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Rockwell Automation Publication 2080-UM002K-EN-E - March 2019

Motion Control

Chapter

Axis States

The axis state can be determined from one of the following predefined states.

Axis state can be monitored through the Axis Monitor feature of the Connected

Components Workbench software when in debug mode.

Axis State Update

On motion execution, although the motion profile is controlled by Motion

Engine as a background task, which is independent from POU scan, axis state

update is still dependent on when the relevant motion function block is called by

the POU scan.

For example, on a moving axis on a Ladder POU (state of a rung=true), an

MC_MoveRelative function block in the rung is scanned and the axis starts to

move. Before MC_MoveRelative completes, the state of the rung becomes False,

and MC_MoveRelative is no longer scanned. In this case, the state of this axis

cannot switch from Discrete Motion to StandStill, even after the axis fully stops,

and the velocity comes to 0.

Motion States

State value

State Name

0x00

Disabled

0x01

Standstill

0x02

Discrete Motion

0x03

Continuous Motion

0x04

Homing

0x06

Stopping

0x07

Stop Error

Содержание Micro830

Страница 1: ...User Manual Micro830 Micro850 and Micro870 Programmable Controllers Catalog Numbers Bulletin 2080 LC30 2080 LC50 and 2080 LC70 ...

Страница 2: ...his manual when necessary we use notes to make you aware of safety considerations Allen Bradley CompactLogix Connected Components Workbench ControlLogix Encompass FactoryTalk Kinetix Micro800 Micro810 Micro820 Micro830 Micro850 Micro870 PanelView PowerFlex Rockwell Automation Rockwell Software RSLinx RSLogix 500 and TechConnect are trademarks of Rockwell Automation Inc CIP DeviceNet and EtherNet I...

Страница 3: ...are for more information on programming your Micro800 controller Conformal Coated Catalogs Catalog numbers with the suffix K are conformal coated and their specifications are the same as non conformal coated catalogs Additional Resources These documents contain additional information concerning related Rockwell Automation products Resource Description Micro800 Expansion I O Modules 2080 UM003 Info...

Страница 4: ...ble Controllers Installation Instructions 2080 IN007 Information on mounting and wiring the Micro850 24 point Controllers Micro850 Programmable Controllers Installation Instructions 2080 IN008 Information on mounting and wiring the Micro850 48 point Controllers Micro870 24 point Programmable Controllers Installation Instructions 2080 IN012 Information on mounting and wiring the Micro870 24 point C...

Страница 5: ...wiring the Micro800 Memory Backup and High Accuracy RTC Plug In Module Micro800 6 Channel Trimpot Analog Input Plug In Module Wiring Diagrams 2080 WD008 Information on mounting and wiring the Micro800 6 Channel Trimpot Analog InputPlug In Module Micro800 Digital Relay Output Plug in Module Wiring Diagrams 2080 WD010 Information on mounting and wiring the Micro800 Digital Relay Output Plug in Modul...

Страница 6: ...vi Rockwell Automation Publication 2080 UM002K EN E March 2019 Preface Notes ...

Страница 7: ...ler Changes in Run Mode 11 Using Run Mode Change RMC 12 Uncommitted Changes 13 RMC Memory 14 Limitations of RMC 16 Using Run Mode Configuration Change RMCC 17 Using Modbus RTU Communication 18 Using EtherNet IP Communication 19 Agency Certifications 21 Compliance to European Union Directives 21 EMC Directive 22 Low Voltage Directive 22 Installation Considerations 22 Environment and Enclosure 24 Pr...

Страница 8: ...44 Grounding the Controller 45 Wiring Diagrams 46 Controller I O Wiring 52 Minimize Electrical Noise 52 Analog Channel Wiring Guidelines 52 Minimize Electrical Noise on Analog Channels 52 Grounding Your Analog Cable 53 Wiring Examples 53 Embedded Serial Port Wiring 55 Chapter 5 Communication Connections Overview 57 Supported Communication Protocols 57 Modbus RTU 59 CIP Serial Client Server RS 232 ...

Страница 9: ...ines and Limitations for Advanced Users 79 Chapter 7 Motion Control PTO Motion Control 81 Use the Micro800 Motion Control Feature 83 Input and Output Signals 84 Motion Control Function Blocks 87 General Rules for the Motion Control Function Blocks 89 Motion Axis and Parameters 97 Motion Axis State Diagram 98 Axis States 99 Limits 100 Motion Stop 102 Motion Direction 103 Axis Elements and Data Type...

Страница 10: ...Enable 139 HSCID HSCAPP HSCID 140 HSC Mode HSCAPP HSCMode 140 Accumulator HSCAPP Accumulator 146 High Preset HSCAPP HPSetting 146 Low Preset HSCAPP LPSetting 147 Overflow Setting HSCAPP OFSetting 147 Underflow Setting HSCAPP UFSetting 147 Output Mask Bits HSCAPP OutputMask 148 High Preset Output HSCAPP HPOutput 149 Low Preset Output HSCAPP LPOutput 149 HSC STS HSC Status Data Structure 150 Countin...

Страница 11: ... Interrupt POU 164 Auto Start HSC0 AS 164 Mask for IV HSC0 MV 164 Mask for IN HSC0 MN 164 Mask for IH HSC0 MH 165 Mask for IL HSC0 ML 165 HSC Interrupt Status Information 165 User Interrupt Enable HSC0 Enabled 165 User Interrupt Executing HSC0 EX 165 User Interrupt Pending HSC0 PE 166 User Interrupt Lost HSC0 LS 166 Use HSC 166 Chapter 9 Controller Security 167 Exclusive Access 167 Password Protec...

Страница 12: ...cks 195 Use the Data Log Feature 196 Use the Recipe Feature 202 Appendix A Specifications Micro830 Controllers 209 The following tables provide specifications ratings and certifications for the Micro830 controllers 209 Micro830 10 Point Controllers 209 Micro830 16 Point Controllers 212 Micro830 24 Point Controllers 214 Micro830 48 Point Controllers 217 Environmental Specifications 219 Certificatio...

Страница 13: ...ed Counter 264 Create the HSC Project and Variables 266 Assign Values to the HSC Variables 269 Assign Variables to the Function Block 272 Run the High Speed Counter 273 Use the Programmable Limit Switch PLS Function 275 Forcing I Os 277 Checking if Forces locks are Enabled 277 I O Forces After a Power Cycle 278 Using Run Mode Change 279 Create the Project 279 Edit the Project Using Run Mode Change...

Страница 14: ...oubleshooting Status Indicators on the Controller 303 Normal Operation 305 Error codes 305 Fault Types 305 Corrective Action for Recoverable and Non recoverable Faults 313 Retrieve a Fault Log 313 Controller Error Recovery Model 314 Calling Rockwell Automation for Assistance 315 Appendix F PID Function Blocks 317 PID Function Block 318 IPIDCONTROLLER Function Block 321 How to Autotune 324 How Auto...

Страница 15: ...pter provides an overview of the Micro830 Micro850 and Micro870 controller hardware features It has the following topics Topic Page Hardware Features 2 Micro830 Controllers 2 Micro850 Controllers 4 Micro870 Controllers 6 Programming Cables 8 Embedded Serial Port Cables 8 Embedded Ethernet Support 8 ...

Страница 16: ...s also accommodate any class 2 rated 24V DC output power supply that meets minimum specifications such as the optional Micro800 power supply See Troubleshooting on page 303 for descriptions of status indicator operation for troubleshooting purposes Micro830 Controllers IMPORTANT For information on supported plug in modules and expansion I O see the following publications Micro800 Expansion I O Mod...

Страница 17: ...minal block 13 Optional AC power supply 7 Right side cover Status Indicator Description 1 1 For detailed description of the different status LED indicators see Troubleshooting on page 303 Description Description 14 Input status 18 Force status 15 Power status 19 Serial communications status 16 Run status 20 Output status 17 Fault status 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 8 9 9 10 11 12 13 6 4501...

Страница 18: ...I O terminal block 14 RJ 45 Ethernet connector with embedded green and yellow LED indicators 7 Right side cover 15 Optional power supply 8 Mounting screw hole mounting foot Status Indicator Description 1 1 For detailed descriptions of the different status LED indicators see Troubleshooting on page 303 Description Description 16 Input status 21 Fault status 17 Module Status 22 Force status 18 Netwo...

Страница 19: ...in connector 13 RS232 RS485 non isolated combo serial port 6 Removable I O terminal block 14 RJ 45 EtherNet IP connector with embedded yellow and green LED indicators 7 Right side cover 15 Optional AC power supply 8 Mounting screw hole mounting foot Status Indicator Description 1 1 For detailed descriptions of these LED status indicators see Troubleshooting on page 303 Description Description 16 I...

Страница 20: ...non isolated combo serial port 6 Removable I O terminal block 14 RJ 45 Ethernet connector with embedded green and yellow LED indicators 7 Right side cover 15 Optional power supply 8 Mounting screw hole mounting foot Status Indicator Description 1 1 For detailed descriptions of the different status LED indicators see Troubleshooting on page 303 Description Description 16 Input status 21 Fault statu...

Страница 21: ... 2080 LC30 48QVB 28 20 3 6 2080 LC30 48QBB 28 20 3 6 Micro850 Controllers Number and Types of Inputs Outputs Catalog Number Inputs Outputs PTO Support HSC Support 120V AC 24V DC V AC Relay 24V Sink 24V Source 2080 LC50 24AWB 14 10 2080 LC50 24QWB 14 10 4 2080 LC50 24QVB 14 10 2 4 2080 LC50 24QBB 14 10 2 4 2080 LC50 48AWB 28 20 2080 LC50 48QWB 28 20 6 2080 LC50 48QVB 28 20 3 6 2080 LC50 48QBB 28 20...

Страница 22: ...connection to an Ethernet network through any standard RJ 45 Ethernet cable The LED indicators serve as indicators for transmit and receive status 45221 Embedded Serial Port Cable Selection Chart Connectors Length Cat No Connectors Length Cat No 8 pin Mini DIN to 8 pin Mini DIN 0 5 m 1 5 ft 1761 CBL AM00 1 8 pin Mini DIN to 9 pin D Shell 0 5 m 1 5 ft 1761 CBL AP00 1 8 pin Mini DIN to 8 pin Mini DI...

Страница 23: ...oting on page 303 for descriptions of Module and Network status indicators yellow LED green LED RJ 45 connector RJ 45 Ethernet Port Pin Mapping Contact Number Signal Direction Primary Function 1 TX OUT Transmit data 2 TX OUT Transmit data 3 RX IN Differential Ethernet Receive Data 4 Terminated 5 Terminated 6 RX IN Differential Ethernet Receive Data 7 Terminated 8 Terminated Shield Chassis Ground 4...

Страница 24: ...10 Rockwell Automation Publication 2080 UM002K EN E March 2019 Chapter 1 Hardware Overview Notes ...

Страница 25: ...n Connected Components Workbench Software A free download is available at http www rockwellautomation com global products technologies connected components Use Connected Components Workbench Software To help you program your controller through the Connected Components Workbench software you can refer to the Connected Components Workbench Online Help it comes with the software Controller Changes in...

Страница 26: ...y incremental changes are downloaded to the controller RMC is performed incrementally at the end of every program scan in order to prevent a large delay in the program scan This adds up to an additional 12 ms to the scan time For example if the program scan is normally 10 ms it may increase to 22 ms during RMC until the update is finished Similarly user interrupts may be delayed IMPORTANT Micro820...

Страница 27: ...f you choose to upload a project with uncommitted changes from the controller you cannot enter RMC until you have done a full download ATTENTION Use extreme caution when you use Run Mode Change Mistakes can injure personnel and damage equipment Before using Run Mode Change assess how machinery will respond to the changes notify all personnel about the changes Bit Definitions of Global Variable __S...

Страница 28: ...nts Workbench During RMC an incremental build is performed and only incremental changes are downloaded to the controller until the RMC memory has been filled RMC Memory Usage Example IMPORTANT In a Connected Components Workbench Release 8 project the available user data space was reduced by 6 KB to support optimal project settings for the new RMC feature If you have a project that was developed be...

Страница 29: ... build and download while the controller is disconnected RMC Memory Usage When Performing Full Build and Download Example However if the controller memory does not have enough space remaining to copy the contents of the RMC memory as shown below the operation will fail and a not enough memory error message will appear Do not use RMC if you are near the limits of your controller memory Insufficient...

Страница 30: ...ct Refactor Reset Initial Values of Instances RMC is not possible after doing a Discover Project operation if a new module is detected because the configuration has changed Exchange files cannot be imported when in RMC because it is considered a configuration change Making changes to the display configuration for example hiding comments are treated as logic changes and require you to build the pro...

Страница 31: ...rNet IP for the Ethernet port RMCC uses a CIP Generic message which can only be sent from within a controller program and not from an external device to the controller CIP Generic Message Instruction for Run Mode Configuration Change Run Mode Configuration Change RMCC can only be performed by the controller that is sending the message To do that you need to configure the CIP Generic message as a l...

Страница 32: ...odbus Example Set the Parameters RMCC Modbus Example Set the New Node Address The first byte indicates the new node address for the controller For this example the new node address is 3 The second byte must always be 1 this indicates that the Modbus role is configured as Slave RMCC Modbus Example Set the Message Length CIP Generic Message Parameters for RMCC using Modbus RTU Parameter Value Servic...

Страница 33: ... controller must be configured to use a static IP address If the controller is configured to use BOOTP or DHCP the change will be rejected A CIP Generic message is sent from within a program with the following parameters Use RMCC when configuring the controller during commissioning Immediately after changing the IP address the cycle time may increase up to 100 ms for one program scan IMPORTANT You...

Страница 34: ...ple Set the New IP Address For this example the new IP Address is set to the following IP address 192 168 1 10 Subnet mask 255 255 255 0 Gateway address 192 168 1 1 RMCC EtherNet IP Example Set the Message Length Attribute 5 ReqData IP address Subnet mask Gateway address ReqLen 22 bytes CIP Generic Message Parameters for RMCC using EtherNet IP Parameter Value ...

Страница 35: ...azardous Locations certified for U S and Canada CE marked for all applicable directives RCM marked for all applicable acts KC Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of Radio Waves Act Clause 3 Compliance to European Union Directives This product has the CE mark and is approved for installation within the European Union and EEA regions It has be...

Страница 36: ...well as the following Allen Bradley publications Industrial Automation Wiring and Grounding Guidelines for Noise Immunity publication 1770 4 1 Guidelines for Handling Lithium Batteries publication AG 5 4 Automation Systems Catalog publication B115 Installation Considerations Most applications require installation in an industrial enclosure Pollution Degree 2 1 to reduce the effects of electrical i...

Страница 37: ...place the module if degradation is found WARNING If you insert or remove the plug in module while backplane power is on an electrical arc can occur This could cause an explosion in hazardous location installations Be sure that power is removed or the area is nonhazardous before proceeding WARNING When you connect or disconnect the Removable Terminal Block RTB with field side power applied an elect...

Страница 38: ...or minimize the spread of flame complying with a flame spread rating of 5VA or be approved for the application if nonmetallic The interior of the enclosure must be accessible only by the use of a tool Subsequent sections of this publication may contain additional information regarding specific enclosure type ratings that are required to comply with certain product safety certifications In addition...

Страница 39: ... C D dangereux et non dangereux Chaque produit est livré avec des marquages sur sa plaque d identification qui indiquent le code de température pour les environnements dangereux Lorsque plusieurs produits sont combinés dans un système le code de température le plus défavorable code de température le plus faible peut être utilisé pour déterminer le code de température global du système Les combinai...

Страница 40: ...rgized It is recommended that the controller remain powered even when the master control relay is de energized If you are using a DC power supply interrupt the load side rather than the AC line power This avoids the additional delay of power supply turn off The DC power supply should be powered directly from the fused secondary of the transformer Power to the DC input and output circuits should be...

Страница 41: ... The only effect of limited inrush current and voltage sag on the Micro800 is that the power supply capacitors charge more slowly However the effect of a voltage sag on other equipment should be considered For example a deep voltage sag may reset a computer connected to the same power source The following considerations determine whether the power source must be required to supply high inrush curr...

Страница 42: ...onsidered to be a loss of power for the system Preventing Excessive Heat For most applications normal convective cooling keeps the controller within the specified operating range Ensure that the specified temperature range is maintained Proper spacing of components within an enclosure is usually sufficient for heat dissipation In some applications a substantial amount of heat is produced by other ...

Страница 43: ...nput and output devices should be removed When you use the master control relay to remove power from the external I O circuits power continues to be provided to the controller s power supply so that diagnostic indicators on the processor can still be observed The master control relay is not a substitute for a disconnect to the controller It is intended for any situation where the operator must qui...

Страница 44: ... switches Install emergency stop switches and the master control relay in your system Make certain that relay contacts have a sufficient rating for your application Emergency stop switches must be easy to reach In the following illustration input and output circuits are shown with MCR protection However in most applications only output circuits require MCR protection The following illustrations sh...

Страница 45: ...ll remove power from the external I O circuits stopping machine motion Fuse Overtravel limit switch MCR MCR MCR Stop Start Line Terminals Connect to terminals of power supply 115V AC or 230V AC I O circuits L1 L2 230V AC Master Control Relay MCR Cat No 700 PK400A1 Suppressor Cat No 700 N24 MCR Suppr 24V DC I O circuits Lo Hi DC power supply Use IEC 950 EN 60950 X1 X2 115V AC or 230V AC Line Termin...

Страница 46: ...hine motion Fuse MCR Fuse MCR MCR MCR Stop Start Line Terminals Connect to terminals of power supply Line Terminals Connect to 24V DC terminals of power supply 230V AC output circuits Disconnect Isolation Transformer 115V AC or 230V AC I O circuits L1 L2 Master Control Relay MCR Cat No 700 PK400A1 Suppressor Cat No 700 N24 Lo Hi DC Power Supply Use NEC Class 2 for UL Listing X1 X2 115VAC or 230V A...

Страница 47: ...er Mounting Dimensions Mounting Dimensions Mounting dimensions do not include mounting feet or DIN rail latches Micro830 10 Point and 16 Point Controllers 2080 LC30 10QWB 2080 LC30 10QVB 2080 LC30 16AWB 2080 LC30 16QWB 2080 LC30 16QVB Topic Page Controller Mounting Dimensions 33 Mounting Dimensions 33 DIN Rail Mounting 36 Panel Mounting 36 45032 100 3 94 80 3 15 90 3 54 Measurements in millimeters...

Страница 48: ...cro830 24 Point Controllers 2080 LC30 24QWB 2080 LC30 24QVB 2080 LC30 24QBB Micro830 48 Point Controllers 2080 LC30 48AWB 2080 LC30 48QWB 2080 LC30 48QVB 2080 LC30 48QBB 45018 150 5 91 80 3 15 90 3 54 Measurements in millimeters inches 45038 210 8 27 80 3 15 90 3 54 Measurements in millimeters inches ...

Страница 49: ...0 LC50 48QWB 2080 LC50 48QBB 2080 LC50 48QVB Maintain spacing from objects such as enclosure walls wireways and adjacent equipment Allow 50 8 mm 2 in of space on all sides for adequate ventilation If optional accessories modules are attached to the controller such as the power supply 2080 PS120 240VAC or expansion I O modules make sure that there is 50 8 mm 2 in of space on all sides after attachi...

Страница 50: ...y the DIN rail latch downwards until it is in the unlatched position Panel Mounting The preferred mounting method is to use four M4 8 screws per module Hole spacing tolerance 0 4 mm 0 016 in Follow these steps to install your controller using mounting screws 1 Place the controller against the panel where you are mounting it Make sure the controller is spaced properly 2 Mark drilling holes through ...

Страница 51: ... Panel Mounting Dimensions Micro830 10 Point and 16 Point Controllers 2080 LC30 10QWB 2080 LC30 10QVB 2080 LC30 16AWB 2080 LC30 16QWB 2080 LC30 16QVB Micro830 24 Point Controllers 2080 LC30 24QWB 2080 LC30 24QVB 2080 LC30 24QBB 45325 86 mm 3 39 in 100 mm 3 94 in 45326 100 mm 3 94 in 131 mm 5 16 in ...

Страница 52: ...WB 2080 LC50 24QBB 2080 LC50 24QVB 2080 LC50 24QWB Micro870 24 Point Controllers 2080 LC70 24AWB 2080 LC70 24QWB 2080 LC70 24QWBK 2080 LC70 24QBB 2080 LC70 24QBBK Micro830 48 Point Controllers 2080 LC30 48AWB 2080 LC30 48QWB 2080 LC30 48QVB 2080 LC30 48QBB 45913 131 mm 5 16 in 100 mm 3 94 in 45917 108 mm 4 25 in 108 mm 4 25 in 100mm 3 9 in ...

Страница 53: ...8 36 6 90 100 110 8 33 8 7 2 Expansion I O Slots Applicable to Micro850 and Micro870 only Single width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 Micro850 Micro870 24pt Controller with Micro800 Power Supply Measurements in millimeters 80 87 Expansion I O Slots Applicable to Micro850 and Micro870 only Single width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 Micro850...

Страница 54: ... 4 216 7 22 8 36 6 90 100 1 110 8 Expansion I O Slots Applicable to Micro850 only Single width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 Micro850 48pt Controller with Micro800 Power Supply Measurements in millimeters 80 87 Expansion I O Slots Applicable to Micro850 only Single width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 Micro850 48pt Controller with Micro800...

Страница 55: ... I O Wiring 52 Minimize Electrical Noise 52 Analog Channel Wiring Guidelines 52 Minimize Electrical Noise on Analog Channels 52 Grounding Your Analog Cable 53 Wiring Examples 53 Embedded Serial Port Wiring 55 WARNING Before you install and wire any device disconnect power to the controller system WARNING Calculate the maximum possible current in each power and common wire Observe all electrical co...

Страница 56: ... that occur when switching inductive load devices such as motor starters and solenoids the use of some type of surge suppression to protect and extend the operating life of the controllers output contacts is required Switching inductive loads without surge suppression can significantly reduce the life expectancy of relay contacts By adding a suppression device directly across the coil of an induct...

Страница 57: ...uppressor can also be used See Recommended Surge Suppressors on page 44 As shown below these surge suppression circuits connect directly across the load device Suitable surge suppression methods for inductive AC load devices include a varistor an RC network or an Allen Bradley surge suppressor all shown below These components must be appropriately rated to suppress the switching DC or L1 Suppressi...

Страница 58: ...twork Surge suppressor Recommended Surge Suppressors Device Coil Voltage Suppressor Catalog Number Type 4 Bulletin 100 104K 700K 24 48V AC 100 KFSC50 RC 110 280V AC 100 KFSC280 380 480V AC 100 KFSC480 12 55 V AC 12 77V DC 100 KFSV55 MOV 56 136 VAC 78 180V DC 100 KFSV136 137 277V AC 181 250 V DC 100 KFSV277 12 250V DC 100 KFSD250 Diode Bulletin 100C C09 C97 24 48V AC 100 FSC48 1 RC 110 280V AC 100 ...

Страница 59: ...199 FSMA10 130 250V AC DC 199 FSMA11 6 300V DC 199 FSMZ 1 Diode Miscellaneous electromagnetic devices limited to 35 sealed VA 6 150V AC DC 700 N24 RC 1 Catalog numbers for screwless terminals include the string CR after 100 For example Cat No 100 FSC48 becomes Cat No 100 CRFSC48 Cat No 100 FSV55 becomes 100 CRFSV55 and so on 2 For use on the interposing relay 3 For use on the contactor or starter ...

Страница 60: ... no high speed inputs I 00 COM0 I 01 I 02 I 03 COM1 I 04 I 05 NC NC NC NC 1 2 3 4 5 6 7 8 9 10 11 12 DC24 CM0 O 00 DC24 CM1 O 01 CM2 O 02 O 03 CM3 NC NC 1 2 3 4 5 6 7 8 9 10 11 12 45033 Input terminal block Output terminal block 45034 I 00 COM0 I 01 I 02 I 03 COM1 I 04 I 05 NC NC NC NC 1 2 3 4 5 6 7 8 9 10 11 12 DC24 CM0 O 00 DC24 O 01 CM0 CM1 O 02 CM1 O 03 NC NC 1 2 3 4 5 6 7 8 9 10 11 12 Input t...

Страница 61: ...I 07 I 06 I 09 I 08 1 2 3 4 5 6 7 8 9 10 11 12 DC24 CM0 O 00 DC24 O 01 CM0 CM1 O 02 CM1 O 03 O 05 O 04 1 2 3 4 5 6 7 8 9 10 11 12 Input terminal block Output terminal block I 00 COM0 I 01 I 02 I 03 I 04 I 05 I 06 COM1 I 07 I 09 I 08 1 2 3 4 5 6 7 8 9 10 11 12 DC24 CM0 O 00 DC24 CM1 O 01 CM2 O 02 O 04 O 03 CM3 O 05 1 2 3 4 5 6 7 8 9 10 11 12 I 11 I 10 I 13 I 12 13 14 15 16 O 07 O 06 O 09 O 08 13 14...

Страница 62: ...R CR CR DC c L2 c L1 c L1 b DC c CR DC c L2 b IMPORTANT Do not connect DC24 Output terminal 2 to Earth Chassis Ground In Micro870 systems that use more than four Micro800 Expansion I O modules we recommend to use a 1601 XLP60EQ power supply instead of a 2080 PS120 240VAC power supply Make sure to wire both the Micro870 controller and 2085 EP24VDC expansion power supply to the same 1601 XLP60EQ pow...

Страница 63: ...COM0 I 01 I 02 I 03 I 04 I 05 I 06 COM1 I 07 I 09 I 08 1 2 3 4 5 6 7 8 9 10 11 12 DC24 CM0 O 00 DC24 O 01 CM0 CM1 O 02 O 04 O 03 O 06 O 05 1 2 3 4 5 6 7 8 9 10 11 12 I 11 I 10 I 13 I 12 13 14 15 16 O 08 O 07 CM1 O 09 13 14 15 16 24 VDC 24 VDC N L L1 L2 2080 PS120 240VAC DC d CR CR Sourcing DC b Sinking DC b Sourcing DC b Sinking DC b Sourcing DC a Sinking DC a Sourcing DC a Sinking DC a DC e DC e ...

Страница 64: ...g DC a Sinking DC a Sourcing DC a Sinking DC a DC e DC e DC d IMPORTANT Do not connect DC24 Output terminal 2 to Earth Chassis Ground TIP 2080 LC30 48AWB has no high speed inputs I 00 COM0 I 01 I 02 I 03 I 04 I 05 COM1 TERMINAL BLOCK 1 TERMINAL BLOCK 3 TERMINAL BLOCK 2 TERMINAL BLOCK 4 I 07 I 06 I 09 I 08 1 2 3 4 5 6 7 8 9 10 11 12 I 13 I 15 I 16 I 14 I 17 I 18 I 19 COM3 I 21 I 20 I 23 I 22 1 2 3 ...

Страница 65: ... I 18 I 19 COM3 I 21 I 20 I 23 I 22 1 2 3 4 5 6 7 8 9 10 11 12 I 11 I 10 I 12 COM2 13 14 15 16 I 25 I 24 I 27 I 26 13 14 15 16 DC24 DC24 CM0 O 00 O 01 O 02 O 03 CM0 O 04 CM1 O 06 O 05 1 2 3 4 5 6 7 8 9 10 11 12 CM2 O 11 O 12 O 10 O 13 O 14 O 15 CM2 O 16 CM3 O 18 O 17 1 2 3 4 5 6 7 8 9 10 11 12 O 08 O 07 CM1 O 09 13 14 15 16 CM3 O 19 NC NC 13 14 15 16 TERMINAL BLOCK 1 TERMINAL BLOCK 3 TERMINAL BLOC...

Страница 66: ...not electrically isolated from the system and is connected to the power supply common Analog channels are not isolated from each other Use Belden cable 8761 or equivalent shielded wire Under normal conditions the drain wire shield should be connected to the metal mounting panel earth ground Keep the shield connection to earth ground as short as possible To ensure optimum accuracy for voltage type ...

Страница 67: ...Grounding Your Analog Cable Use shielded communication cable Belden 8761 The Belden cable has two signal wires black and clear one drain wire and a foil shield The drain wire and foil shield must be grounded at one end of the cable Wiring Examples Examples of sink source input output wiring are shown below IMPORTANT Do not ground the drain wire and foil shield at both ends of the cable Foil shield...

Страница 68: ...19 Chapter 4 Wire Your Controller Sink input wiring example Com Fuse 24V DC I P 45627 Source output wiring example Micro800 Source output D DC COM OUT V DC S G 24V supply Logic side User side Load Fuse 45626 Source input wiring example Com Fuse 24V DC I P 45625 ...

Страница 69: ... the embedded serial port to PanelView Component HMI using RS232 Embedded Serial Port Pinout table Pin Definition RS 485 Example RS 232 Example 1 RS 485 B not used 2 GND GND GND 3 RS 232 RTS not used RTS 4 RS 232 RxD not used RxD 5 RS 232 DCD not used DCD 6 RS 232 CTS not used CTS 7 RS 232 TxD not used TxD 8 RS 485 A not used IMPORTANT Do not connect the GND pin of the serial port to Earth Chassis...

Страница 70: ...56 Rockwell Automation Publication 2080 UM002K EN E March 2019 Chapter 4 Wire Your Controller Notes ...

Страница 71: ...thernet port Supported Communication Protocols Micro830 Micro850 and Micro870 controllers support communication through the embedded RS 232 RS 485 serial port as well as any installed serial port plug in modules In addition Micro850 and Micro870 controllers also support communication through the embedded Ethernet port and can be connected to a local area network for various devices providing 10 Mb...

Страница 72: ...icro870 Controllers Description Micro830 Micro850 Micro870 CIP Connections Total number of client plus server connections for all ports 16 24 Maximum number of client connections for all ports 15 16 Maximum number of server connections for all ports 16 24 Maximum number of EtherNet IP connections Client 16 Server 23 Maximum number of USB connections Client Server 15 23 Maximum number of Serial con...

Страница 73: ...bus org See Modbus Mapping for Micro800 on page 241 for information on Modbus mapping To configure the Serial port as Modbus RTU see Configure Modbus RTU on page 67 CIP Serial Client Server RS 232 only CIP Serial Client Server allows CIP protocol to be used over an RS 232 serial port It is typically used with modems The advantage over non CIP serial protocols is that since the protocol is CIP prog...

Страница 74: ...ted by any CIP compliant interface including Ethernet EtherNet IP and Serial Port CIP Serial This protocol allows HMIs to easily connect to the Micro830 Micro850 Micro870 controller Micro850 and Micro870 controllers support up to 16 simultaneous EtherNet IP Client connections and 23 simultaneous EtherNet IP Server connections CIP Serial supported on Micro830 Micro850 and Micro870 controllers makes...

Страница 75: ...pes in CIP Symbolic Data Type 1 1 Logix MSG instruction can read write SINT INT DINT LINT and REAL data types using CIP Data Table Read and CIP Data Table Write message types BOOL USINT UINT UDINT ULINT LREAL STRING SHORT_STRING DATE and TIME data types are not accessible with the Logix MSG instruction Description BOOL Logical Boolean with values TRUE 1 and FALSE 0 Uses up 8 bits of memory SINT Si...

Страница 76: ...TCP and UDP Typical applications include communicating to printers barcode readers and PCs CIP Communications Pass thru The Micro830 Micro850 and Micro870 controllers support pass thru on any communications port that supports Common Industrial Protocol CIP for applications such as program download It does not support applications that require dedicated connections such as HMI Micro830 Micro850 and...

Страница 77: ...iceNet PowerFlex 525 drive with 25 COMM D adapter Address 1 CompactBlock LDX I O Address 2 Esc Sel For program download DeviceNet PowerFlex 525 drive with 25 COMM D adapter Address 1 EtherNet IP Esc Sel Micro850 controller with 2080 DNET20 plug in scanner Address 0 CompactBlock LDX I O Address 2 The user can use Connected Components Workbench software to configure the PowerFlex drives For program ...

Страница 78: ...dded serial port together with a 9 pin null modem adapter a null modem with a null modem adapter is equivalent to a modem cable The recommended protocol for this configuration is CIP Serial Construct Your Own Modem Cable If you construct your own modem cable the maximum cable length is 15 24 m 50 ft with a 25 pin or 9 pin connector Refer to the following typical pinout for constructing a straight ...

Страница 79: ...the Serial Port driver as CIP Serial Modbus RTU ASCII or Shutdown through the Device Configuration tree in Connected Components Workbench Configure CIP Serial Driver 1 Open your Connected Components Workbench project On the device configuration tree go to the Controller properties Click Serial Port 2 Select CIP Serial from the Driver field ...

Страница 80: ...Configured as no handshake by default Duplicate Packet Detection Detects and eliminates duplicate responses to a message Duplicate packets may be sent under noisy communication conditions when the sender s retries are not set to 0 Toggles between Enabled and Disabled Enabled Error Detection Toggles between CRC and BCC CRC Embedded Responses To use embedded responses choose Enabled Unconditionally ...

Страница 81: ... E March 2019 67 Communication Connections Chapter 5 Configure Modbus RTU 1 Open your Connected Components Workbench project On the device configuration tree go to the Controller properties Click Serial Port 2 Select Modbus RTU on the Driver field ...

Страница 82: ...ct On the device configuration tree go to Controller properties Click Serial Port Modbus RTU Parameters Parameter Options Default Baud Rate 1200 2400 4800 9600 19200 38400 19200 Parity None Odd Even None Modbus Role Master Slave Auto Master Modbus RTU Advanced Parameters Parameter Options Default Media RS 232 RS 232 RTS CTS RS 485 RS 232 Data bits Always 8 8 Stop bits 1 2 1 Response timer 0 999 99...

Страница 83: ...02K EN E March 2019 69 Communication Connections Chapter 5 2 Select ASCII on the Driver field 3 Specify baud rate and parity ASCII Parameters Parameter Options Default Baud Rate 1200 2400 4800 9600 19200 38400 19200 Parity None Odd Even None ...

Страница 84: ... tree go to Controller properties Click Ethernet ASCII Advanced Parameters Parameter Options Default Control Line Full Duplex Half duplex with continuous carrier Half duplex without continuous carrier No Handshake No Handshake Deletion Mode CRT Ignore Printer Ignore Data bits 7 8 8 Stop bits 1 2 1 XON XOFF Enabled or Disabled Disabled Echo Mode Enabled or Disabled Disabled Append Chars 0x0D 0x0A o...

Страница 85: ...onnection speed and duplexity uncheck the option box Auto Negotiate speed and duplexity Then set Speed 10 or 100 Mbps and Duplexity Half or Full values 7 Click Save Settings to Controller if you would like to save the settings to your controller TIP The Ethernet port defaults to the following out of the box settings DHCP dynamic IP address Address Duplicate Detection On IMPORTANT When a DHCP serve...

Страница 86: ...dress must be on the same subnet as the IP address that is being configured The Name Server address cannot be set to zero a multicast address a broadcast address or an address on the Class A loopback network 127 x x x The valid range of static IPv4 IP address exclude Broadcast or zero IP 255 255 255 255 or 0 0 0 0 IP address starting with 0 or 127 0 xxx xxx xxx or 127 xxx xxx xxx IP address ending...

Страница 87: ... in your system support Configure all devices in the system for the same communication rate Default baud rate is set 38400 bps 4 In most cases parity and station address should be left at default settings 5 Click Advanced Settings and set Advanced parameters OPC Support Using RSLinx Enterprise Support for Open Platform Communications OPC using CIP symbolic has been added from firmware release 7 0 ...

Страница 88: ...74 Rockwell Automation Publication 2080 UM002K EN E March 2019 Chapter 5 Communication Connections Notes ...

Страница 89: ...hen you start up the Project Organizer in Connected Components Workbench it displays the program icons based on this order You can view and modify an order number for a program from the program s properties However the Project Organizer does not show the new order until the next time the project is opened The Micro800 controller supports jumps within a program Call a subroutine of code within a pr...

Страница 90: ...s depending on the number of active instructions When a cycle exceeds the specified time the loop continues to execute the cycle but sets an overrun flag In such a case the application no longer runs in real time When a cycle time is not specified a resource performs all steps in the loop then restarts a new cycle without waiting Optional Module Normally before the read inputs step the controller ...

Страница 91: ...The Watchdog setting defaults to 2 s and generally never needs to be changed Periodic Execution of Programs For applications where periodic execution of programs with precise timing is required such as for PID it is recommended that STI Selectable Timed Interrupt be used to execute the program STI provides precise time intervals It is not recommended that the system variable __SYSVA_TCYCYCTIME be ...

Страница 92: ... of 128 kilobytes of user created variable values For example A user created variable called My_Timer of Time data type will be retained after a power cycle but the elapsed time ET within a user created timer TON instruction will be cleared This means that after a power cycle global variables are cleared or set to initial value and depending on the controller some or all user created variable valu...

Страница 93: ...nts as well as configuration memory for storing plug in setup information and so on Guidelines and Limitations for Advanced Users Here are some guidelines and limitations to consider when programming a Micro800 controller using Connected Components Workbench software Each program POU can use up to 64 Kb of internal address space For all controllers except Micro870 it is recommended that you split ...

Страница 94: ...tive is to use ST combined with either UDF or UDFB As an example for an Astronomical Clock Calculation Structured Text uses 40 less Instructions Display_Output LD Memory Usage Code 3148 steps Memory Usage Data 3456 bytes Display_Output ST Memory Usage Code 1824 steps Memory Usage Data 3456 bytes You may encounter an Insufficient Reserved Memory error while downloading and compiling a program over ...

Страница 95: ... Micro800 motion configuration and instructions makes programming easy See publication CC QS033 for building block example PTO Motion Control Certain Micro830 Micro850 and Micro870 controllers see table below support motion control through high speed pulse train outputs PTO PTO functionality refers to the ability of a controller to accurately generate a specific number of pulses at a specified fre...

Страница 96: ...NTION To use the Micro800 Motion feature effectively users need to have a basic understanding of the following PTO components and parameters See Use the Micro800 Motion Control Feature on page 83 for a general overview of Motion components and their relationships Programming and working with elements in the Connected Components Workbench software The user needs to have a working knowledge of ladde...

Страница 97: ...Consists of one pulse output and one direction output A standard interface to control a servo or stepper drive Input and Output Signals on page 84 Axis From a system point of view an axis is a mechanical apparatus that is driven by a motor and drive combination The drive receives position commands through the Micro800 pulse train outputs interface based upon the PLC execution of motion function bl...

Страница 98: ... not be controlled in the user program Fixed PTO Input Output Motion Signals PTO0 EM_00 PTO1 EM_01 PTO2 EM_02 Logical Name in Software Name on Terminal Block Logical Name in Software Name on Terminal Block Logical Name in Software Name on Terminal Block PTO pulse _IO_EM_DO_00 O 00 _IO_EM_DO_01 O 01 IO_EM_DO_02 O 02 PTO direction _IO_EM_DO_03 O 03 _IO_EM_DO_04 O 04 IO_EM_DO_05 O 05 Lower Negative L...

Страница 99: ...nput Output Description Uniqueness PTO pulse OUTPUT PTO pulse from the embedded fast output to be connected to Drive PTO input Not Shared PTO direction OUTPUT PTO pulse direction indication to be connected to Drive Direction input Not Shared Servo Drive On OUTPUT The control signal used to activate deactivate Servo Drive This signal becomes Active when MC_Power on is commanded Can be shared with m...

Страница 100: ...rror EP_MC_MECHAN_ERR if the signal is not active within five seconds when the last PTO pulse sent out Not Shared Home Marker INPUT This signal is the zero pulse signal from the motor encoder This signal can be used for fine homing sequence to improve the homing accuracy Not Shared Motion Wiring Input Output Description Motion Signals Input Output Description Uniqueness 2080 LC30 xxQVB 2080 LC50 x...

Страница 101: ... Power Supply _ Encoder Motor Encoder signal cable Motor power cable Notes 1 Drive Enable Pin 3 and Reset Drive Pin 7 will be operating as sinking inputs when Pin 1 2 connected to of the Power Supply 2 46047 2 To help you configure Kinetix3 drive parameters so the drive can communicate and be controlled by a Micro830 Micro850 Micro870 controller see publication CC QS033 The parameter Command Type ...

Страница 102: ... MC_Home This function block commands the axis to perform the search home sequence The Position input is used to set the absolute position when reference signal is detected and configured Home offset is reached This function block completes at StandStill if the homing sequence is successful Standstill MC_Stop This function block commands an axis stop and transfers the axis to the state Stopping It...

Страница 103: ...veVelocity function block can be used to define the direction of the move that is negative velocity x negative direction positive velocity For MC_MoveRelative and MC_MoveAbsolute function blocks the absolute value of the velocity is used Velocity input does not need to be reached if Jerk input is equal to 0 Direction Input For MC_MoveAbsolute direction input is ignored This is reserved for future ...

Страница 104: ...ute command before it completes as a series of commands on the same instance the new Execute command is ignored and the previously issued instruction continues with execution With Enable The outputs Valid and Error indicate whether a read function block executes successfully They are mutually exclusive only one of them can be true on one function block for MC_ReadBool MC_ReadParameter MC_ReadStatu...

Страница 105: ...finished for function blocks with an Execute input and new output values are pending for function blocks with Enable input Busy is set at the rising edge of Execute and reset when one of the outputs Done Aborted or Error is set or it is set at the rising edge of Enable and reset when one of the outputs Valid or Error is set It is recommended that the function block continue executing in the progra...

Страница 106: ...er exists the values will be updated and the Valid output will be set again Relative Move versus Absolute Move Relative move does not require the axis to be homed It simply refers to a move in a specified direction and distance Absolute move requires that the axis be homed It is a move to a known position within the coordinate system regardless of distance and direction Position can be negative or...

Страница 107: ...ck This is mostly useful for on the fly adjustments to position velocity or to halt after a specific distance Example Move to Position Ignored Due to Busy TIP MC_MoveRelative MC_MoveAbsolute will be busy until final position is reached MC_MoveVelocity MC_Halt and MC_Stop will be busy until final velocity is reached Velocity Time Execute1 Busy1 46054 Velocity Time Execute1 Busy1 This command is ign...

Страница 108: ...ion block is only Busy during acceleration or deceleration Only a single instance of the function block is required To bring the axis to a standstill use MC_Halt Velocity Time Execute1 Busy1 CommandAborted1 Execute2 Busy2 Aborted move is possible if using two instances of MC_MoveRelative MC_MoveAbsolute The second instance can immediately abort the first instance and vice versa for applications wh...

Страница 109: ...tion This is not recommended as the resulting motion profile may not be consistent ATTENTION If MC_Halt aborts another motion function block during acceleration and the MC_Halt Jerk input parameter is less than the Jerk of the currently executing function block the Jerk of the currently executing function block is used to prevent an excessively long deceleration Velocity Time Execute1 Busy Busy Ha...

Страница 110: ... Deceleration IMPORTANT If MC_Halt aborts another movement function block during acceleration and the MC_Halt Jerk input parameter is less than the Jerk of the currently executing FB the Jerk of the currently executing function block is used to prevent excessively long deceleration Velocity Time Execute1 Busy Busy Halt Execute CommandAborted 46050 ...

Страница 111: ...sic rule is that motion commands are always taken sequentially even if the controller has the capability of real parallel processing These commands act on the axis state diagram The axis is always in one of the defined states see diagram below Any motion command is a transition that changes the state of the axis and as a consequence modifies the way the current motion is computed TIP MC_Stop can a...

Страница 112: ...cks except MC_Reset can be called although they will not be executed MC_Reset generates a transition to the Standstill state If an error occurs while the state machine is in the Stopping state a transition to the ErrorStop state is generated Axis position still updates even if the Axis state is ErrorStop Also the MC_TouchProbe function block is still active if it was executed before the ErrorStop ...

Страница 113: ...s state update is still dependent on when the relevant motion function block is called by the POU scan For example on a moving axis on a Ladder POU state of a rung true an MC_MoveRelative function block in the rung is scanned and the axis starts to move Before MC_MoveRelative completes the state of the rung becomes False and MC_MoveRelative is no longer scanned In this case the state of this axis ...

Страница 114: ...als detect the presence of the load at the maximum upper and minimum lower extents of allowable motion of the load or movable structure that carries the load such as a load tray on a transfer shuttle Hardware limits are mapped to discrete inputs that are associated with data tags variables When a hard limit switch is enabled the axis comes to a stop when the limit switch is detected during motion ...

Страница 115: ...alue is assumed Soft Limits are activated only when the corresponding axis is homed Users can enable or disable soft limits and configure an upper and lower limit setting through the Connected Components Workbench software When a soft limit is enabled the axis comes to a stop when the limit is detected during motion The motion is stopped using emergency stop parameters If both hard and soft limits...

Страница 116: ...hat can be configured for an axis Immediate Hardware Stop This type of Immediate Stop is controlled by the hardware If a Hard Stop on a Hard Limit switch is enabled and the Hard Limit has been reached the PTO pulse for the axis will be cut off immediately by the controller The stop response has no delay less than 1 µs Immediate Soft Stop The maximum possible response delay for this type of stop co...

Страница 117: ...r set to 0 During motion MC_Stop function block is issued with Deceleration parameter not set to 0 Motion Direction For distance position motion with the target position defined absolute or relative the direction input is ignored For velocity motion direction input value can be positive 1 current 0 or negative 1 For any other value only the sign whether positive or negative is considered and defin...

Страница 118: ...cates whether homing operation is successfully executed for the axis or not When the user tries to redo homing for an axis with AxisHomed already set homing performed successfully and the result is not successful the AxisHomed status will be cleared ConsVelFlag UINT8 Indicates whether the axis is in constant velocity movement or not Stationary axis is not considered to be in constant velocity AccF...

Страница 119: ...r For example User Application issues an S Curve MC_MoveAbsolute function block to an axis with too short a distance given when the axis is moving When one movement function block is issued to an axis and the axis is in the Stopping or Error Stopping sequence CommandPos REAL float 1 On a moving axis this is the current position the controller commands the axis to go to TargetVel REAL float 1 The m...

Страница 120: ...ction blocks share the same ErrorID definition Axis error and function block error share the same Error ID but error descriptions are different as described in the table below Data Elements for MC_Engine_Diag Element name Data Type MCEngState UINT16 CurrScantime 1 1 The time unit for this element is microsecond This diagnostic information can be used to optimize motion configuration and user appli...

Страница 121: ...s configuration data is corrupted or the axis is not correctly configured Motion internal Fault Error ID 0x04 Call Tech support 05 MC_FB_ERR_MECHAN The function block cannot execute because the axis is faulty due to drive or mechanical issues Check the connection between the drive and the controller Drive Ready and In Position signals and ensure the drive is operating normally The axis is not oper...

Страница 122: ...s using the MC_Reset function block and then move the axis away from the hard limit switch in the opposite direction 12 MC_FB_ERR_LOG_LIMIT This function block cannot execute as it will end up moving beyond the PTO Accumulator logic limit or the function block is aborted as the PTO Accumulator logic limit has been reached Check the velocity or target position settings for the function block Or use...

Страница 123: ...on 0xF100 EP_MC_CONFIG_GEN_ERR There is general configuration error detected in the motion configuration downloaded from Connected Components Workbench such as Num of Axis or Motion execution interval being configured out of range When this major fault is reported there could be no axis in ErrorStop state 0xF110 EP_MC_RESOURCE_MISSING Motion configuration has mismatch issues with motion resource d...

Страница 124: ...ameters are validated based on a set of relationships and pre determined absolute range See Motion Axis Parameter Validation on page 121 for a description of the relationships between parameters IMPORTANT Motion Engine Execution Time When an axis is added to the configuration the Motion Engine Execution Time can be configured from 1 10 ms default 1 ms This global parameter applies to all motion ax...

Страница 125: ...nfigurable outputs General Parameters Parameter Description and Values Axis Name User defined Provides a name for the motion axis PTO Channel Shows the list of available PTO channels Pulse output Presents the logical variable name of the Direction Output channel based on the PTO channel value that has been assigned Direction output Presents the logical variable name of the Direction Output channel...

Страница 126: ...High default or Low Drive ready input Servo Ready Input Enable flag Check the option box to enable the input Input The list of digital input variables Select an input Active Level Set as High default or Low Touch probe input Configure whether an input for touch probe is used Check the option box to enable touch probe input Input List of digital input variables Select an input Active Level Set the ...

Страница 127: ...drive motor Range 0 0001 8388607 Default 200 0 Travel per revolution 1 Travel per revolution defines the distance either linear or rotational that the load moves per revolution of the motor Range 0 0001 8388607 Default 1 0 user unit Direction Defines polarity mode and change of delay time values Polarity Direction polarity determines whether the direction signal received by the controller as a dis...

Страница 128: ...ower Hard Limit Click checkbox to enable a lower hard limit Active Level for Lower Hard Limit High or Low Upper Hard Limit Click checkbox to enable Active Level for Upper Hard Limit High or Low Soft Limits Defines upper and lower soft limits values Lower Soft Limit 2 2 The parameter is set as REAL float value in Connected Components Workbench To learn more about conversions and rounding of REAL va...

Страница 129: ...reater than maximum velocity Start Stop Velocity in rpm 1 2 Max Velocity 1 2 The range is based on Motor and Load parameters See Motor and Load Parameters on page 113 using Range 1 10 000 000 pulse sec Default 100 000 0 pulse sec Max Acceleration 1 The range is based on Motor and Load parameters See Motor and Load Parameters on page 113 using Range 1 10 000 000 pulse sec2 Default 10 000 000 pulse ...

Страница 130: ...00 pulse sec3 Default 0 0 rpm3 Disabled 1 The parameter is set as REAL float value in Connected Components Workbench To learn more about conversions and rounding of REAL values see Real Data Resolution on page 118 2 The formula for deriving rpm to user unit and vice versa 3 To convert from parameter value from pulse to user units TIP A red border on an input field indicates that an invalid value h...

Страница 131: ...cceleration Homing Deceleration 1 Range 1 10 000 000 pulse sec2 Default 5000 0 pulse sec2 25 0 mm sec2 NOTE Homing Deceleration should not be greater than Maximum Deceleration Homing Jerk 1 Range 0 10 000 000 pulse sec3 Default 0 0 pulse sec3 0 0 mm sec3 NOTE Homing Jerk should not be greater than Maximum Jerk Creep Velocity 1 Range 1 5 000 pulse sec Default 1000 0 pulse sec 5 0 mm sec NOTE Homing...

Страница 132: ... Certain data elements and axis properties use REAL data format single precision floating point format Real data has seven digit resolution and digit values entered by the user that are longer than seven digits are converted See the following examples If the number of digits is greater than seven 7 and the eighth digit is greater than or equal to 5 then the 7th digit is rounded up For example 2147...

Страница 133: ...parameter The range of values presented in the tooltip messages are also presented in REAL data format Pulses per revolution 8388608 8388608 no conversion Pulse per revolution must be in the range of 0 0001 to 8388607 user unit Upper Soft Limit 10730175 1 073018E 7 Upper Soft limit must be greater than Lower Soft Limit The range is from 0 exclusive to 1 073217E 07 user unit Lower Soft Limit 107301...

Страница 134: ...configures Motor Pulses per Revolution as 1 000 and Travel per Revolution as 10 cm and the user wants to drive velocity at 4 504 cm sec The target velocity is 4 504 cm sec that is 450 4 pulse sec In this case the actual commanded velocity will be 4 5 cm sec that is 450 pulse sec and the 0 4 pulse sec is rounded off This rounding scheme also applies to other input parameters such as Position Distan...

Страница 135: ...should be less than the Upper Soft Limit Start Stop velocity should not be greater than the maximum velocity Emergency Stop velocity should not be greater than the maximum velocity Homing velocity should not be greater than the maximum velocity Homing acceleration should not be greater than maximum acceleration Homing deceleration should not be greater than maximum deceleration Homing jerk should ...

Страница 136: ...e executed as usual If MC_Home is aborted before it completes the previously searched home position is considered as invalid and the axis Homed status is cleared After axis power on is done the axis Homed status is reset to 0 not homed On most scenarios the MC_Home function block needs to be executed to calibrate the axis position against the axis home configured after MC_Power On is done There ar...

Страница 137: ...figuration assumptions 1 Homing direction is configured as negative direction 2 The Lower limit switch is configured as enabled and wired The different homing modes as defined see table Homing Modes on page 122 can have different but still similar motion sequence The concept discussed below is applicable to various homing configurations MC_HOME_ABS_SWITCH MC_HOME_ABS_SWITCH 0 homing procedure perf...

Страница 138: ...moves to its left side negative direction 2 When lower limit switch is detected the moving part decelerates to stop or stop immediately according to limit switch hard stop configuration 3 Moving part moves back in positive direction in creep velocity to detect home switch On Off edge 4 Once home switch On Off edge is detected record the position as mechanical home position and decelerate to stop 5...

Страница 139: ...tual status for the switch before homing starts that is when the MC_Home function block is issued Scenario 1 Moving part at right positive side of Lower Limit switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side in negative direction 2 When Lower Limit switch is detected the moving part decelerates to stop or stops immediately ...

Страница 140: ... Pulse signal The actual motion sequence is dependent on the home switch limit switch configuration and the actual status for the switches before homing starts that is when the MC_Home function block is issued Scenario 1 Moving part at right positive side of Home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its left side in negative ...

Страница 141: ... software Scenario 3 Moving part on Lower Limit or Home switch before homing starts The homing motion sequence for this scenario is as follows 1 Moving part moves to its right side in positive direction in creep velocity to detect Home switch On Off edge 2 Once Home Abs switch On Off is detected start to detect first Ref Pulse signal 3 Once the first Ref Pulse signal comes record the position as m...

Страница 142: ... configuration 3 Moving part moves back in positive direction in creep velocity to detect Lower Limit switch On Off edge 4 Once Lower Limit switch On Off edge is detected start to detect first Ref Pulse signal 5 Once the first Ref Pulse signal comes record the position as the mechanical home position and decelerate to stop 6 Move to the configured home position The mechanical home position recorde...

Страница 143: ...ide of Lower Limit switch before homing starts In this case the homing motion fails and moves continuously to the left until drive or moving part fails to move User needs to make sure the moving part at the proper location before homing starts MC_HOME_DIRECT MC_HOME_DIRECT 4 homing procedure performs a static homing by directly forcing an actual position No physical motion is performed in this mod...

Страница 144: ... Axis ENO Status Busy Active Error ErrorID 1 Enable power up the PWM axis immediately after going to RUN mode PWM axis will remain powered ON until Program mode and so on __SYSVA_FIRST_SCAN MC_WriteParameter_1 MC_WriteParameter EN AxisIn Parameter_Number Execute Value PWM0 Update_PWM_Duty_Cycle 1005 G_PWM_Duty_Cycle Axis ENO Done Busy Error ErrorID 2 Continually use MC_WriteParameter Parameter 100...

Страница 145: ...first scan use MC_MoveVelocity to continually set the PWM frequency for example 50 000 50 KHz from global variable G_PWM_Frequency PWM axis will run forever until Program Mode MC_Halt and so on Variable MC_Power_1 Direction VAR Data Type MC_Power Attribute ReadWrite Direct variable Channel Variable MC_MoveVelocity_1 Direction VAR Data Type MC_MoveVelocity Attribute ReadWrite Direct variable Channe...

Страница 146: ...is provides ease of use as you no longer need to program the function blocks and it also uses up less memory on the controller The HSC Feedback Axis uses only the administrative function blocks from the PTO Motion Axis and they share the same Axis Monitor IMPORTANT The counters are not reset to zero for program download For example if using the feedback axis use the MC_ResetPosition function block...

Страница 147: ... ProgrammableLimitSwitch Overview The Programmable Limit Switch function allows you to configure the High Speed Counter to operate as a PLS Programmable Limit Switch or rotary cam switch For more information see Programmable Limit Switch PLS Function on page 159 ATTENTION To use the Micro800 HSC feature effectively you need to have a basic understanding of the following HSC components and data ele...

Страница 148: ... performance requirements of these functions Features and Operation The HSC is extremely versatile you can select or configure the master HSC for any one of ten 10 modes and the sub HSC for any one of five 5 modes of operation See HSC Mode HSCAPP HSCMode on page 140 for more information Some of the enhanced capabilities of the High Speed Counters are 100 kHz operation Direct control of outputs 32 ...

Страница 149: ...igh speed counters Each main high speed counter has four dedicated inputs and each sub high speed counter has two dedicated inputs TIP You must set a proper value for the variables OFSetting HPSetting and UFSetting before triggering Start Run HSC Otherwise the controller will be faulted Setting a value for LPSetting is optional for certain counting modes To learn more about HscAppData variable inp...

Страница 150: ... Input 0 HSC0 Input 2 HSC1 Input 1 HSC0 Input 3 HSC1 Input 2 HSC0 Input 3 HSC0 Mode Value in User Program HSCAppData HSCMode Counter with Internal Direction mode 1a Count Up Not Used 0 Counter with Internal Direction External Reset and Hold mode 1b Count Up Not Used Reset Hold 1 Counter with External Direction mode 2a Count Up Down Direction Not Used 2 Counter with External Direction Reset and Hol...

Страница 151: ...drature Counter with External Reset and Hold mode 4b A Type input B Type input Z Type Reset Hold 7 Quadrature X4 Counter mode 5a A Type input B Type input Not Used 8 Quadrature X4 Counter with External Reset and Hold A Type input B Type input Z Type Reset Hold 9 Micro830 Micro850 48 point Controller HSC Input Wiring Mapping Modes of Operation Input 0 HSC0 Input 2 HSC1 Input 4 HSC2 Input 6 HSC3 Inp...

Страница 152: ... input B Type input Not Used 8 Quadrature X4 Counter with External Reset and Hold A Type input B Type input Z Type Reset Hold 9 Micro830 Micro850 48 point Controller HSC Input Wiring Mapping Modes of Operation Input 0 HSC0 Input 2 HSC1 Input 4 HSC2 Input 6 HSC3 Input 8 HSC4 Input 10 HSC5 Input 1 HSC0 Input 3 HSC1 Input 5 HSC2 Input 7 HSC3 Input 9 HSC4 Input 11 HSC5 Input 2 HSC0 Input 6 HSC2 Input ...

Страница 153: ...C APP Data then call HSC function block with command 0x03 set reload Otherwise the change to HSC App Data during HSC counting will be ignored PLS Enable HSCAPP PLSEnable This bit enables and disables the HSC Programmable Limit Switch PLS function When the PLS function is enabled the setting in HSCAPP HpSetting HSCAPP LpSetting HSCAPP HPOutput HSCAPP LPOutput are superseded by corresponding data va...

Страница 154: ... Plug in module 7 0 Module internal HSC ID 0x00 0x0F Embedded 0x00 0x07 Expansion not yet implemented 0x00 0x07 Plug in module Description Data Format User Program Access HSC Mode word UINT read write HSC Operating Modes Mode Number Type 0 Up Counter The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode 1 Up Counter with external reset...

Страница 155: ...nts Function Count Not Used Not Used Not Used Example 1 on 1 HSC Accumulator 1 count Example 2 on 1 off 0 off 0 Hold accumulator value TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 1 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Not Used Reset Hold Example 1 ...

Страница 156: ...C being used HSC Mode 3 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Direction Reset Hold Example 1 off 0 on 1 off 0 off 0 on 1 HSC Accumulator 1 count Example 2 on 1 on 1 off 0 off 0 on 1 HSC Accumulator 1 count Example3 on 1 off 0 on 1 Hold accumulator value Example 4 on 1 off 0 off 0 Hold accumulator value Example 5 ...

Страница 157: ...e 2 on 1 off 0 on 1 HSC Accumulator 1 count Example3 off 0 Hold accumulator value TIP Inputs 0 through 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 5 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Direction Reset Hold Example 1 on 1 off 0 on 1 off 0 off 0 on 1 HSC Accumul...

Страница 158: ... provide one pulse per revolution HSC Mode 6 Quadrature Counter phased inputs A and B Reverse Rotation Forward Rotation B A 1 2 3 2 1 Count Input 0 Input 1 Input 2 A B Z Reset Quadrature Encoder A B Input 0 Input 1 HSC Mode 6 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count A Count B Not Used Not Used Example 1 1 off 0 on 1...

Страница 159: ... off 0 on 1 Reset accumulator to zero Example 4 on 1 Hold accumulator value Example 5 on 1 Hold accumulator value Example 6 off 0 on 1 Hold accumulator value Example 7 off 0 off 0 Hold accumulator value 1 Count input A leads count input B 2 Count input B leads count input A TIP Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used HSC Mode 8 Examples Embed...

Страница 160: ...ess than or equal to the data resident in the overflow HSCAPP OFSetting parameter or an HSC error is generated HSC Mode 9 Examples Embedded Input 0 HSC0 A Embedded Input 1 HSC0 B Embedded Input 2 HSC0 Reset Embedded Input 3 HSC0 Hold Value of CE Bit Accumulator and Counter Action OFF X TRUE Count Up Acc Value ON X TRUE Count Down Acc Value OFF X TRUE Count Down Acc Value ON X TRUE Count Up Acc Val...

Страница 161: ... user can specify any value for the overflow position provided it is greater than the underflow value and falls between 2 147 483 648 and 2 147 483 647 Underflow Setting HSCAPP UFSetting The HSCAPP UFSetting defines the lower count limit for the counter If the counter s accumulated value decrements past the value specified in this variable an underflow interrupt is generated When the underflow int...

Страница 162: ...tMask variable directly corresponds to the output bits on the controller Bits that are set 1 are enabled and can be turned on or off by the HSC sub system Bits that are clear 0 cannot be turned on or off by the HSC sub system The mask bit pattern can be configured only during initial setup The following table shows example of how HPOutput and OutputMask controls Embedded output TIP Data loaded int...

Страница 163: ...ntroller when the high preset is reached For more information on how to directly turn outputs on or off based on the high preset being reached see Output Mask Bits HSCAPP OutputMask on page 148 The high output bit pattern can be configured during initial setup or while the controller is operating Use the HSC function block to load the new parameters while the controller is operating Low Preset Out...

Страница 164: ...at can be used in the control program to detect if an error is present in the HSC sub system The most common type of error that this bit represents is a configuration error When this bit is set 1 you should look at the specific error code in parameter HSCSTS ErrorCode This bit is maintained by the controller and is set when there is an HSC error This bit can be cleared by the user if necessary Des...

Страница 165: ... HSCSTS OVF status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator has counted through the overflow variable HSCAPP OFSetting This bit is transitional and is set by the HSC sub system It is up to the control program to utilize track if necessary and clear 0 the overflow condition Overflow conditions do not generate a controller fault Description Data Format HS...

Страница 166: ... its value The only time the direction flag changes is when the accumulated count reverses This bit is updated continuously by the HSC sub system whenever the controller is in a run mode High Preset Reached HSCSTS HPReached The High Preset Reached status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator is greater than or equal to the high preset variable HSCAPP...

Страница 167: ...sub system whenever these conditions are detected Low Preset Interrupt executes High Preset Interrupt executes Underflow Interrupt executes Underflow Interrupt HSCSTS UFCauseInter The Underflow Interrupt status bit is set 1 when the HSC accumulator counts through the underflow value and the HSC interrupt is triggered This bit can be used in the control program to identify that the underflow condit...

Страница 168: ...s set 1 when the HSC accumulator reaches the low preset value and the HSC interrupt has been triggered This bit can be used in the control program to identify that the low preset condition caused the HSC interrupt If the control program needs to perform any specific control action based on the low preset this bit would be used as conditional logic This bit can be cleared 0 by the control program a...

Страница 169: ...the upper setpoint in counts that defines when the HSC sub system generates an interrupt The data loaded into the high preset must be less than or equal to the data resident in the overflow HSCAPP OFSetting parameter or an HSC error is generated Description Data Format HSC Modes 1 1 For Mode descriptions see HSC Mode HSCAPP HSCMode on page 140 User Program Access HSCSTS ErrorCode Word INT 0 9 read...

Страница 170: ...ON or 0 OFF of the outputs on the controller when the high preset is reached See Output Mask Bits HSCAPP OutputMask on page 148 for more information on how to directly turn outputs on or off based on the high preset being reached This is the latest high preset output setting which may be updated by PLS function from the PLS data block Low Preset Output HSCSTS LPOutput The Low Preset Output defines...

Страница 171: ...may not match the values in the Hardware Command 3 must be executed to load the values from the variables to the hardware without stopping the HSC If the HSC Enable is True HscCmd 3 will continuously load the parameters Trigger HscCmd 3 only once HSC HSC HscCmd STS HscAppData HscStsInfo PlsData Enable 45631 HSC Parameters Parameter Parameter Type Data Type Parameter Description Enable Input BOOL E...

Страница 172: ...ely before HscCmd 4 is issued HSC Commands HSC Command Description 0x00 Reserved 0x01 HSC RUN Start HSC if HSC in Idle mode and Rung is Enabled Update HSC Status Info only if HSC already in RUN mode and Rung is Enabled Update HSC status Info only if Rung is disabled 0x02 HSC Stop Stop a HSC counting if HSC is in RUN mode and Rung is Enabled 0x03 HSC Load reload HSC Configuration if Rung is Enabled...

Страница 173: ...k is illustrated below HSC Parameters Parameter Parameter Type Data Type Parameter Description Enable Input BOOL Enable function block When Enable TRUE set reset the HSC status When Enable FALSE there is no HSC status change HscId Input See HSC APP Data Structure on page 139 Describes which HSC status to set Mode1Done Input BOOL Mode 1A or 1B counting is done HPReached Input BOOL High Preset reach...

Страница 174: ...umber of elements for one PLS data cannot be larger than 255 When PLS is not enabled PLS data are still required to be defined but can be not initialized PLS Operation When the PLS function is enabled and the controller is in the run mode the HSC counts incoming pulses When the count reaches the first preset HSCHP or HSCLP defined in the PLS data the output source data HSCHPOutput or HSCLPOutput i...

Страница 175: ...n low or both directions If your application only counts in one direction ignore the other parameters The PLS function can operate with all of the other HSC capabilities The ability to select which HSC events generate a user interrupt are not limited PLS Example Setting Up the PLS data Using Connected Components Workbench define the PLS data HSC_PLS s dimension as 1 4 TIP The HSCHPOutput is only w...

Страница 176: ...the outputs are turned off The value of HSCSTS HP 250 When HSCSTS Accumulator 250 the HSC_PLS 1 HscHPOutput is sent through the HSCAPP OutputMask and energizes the outputs 0 and 1 This will repeat as the HSCSTS Accumulator reaches 500 750 and 1000 The controller energizes outputs 0 2 0 3 and 0 4 respectively Once completed the cycle resets and repeats from HSCSTS HP 250 HSC Interrupts An interrupt...

Страница 177: ...and Micro870 controllers provide to execute selected user logic at a pre configured event HSC0 is used in this document to define how HSC interrupts work HSC Interrupt Configuration In the User Interrupt configuration window select HSC and HSC ID which is the interrupt triggering the User Interrupt The following diagram shows the selectable fields in the Interrupt configuration window ...

Страница 178: ...d This bit is controlled by the user program and retains its value through a power cycle It is up to the user program to set and clear this bit Mask for IN HSC0 MN The MN Underflow Mask control bit is used to enable allow or disable not allow a underflow interrupt from occurring If this bit is clear 0 and a Underflow Reached condition is detected by the HSC the HSC user interrupt is not executed T...

Страница 179: ... value through a power cycle It is up to the user program to set and clear this bit HSC Interrupt Status Information User Interrupt Enable HSC0 Enabled The Enabled bit is used to indicate HSC interrupt enable or disable status User Interrupt Executing HSC0 EX The EX User Interrupt Executing bit is set 1 whenever the HSC sub system begins processing the HSC subroutine due to any of the following co...

Страница 180: ... control program if you need to determine when a subroutine cannot be executed immediately This bit is maintained by the controller and is set and cleared automatically User Interrupt Lost HSC0 LS The LS User Interrupt Lost is a status flag that represents an interrupt has been lost The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost b...

Страница 181: ...er is given exclusive access to that controller Password Protection By setting a password on the controller a user effectively restricts access to the programming software connections to the controller to software sessions that can supply the correct password Essentially Connected Components Workbench operation such as upload and download are prevented if the controller is secured with a password ...

Страница 182: ... software Connected Components Workbench revision 2 with Micro800 controller firmware revision 1 Connected Components Workbench revision 2 is capable of discovering and connecting to Micro800 controllers with firmware revision earlier than revision 2 that is not supporting the Controller Password feature However the Controller Password feature will not be available to these controllers The user wi...

Страница 183: ...nd provide the password before you can proceed to debug 1 Launch the Connected Components Workbench software 2 In the Project Organizer expand Catalog by clicking the sign 3 Select the catalog number of your controller 4 When requested provide the controller password 5 Build and save your project 6 Debug Download to a Password Protected Controller 1 Launch the Connected Components Workbench softwa...

Страница 184: ...k Disconnect 6 Power down controller1 7 Swap controller1 hardware with controller2 hardware 8 Power up controller2 9 Click Connect 10 Select target controller2 11 Click Download 12 Lock controller2 See Configure Controller Password on page 261 IMPORTANT If the controller has a password locked revision 10 or later project you cannot access the controller using Connected Workbench software revision ...

Страница 185: ... succeeds only if the controller has no password the project can be restored to the controller by setting the Load on power up option for the memory module to Load Always the controller s password matches the project s password Configure Controller Password To set change and clear controller password see the quickstart instructions Configure Controller Password on page 261 IMPORTANT Even though th...

Страница 186: ...are version 10 or later the Reset option must be selected for the controller memory to be cleared during the firmware update If the Upgrade or Downgrade option is selected the password is retained Using the Memory Module Plug in You can use the memory module to download a program into different controllers Make sure that the module is compatible with the Micro800 controllers The 2080 MEMBAK RTC2 m...

Страница 187: ...on 2080 UM002K EN E March 2019 173 Controller Security Chapter 9 2 Double click on the controller icon under Project Organizer to bring up the controller properties window 3 Add the memory module to the first slot in the controller ...

Страница 188: ...p stating that the operation has been completed successfully Restore the project To restore the project from the memory module to the controller follow these steps 1 While connected to the controller and being in the MEMBAK RTC properties make sure that the controller is changed to Program Mode and click on Restore from Memory Module under Memory Module Settings Select Yes to download the program ...

Страница 189: ... Components Workbench software installed To do this 1 Back up a project with Load Always option enabled 2 Remove the module and plug it into a different controller 3 Cycle the power Observe the Status LED on the module lights up for a few seconds while the project is being downloaded from the module to the controller 4 When the operation is finished you can unplug the module and leave the slot emp...

Страница 190: ...176 Rockwell Automation Publication 2080 UM002K EN E March 2019 Chapter 9 Controller Security Notes ...

Страница 191: ...ses Project backup and restore Data log and Recipe We recommend to use the Allen Bradley 2080 SD 2GB microSD card Topic Page Overview 177 Project Backup and Restore 178 Backup and Restore Directory Structure 179 Powerup Settings in ConfigMeFirst txt 180 General Configuration Rules in ConfigMeFirst txt 182 ConfigMeFirst txt Errors 183 Data Log 186 Recipe 191 Quickstart Projects for Data Log and Rec...

Страница 192: ...h IMPORTANT Do not remove the microSD card or power down while operations such as upload download delete search backup and restore are ongoing to prevent data loss A blinking SD status LED indicates that these operations are ongoing Note the following The SD status LED will not blink when flash upgrading the firmware from the microSD card The SD status LED does not blink continuously for the entir...

Страница 193: ...to that directory See General Configuration Rules in ConfigMeFirst txt on page 182 IMPORTANT If the Load Always setting is enabled and power is lost when restoring a project from the microSD card the controller will attempt to load the project using the default project name and directory after power is restored If your project is not using the default name and directory the operation will fail and...

Страница 194: ...ngs described in the ConfigMeFirst txt file However the UPD setting also takes effect when the microSD card is inserted The configuration settings for the ConfigMeFirst txt file are shown in the following table IMPORTANT The Micro800 controller reports a major fault when project backup does not succeed because the memory card size is exceeded ConfigMeFirst txt Configuration Settings Setting Takes ...

Страница 195: ...oj during powerup or when the microSD card is inserted This directory is also used by data logging and recipe function Network settings ESFD Powerup Embedded Serial Factory Defaults Power up and revert embedded serial comms to factory defaults IPA xxx xxx xxx xxx Powerup Power up and set IP address to xxx must be numbers only SNM xxx xxx xxx xxx Powerup Power up and set subnet mask to xxx must be ...

Страница 196: ... restore will occur in the controller name directory Micro800 USERPRJ by default If UPD is configured in the ConfigMeFirst txt file then backup and restore will occur in the UPD directory specified BKD setting is implemented even when the controller is locked or password protected BKD directory is automatically created if it does not yet exist IMPORTANT Powerup Network Parameter Settings IPA SNM a...

Страница 197: ...ter settings IPA SNM or GWA is assigned END setting does not exist even if there are no other settings in the configuration file The microSD card becomes unusable until the ConfigMeFirst txt file becomes readable or the errors are corrected Deliver Project Updates to Customers Through Email A benefit of using the project backup and restore feature is to allow you to deliver project updates to cust...

Страница 198: ...ect backup you can also use the ConfigMeFirst txt file Figure 1 Example Configuration for Project Backup The ConfigMeFirst txt file also allows you to restore from the backup if you want to configure the Load on power up setting to Disable Send image files through email The next step is to retrieve the image files from the microSD card and send them to your customer through email 1 Remove the micr...

Страница 199: ...tting was configured to Load Always This means that the controller loads the project from the memory card whenever it is powered on 1 Insert the microSD card into the microSD card slot 2 Cycle power to the controller 3 When the SD LED displays a steady green light the project restore is complete This method is used for an existing controller that has been configured and you want to update the prog...

Страница 200: ... the microSD card see the Data Log Directory Structure on page 187 You can retrieve data log files from the microSD card using a card reader or by uploading the data logs through Connected Components Workbench See the sample quickstart project to get you started on the Data Log feature Use the Data Log Feature on page 196 IMPORTANT Uploading data log files in PROGRAM mode is recommended for optimu...

Страница 201: ...e reaches more than 4 KB another file File02 txt is automatically created to store data The file size is kept small in order to minimize data loss in case the card is removed or when there is unexpected power off Each Grpxx folder can accommodate up to 50 files This means that for example when the Grp01 folder already stores 50 files a new folder Grp02 is automatically created to store the next da...

Страница 202: ...gured dataset DSET number 1 10 Status OUTPUT USINT Data logging function block current status ErrorID OUTPUT UDINT Error ID if DLG Write fails DLG Function Block Status Status Code Description 0 Data logging IDLE status 1 Data logging BUSY status 2 Data logging COMPLETE SUCCEED status 3 Data logging COMPLETE ERROR status DLG Function Block Errors Status Code Name Description 0 DLG_ERR_NONE No erro...

Страница 203: ...on file format is wrong 8 DLG_ERR_RTC Real time clock is invalid 9 DLG_ERR_UNKNOWN Unspecified error has occurred IMPORTANT File access error will be returned during DLG function block execution when card is full DLG Function Block Errors Status Code Name Description Disable 0 Enable 1 Disable 0 Enable 1 Disable 0 Idle 0 Busy 1 Succeed 2 Idle 0 Busy 1 Error 3 Idle 0 Enable 1 Status 0 ...

Страница 204: ... exactly one scan time Otherwise function block status is kept as Complete until input Enable changes to False The data log file can only be created by the DLG instruction block Connected Components Workbench can only upload and delete the data log file There are separators in between every data variable in the data file which is defined during configuration in Connected Components Workbench See S...

Страница 205: ...eginning at 1970 01 01 at midnight GMT TIME 1 Unsigned 32 bit integer value 1234567 Time variables are stored as 32 bit words positive number of milliseconds 1 BOOL DATE TIME data variables are presented in decimal digital format in the microSD Card Users have the option to convert this format to a more friendly format For example use ANY_TO_STRING function block to convert BOOL data type 0 1 to F...

Страница 206: ...o allows the user program to write run time global or local variable values from smaller controller into the recipe data file in the microSD card On first execution of RCP it creates the RECIPE folder under the current project directory on the microSD card It also creates 10 subdirectories for each recipe set with a name following the CfgID input value 1 10 If the CfgID value is 1 then the subfold...

Страница 207: ...P read write fails RCP Function Block Status Status Code Description 0 Recipe Idle status 1 Recipe Busy status 2 Recipe Complete Succeed status 3 Recipe Complete Error status RCP Function Block Errors Error ID Error name Description 0 RCP_ERR_NONE No error 1 RCP_ERR_NO_SDCARD microSD card is absent 2 RCP_ERR_DATAFILE_FULL Recipe files exceed maximum number of files per recipe set folder 3 RCP_ERR_...

Страница 208: ...3 RCP_ERR_DATAFILE_FORMAT Recipe data file contents are wrong 14 RCP_ERR_DATAFILE_SIZE Recipe data file size is too big 4K IMPORTANT File access error will be returned during RCP function block execution when card is full RCP Function Block Errors Error ID Error name Description Disable 0 Enable 1 Disable 0 Enable 1 Disable 0 Idle 0 Busy 1 Succeed 2 Idle 0 Busy 1 Error 3 Idle 0 Enable 1 Status 0 ...

Страница 209: ...ising edge when a new function block execution starts During function block execution input parameters of RWFlag CfgId and RcpName are locked and any changes are ignored When the function block execution finishes the function block status changes from Busy to Complete At this stage if input Enable is False function block status changes to Idle after staying as Complete for exactly one scan time Ot...

Страница 210: ...taset will be stored in the same file You can add up to 10 datasets per configuration 3 Click Add Variable to add variables to the dataset You can add up to 128 variables to each dataset For this quickstart sample project add the following variables that you have previously created to Dataset 1 Create data log ladder program Configure data log Build and download Execute DLG function block Upload d...

Страница 211: ... program 1 Launch Connected Components Workbench Create a user program for your Micro800 controller 2 Right click Programs Select Add New LD Ladder Diagram Name the Program for example Prog1 3 From the Toolbox double click Direct Contact to add it to the rung 4 From the Toolbox double click Block to add it to the rung ...

Страница 212: ...ow that appears type DLG to filter the DLG function block from the list of available function blocks Click OK 6 Create the following local variables for your project Local Variables Variable Name Data Type EnDlg BOOL cfg_id USINT data_time_enable BOOL error UDINT status USINT data_bool BOOL data_int8 INT data_string STRING ...

Страница 213: ...gID input parameter you can choose a predefined variable by choosing from the Defined Words in Connected Components Workbench To do so click the CfgID input box From the Variable Selector window that appears click the Defined Words tab and choose from the list of defined words for example DSET1 which corresponds to DSET1 in your recipe configuration See the following screenshot ...

Страница 214: ...file You can retrieve data log files from the microSD card using a card reader or by uploading the data logs through Connected Components Workbench 1 To use the Upload feature go to the Properties section of your project in Connected Components Workbench 2 Select Data Log Click Manage and then choose Upload IMPORTANT The Manage button is not available in DEBUG mode You need to stop DEBUG mode to u...

Страница 215: ...der select whether you would like to Overwrite file Skip file or Preserve both files 5 Click Upload The progress bar should tell you whether the upload is successful or not IMPORTANT Do not take out the microSD card from the slot while data is being written or retrieved from the card Ongoing write and retrieval operations are indicated by a flashing SD status LED IMPORTANT For better data log file...

Страница 216: ...h recipe will be stored in separate files You can add up to 10 recipes per configuration 3 Click Add Variable button to add variables to the recipe You can add up to 128 variables to each recipe For this quickstart sample project add the following variables that you have previously created to RCP 1 Create Recipe ladder program Configure Recipe Build and download Execute RCP function block Upload R...

Страница 217: ...gram 1 Launch Connected Components Workbench Create a user program for your Micro800 controller 2 Right click Programs Select Add New LD Ladder Diagram Name the Program for example Prog2 3 From the Toolbox double click Direct Contact to add it to the first rung 4 From the Toolbox double click Block to add it to the rung ...

Страница 218: ...le function blocks Click OK 6 From the Toolbox double click rung to add another rung 7 Add a Direct Contact and RCP function block to this second rung by following steps 3 5 8 Create the following local variables for your program in addition to the ones that you have already created for data log Local Variables Variable Name Data Type recipe_file STRING recipe_file2 STRING cfg_id2 USINT read BOOL ...

Страница 219: ...put parameter you can choose a predefined variable by choosing from the Defined Words in Connected Components Workbench To do so click the CfgID input box From the Variable Selector window that appears click the Defined Words tab and choose from the list of defined words for example RCP1 which corresponds to RCP1 in your recipe configuration See the following screenshot Rung 2 Rung 3 ...

Страница 220: ...206 Rockwell Automation Publication 2080 UM002K EN E March 2019 Chapter 10 Using microSD Cards Build and download After configuring Recipe build the program and download to the controller ...

Страница 221: ...e files from the microSD card using a card reader or by uploading the recipe files through Connected Components Workbench 1 To use the Upload feature go to the Properties section of your project in Connected Components Workbench 2 Select Recipe Click Manage and then choose Upload Through the Manage button you can also choose to Download and Delete recipe files 3 From the Upload window that appears...

Страница 222: ...erwrite file Skip file or Preserve both Files 5 Click Upload The progress bar should tell you whether the upload is successful or not A recipe header file will be saved with the uploaded recipes IMPORTANT Do not take out the microSD card from the slot while data is being written or retrieved from the card Ongoing write and retrieval operations are indicated by a flashing SD status LED ...

Страница 223: ...rom any unsorted municipal waste General Specifications Attribute 2080 LC30 10QWB 2080 LC30 10QVB Number of I O 10 6 inputs 4 outputs Dimensions HxWxD 90 x 100 x 80 mm 3 54 x 3 94 x 3 15 in Shipping weight approx 0 302 kg 0 666 lb Wire size 0 14 2 5 mm2 26 14 AWG solid copper wire or 0 14 1 5 mm2 26 16 AWG stranded copper wire rated 90 C 194 F insulation max Wiring category 1 2 on signal ports 2 o...

Страница 224: ...nning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 General Specifications Attribute 2080 LC30 10QWB 2080 LC30 10QVB Inputs Attribute 2080 LC30 10QWB 2080 LC30 10QVB High Speed DC Input Inputs 0 3 Standard DC Input inputs 4 and higher Number of Inputs 4 2 Input group to backplane isolation Verified by one of the following dielectric tests 1 4...

Страница 225: ...DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA 10 mA Load current max 2 0 A 100 mA high speed operation 1 0 A 30 C 0 3 A 65 C standard operation 1 0 A 30 C 0 3 A 65 C standard operation Surge current per point Refer to Relay Contacts Ratings on page 211 4 0 A every 1 s 30 C every 2 s 65 C 1 Current per common max 5 A 2 A 4 A Current per controller max 1440V A 2 A 4 ...

Страница 226: ...s Power supply voltage range 20 4 26 4V DC Class 2 I O rating Input 120V AC 16 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 24V DC 1 A per point Surrounding air temperature 30 C 24V DC 0 3 A per point Surrounding air temperature 65 C Isolation voltage 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to O...

Страница 227: ...te current nom 12 mA 120V AC 7 66 mA 24V 6 15 mA 24V On state current max 16 mA 132V AC 12 0 mA 30V DC Nominal impedance 12 kΩ 50 Hz 10 kΩ 60 Hz 3 kΩ 3 74 kΩ Inrush current max 250 mA 120V AC Turn on time Turn off time max without filtering ON 1 ms OFF 8 ms ON 3 2 µs OFF 0 6 µs ON 33 µs 0 1 ms OFF 22 µs 0 02 ms IEC input compatibility Type 3 AC input filter setting 8 ms for all embedded inputs In ...

Страница 228: ...eed operation Outputs Attribute 2080 LC30 16AWB 2080 LC30 16QWB 2080 LC30 16QVB Relay Output Hi Speed Output Outputs 0 1 Standard Output Outputs 2 5 Relay Contacts Ratings Maximum Volts Amperes Amperes Continuous Volt Amperes Make Break Make Break 120V AC 15 A 1 5 A 2 0 A 1800V A 180V A 240V AC 7 5 A 0 75 A 24V DC 1 0 A 1 0 A 28V A 125V DC 0 22 A General Specifications Attribute 2080 LC30 24QWB 20...

Страница 229: ... tested for 60 s 720V DC I O to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 2080 LC30 24QWB only Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 General Specifications Att...

Страница 230: ...of outputs 10 2 8 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current max 2 0 A 100 mA high speed operation 1 0 A 30 C 0 3 A 65 C standard operation 1 0 A 30 C 0 3 A 65 C standard operation Surge current per point Refer to Relay Contacts Ratings on page 216 4 0 A every 1 s 30 C every 2 s 65 C 1 Current per common m...

Страница 231: ... 18 2 W with plug in modules Power supply voltage range 20 4 26 4V DC Class 2 I O rating Input 120V AC 16 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 2 A 240V AC general use Input 24V DC 8 8 mA Output 24V DC 1 A per point Surrounding air temperature 30 C 24 V DC 0 3 A per point Surrounding air temperature 65 C Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP...

Страница 232: ...patibility Type 3 Inrush current max 250 mA 120V AC Input frequency max 63 Hz AC input filter setting 8 ms for all embedded inputs In Connected Components Workbench go to the Embedded I O configuration window to reconfigure the filter setting for each input group Isolated AC Inputs Attribute 2080 LC30 48QWB 2080 LC30 48QVB 2080 LC30 48QBB Inputs 0 11 On state voltage nom 12 24V AC 50 60 Hz Off sta...

Страница 233: ...res Make Break Make Break 120V AC 15 A 1 5 A 2 0 A 1800V A 180V A 240V AC 7 5 A 0 75 A 24V DC 1 0 A 1 0 A 28V A 125V DC 0 22 A Environmental Specifications Attribute Value Temperature operating IEC 60068 2 1 Test Ad Operating Cold IEC 60068 2 2 Test Bd Operating Dry Heat IEC 60068 2 14 Test Nb Operating Thermal Shock 20 65 C 4 149 F Temperature surrounding air max 65 C 149 F Temperature nonoperati...

Страница 234: ...tion of Conformity Certificates and other certification details Value c UL us UL Listed Industrial Control Equipment certified for US and Canada See UL File E322657 UL Listed for Class I Division 2 Group A B C D Hazardous Locations certified for U S and Canada See UL File E334470 CE European Union 2014 30 EU EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 ...

Страница 235: ...s and expansion I O modules Power supply voltage range 20 4 26 4V DC Class 2 I O rating Input 120V AC 16 mA Output 2 A 240V AC 2 A 24V DC Input 24V 8 8 mA Output 2 A 240V AC 2 A 24V DC Input 24V 8 8 mA Output 24V DC Class 2 1 A per point Surrounding air temperature 30 C 24V DC Class 2 0 3 A per point Surrounding air temperature 65 C Isolation voltage 250V continuous Reinforced Insulation Type Outp...

Страница 236: ...5 C 149 F 10 30 0V DC 30 C 86 F Off state voltage max 5V DC Off state current max 1 5 mA On state current min 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 7 6 mA 24V DC 6 15 mA 24V DC On state current max 12 0 mA 30V DC 12 0 mA 30V DC Nominal impedance 3 kΩ 3 74 kΩ IEC input compatibility Type 3 AC Input Specifications Attribute 2080 LC50 24AWB Number of Inputs 14 On state voltage min 79 V A...

Страница 237: ...her Number of outputs 10 2 8 Output voltage min 5V DC 5V AC 10 8V DC 10V DC Output voltage max 125V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current continuous max 2 0 A 100 mA high speed operation 1 0 A 30 C 0 3 A 65 C standard operation 1 0 A 30 C 0 3 A 65 C standard operation Surge current per point See Relay Contacts Ratings on page 216 4 0 A for 10 ms every 1 s 30 C every 2 s ...

Страница 238: ... Input 120V AC 16 mA Output 2 A 240V AC 2 A 24V DC Input 24V 8 8 mA Output 2 A 240V AC 2 A 24V DC Input 24V 8 8 mA Output 24V DC 1 A per point surrounding air temperature 30 C 24V DC 0 3 A per point surrounding air temperature 65 C Insulation stripping length 7 mm 0 28 in Enclosure type rating Meets IP20 Pilot duty rating C300 R150 Isolation voltage 250V continuous Reinforced Insulation Type Outpu...

Страница 239: ...tage category 110V AC 24V DC sink source Operating voltage range 132V 60Hz AC max 16 8 26 4V DC 65 C 149 F 16 8 30 0V DC 30 C 86 F 10 26 4V DC 65 C 149 F 10 30 0V DC 30 C 86 F Off state voltage max 20V AC 5V DC Off state current max 1 5 mA 1 5 mA On state current min 5 mA 79V AC 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 12 mA 120V AC 7 6 mA 24V DC 6 15 mA 24V DC On state current max 16 mA...

Страница 240: ... 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current continuous max 2 0 A 100 mA high speed operation 1 0 A 30 C 0 3 A 65 C standard operation 1 0 A 30 C 0 3 A 65 C standard operation Surge current per point See Relay Contacts Ratings on page 219 4 0 A for 10 ms every 1 s 30 C every 2 s 65 C 1 Current per common max 5 A Turn on time Turn off time max 10 ms 2 5 µs ON 0 1 ms OFF 1 ms 1 App...

Страница 241: ...ration IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25 g Shock nonoperating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions IEC 61000 6 4 ESD immunity IEC 61000 4 2 6 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 ...

Страница 242: ...30 EU EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A B European Union 2014 35 EU LVD compliant with EN 61131 2 Programmable Controllers Clause 11 European Union 2011 65 EU RoHS compliant with EN 50581 Technical documentation RCM Australian Radioco...

Страница 243: ...28 W with plug in modules and expansion I O modules Power supply voltage range 21 4 26 4V DC Class 2 or Limited Voltage Limited Current Source LVLC I O rating Input 120V AC 16 mA Output 2 A 240V AC 2 A 24V DC Input 24V 8 8 mA Output 2 A 240V AC 2 A 24V DC Input 24V 8 8 mA Output 24V DC Class 2 1 A per point Surrounding air temperature 30 C 24V DC Class 2 0 3 A per point Surrounding air temperature...

Страница 244: ...6 F 10 26 4V DC 65 C 149 F 10 30 0V DC 30 C 86 F Off state voltage max 5V DC Off state current max 1 5 mA On state current min 5 0 mA 16 8V DC 1 8 mA 10V DC On state current nom 7 6 mA 24V DC 6 15 mA 24V DC On state current max 12 0 mA 30V DC 12 0 mA 30V DC Nominal impedance 3 kΩ 3 74 kΩ IEC input compatibility Type 3 AC Input Specifications Attribute 2080 LC70 24AWB Number of Inputs 14 On state v...

Страница 245: ...5V DC 265V AC 26 4V DC 26 4V DC Load current min 10 mA Load current continuous max 2 0 A 100 mA high speed operation 1 0 A 30 C 0 3 A 65 C standard operation 1 0 A 30 C 0 3 A 65 C standard operation Surge current per point See Relay Contacts Ratings on page 216 4 0 A for 10 ms every 1 s 30 C every 2 s 65 C 1 Current per common max 5 A Turn on time Turn off time max 10 ms 2 5 µs ON 0 1 ms OFF 1 ms ...

Страница 246: ...ration IEC 60068 2 6 Test Fc Operating 2 g 10 500 Hz Shock operating IEC 60068 2 27 Test Ea Unpackaged Shock 25 g Shock nonoperating IEC 60068 2 27 Test Ea Unpackaged Shock DIN mount 25 g PANEL mount 35 g Emissions IEC 61000 6 4 ESD immunity IEC 61000 4 2 6 kV contact discharges 8 kV air discharges Radiated RF immunity IEC 61000 4 3 10V m with 1 kHz sine wave 80 AM from 80 2000 MHz 10V m with 200 ...

Страница 247: ...30 EU EMC Directive compliant with EN 61326 1 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions EN 61131 2 Programmable Controllers Clause 8 Zone A B European Union 2014 35 EU LVD compliant with EN 61131 2 Programmable Controllers Clause 11 European Union 2011 65 EU RoHS compliant with EN 50581 Technical Documentation RCM Australian Radioco...

Страница 248: ...ions Relay Chart for Micro830 Micro850 and Micro870 Controllers AC 250 V cos φ 0 4 AC 125 V cos φ 0 4 AC 125 V resistive load AC 250 V resistive load DC 30 V resistive load DC 30 V T 7 ms 0 5 1 0 2 0 3 0 5 3 10 20 30 50 100 Switching capacity A Number of operations X104 Relay life 45629 ...

Страница 249: ...uency To get the duty cycle error at a certain frequency for example the user sets frequency to 20 kHz and sets duty cycle to 30 in Connected Components Workbench software then actual duty cycle is PTO Typical Readings 30 5 0 4 Error Percentage Frequency 0 25 0 2 0 15 0 1 0 05 0 0 05 1000 10000 100000 Positive Error Negative Error PTO Typical Readings Expected Duty Cycle Typical Duty Cycle 1 27 KΩ...

Страница 250: ... 39 50 46 25 42 3 25 55 54 50 61 25 57 3 25 65 64 50 71 25 67 3 25 85 84 50 91 25 87 3 25 95 94 50 100 00 97 0 50 5 4 00 17 50 9 7 50 10 9 00 22 50 14 8 50 20 19 00 32 50 24 7 50 40 39 00 52 50 44 7 50 55 54 00 67 50 59 6 50 65 64 00 77 50 69 6 50 85 84 00 97 50 89 5 50 95 94 00 100 00 98 1 100 5 3 00 30 00 14 7 100 10 8 00 35 00 19 5 100 20 18 00 45 00 19 6 100 40 38 00 65 00 49 3 100 55 53 00 80...

Страница 251: ...ple 500 40 ms 963 86 ms 999 14 ms 1472 36 ms 1818 33 ms 2545 92 ms Average write time excluding all overheads 479 10 ms 502 78 ms 493 03 ms 505 54 ms 519 91 ms 715 68 ms Time msec Data Payload 2750 2250 1750 1250 750 250 0 500 1000 1500 2000 2500 3000 3500 4000 715 68 519 9090909 505 5405405 493 0344828 502 7840909 502 7840909 541 75 963 858859 999 1414141 1043 75 1086 67 1472 367347 1632 36 1818 ...

Страница 252: ...ons Time msec Data Payload 28 characters 502 characters 518 characters 1028 characters 1493 characters 3676 characters Average write time per data log including all overheads Average write time excluding first sample Average write time excluding all overheads 2900 2400 1900 1400 900 400 ...

Страница 253: ... 38 4 W 100V AC 38 4 W 240V AC Power dissipation Input power 45 1 W 100V AC 44 0 W 240V AC Isolation voltage 250V continuous Primary to Secondary Reinforced Insulation Type Type tested for 60s 2300V AC primary to secondary and 1480V AC primary to earth ground Output ratings max 24V DC 1 6 A 38 4 W Enclosure type rating Meets IP20 Wire size 0 32 2 1 mm 22 14 AWG solid copper wire or 0 32 1 3 mm 22 ...

Страница 254: ...240 Rockwell Automation Publication 2080 UM002K EN E March 2019 Appendix A Specifications Notes ...

Страница 255: ...ion Modbus protocol is big endian in that the most significant byte of a 16 bit word is transmitted first Micro800 is also big endian so byte ordering does not have to be reversed For Micro800 data types larger than 16 bits for example DINT LINT REAL LREAL multiple Modbus addresses may be required but the most significant byte is always first Mapping Address Space and supported Data Types Since Mi...

Страница 256: ...ers Use the 2080 SERIALISOL serial port plug in module if longer distances or more noise immunity is needed The HMI is typically configured for Master and the Micro800 embedded serial port is configured for Slave From the default Communications Settings for a PanelView Component HMI PVC there are three items that must be checked or modified in order to set up communications from PVC to Micro800 Va...

Страница 257: ...ange from DF1 to Modbus protocol 2 Set the Address of Micro800 slave to match the serial port configuration for the controller 3 Deactivate Tags on Error This is to prevent the requirement of power cycling PVC when new Modbus Mappings are downloaded from Connected Components Workbench to Micro800 controller ...

Страница 258: ...if it is not already open in Connected Components Workbench 2 Click Connect 3 In the Connection Browser expand the AB_DF1 DH Driver Select the AB DSI PF4 Port and click OK 4 Once the Drive has connected and been read in select the Start up wizard and change the following items Select Finish to save the changes to the drive Select the Comm Port as the Speed Reference Set P108 Speed Reference to 5 C...

Страница 259: ...ion 8 Disconnect the Communications and save your project 9 Turn off the power to the drive until the PowerFlex 4M display blanks out completely then restore power to the PowerFlex 4M The drive is now ready to be controlled by Modbus RTU communication commands initiated from the Micro830 850 870 controller Parameter Description Setting C302 Comm Data Rate Baud Rate 4 19200 bps 4 C303 Communication...

Страница 260: ...dressing See Appendix E Modbus RTU Protocol on publication 22C UM001G Performance The performance of MSG_MODBUS Micro800 is master is affected by the Program Scan because messages are serviced when the message instruction is executed in a program For example if the program scan is 100 ms and six serial ports are used then the theoretical maximum for serial ports is 60 messages second total This th...

Страница 261: ...his option clears the controller s existing configuration Ethernet settings and password The procedure to flash update the controller is similar for both options Topic Page Flash Upgrade Your Micro800 Firmware 247 Establish Communications Between RSLinx and a Micro830 Micro850 Micro870 Controller through USB 254 Configure Controller Password 261 Use the High Speed Counter 264 Forcing I Os 277 Usin...

Страница 262: ...mware Upgrade or Downgrade 2 If your project does not have a connection path to the controller the Connection Browser dialog appears Select your controller then click OK 3 In the Upgrade or Downgrade Firmware dialog box select the desired Target Revision to flash update the controller IMPORTANT To successfully flash update your controller over USB connect only one controller to your computer and d...

Страница 263: ...an download that firmware revision by clicking the Get the firmware files online link You can also change the Connection Path by clicking the Change link 4 When you have confirmed the settings click Update to begin flash updating the controller The update progress is shown in the dialog box 5 After the update is completed the status is shown in the dialog box ...

Страница 264: ...wo step process first you have to transfer the firmware to the microSD card using the SD Card Utility then you need to edit the ConfigMeFirst txt file to initiate the flash upgrade process See the following instructions for performing the flash upgrade from the microSD card Step 1 Transfer the Firmware to the MicroSD Card 1 Launch Connected Components Workbench 2 Click Tools SD Card Utility IMPORT...

Страница 265: ...Utility window appears 3 Select the drive letter that points to the microSD card on your computer from the pull down list You can check the drive letter by looking in Windows Explorer For this example the microSD card is using the drive letter G 4 Select the catalog number of your Micro800 controller ...

Страница 266: ...oduct Compatibility and Download Center PCDC at http www rockwellautomation com rockwellautomation support pcdc page and install the included ControlFLASH kit Close and relaunch Connected Components Workbench then open the SD Card Utility again The revision should now appear in the list 6 Click Transfer The file is copied to the microSD card 7 Close the SD Card Utility and proceed to the next step...

Страница 267: ...a Micro800 controller using the microSD card with a firmware revision that is not compatible with the series the controller hard faults There is no error code reported after you have cycled power to the controller The controller retains the old firmware For a list of firmware and series compatibility see the release notes for firmware revision 11 011 or later publication 2080 RN004 New ConfigMeFir...

Страница 268: ...cro830 Micro850 and Micro870 controllers use the AB_VBP x driver RSLinx Classic is installed as part of the Connected Components Workbench software installation process The minimum version of RSLinx Classic with full Micro800 controller support is 2 57 build 15 released March 2011 1 Power up the Micro830 Micro850 Micro870 controller 2 Plug USB A B cable directly between your PC and the Micro830 Mi...

Страница 269: ...Rockwell Automation Publication 2080 UM002K EN E March 2019 255 Quickstarts Appendix C 4 Click Install the software automatically Recommended and then click Next The Wizard searches for new hardware ...

Страница 270: ...e Micro830 Micro850 Micro870 controller should be properly identified and show up under both the Virtual Backplane VBP driver and the USB driver which was automatically created If instead the Micro830 Micro850 Micro870 shows up as a 1756 Module under the AB_VBP 1 Virtual Chassis driver then the proper EDS file for this major revision of firmware has not yet been installed or the controller is runn...

Страница 271: ...M002K EN E March 2019 257 Quickstarts Appendix C Since Micro830 Micro850 Micro870 controllers support embedded EDS files right click this device and select Upload EDS file from device 7 On the EDS wizard that appears click Next to continue ...

Страница 272: ...258 Rockwell Automation Publication 2080 UM002K EN E March 2019 Appendix C Quickstarts 8 Follow the prompts to upload and install the EDS file ...

Страница 273: ...Rockwell Automation Publication 2080 UM002K EN E March 2019 259 Quickstarts Appendix C ...

Страница 274: ...mplete If the Micro830 Micro850 Micro870 still shows up as a 1756 Module then you are probably running pre release firmware which is reporting itself as Major Revision 0 which does not match the embedded EDS file To confirm right click the device and select Device Properties firmware Revision is Major Minor ...

Страница 275: ... for the target controller 2 Click Connect to connect to the target controller On the Device Details toolbar roll over the Secure button The tooltip message Set Change or Clear Micro800 Controller Password Protection is displayed IMPORTANT The following instructions are supported on Connected Components Workbench revision 2 and Micro800 controllers with firmware revision 2 For more information abo...

Страница 276: ...ller Password dialog appears Provide password Confirm the password by providing it again in the Confirm field 5 Click OK Once a password is created any new sessions that try to connect to the controller will have to supply the password to gain exclusive access to the target controller TIP Passwords must have at least eight characters to be valid ...

Страница 277: ...ller through the Connected Components Workbench software The target controller must be in Connected status 1 On the Device Details toolbar click Secure button Select Change Password 2 The Change Controller Password dialog appears Enter Old Password New Password and confirm the new password 3 Click OK The controller requires the new password to grant access to any new session ...

Страница 278: ...owing sample project guides you through the creation of a project which uses HSC mode 6 a quadrature counter with phased inputs A and B It shows you how to write a simple ladder program with the HSC function block create variables and assign variables and values to your function block You will also be guided through a step by step process on how test your program and enable a Programmable Light Sw...

Страница 279: ...Create the HSC Project and Variables on page 266 Assign Values to the HSC Variables on page 269 Assign Variables to the Function Block on page 272 Run the High Speed Counter on page 273 Use the Programmable Limit Switch PLS Function on page 275 Quadrature Encoder A B Input 0 Input 1 Reverse Rotation Forward Rotation B A 1 2 3 2 1 Count ...

Страница 280: ...en a new project From the Device Toolbox go to Catalog Controllers Double click your controller 1 or drag and drop it onto the Project Organizer windows 2 Under Project Organizer right click Programs Click Add New LD Ladder Diagram to add a new ladder logic program 1 The HSC is supported on all Micro830 Micro850 and Micro870 controllers except on 2080 LCxx xxAWB types ...

Страница 281: ... select Open 4 From the Toolbox double click Direct Contact to add it to the rung or drag and drop Direct Contact onto the Rung 5 Double click the Direct Contact you have just added to bring up the Variable Selector dialog Click I O Micro830 tab Assign the Direct Contact to input 5 by selecting _IO_EM_DI_05 Click OK ...

Страница 282: ...ct Contact add a function block by double clicking function block from the Toolbox or dragging and dropping the function block onto the rung 7 Double click the function block to open up Instruction Selector dialog Choose HSC You can do a quick search for HSC function block by typing hsc on the name field Click OK ...

Страница 283: ...your Local Variables table should look like this Assign Values to the HSC Variables Next you need to assign values to the variables you have just created Typically a routine is used to assign values to your variables For illustration purposes this quickstart assigns values through the Initial Value column of the Local Variables table Variable Name Data Type MyCommand USINT MyAppData HSCAPP MyInfo ...

Страница 284: ...epending on the mode and the type of application See the table HSC Inputs and Wiring Mapping on page 135 to know the different IDs that can be used as well as the embedded inputs and its characteristics If ID 0 is used ID 1 cannot be used on the same controller since the inputs are being used by the Reset and Hold MyAppData HscMode allows the user to specify the type of operation in which the HSC ...

Страница 285: ...e turned on when a High Preset or Low Preset is reached HSC Operating Modes Mode Number Type 0 Up Counter The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode 1 Up Counter with external reset and hold The accumulator is immediately cleared 0 when it reaches the high preset A low preset cannot be defined in this mode 2 Counter with ext...

Страница 286: ...is reached output O0 will turn on and stay on until the HSC is reset or the counter counts back down to a Low Preset The LPOutput works same way as the HPOutput except an output will be turned on when a Low Preset is reached Assign Variables to the Function Block 1 Go back to the ladder diagram and assign the variables you have just configured to the corresponding elements of the HSC function bloc...

Страница 287: ...ct value depending on the characteristics of your encoder 3 Make sure that your encoder is connected to the Micro830 controller 4 Power up the Micro830 controller and connect it to your PC Build the program in Connected Components Workbench and download it to the controller Run the High Speed Counter 1 To test the program go into debug mode by doing any of the following Click Debug menu then choos...

Страница 288: ...on 4 Click the Local Variables tab to see any real time changes being made to the variables Expand the MyAppData and MyInfo variable list by clicking the sign 5 Turn On the encoder to see the counter count up down For example if the encoder is attached to a motor shaft then turn on the motor to trigger the HSC count The counter value will be displayed on MyInfo Accumulator MyStatus variable should...

Страница 289: ...r reaches a Low Preset value of 40 output 1 turns on and the LPReached flag turns on as well Use the Programmable Limit Switch PLS Function The Programmable Limit Switch function allows you to configure the High Speed Counter to operate as a PLS programmable limit switch or rotary cam switch The PLS is used when you need more than one pair of high and low presets up to 255 pairs of high and low pr...

Страница 290: ...t or not Your new values should follow the example below In this example the PLS variable is given a dimension of 1 4 This means that the HSC can have four pairs of High and Low Presets Once again your High Presets should be set lower than the OFSetting and the Low Preset should be greater than the UFSetting The HscHPOutPut and HscLPOutPut values will determine which outputs will be turned on when...

Страница 291: ...ram does not use forced values The following diagram illustrates forcing behavior Checking if Forces locks are Enabled If Connected Components Workbench is available check the Variable Monitor while debugging online Forcing is performed by first Locking an I O variable and then setting the Logical Value for Inputs and Physical Value for Outputs User Program Logical Inputs Logical Outputs Normal Va...

Страница 292: ...sible to the operator then the User Program must read the force status using the SYS_INFO function block and then display the force status on something that the operator can see such as the human machine interface HMI or stack light The following is an example program in Structured Text If the front of the controller is visible and not blocked by the cabinet enclosure Micro830 Micro850 and Micro87...

Страница 293: ...ntroller without any plug in modules and how to use the Run Mode Change feature Create the Project 1 Create a new project for a Micro830 Micro85 Micro8700 controller without any plug ins Observe that the controller is disconnected 2 Right click Programs and select Add New LD Ladder Diagram 3 From the Toolbox double click Direct Coil to add it to the rung or drag and drop Direct Coil onto the rung ...

Страница 294: ...s 4 Double click the newly added Direct Coil to bring up the Variable Selector dialog and select _IO_EM_DO_00 5 Build the project 6 Download the project to the controller In the Connection Browser dialog select the Micro850 controller 7 Select Download current project to the controller ...

Страница 295: ...nloaded to the controller a prompt asking to change the controller to Remote Run mode appears Click Yes 10 Observe that the controller is now in Debug mode IMPORTANT From Connected Components Workbench version 8 0 onwards selecting Yes to change the controller to Remote Run mode after a downloading a project automatically switches it to Debug mode ...

Страница 296: ...it mode and is still connected If you add a new variable during RMC external data access and changing the access type default is Read Write of this new variable is not available until you have chosen to Accept or Undo the Test Logic changes 2 From the Toolbox double click Instruction Block to add it to the rung or drag and drop Instruction Block onto the rung Run Mode Change Test Logic Changes Und...

Страница 297: ...ck the newly added Instruction Block and select Timer On Off TONOFF Configure the Instruction Block to trigger every one second 4 From the Toolbox double click Reverse Contact to add it to the rung or drag and drop Reverse Contact onto the run Place it to left of the recently added Instruction Block ...

Страница 298: ...To Undo the Changes 1 Click the Undo Changes icon 2 The changes will be discarded and the original project will be restored to the controller IMPORTANT When a Test Logic is performed or undoing changes after the Test Logic is completed any active communication instructions will be aborted while the changes are downloaded to the controller IMPORTANT When a Test Logic is performed or undoing changes...

Страница 299: ...19 285 Quickstarts Appendix C Observe that original project is shown and the controller is in Debug mode To Accept the Changes 1 Click the Accept Changes icon 2 Observe that only the Run Mode Change icon is now enabled and the controller remains in Debug mode ...

Страница 300: ...286 Rockwell Automation Publication 2080 UM002K EN E March 2019 Appendix C Quickstarts Notes ...

Страница 301: ...ller operation be interrupted Priority of User Interrupts Interrupt Configuration User Fault Routine What is an Interrupt An interrupt is an event that causes the controller to suspend the Program Organization Unit POU it is currently performing perform a different POU and then return to the suspended POU at the point where it suspended The Micro830 Micro850 and Micro870 controllers support the fo...

Страница 302: ...r Interrupt 4 begins executing the User Interrupt POU or set of POU function blocks if the specified POU calls a subsequent function block 5 completes the POU 6 resumes normal execution from the point where the controller program was interrupted When Can the Controller Operation be Interrupted The Micro830 controllers allow interrupts to be serviced at any point of a program scan Use UID UIE instr...

Страница 303: ...efore returning to normal processing If an interrupt occurs while a higher priority interrupt is being serviced executed and the pending bit has been set for the lower priority interrupt the currently executing interrupt routine continues to completion Then the lower priority interrupt runs before returning to normal processing The priorities from highest to lowest are User Fault Routine highest p...

Страница 304: ... user fault routine gives you the option of doing the cleanup before a controller shutdown when a specific user fault occurs The fault routine is executed when any user fault occurs The fault routine is not executed for non user faults The controller goes to Fault mode after a User Fault Routine is executed and the User Program execution stops Creating a User Fault Subroutine To use the user fault...

Страница 305: ... instruction to the start the STI timer from the control program rather than starting automatically 291 UID User Interrupt Disable Use the User Interrupt Disable UID and the User Interrupt Enable UIE instructions to create zones in which user interrupts cannot occur 292 UIE User Interrupt Enable 294 UIF User Interrupt Flush Use the UIF instruction to remove selected pending interrupts from the sys...

Страница 306: ...ntered into the set point the STI starts timing to the new set point and STI0 Enable is set 1 If the STI is currently timing and the set point is changed the new setting takes effect immediately restarting from zero The STI continues to time until it reaches the new set point UID User Interrupt Disable The UID instruction is used to disable selected user interrupts The table below shows the types ...

Страница 307: ...6 bit 20 Plug In Module UPM0 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI1 65536 bit 16 STI Selectable Timed Interrupt STI0 32768 bit 15 EII Event Input Interrupt Event 7 16384 bit 14 EII Event Input Interrupt Event 6 8192 bit 13 EII Event Input Interrupt Event 5 4096 bit 12 EII Event Input Inte...

Страница 308: ...n Module UPM1 1048576 bit 20 Plug In Module UPM0 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI1 65536 bit 16 STI Selectable Timed Interrupt STI0 32768 bit 15 EII Event Input Interrupt Event 7 16384 bit 14 EII Event Input Interrupt Event 6 8192 bit 13 EII Event Input Interrupt Event 5 4096 bit 12 ...

Страница 309: ...In Module UPM0 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI1 65536 bit 16 STI Selectable Timed Interrupt STI0 32768 bit 15 EII Event Input Interrupt Event 7 16384 bit 14 EII Event Input Interrupt Event 6 8192 bit 13 EII Event Input Interrupt Event 5 4096 bit 12 EII Event Input Interrupt Event 4 ...

Страница 310: ...n Module UPM0 524288 bit 19 STI Selectable Timed Interrupt STI3 262144 bit 18 STI Selectable Timed Interrupt STI2 131072 bit 17 STI Selectable Timed Interrupt STI1 65536 bit 16 STI Selectable Timed Interrupt STI0 32768 bit 15 EII Event Input Interrupt Event 7 16384 bit 14 EII Event Input Interrupt Event 6 8192 bit 13 EII Event Input Interrupt Event 5 4096 bit 12 EII Event Input Interrupt Event 4 2...

Страница 311: ... type applications where a calculation must be performed at a specific time interval A block of logic that needs to be scanned more often How an STI is used is typically driven by the demands requirements of the application It operates using the following sequence 1 The user selects a time interval 2 When a valid interval is set and the STI is properly configured the controller monitors the STI va...

Страница 312: ...Timed Interrupt Enable STI0 Enabled bit when the controller enters any executing mode STI Set Point Milliseconds Between Interrupts STI0 SP When the controller transitions to an executing mode the SP set point in milliseconds value is loaded into the STI If the STI is configured correctly and enabled the POU in the STI configuration is executed at this interval This value can be changed from the c...

Страница 313: ...he lost bit This bit is set by the controller It is up to the control program to utilize track the lost condition if necessary STI User Interrupt Pending STI0 PE The PE is a status flag that represents an interrupt is pending This status bit can be monitored or used for logic purposes in the control program if you need to determine when a subroutine cannot execute immediately This bit is automatic...

Страница 314: ...tus EII Function Configuration The Event Input Interrupt Function has the following related configuration parameters EII Program POU This is the name of the Program Organizational Unit POU which is executed immediately when this EII Interrupt occurs You can choose any pre programmed POU from the drop down list EII Auto Start EII0 AS AS Auto Start is a control bit that can be used in the control pr...

Страница 315: ...e EII subroutine The EII EX bit can be used in the control program as conditional logic to detect if an EII interrupt is executing EII User Interrupt Enable EII0 Enabled The Enabled User Interrupt Enable bit is used to indicate the EII enable or disable status EII User Interrupt Lost EII0 LS LS User Interrupt Lost is a status flag that represents an interrupt has been lost The controller can proce...

Страница 316: ...bit can be monitored or used for logic purposes in the control program if you need to determine when a subroutine cannot execute immediately This bit is automatically set and cleared by the controller The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit Sub Element Description Data Format User Program Access PE User Interrupt Pendin...

Страница 317: ... Micro830 Controllers Micro850 Controllers Micro870 Controllers 1 2 3 4 5 6 7 45031a 1 2 3 4 5 6 7 45017a 1 2 3 4 5 6 7 45037a 10 16 Point Controllers 24 Point Controllers 48 Point Controllers 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 45934 45935 24 Point Controllers 48 Point Controllers 1 2 3 4 5 6 7 8 9 45934 24 Point Controllers ...

Страница 318: ...tatus Off No force conditions are active Amber Force conditions are active 6 Serial communications status Off No traffic for RS 232 RS 485 Green Traffic through RS 232 RS 485 The indicator only blinks when transmitting data It does not blink when receiving data 7 Output status Off Output is not energized On Output is energized logic status 8 Module status Steady Off No power Flashing Green Standby...

Страница 319: ... Fault Types There are two basic types of faults that can occur Recoverable A recoverable fault can be cleared without having to power cycle the controller The fault LED flashes red when a recoverable fault occurs 9 Network status Steady Off Not powered no IP address The device is powered off or is powered on but with no IP address Flashing Green No connections An IP address is configured but no E...

Страница 320: ... the program using the memory module restore utility 0xF002 Non recoverable The controller hardware watchdog was activated The controller hardware watchdog timeout happens if program scan is more than three seconds If the system variable _SYSVA_USER_DATA_LOST is set the controller is able to recover the user program but the user data is cleared If not the Micro800 controller program is cleared See...

Страница 321: ...e Actions for Non recoverable Faults on page 313 Refer to Wiring Requirements and Recommendation on page 41 0xF018 Non recoverable An unexpected software error occurred due to SPI communication failure If the system variable _SYSVA_USER_DATA_LOST is set the controller is able to recover the user program but the user data is cleared If not the Micro800 controller program is cleared Perform one of t...

Страница 322: ...Recoverable Faults on page 313 Correct the axes configuration in the user program 0xF12z 1 Recoverable Motion configuration for axis z cannot be supported by this controller model or the axis configuration has some resource conflict with some other motion axis which has been configured earlier Perform the following See Corrective Actions for Recoverable Faults on page 313 Remove all axes and re co...

Страница 323: ... restore operation is requested Perform the following See Corrective Actions for Recoverable Faults on page 313 Check to make sure there is a valid project in the memory module Download a user program and use the backup function to the memory module 0xF301 Recoverable The memory module s project is not compatible with the controller Perform one of the following See Corrective Actions for Recoverab...

Страница 324: ...Components Workbench 4 Put the Micro800 controller into Run mode 0xF830 Recoverable An error occurred in the EII configuration Perform the following See Corrective Actions for Recoverable Faults on page 313 Review and change the EII configuration in the Micro800 controller properties 0xF840 Recoverable An error occurred in the HSC configuration Perform the following See Corrective Actions for Reco...

Страница 325: ...erform the following See Corrective Actions for Recoverable Faults on page 313 Change the project to reduce the quantity of blocks being called within a block 0xF898 Recoverable An error occurred in the user interrupt configuration for the plug in I O module Perform the following See Corrective Actions for Recoverable Faults on page 313 Correct the user interrupt configuration for plug in I O modu...

Страница 326: ...ariable is a UINT and the limit is set to 65535 To correct the fault perform the following 1 Correct the program to ensure that the upper limit is not reached One method is to use a data type with a larger maximum value 2 Build and download the program using Connected Components Workbench 3 Put the Micro800 controller into Run mode If your program is designed to have a scan time of longer than thr...

Страница 327: ...recoverable fault Optionally save the fault log from Connected Components Workbench software 3 Clear the recoverable fault using Connected Components Workbench software 4 If program is lost build and download your program using Connected Components Workbench software 5 If problem persists contact technical support with the fault log Retrieve a Fault Log You can retrieve a fault log for your contro...

Страница 328: ...sk to help troubleshoot your system Refer to the recommended pages within the model for further help Diagnose fault in Connected Components Workbench software and see page 306 for probable cause and recommended action Clear the fault Correct the condition causing the fault Check the Fault LED Flashing red Recoverable Solid red Non recoverable Test and verify system operation Is fault recoverable I...

Страница 329: ...Calling Rockwell Automation for Assistance If you need to contact Rockwell Automation or local distributor for assistance it is helpful to obtain the following prior to calling controller type series letter revision letter and firmware FRN number of the controller controller indicator status ...

Страница 330: ...316 Rockwell Automation Publication 2080 UM002K EN E March 2019 Appendix E Troubleshooting Notes ...

Страница 331: ...ing versus heating Gains ProportionalGain Gains Kc Controller gain for both P and I Gains TimeIntegral Gains Ti Time integral value for I Gains TimeDerivative Gains Td Time derivative value for D Gains DerivativeGain Gains FC A higher filter constant makes CV output more responsive to error Acts like a derivative gain AbsoluteError AbsoluteError Absolute value of error PID specific parameters CVMi...

Страница 332: ...om Autotune Initialize Used for AutoTune Comparison Between IPIDCONTROLLER and PID IPIDCONTROLLER PID Description PID Arguments Parameter Parameter Type Data Type Description Enable Input BOOL Enable instruction TRUE Start execution with current input parameters FALSE CV equals zero PV Input REAL Process Value This value is typically read from an analog input module The SI unit must be the same as...

Страница 333: ... PID controller TRUE PID state is running FALSE PID state is stopped CV Output REAL The control value output If any error occurred CV is 0 AbsoluteError Output REAL Absolute error is the difference between process value PV and setpoint SV value Error Output BOOL Indicates the existence of an error condition TRUE PID has an error FALSE PID has no errors ErrorID Output USINT A unique numeric that id...

Страница 334: ...oller Increasing Td reduces the overshot and removes the oscillation of the PID controller If Td is invalid an error occurs FC Input REAL Filter constant 0 0 Recommended range for FC is 0 20 Increasing FC smooths the response of the PID controller If FC is invalid an error occurs PID Error Codes Error Code Description 0 PID is working normally 1 Kc is invalid 2 Ti is invalid 3 Td is invalid 4 FC i...

Страница 335: ...s For example the feedback can be IPIDCONTROLLER output Auto Input BOOL Operating modes of PID controller TRUE Normal operation of PID FALSE Output tracks Feedback Initialize Input BOOL A change in value TRUE to FALSE or FALSE to TRUE causes the controller to eliminate any proportional gain during that cycle It also initializes AutoTune sequences Gains Input GAIN_PID Gains PID for IPIDCONTROLLER U...

Страница 336: ...nd the appropriate controller action is to increase the output For example Chilling FALSE Reverse acting output moves opposite direction as error That is the actual process value is greater than the Setpoint and the appropriate controller action is to decrease the output For example Heating ProportionalGain REAL Proportional gain for PID 0 0001 Proportional gain for PID P_Gain A higher proportiona...

Страница 337: ...taken into consideration DerivativeGain REAL Derivative gain for PID 0 0 Derivative gain for PID D_Gain A higher derivative gain causes a larger change in the output based upon the rate of change of the difference between the PV measured process value and SV set point value A higher gain makes a system more responsive to sudden changes in error but increases the chances of instability such as osci...

Страница 338: ...ad Every Load provides a saturated process value over a period of time Adjust the load to the value for the saturated process value you want IMPORTANT If a load of 40 gives you a process value of 30 C over a period of time and you want to tune your system to 30 C you should set the load to 40 Deviation This parameter plays a significant role in the autotune process The method of deriving this valu...

Страница 339: ...lize is set to FALSE Step 7 At this moment the control output increases by the amount of Step and the process waits for the process value to reach or exceeds first peak First peak is defined as For Direct Operation First peak PV1 12 x Deviation For Reverse Operation First peak PV1 12 x Deviation Where PV1 is the process value when Initialize is set to FALSE Once the process value reaches first pea...

Страница 340: ...e Similarly outflowing water is controlled at a measureable rate Output Sequence 1 50 70 30 Sequence Condition Autotune Result Action for Autotune Fail Process value reached first peak and second peak in time Likely successful NA Output Sequence 2 50 70 50 Sequence Condition Autotune Result Action for Autotune Fail Process value not able to reach first peak Likely unsuccessful Reduce Deviation or ...

Страница 341: ...tate variable In the cooling of a fluid tank example it can be modeled by the thermal capacitance C of the fluid and thermal resistance R of the walls of the tank The system time constant will be RC the forcing function will be the ambient temperature and the system state variable will be the fluid temperature A second order system can be described by two independent energy storage elements which ...

Страница 342: ...d function block regulates the output of IPIDCONTROLLER within a safe range to ensure that there is no damage to the hardware used in the process IF RMIN RIN RMAX then ROUT RIN IF RIN RMIN then ROUT RMIN IF RIN RMAX then ROUT RMAX PID_Feedback This user defined function block acts as a multiplexer IF FB_RST is false FB_OUT FB_IN If FB_RST is true then FB_OUT FB_PREVAL PID_PWM This user defined fun...

Страница 343: ...entify the oscillation period the IPID must be called frequently enough to be able to sample the oscillation adequately The scan time of the user program must be less than half the oscillation period In essence the Shannon or Nyquist Shannon or the sampling theorem must be adhered to In addition it is important that the function block is executed at a relatively constant time interval One can typi...

Страница 344: ...330 Rockwell Automation Publication 2080 UM002K EN E March 2019 Appendix F PID Function Blocks Notes ...

Страница 345: ...W Example 2 Derive Total Power for a 48 point Micro850 controller with 3 plug ins and 2085 IQ16 and 2085 IF4 expansion I O modules attached Total Power 11 W 3 1 44 W 0 85 W 1 7 W 17 87 W Micro830 Micro850 and Micro870 Power Requirements Controller Module Power Requirement Micro830 Micro850 and Micro870 without plug in expansion I O 10 16 point 24 point 48 point 5 W 8 W 11 W Plug in modules each 1 ...

Страница 346: ...W Derive External AC Power Supply Loading using this formula AC Power Supply Loading Total Power calculated for a Micro800 system with Plug in Total power loading by Sensor As an example a 48 point Micro850 controller with2 plug ins and 2085 IQ16 and 2085 IF4 expansion I O and 250mA sensor current 6W sensor power will have the following Total Loading for AC Power Supply Total loading for AC power ...

Страница 347: ...meters 66 CIP Symbolic Addressing 61 CIP Symbolic Client Server 57 60 communication connections 57 communication protocols 57 communications ports 57 Compliance to European Union Directive EMC Directive 22 Low Voltage Directive 22 Compliance to European Union Directives 21 ConfigMeFirst txt errors 183 Connected Components Workbench v 11 75 79 99 169 172 186 191 connection limits 58 ControlFlash 17...

Страница 348: ...eral considerations 22 grounding the controller 45 Guidelines and Limitations for Advanced Users 79 H Hardware Features 2 Hardware Overview 1 heat protection 28 High Speed Counter HSC 134 high speed counter function file 157 High Speed Counter Overview 133 home marker 84 housekeeping 75 186 HSC High Speed Counter Function Block 157 300 HSC APP Data Structure 139 HSC function file 157 HSC Interrupt...

Страница 349: ...al noise 52 minimizing electrical noise on analog channels 52 Modbus Mapping 241 Modbus Mapping for Micro800 241 Modbus RTU 57 59 60 65 configuration 67 Modbus TCP Client Server 58 60 Modbus TCP server 60 Module Spacing 35 motion control 81 83 administrative function blocks 87 general rules 89 wiring input output 85 motion control function blocks 87 motion function blocks 83 motor starters bulleti...

Страница 350: ...ddress change 19 S safety circuits 26 Safety Considerations 25 safety considerations 25 disconnecting main power 25 hazardous location 25 master control relay circuit periodic tests 26 periodic tests of master control relay circuit 26 power distribution 26 safety circuits 26 Selectable Time Interrupt STI Function Configuration and Status 298 selectable timed start instruction 291 serial communicat...

Страница 351: ...ault routine creating a user fault routine 290 recoverable and non recoverable faults 290 User Interrupt Configuration 290 user interrupt disable instruction 292 user interrupt enable instruction 294 user interrupt flush instruction 295 using emergency stop switches 30 Using Interrupts 287 Using the High Speed Counter and Programmable Limit Switch 133 Using the Selectable Timed Interrupt STI Funct...

Страница 352: ...Rockwell Automation Publication 2080 UM002K EN E March 2019 338 Index Notes ...

Страница 353: ...Rockwell Automation Publication 2080 UM002K EN E March 2019 339 ...

Страница 354: ... can contact Customer Support for initial help in getting your product up and running New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures Documentation Feedback Your comments will help us serve y...

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