSARY IF MAILED IN THE UNITED STATES BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 PLEA...

Страница 141: ...38 26 39 27 40 28 41 29 42 2A 43 2B 44 2C 45 2D 46 2E 47 2F 0 48 30 1 49 31 2 50 32 3 51 33 4 52 34 5 53 35 6 54 36 7 55 37 8 56 38 9 57 39 58 3A 59 3B 60 3C 61 3D 62 3E 63 3F Character Dec Hex 64 40...

Страница 142: ...t http support rockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s containe...

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