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Rockwell Automation Publication 2080-UM002L-EN-E - November 2021

Chapter 7 Motion Control

Use the Micro800 Motion Control Feature

The Micro800 motion control feature has the following elements. New users
need to have a basic understanding of the function of each element to
effectively use the feature.

To use the Micro800 motion feature, you need to:

1. Configure the Axis Properties

See

Motion Axis Configuration in Connected Components Workbench

for instructions.

ATTENTION:

To use the Micro800 Motion feature effectively, users need to have

a basic understanding of the following:

• PTO components and parameters

Use the Micro800 Motion Control Feature on page 78

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 ladder diagram, structured text,

or function block diagram programming to be able to work with motion function

blocks, variables, and axis configuration parameters.

ATTENTION:

To learn more about Connected Components Workbench software

and detailed descriptions of the variables for the Motion Function Blocks, you

can refer to Connected Components Workbench software Online Help that

comes with your Connected Components Workbench software installation.

IMPORTANT

The PTO function can only be used with the controller’s embedded I/O. It

cannot be used with expansion I/O modules.

Components of Motion Control

Element

Description

Page

Pulse Train Outputs

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 79

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 on the PLC execution of motion

function blocks.

On the Micro800 controller, it is a pulse

train output and a set of inputs, outputs,

and configuration.

•

Motion Axis and Parameters on

•

Motion Axis Configuration in

Connected Components Workbench

Motion Function Blocks

A set of instructions that configure or act

upon an axis of motion.

• Connected Components Workbench

Online Help

•

Motion Control Function Blocks on

•

Axis_Ref Data Type on page 96

•

Function Block and Axis Status Error

Codes on page 98

•

Homing Function Block on page 111

Jerk

Rate of change of acceleration. The Jerk

component is mainly of interest at the

start and end of motion. Too high of a Jerk

may induce vibrations.

• See

Acceleration, Deceleration, and

Jerk Inputs on page 83

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Содержание Allen-Bradley Micro850

Страница 1: ...Micro830 Micro850 and Micro870 Programmable Controllers Bulletins 2080 LC30 2080 LC50 2080 LC70 User Manual Original Instructions ...

Страница 2: ... by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Labels may also be on or inside the equipment to provid...

Страница 3: ...nected Components Workbench Software 21 Controller Changes in Run Mode 21 Using Run Mode Change RMC 21 Uncommitted Changes 23 RMC Memory 23 Limitations of RMC 25 Using Run Mode Configuration Change RMCC 26 Using Modbus RTU Communication 27 Using EtherNet IP Communication 28 Safety Considerations 30 Disconnect Main Power 30 Safety Circuits 30 Power Distribution 31 Periodic Tests of Master Control R...

Страница 4: ... Modbus RTU 58 CIP Serial Client Server RS 232 Only 59 ASCII 59 Modbus TCP Client Server 59 CIP Symbolic Client Server 60 CIP Client Messaging 61 Sockets Client Server TCP UDP 61 CIP Communications Pass thru 62 Examples of Supported Architectures 62 Use Modems with Micro800 Controllers 63 Making a DF1 Point to Point Connection 63 Construct Your Own Modem Cable 63 Configure Serial Port 64 Configure...

Страница 5: ...Connected Components Workbench 101 Add New Axis 101 Edit Axis Configuration 102 Axis Start Stop Velocity 107 Real Data Resolution 108 PTO Pulse Accuracy 110 Motion Axis Parameter Validation 110 Delete an Axis 110 Monitor an Axis 111 Homing Function Block 111 Conditions for Successful Homing 112 MC_HOME_ABS_SWITCH 113 MC_HOME_LIMIT_SWITCH 114 MC_HOME_REF_WITH_ABS 115 MC_HOME_REF_PULSE 116 MC_HOME_D...

Страница 6: ...store a Password Protected Controller 152 Configure Controller Password 153 Recover from a Lost Password 153 Using the Memory Module Plug in 153 Chapter 10 Using microSD Cards Overview 157 Project Backup and Restore 158 Backup and Restore Directory Structure 159 Power up Settings in ConfigMeFirst txt 160 General Configuration Rules in ConfigMeFirst txt 162 ConfigMeFirst txt Errors 162 Deliver Proj...

Страница 7: ...rformance 216 Appendix C Quickstarts Flash Upgrade Your Micro800 Firmware 217 Flash Upgrade From MicroSD Card 219 Establish Communications Between RSLinx and a Micro830 Micro850 Micro870 Controller through USB 222 Configure Controller Password 227 Set Controller Password 227 Change Password 229 Clear Password 229 Use the High Speed Counter 230 Create the HSC Project and Variables 231 Assign Values...

Страница 8: ... Interrupt EII Function Configuration and Status 260 EII Function Configuration 260 EII Function Status Information 261 Appendix E Troubleshooting Status Indicators on the Controller 263 Normal Operation 265 Error Codes 265 Fault Types 265 Corrective Action for Recoverable and Non recoverable Faults 270 Retrieve a Fault Log 270 Controller Error Recovery Model 270 Calling Rockwell Automation for As...

Страница 9: ... alignment with the movement toward inclusive language in technology We are proactively collaborating with industry peers to find alternatives to such terms and making changes to our products and content Please excuse the use of such terms in our content while we implement these changes Conformal Coated Catalogs Catalog numbers with the suffix K are conformal coated and their specifications are th...

Страница 10: ...Micro870 24 point Controllers Micro800 16 point and 32 point 12 24V Sink Source Input Modules Installation Instructions 2085 IN001 Information on mounting and wiring the expansion I O modules 2085 IQ16 2085 IQ32T Micro800 Bus Terminator Module Installation Instruction 2085 IN002 Information on mounting and wiring the expansion I O bus terminator 2085 ECR Micro800 16 Point Sink and 16 Point Source ...

Страница 11: ...n products in a secure system harden the control system manage user access and dispose of equipment Industrial Components Preventive Maintenance Enclosures and Contact Ratings Specifications publication IC TD002 Provides a quick reference tool for Allen Bradley industrial automation controls and assemblies Safety Guidelines for the Application Installation and Maintenance of Solid state Control pu...

Страница 12: ...12 Rockwell Automation Publication 2080 UM002L EN E November 2021 Preface Notes ...

Страница 13: ... and Micro870 controllers are economical brick style controllers with embedded inputs and outputs Depending on the controller type it can accommodate from two to five plug in modules The Micro850 and Micro870 controllers have expandable features The Micro850 controller can Topic Page Hardware Features 13 Micro830 Controllers 14 Micro850 Controllers 15 Micro870 Controllers 17 Programming Cables 19 ...

Страница 14: ...r 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 Modules User Manual publication 2080 UM003 Micro800 Plug in Modules User Manual publication 2080 UM004 1 2 3 4 5 6 7 8 7 9 6 10 11 12 13 14 15 16 17 18 19 20 Micro830 10 16 point...

Страница 15: ...ort 6 Removable I O terminal 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 263 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 12 11 10 13 6...

Страница 16: ... LED indicators see Troubleshooting on page 263 Description Description 16 Input status 21 Fault status 17 Module Status 22 Force status 18 Network Status 23 Serial communications status 19 Power status 24 Output status 20 Run status Controller Description Description Description 1 Status indicators 9 Expansion I O slot cover 2 Optional power supply slot 10 DIN rail mounting latch 3 Plug in latch ...

Страница 17: ... Run status Controller Description Description Description 1 Status indicators 9 Expansion I O slot cover 2 Optional power supply slot 10 DIN rail mounting latch 3 Plug in latch 11 Mode switch 4 Plug in screw hole 12 Type B connector USB port 5 40 pin high speed plug in connector 13 RS 232 RS 485 non isolated combo serial port 6 Removable I O terminal block 14 RJ 45 Ethernet connector with embedde...

Страница 18: ...utputs PTO Support HSC Support 110V AC 24V DC V AC Relay 24V Sink 24V Source 2080 LC30 10QWB 6 4 2 2080 LC30 10QVB 6 4 1 2 2080 LC30 16AWB 10 6 2080 LC30 16QWB 10 6 2 2080 LC30 16QVB 10 6 1 2 2080 LC30 24QWB 14 10 4 2080 LC30 24QVB 14 10 2 4 2080 LC30 24QBB 14 10 2 4 2080 LC30 48AWB 28 20 2080 LC30 48QWB 28 20 6 2080 LC30 48QVB 28 20 3 6 2080 LC30 48QBB 28 20 3 6 Table 2 Micro850 Controllers Numbe...

Страница 19: ...tus Table 3 Micro870 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 LC70 24AWB 14 10 2080 LC70 24QWB 14 10 4 2080 LC70 24QWBK 14 10 4 2080 LC70 24QBB 14 10 2 4 2080 LC70 24QBBK 14 10 2 4 Table 4 Embedded Serial Port Cable Selection Chart Connectors Length Cat No Connectors Length Cat No 8 pin M...

Страница 20: ...leshooting on page 263 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 Gro...

Страница 21: ...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 Run Mode Micro820 Micro830 Micro850 Micro870 controllers allow you to make certain changes while in run mode by using the following features Run Mode Change RMC This feature allows logic modifications to a r...

Страница 22: ... been added to indicate when Run Mode Changes are being made This can be used to notify personnel on the HMI that there are uncommitted changes in the controller IMPORTANT Micro820 Micro830 Micro850 controller firmware revision 8 xxx or higher is also required to use Run Mode Change IMPORTANT Do not disconnect from the controller after performing Run Mode Change do a full build and try to reconnec...

Страница 23: ...Test Logic To adjust the amount of RMC memory the controller must be offline After you have adjusted the amount you must build the project and download it to the controller Bit Definitions of Global Variable __SYSVA_PROJ_INCOMPLETE Bit Definition 0 Set when the Run Mode Change process starts Cleared once the Run Mode Change is written permanently to the controller completion of Accept or Undo This...

Страница 24: ...hanges that you have made during RMC are stored in RMC memory and will remain there until you perform a full 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 memor...

Страница 25: ...cover 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 project Global variables cannot be deleted or modified in RMC but can be added To dele...

Страница 26: ...r serial ports or EtherNet 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 ...

Страница 27: ...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 When the new node address is configured and applied the port is not restarted You can verify that the node address has changed after performing RMCC by looking at the Communication Diagnostics tab for the controller CIP Generic Message Parameters for RMCC using M...

Страница 28: ... 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 RMCC EtherNet IP Example Set the Parameters CIP Generic Message Parameters for RMCC using EtherNet IP ...

Страница 29: ...figured and applied the controller will disconnect from the Connected Components Workbench software if communication is through Ethernet You can verify that the IP address has changed after performing RMCC by looking at the Ethernet settings for the controller IMPORTANT Micro830 controllers do not support Run Mode Configuration Change using EtherNet IP IMPORTANT You should not perform IP address c...

Страница 30: ...rical power all other sources of power pneumatic and hydraulic should be de energized before working on a machine or process controlled by a controller Safety Circuits Circuits installed on the machine for safety reasons like overtravel limit switches stop push buttons and interlocks should always be hard wired directly to the master control relay These devices must be wired in series so that when...

Страница 31: ...motion when needed Power Considerations The following explains power considerations for the micro controllers Isolation Transformers You may want to use an isolation transformer in the AC line to the controller This type of transformer provides isolation from your power distribution system to reduce the electrical noise that enters the controller and is often used as a step down transformer to red...

Страница 32: ... be written to take this effect into account Other Types of Line Conditions Occasionally the power source to the system can be temporarily interrupted It is also possible that the voltage level may drop substantially below the normal line voltage range for a period of time Both of these conditions are considered to be a loss of power for the system Preventing Excessive Heat For most applications n...

Страница 33: ... for a disconnect to the controller It is intended for any situation where the operator must quickly de energize I O devices only When inspecting or installing terminal connections replacing output fuses or working on equipment within the enclosure use the disconnect to shut off power to the rest of the system Using Emergency Stop Switches When using emergency stop switches adhere to the following...

Страница 34: ...e power from all field devices you must include MCR contacts in series with input power wiring Disconnect Isolation transformer Emergency stop push button Fuse MCR 230V AC I O circuits Operation of either of these contacts will 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 ...

Страница 35: ...ping machine 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 115V AC ...

Страница 36: ...36 Rockwell Automation Publication 2080 UM002L EN E November 2021 Chapter 2 About Your Controller Notes ...

Страница 37: ...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 Micro830 24 point Controllers 2080 LC30 24QWB 2080 LC30 24QVB 2080 LC30 24QBB Topic Page Controller Mounting Dimensions 37 Mounting Dimensions 37 DIN Rail Mounting 39 Panel Mounting 39 100 3 94 80 3 15 90 3 54 Measure...

Страница 38: ...850 48 point Controllers 2080 LC50 48AWB 2080 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...

Страница 39: ...ry 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 40: ...troller 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 86 mm 3 39 in 100 mm 3 94 in 100 mm 3 94 in 131 mm 5 16 in ...

Страница 41: ...C50 24AWB 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 131 mm 5 16 in 100 mm 3 94 in 108 mm 4 25 in 108 mm 4 25 in 100 mm 3 9 in ...

Страница 42: ...131 5 16 22 8 0 90 36 6 1 44 90 100 110 8 4 36 33 8 1 33 7 2 0 28 3 94 3 54 Expansion I O slots Applicable to Micro850 and Micro870 only Single width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 Micro850 Micro870 24 pt controller with Micro800 power supply Measurements in mm in 80 3 15 87 3 42 Expansion I O Slots Applicable to Micro850 and Micro870 only Single width 1st slot Double ...

Страница 43: ...4 1 75 14 4 0 57 216 8 50 7 0 27 22 8 0 90 36 6 1 44 90 100 1 110 8 4 36 3 94 3 54 Expansion I O Slots Applicable to Micro850 only Single width 1st slot Double width 2nd slot 2085 ECR terminator Micro830 Micro850 48 pt Controller with Micro800 Power Supply Measurements in mm in 80 3 15 87 3 42 Expansion I O Slots Applicable to Micro850 only Single width 1st slot Double width 2nd slot 2085 ECR term...

Страница 44: ...44 Rockwell Automation Publication 2080 UM002L EN E November 2021 Chapter 3 Install Your Controller Notes ...

Страница 45: ...Wiring 53 Minimize Electrical Noise 53 Analog Channel Wiring Guidelines 53 Minimize Electrical Noise on Analog Channels 54 Grounding Your Analog Cable 54 Wiring Examples 54 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 codes d...

Страница 46: ...ts By adding a suppression device directly across the coil of an inductive device you prolong the life of the output or relay contacts You also reduce the effects of voltage transients and electrical noise from radiating into adjacent systems Figure 3 shows an output with a suppression device We recommend that you locate the suppression device as close as possible to the load device Figure 3 Outpu...

Страница 47: ...for Inductive AC Load Devices Recommended Surge Suppressors Use the Allen Bradley surge suppressors shown in the following table for use with relays contactors and starters 24V DC IN4004 diode Relay or solid state DC outputs 24V DC common VAC DC Out 0 Out 1 Out 2 Out 3 Out 4 Out 5 Out 6 Out 7 COM A surge suppressor can also be used Output device Output device Output device Varistor RC network Surg...

Страница 48: ...C 199 FSMA9 MOV 50 120V DC 199 FSMA10 130 250V DC 199 FSMA11 Bulletin 700 Type N P PK or PH Relay 6 150V AC DC 700 N24 RC 24 48V AC DC 199 FSMA9 MOV 50 120V AC DC 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 C...

Страница 49: ...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 Input terminal block Output terminal block 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 terminal block Output terminal block I 00 COM0 I 01 I 02 I 03 COM1 I 04 I 05 I 07 I 06 I 09 I 08 1 2 3 ...

Страница 50: ...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 15 16 24 VDC 24 VDC N L L1 L2 2080 PS120 240VAC 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 c CR CR CR CR DC c L2 c L1 c L1 b...

Страница 51: ... CR CR CR CR DC c L2 c L1 c L1 b DC c CR DC c L2 b L1 a L2 b L1 b IMPORTANT Do not connect DC24 Output terminal 2 to Earth Chassis Ground 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 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 Input terminal block Output ...

Страница 52: ...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 DC d IMPORTANT Do not connect DC24 Output terminal 2 to Earth Chassis Ground 2080 LC30 48AWB has no high speed inputs I 00 COM0 I 01 I 02 I 03 I 04 I 05 CO...

Страница 53: ... wiring your analog channels The analog common COM is 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...

Страница 54: ... Make sure that the shield is properly grounded Use Belden cable 8761 for wiring the analog channels making sure that the drain wire and foil shield are properly earth grounded Route the Belden cable separately from any AC wiring Additional noise immunity can be obtained by routing the cables in grounded conduit Grounding Your Analog Cable Use shielded communication cable Belden 8761 The Belden ca...

Страница 55: ...ee Embedded Serial Port Cables on page 19 for a list of cables that can be used with the embedded serial port 8 pin Mini DIN connector For example the 1761 CBL PM02 cable is typically used to connect the embedded serial port to PanelView Component HMI using RS 232 Com Fuse 24V DC I P Sink input wiring example D DC COM OUT V DC S G 24V supply Logic side User side Load Fuse Source output wiring exam...

Страница 56: ...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 Ground The GND pin of the serial port is the DC common for the Serial Port Communication signals and is not intended for Shield Ground If the length of the serial cable is more than 3 meters use an isolated seria...

Страница 57: ...ommunication 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 Mbps 100 Mbps transfer rat...

Страница 58: ...rotocol For more information on configuring your Micro800 controller for Modbus protocol see the Connected Components Workbench Online Help For more information about the Modbus protocol see Modbus Protocol Specifications available from https www modbus org Connection Limits for Micro830 Micro850 Micro870 Controllers Description Micro830 Micro850 Micro870 CIP Connections Total number of client plu...

Страница 59: ...eigh scales serial printers and other intelligent devices You can use ASCII by configuring the embedded or any plug in serial RS 232 RS 485 port for the ASCII driver See the Connected Components Workbench Online Help for more information To configure the serial port for ASCII see Configure ASCII on page 67 Modbus TCP Client Server The Modbus TCP Client Server communication protocol uses the same M...

Страница 60: ...1 Full Duplex protocol which provides point to point connection between two devices The Micro800 controllers support the protocol through RS 232 connection to external devices such as computers running RSLinx Classic software PanelView Component terminals firmware revisions 1 70 and above PanelView 800 terminals or other controllers that support CIP Serial over DF1 Full Duplex such as ControlLogix...

Страница 61: ...r and TCP and UDP Typical applications include communicating to printers barcode readers and PCs Supported Data Types 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 Logi...

Страница 62: ...ions link between two devices in Micro800 this is through EtherNet IP or CIP Serial or CIP USB Examples of Supported Architectures USB to EtherNet IP EtherNet IP to CIP Serial USB to DeviceNet Micro850 controller1 USB Micro850 controller2 Micro850 controller3 EtherNet IP The user can download a program from the PC to controller1 over USB Also the program can be downloaded to controller2 and contro...

Страница 63: ...ial 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 See the following typical pinout for constructing a straight through cable 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 ...

Страница 64: ...oftware 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 3 Specify a baud rate Select a communication rate that all devices in your system support Configure all devices in the system for the same communication rate Default baud rate is set at 38...

Страница 65: ...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 If you want the controller to use embedded responses only when it detects emb...

Страница 66: ...ion for advanced parameters 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 0 999 999 999 milliseconds 200 Broadcast Pause 0 999 999 999 m...

Страница 67: ... Driver field 3 Specify baud rate and parity 4 Click Advanced Settings to configure advanced parameters ASCII Parameters Parameter Options Default Baud Rate 1200 2400 4800 9600 19200 38400 19200 Parity None Odd Even None ASCII Advanced Parameters Parameters Options Default Control Line Full Duplex Half duplex with continuous carrier Half duplex without continuous carrier No Handshake No Handshake ...

Страница 68: ... of duplicate address 4 Under Ethernet click Port Settings XON XOFF Enabled or Disabled Disabled Echo Mode Enabled or Disabled Disabled Append Chars 0x0D 0x0A or user specified value 0x0D 0x0A Term Chars 0x0D 0x0A or user specified value 0x0D 0x0A ASCII Advanced Parameters Continued Parameters Options Default The Ethernet port defaults to the following out of the box settings DHCP dynamic IP addre...

Страница 69: ... The IP address should not start with zero and the IP address network ID should be not zero The Network mask cannot be set to 255 255 255 255 The Gateway address 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 ...

Страница 70: ...stem support Configure all devices in the system for the same communication rate Default baud rate is set 38 400 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 FactoryTalk Linx Support for Open Platform Communications OPC using CIP symbolic has been added from firmware release 7 011 onwards T...

Страница 71: ...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 72: ...e 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 will verify the presence of any configured plug in and expansion I O modules If a plug in o...

Страница 73: ...rograms 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 used to periodically execute all programs as this also causes all communication to execute at this rate Power Up and First Scan In Program mode all analog...

Страница 74: ...ize are typical numbers When a project is created for Micro800 memory is dynamically allocated as either program or data memory at build time This means that program size can exceed the published specifications if data size is sacrificed and vice versa This flexibility allows maximum usage of execution memory In addition to the System Variables for Scan and Power up on Firmware Revision 2 and late...

Страница 75: ...to improve code readability simplify debugging and maintenance tasks A User Defined Function UDF uses significantly less memory than a User Defined Function Block UDFB For example 30 less for a typical sized program compared to a UDFB with one instance The savings increases as the number of UDFB instances increases A User Defined Function Block UDFB can be executed within another UDFB with a limit...

Страница 76: ...76 Rockwell Automation Publication 2080 UM002L EN E November 2021 Chapter 6 Program Execution in Micro800 Notes ...

Страница 77: ...y refers to the ability of a controller to accurately generate a specific number of pulses at a specified frequency These pulses are sent to a motion device such as a servo drive which in turn controls the number of rotations position of a servo motor Each PTO is exactly mapped to one axis to allow for control of simple positioning in stepper motors and servo drives with pulse direction input As t...

Страница 78: ... Workbench software Online Help that comes with your Connected Components Workbench software installation IMPORTANT The PTO function can only be used with the controller s embedded I O It cannot be used with expansion I O modules Components of Motion Control Element Description Page Pulse Train Outputs Consists of one pulse output and one direction output A standard interface to control a servo or...

Страница 79: ... O These I O can be configured through the axis configuration feature in Connected Components Workbench Any outputs assigned for motion should not be controlled in the user program See Motion Axis Configuration in Connected Components Workbench on page 101 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...

Страница 80: ...ectrical negative limit sensor Not Shared Upper Positive Limit switch INPUT The input for hardware positive limit switch to be connected to mechanical electrical positive limit sensor Not Shared Absolute Home switch INPUT The input for hardware home switch sensor to be connected to mechanical electrical home sensor Not Shared Touch Probe Input switch INPUT The input for hardware touch probe signal...

Страница 81: ...be controlled by a Micro830 Micro850 Micro870 controller see publication CC QS033 The parameter Command Type must be set to Step Direction Positive Logic and the parameter Controller Output Type must be set to Open Collector Input 2080 LC30 xxQBB 2080 LC50 xxQBB Kinetix3 DC 24 DC 24 CM0 CM1 O 00 O 03 O 06 O 07 CM0 CM1 Pin 1 2 Pin 12 CLK Pin 49 CLK Pin 14 DIR Pin 25 DIR Pin 3 Enable Pin 7 RST 1 2 2...

Страница 82: ...lock MC_MoveAbsolute This function block commands an axis to a specified absolute position Standstill Discrete Motion Continuous Motion MC_MoveRelative This function block commands an axis of a specified distance relative to the actual position at the time of execution Standstill Discrete Motion Continuous Motion MC_MoveVelocity This function block commands a never ending axis move at a specified ...

Страница 83: ...bsolute location commanded to the axis For MC_MoveRelative the distance input is the relative location considering current axis position is 0 from current position Velocity Input Velocity can be a signed value Users are advised to use positive velocity Direction input for the MC_MoveVelocity function block can be used to define the direction of the move that is negative velocity x negative directi...

Страница 84: ...efore 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 Output Exclusivity 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_Rea...

Страница 85: ...es 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 program scan for as long as Busy is true because the outputs will only be up...

Страница 86: ... 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 positive...

Страница 87: ... to position velocity or to halt after a specific distance Example Move to Position Ignored Due to Busy Velocity Time Execute1 Busy1 Velocity Time Execute1 Busy1 This command is ignored Simple move position using one instance of MC_MoveRelative MC_MoveAbsolute For simple moves the movement function block finishes Busy output indicates that the function block is executing and must be allowed to fin...

Страница 88: ...usy 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 where on the fly corr...

Страница 89: ...lt 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 IMPORTANT If MC_Halt aborts another movement function block during acceleration and the MC_Halt Jerk input parameter is less than the Je...

Страница 90: ...The basic 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 Figure 6 on page 91 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 MC_St...

Страница 91: ... and Stopping states all function blocks 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 ...

Страница 92: ...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 Limits The Limits parameter sets a boundary point for the axis and works in conjunction with the Stop parameter to define a boundary condition for the axis on the type ...

Страница 93: ...nfigured as ON and the limit is detected motion is stopped immediately that is PTO pulse is stopped immediately by the hardware Alternatively if hard stop on hard limit switch is configured as OFF motion will be stopped using Emergency Stop parameters When any hard limit switch is enabled the input variable connecting to this physical input can still be used in User Application When a hard limit s...

Страница 94: ...ly PTO pulse limits are checked by the controller unconditionally that is the checking is always ON On a non continuous motion to prevent a moving axis going to ErrorStop status with Motion PTO Pulse limits detected user needs to prevent current position value going beyond PTO Pulse limit On a continuous motion driven by MC_MoveVelocity function block when the current position value goes beyond PT...

Страница 95: ...xis and the axis has been homed If the emergency stop is configured as Immediate Soft Stop during motion when the Soft Limit reach is detected The Emergency Stop is configured as Immediate Soft Stop During motion MC_Stop function block is issued with Deceleration parameter equal to 0 Decelerating Soft Stop Decelerating soft stop could be delayed as much as Motion Engine Execution Time interval Thi...

Страница 96: ...alue Used 1 1 Data type short integer Direction Description Positive direction 1 Specific for motion rotation direction Also called clockwise direction for rotation motion Current direction 0 Current direction instructs the axis to continue its motion with new input parameters without direction change The direction type is valid only when the axis is moving and the MC_MoveVelocity is called Negati...

Страница 97: ...is after the axis state changes AxisState UINT8 Indicates the current state of the axis For more information see Axis States on page 91 ErrorID UINT16 Indicates the cause for axis error when error is indicated by ErrorFlag This error usually results from motion function block execution failure See Motion Function Block and Axis Status Error ID on page 99 ExtraData UINT16 Reserved TargetPos REAL fl...

Страница 98: ...error share the same Error ID but error descriptions are different as described in Table 7 on page 99 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 application logic adjustment UINT16 MaxScantime 1 UINT16 CurrEngineInterval 1 U...

Страница 99: ...ls and ensure the drive is operating normally Reset the state of the axis using the MC_Reset function block 06 MC_FB_ERR_NOPOWER The function block cannot execute because the axis is not powered on Power on the axis using MC_Power function block The axis is not powered on Power on the axis using MC_Power function block Reset the state of the axis using the MC_Reset function block 07 MC_FB_ERR_RESO...

Страница 100: ...he 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 MC_SetPosition function block to adjust the axis coordinate system The axis is not operational due to PTO Accumulator logic limit error detected or due to expected PTO accumulator logic limit error in a func...

Страница 101: ...lt is reported there could be no axis in ErrorStop state 0xF12x EP_MC_CONFIG_AXS_ERR Motion configuration for axis cannot be supported by this catalog or the configuration has some resource conflict with some other motion axis which has been configured earlier The possible reason could be maximum velocity max acceleration is configured out of supported range x the logic Axis ID 0 3 0xF15x EP_MC_EN...

Страница 102: ...ties tab appears 2 Edit General parameters See Table 9 on page 103 for a description of the general configuration parameters for a motion axis Name must begin with a letter or underscore character followed by a letter or single underscore characters You can also press F2 to edit axis name To help you edit these motion properties see Edit Axis Configuration on page 102 You can also learn more about...

Страница 103: ...the PTO channel value that has been assigned Drive Enable Output Servo On Output Enable flag Check the option box to enable Output The list of available digital output variables that can be assigned as servo drive output Active Level Set as High default or Low In position Input Check the option box to enable in position input monitoring Input List of digital input variables for in position input m...

Страница 104: ...e 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 discret...

Страница 105: ...wer 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 val...

Страница 106: ...ters on page 104 using Range 1 10 000 000 pulse sec2 Default 10 000 000 pulse sec2 Max Deceleration 1 The range is based on Motor and Load parameters See Motor and Load Parameters on page 104 using Range 1 100 000 pulse sec2 Default 10 000 000 pulse sec2 Max Jerk 1 The range is based on Motor and Load parameters See Motor and Load Parameters on page 104 using Range 0 10 000 000 pulse sec3 Default ...

Страница 107: ...ocity should not be greater than the maximum velocity Homing Acceleration 1 Range 1 10 000 000 pulse sec2 Default 5000 0 pulse sec2 25 0 mm sec2 NOTE Homing Acceleration should not be greater than Maximum Acceleration 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 Rang...

Страница 108: ...To 0 12345678 0 1234568 1234 1234567 1234 123 12345678 1 234568E 07 exponential format 0 000012345678 1 234568E 05 exponential format 2147418166 2 147418 E09 0 12345678 0 1234568 Table 15 Examples for Motion Configuration Parameter Actual Value Entered by User Converted Value in Connected Components Workbench Tooltip Error Value 1 1 On the axis configuration page in Connected Components Workbench ...

Страница 109: ...tains seven significant digits Axis Monitor Example The Axis Monitor displays seven significant digits with rounding In this example the user has entered the Target Position value of 2345 678 This value is rounded up to six digits 2345 68 in the Variable Monitoring screen ATTENTION See Motion Axis Configuration in Connected Components Workbench on page 101 to learn more about the different axis co...

Страница 110: ...501 cm sec3 as both are rounded off to 4 5 cm sec3 This rounding applies to both axis configuration input in the Connected Components Workbench software and function block input Motion Axis Parameter Validation Besides falling within the predetermined absolute range motion axis parameters are validated based on relationships with other parameters These relationships or rules are listed below Error...

Страница 111: ...on input is used to set the absolute position when the reference signal is detected and configured home offset is reached This function block completes at StandStill if the homing sequence is successful MC_Home only can be aborted by the function blocks MC_Stop or MC_Power Any abort attempt from other moving function blocks will result in function block failure with Error ID MC_FB_ERR_STATE Howeve...

Страница 112: ...d as enabled and wired The different homing modes as defined in Table 16 can have different but still similar motion sequence The concept discussed below is applicable to various homing configurations Table 16 Homing Modes Homing Mode Value Homing Mode Name Homing Mode Description 0x00 MC_HOME_ABS_SWITCH Homing process searches for Home Absolute switch 0x01 MC_HOME_LIMIT_SWITCH Homing process sear...

Страница 113: ...rt 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 sto...

Страница 114: ...on 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 record the position as mechanical home position and decelerate to stop 5 Move to the configured home position The mechanical home position recorded during moving back sequence plus the home offset configured for the axis through the Connecte...

Страница 115: ...Scenario 2 Moving part between Lower Limit and 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 direction 2 When Lower Limit switch is detected the moving part decelerates to stop or stops immediately according to Limit Switch Hard Stop configuration 3 Moving part moves back in positive direction in creep v...

Страница 116: ...he 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 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 immed...

Страница 117: ...r 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 mode This is equivalent to a MC_SetPosition action except that Axis Homed status will be on once MC_Home mode 4 is performed successful...

Страница 118: ... the Duty Cycle from global variable G_PWM_Duty_Cycle example 0 5 50 MC_ExecutionMode 0 Update_PWM_Duty_Cycle Update_PWM_Duty_Cycle MC_MoveVelocity_1 MC_MoveVelocity EN AxisIn Velocity Execut Acceleration PWM0 TRUE G_PWM_Frequency 50000 0 Axis ENO InVelocity Busy Active Direction CommandAborted 3 __SYSVA_FIRST_SCAN Acceleration 50000 0 Deceleration 0 0 Jerk 1 DirectionIn 0 Error ErrorID After firs...

Страница 119: ...rative function blocks from the PTO Motion Axis and they share the same Axis Monitor 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 Channel Variable Update_PWM_Duty_Cycle Direction Var Data type BOOL Attribute ReadWrite Direct variable Channel Var...

Страница 120: ...120 Rockwell Automation Publication 2080 UM002L EN E November 2021 Chapter 7 Motion Control Notes ...

Страница 121: ... a PLS Programmable Limit Switch or rotary cam switch For more information see Programmable Limit Switch PLS Function on page 142 What is High Speed Counter High Speed Counter is used to detect narrow fast pulses and its specialized instructions to initiate other control operations based on counts reaching preset values These control operations include the automatic and immediate ATTENTION To use ...

Страница 122: ...ion Some of the enhanced capabilities of the High Speed Counters are 100 kHz operation Direct control of outputs 32 bit signed integer data count range of 2 147 483 647 Programmable High and Low presets and Overflow and Underflow set points Automatic Interrupt processing based on accumulated count Change parameters on the fly from the user control program The High Speed Counter function operates a...

Страница 123: ...rs Each main high speed counter has four dedicated inputs and each sub high speed counter has two dedicated inputs HSC0 s sub counter is HSC1 HSC2 s sub counter is HSC3 and HSC4 s sub counter is HSC5 Each set of counters share the input The following table shows the dedicated inputs for the HSCs depending on the mode HSC0 is used in this document to define how any HSC works IMPORTANT The HSC funct...

Страница 124: ...nal Reset and Hold mode 3b Count Up Count Down Reset Hold 5 Quadrature Counter mode 4a A Type input B Type input Not Used 6 Quadrature 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 Table 20 M...

Страница 125: ...C1 Input 5 HSC2 Input 7 HSC3 Input 2 HSC0 Input 6 HSC2 Input 3 HSC0 Input 7 HSC2 Mode Value in User Program Table 21 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 10 HSC4 Inp...

Страница 126: ... 22 lists the definition for HSCID HSC1 HSC3 and HSC5 support mode 0 2 4 6 and 8 only and HSC0 HSC2 and HSC4 support all counting modes PLS Enable HSCAPP PLSEnable Description Data Format User Program Access PLSEnable bit read write HSCID HSCAPP HSCID Description Data Format User Program Access HSCID Word UINT read write Table 22 HSCID Definition Bits Description 15 13 HSC Module Type 0x00 Embedde...

Страница 127: ...red 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 external direction 3 Counter with external direction reset and hold 4 Two input counter up and down 5 Two input counter up and down with externa...

Страница 128: ...rection Not Used Not Used Example 1 off 0 on 1 HSC Accumulator 1 count Example 2 on 1 on 1 HSC Accumulator 1 count Example3 off 0 Hold accumulator value Inputs 0 11 are available for use as inputs to other functions regardless of the HSC being used Table 26 HSC Mode 3 Examples Input Terminals Embedded Input 0 Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count Directi...

Страница 129: ...ure Encoder Connected to Inputs HSC Mode 6 Quadrature Counter Phased Inputs A and B Table 28 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 Accumulator 1 count Example 2 on 1 off 0 on 1 off 0 off 0 on 1 HSC Accumulator 1 count Example3 on 1 off...

Страница 130: ... Embedded Input 1 Embedded Input 2 Embedded Input 3 CE Bit Comments Function Count A Count B Z reset Hold Example 1 1 off 0 off 0 on 1 HSC Accumulator 1 count Example 2 2 ß off 0 off 0 off 0 on 1 HSC Accumulator 1 count Example3 ß off 0 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 Exampl...

Страница 131: ...es 0 and 1 or an HSC error is generated 2 Greater than or equal to the data resident in the underflow HSCAPP UFSetting parameter for all HSC Mode HSCAPP HSCMode or an HSC error is generated Table 32 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 O...

Страница 132: ...ny value for the underflow position provided it is less than the overflow value and falls between 2 147 483 648 and 2 147 483 647 The HSCAPP OutputMask defines which embedded outputs on the controller can be directly controlled by the high speed counter The HSC sub system has the ability to directly without control program interaction turn outputs ON or OFF based on the HSC accumulator reaching th...

Страница 133: ...e not functional because they do not correlate to any physical outputs on the base unit For the 16 24 and 48 point controllers the first 6 10 and 20 bits of the mask word are used respectively The mask bit pattern can be configured only during initial setup The High Preset Output defines the state 1 ON or 0 OFF of the outputs on the controller when the high preset is reached For more information o...

Страница 134: ...rol bit is used to indicate the status of the High Speed Counter whether counting is enabled 1 or disabled 0 default The Error Detected flag is a status bit that 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...

Страница 135: ...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 The Underflow status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator has counted through the underflow variable HSCAPP UFSetting Count Up HSCSTS CountUpFlag Description Data Format HSC Modes 1 1 For ...

Страница 136: ... to this element is not recommended The Low Preset Reached status flag is set 1 by the HSC sub system whenever the accumulated value HSCSTS Accumulator is less than or equal to the low preset variable HSCAPP LPSetting This bit is updated continuously by the HSC sub system whenever the controller is in an executing mode Writing to this element is not recommended The Overflow Interrupt status bit is...

Страница 137: ...errupt occurs The High Preset Interrupt status bit is set 1 when the HSC accumulator reaches the high preset value and the HSC interrupt is triggered This bit can be used in the control program to identify that the high preset condition caused the HSC interrupt If the control program needs to perform any specific control action based on the high preset this bit is used as conditional logic This bi...

Страница 138: ...ub system If either mode 0 or mode 1 is configured the accumulator is reset to 0 when a high preset is reached or when an overflow condition is detected Programmable Limit Switch Position HSCSTS PLSPosition Description Data Format HSC Modes 1 1 For Mode descriptions see HSC Mode HSCAPP HSCMode on page 127 User Program Access HSCSTS PLSPosition Word INT 0 9 read only Error Code HSCSTS ErrorCode Des...

Страница 139: ...FF of the outputs on the controller when the high preset is reached See Output Mask Bits HSCAPP OutputMask on page 132 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 The Low Preset Output defines the state 1 on 0 off of the outputs on the...

Страница 140: ...ue The HscCmd 4 does not stop HSC counting If HSC is counting when the HscCmd 4 is issued some counting may be lost To reset the Acc value and then continue the counting trigger the HscCmd 4 only once If the command is enabled continuously it may cause errors HSC AppData Accumalator value is updated automatically by the HSC mechanism with the same value as the HSC Sts Accumulator To set one HSC HS...

Страница 141: ...or 6 input elements HPSetting LPSetting HPOutput LPOutput OFSetting and UFSetting HSC accumulator is NOT reloaded by cmd 0x03 0x04 HSC Reset set Accumulator to assigned value and reset HSC status information if Rung is Enabled Table 36 HSC Function Block Status Codes HSC Status Code Description 0x00 No action from Controller because the function block is not enabled 0x01 HSC function block success...

Страница 142: ... PLS data block that contains the data sets to be used PLS data structure is a flexible array with each element defined as follows The total number 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 LPReached Input BOOL Low Preset reached This bit can be reset to FALSE when HSC is not counting OFOccurr...

Страница 143: ...his process continues until the last element within the PLS data block is loaded At that point the active element within the PLS data block is reset to zero This behavior is referred to as circular operation If invalid data is loaded during operation an HSC error is generated and causes a controller fault You can use the PLS in Up high Down low or both directions If your application only counts in...

Страница 144: ... Example When the ladder logic first runs HSCSTS Accumulator 1 therefore all 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 complete...

Страница 145: ...e it suspended Micro800 supports up to six HSC interrupts An HSC interrupt is a mechanism that Micro830 Micro850 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 Us...

Страница 146: ...tected by the HSC the HSC user interrupt is not executed 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 The MH High Preset Mask control bit is used to enable allow or disable not allow a high preset interrupt from occurring If this bit is clear 0 and a High Preset Reached condition is detected by the HSC...

Страница 147: ...n HSC interrupt is executing The HSC sub system will clear 0 the EX bit when the controller completes its processing of the HSC subroutine The PE User Interrupt Pending 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 be executed immediately This bit is maint...

Страница 148: ...st The controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit This bit is set by the controller It is up to the control program to utilize track the lost condition if necessary User Interrupt Lost HSC0 LS Description Data Format HSC Modes 1 1 For Mode descriptions see Count Down HSCSTS CountDownFlag on page 135 User Program Access HSC0 LS...

Страница 149: ... 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 software operation such as upload and download are prevented if the controller is secured with a password and the correct password is not provided Micro8...

Страница 150: ...tware version 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 will not be able see interfaces associated with the Controller Password feature in the Connected Components Workbench softwar...

Страница 151: ...using Connected Components Workbench software version 9 or earlier You cannot upload a version 10 or later project from the controller You can upload a version 9 or earlier project from the controller if it was downloaded to the controller using Connected Components Workbench software version 10 or later but you cannot go online IMPORTANT If the controller has a password locked version 10 or later...

Страница 152: ...assword on page 227 Back Up and Restore a Password Protected Controller In this workflow user application will be backed up from a Micro800 controller that is locked to a memory plug in device 1 In the Project Organizer click the Discover icon The Browse Connections dialog appears 2 Select the target controller 3 When requested enter the controller password 4 Back up controller contents to the mem...

Страница 153: ...h software 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...

Страница 154: ...oller icon under Project Organizer to bring up the controller properties window 3 Add the memory module to the first slot in the controller 4 Click Configuration under the MEMBAK RTC properties and select Load Always or Load on Memory Error for the Load on power up option 5 Build and Download the project to the controller ...

Страница 155: ...ould pop up stating that the operation has been completed successfully Using the Memory Module to Copy a Project to Multiple Controllers You can use the memory module to download a project to multiple controllers without connecting them to a PC with Connected 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 ...

Страница 156: ...156 Rockwell Automation Publication 2080 UM002L EN E November 2021 Chapter 9 Controller Security Notes ...

Страница 157: ...59 Power up Settings in ConfigMeFirst txt 160 General Configuration Rules in ConfigMeFirst txt 162 ConfigMeFirst txt Errors 162 Data Log 164 Recipe 169 Quickstart Projects for Data Log and Recipe Function Blocks 172 IMPORTANT For optimum performance the microSD card should not be more than 90 full Regularly check available space on your microSD card and ensure that the card is exclusively used for...

Страница 158: ... to trigger through the following ways IMPORTANT To prevent data loss recipe and data log function blocks must indicate Idle status before microSD card is removed IMPORTANT To learn about restore and backup using the Connected Components Workbench software see the software Online Help IMPORTANT For Micro800 controllers that support microSD cards IP protection of user project can only be achieved t...

Страница 159: ...General Configuration Rules in ConfigMeFirst txt on page 162 Project restore is done from the subdirectory specified in ConfigMeFirst txt file or the Micro800 USERPRJ default folder if none is specified in the ConfigMeFirst txt file The user needs to ensure that the directory is populated with correct contents before restoring The ConfigMeFirst txt file is a configuration file stored on the microS...

Страница 160: ...er revision of firmware file compared to current firmware in the controller irrespective of FWDOWN setting Controller settings PM Power up Power up and switch to PROGRAM mode CF Power up Power up and attempt to clear fault Project settings BKD My Proj1 Power up Power up and save the controller project into backup directory My Proj1 USERPRJ Require extra power cycle to clear existing fault first us...

Страница 161: ... Settings If no directory has been specified in the ConfigMeFirst txt file then backup and 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 automatical...

Страница 162: ...wice or more one or more non setting characters exist within the same bracket space in between setting characters example P M or space in between IP address subnet mask and gateway address for example xxx x xx xxx xxx only one of the network parameter 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 become...

Страница 163: ...ore 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 microSD card from the controller and read the card using your computer 2 Navigate to the location where the image files are stored default is Micro800 USERPRJ ...

Страница 164: ...ogram New Controller If your controller is new you can use the ConfigMeFirst txt file to restore the project backup Figure 15 Example Configuration for Project Restore In the example shown above the ConfigMeFirst txt file configures the IP address subnet mask and gateway of the controller and restores the project from the location specified on the microSD card The ConfigMeFirst txt file must be pl...

Страница 165: ...ture on page 173 IMPORTANT Uploading data log files in PROGRAM mode is recommended for optimum performance and to prevent file access conflict For example if the data log instruction is executing Connected Components Workbench software will not upload the last data log file IMPORTANT Data log execution time depends on the user application and its complexity Users are advised to data log no faster ...

Страница 166: ...rent Grpxxx working folder the data log file File01 txt is created Once this file 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 ...

Страница 167: ...ging 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 error 1 DLG_ERR_NO_SDCARD microSD card is missing 2 DLG_ERR_RESERVED Reserved 3 DLG_ERR_DATAFILE_ACCESS Error accessing data log file in microSD card 4 DLG_ERR_CFG_ABSENT Data log configuration file is absen...

Страница 168: ...anges are ignored When execution completes the status changes from Busy to Complete At this stage if input Enable is False status changes to Idle after indicating Complete for 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 The Connected Components Workbench software can...

Страница 169: ...32 bit integer value 1234567 Date variables are stored as 32 bit words a positive number of seconds beginning 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 You have the option to convert this format to a m...

Страница 170: ...so 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 subfol...

Страница 171: ...eed status 3 Recipe Complete Error status Table 42 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_DATAFILE_ACCESS Error to access recipe data file in microSD card 4 RCP_ERR_CFG_ABSENT Recipe configuration file is absent 5 ...

Страница 172: ...RWFlag CfgId and RcpName input parameters are only sampled at Enable input parameter s rising 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 func...

Страница 173: ... each dataset 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 ...

Страница 174: ...r 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 5 On the Block Selector window that appears type DLG to filter the DLG function block from the list of available function blocks Click OK ...

Страница 175: ...variable by choosing from the Defined Words in the Connected Components Workbench software 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 that corresponds to DSET1 in your recipe configuration See Figure 18 Local Variables Variable Name Data Type EnDlg BOOL cfg_id USINT data_t...

Страница 176: ...g microSD Cards Figure 18 Choose a Predefined Variable Build and Download After configuring data log properties build the program and download to the controller Execute DLG Function Block Execute the DLG function block Notice the Status output go from 0 Idle to 1 Enable and 2 Succeed ...

Страница 177: ... button 4 If the file already exists in your destination folder 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 The Manage button is not available in DEBUG mode You need to stop DEBUG mode to use the Manage button to upload data log files Uploading data log files in PR...

Страница 178: ...ote that each recipe will be stored in separate files You can add up to 10 recipes per configuration 3 Click Add Variable 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 Upl...

Страница 179: ...1 Launch the Connected Components Workbench software 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 180: ...ble 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 181: ...u can choose a predefined variable by choosing from the Defined Words in the Connected Components Workbench software 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 that corresponds to RCP1 in your recipe configuration See Figure 19 Figure 19 Choose a Predefined Variable Rung 2 ...

Страница 182: ...load Recipe Files You can retrieve recipe files from the microSD card using a card reader or by uploading the recipe files through the Connected Components Workbench software 1 To use the Upload feature go to the Properties section of your project in the Connected Components Workbench software 2 Select Recipe Click Manage and then choose Upload Through Manage you can also choose to Download and De...

Страница 183: ...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 A recipe header file is saved with the uploaded recipes IMPORTANT Do not remove 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 184: ...184 Rockwell Automation Publication 2080 UM002L EN E November 2021 Chapter 10 Using microSD Cards Notes ...

Страница 185: ... 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 on power ports Wire type Use copper conductors only Terminal screw torque max 0 6 Nm 4 4 lb in using a 2 5 mm 0 10 in flat blade screwdriver Input circuit type 12...

Страница 186: ... 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 414V DC for 2 s 75V DC working voltage IEC Class 2 reinforced insulation Voltage category 24V DC sink source Off state voltage max 5V DC On state voltage nom 24V DC On state voltage range 16 8 26 4V DC 65 C...

Страница 187: ...r max 1440V A 2 A 4 A Turn on time Turn off time max 10 ms 2 5 µs ON 0 1 ms OFF 1 0 ms 1 Applies for general purpose operation only Does not apply for high speed operation Relay Contacts Ratings Micro830 10 point Controllers 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 ...

Страница 188: ...n for planning conductor routing See Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 General Specifications Micro830 16 point Controllers Continued Attribute 2080 LC30 16AWB 2080 LC30 16QWB 2080 LC30 16QVB Inputs Micro830 16 point Controllers Attribute 2080 LC30 16AWB 2080 LC30 16QVB 2080 LC30 16QWB 120V AC Input High Speed DC Input Inputs 0 3 Standard DC Input Inputs 4 ...

Страница 189: ... current min 10 mA 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 See Relay Contacts Ratings Micro830 16 point Controllers on page 189 4 0 A 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 Applies for g...

Страница 190: ... Aux and Network Inputs to Outputs 50V continuous Reinforced Insulation Type I O to Aux and Network Inputs to Outputs Type 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 conduc...

Страница 191: ... 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 See Relay Contacts Ratings Micro830 24 point Controllers on page 191 4 0 A 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 Applies for ge...

Страница 192: ... to Outputs Type tested for 60 s 3250V DC I O to Aux and Network Inputs to Outputs 250V continuous Reinforced Insulation Type Outputs to Aux and Network Inputs to Outputs Type tested for 60 s 720V DC Inputs to Aux and Network 3250V DC Outputs to Aux and Network Inputs to Outputs 50V continuous Reinforced Insulation Type I O to Aux and Network Inputs to Outputs Type tested for 60 s 720V DC I O to A...

Страница 193: ... 4V AC 50 60Hz Operating frequency nom 50 60 Hz Outputs Micro830 48 point Controllers Attribute 2080 LC30 48AWB 2080 LC30 48QWB 2080 LC30 48QVB 2080 LC30 48QBB Relay Output Hi Speed Output Outputs 0 3 Standard Output Outputs 4 and higher Number of outputs 20 4 16 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 ...

Страница 194: ...ondensing Vibration 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 24 point and 48 point controllers 45 g 10 point and 16 point controllers Emissions IEC 61000 6 4 ESD immunity IEC 61000 4 2 6 kV contact discharges 8 kV air discharges Radiated RF im...

Страница 195: ...Act compliant with EN 61000 6 4 Industrial Emissions KC Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of Radio Waves Act Clause 3 EAC Russian Customs Union TR CU 020 2011 EMC Technical Regulation Russian Customs Union TR CU 004 2011 LV Technical Regulation General Specifications Micro850 24 point Controllers Attribute 2080 LC50 24AWB 2080 LC50 24QWB 2...

Страница 196: ... 0 28 in Enclosure type rating Meets IP20 North American temp code T4 1 Use this Conductor Category information for planning conductor routing See Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 General Specifications Micro850 24 point Controllers Continued Attribute 2080 LC50 24AWB 2080 LC50 24QWB 2080 LC50 24QVB 2080 LC50 24QBB DC Input Specifications Micro850 24 point...

Страница 197: ...ro850 24 point Controllers Attribute 2080 LC50 24QWB 2080 LC50 24AWB 2080 LC50 24QVB 2080 LC50 24QBB Relay Output Hi Speed Output Outputs 0 1 Standard Output Outputs 2 and higher 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 ...

Страница 198: ...C 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 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 I...

Страница 199: ... AC 12 0 mA 30V DC Nominal impedance 12 kΩ 50 Hz 10 kΩ 60 Hz 3 kΩ 3 74 kΩ IEC input compatibility Type 3 Inrush current max 250 mA 120V AC Input frequency max 63 Hz Isolated AC Inputs Micro850 48 point Controllers Attribute 2080 LC50 48QWB 2080 LC50 48QVB 2080 LC50 48QBB Inputs 0 11 On state voltage nom 12 24V AC 50 60 Hz Off state voltage min 4V AC 50 60Hz Operating frequency nom 50 60 Hz Output ...

Страница 200: ...onoperating Dry Heat IEC 60068 2 14 Test Na Unpackaged Nonoperating Thermal Shock 40 85 C 40 185 F Relative humidity IEC 60068 2 30 Test Db Unpackaged Damp Heat 5 95 non condensing Vibration 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 I...

Страница 201: ...trollers Clause 11 European Union 2011 65 EU RoHS compliant with EN 50581 Technical documentation RCM Australian Radiocommunications Act compliant with EN 61000 6 4 Industrial Emissions KC Korean Registration of Broadcasting and Communications Equipment compliant with Article 58 2 of Radio Waves Act Clause 3 EAC Russian Customs Union TR CU 020 2011 EMC Technical Regulation Russian Customs Union TR...

Страница 202: ...60 s 720V DC I O to Aux and Network Inputs to Outputs Pilot duty rating C300 R150 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 See Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 General Specifications Micro870 24 point Controllers Continued A...

Страница 203: ...080 LC70 24QBBK Relay Output Hi Speed Output Outputs 0 1 Standard Output Outputs 2 and higher 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 ...

Страница 204: ...ndensing Vibration 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...

Страница 205: ... 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 Radiocommunicati...

Страница 206: ...ror is Positive error 2 5 μs F Negative error 0 2 μs F The plot below shows duty cycle error vs frequency 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 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 resistiv...

Страница 207: ... Frequency kHz Duty Cycle Minimum Maximum Duty Cycle 5 5 4 90 6 25 5 48 5 10 9 90 11 25 10 5 5 20 19 90 21 25 20 5 5 40 39 90 41 25 40 5 5 55 54 90 56 25 55 5 5 65 64 90 66 25 65 5 5 75 74 90 76 25 75 5 5 95 94 90 96 25 95 5 10 5 4 80 7 50 5 9 10 10 9 80 12 50 11 0 10 20 19 80 22 50 21 0 10 40 39 80 42 50 40 9 10 55 54 80 57 50 55 9 10 65 64 80 67 50 65 9 10 85 84 80 87 50 85 9 10 95 94 90 97 50 9...

Страница 208: ... 00 49 3 100 55 53 00 80 00 64 0 100 65 63 00 90 00 73 8 100 85 83 00 100 00 92 4 100 95 93 00 100 00 98 0 PTO Typical Readings Continued Expected Duty Cycle Typical Duty Cycle 1 27 KΩ load Frequency kHz Duty Cycle Minimum Maximum Duty Cycle Data Log Data Payload vs Performance Time Parameter Number of Characters 28 502 518 1028 1493 3676 Average write time per data log file including all overhead...

Страница 209: ...og including all overheads Average write time excluding first sample Average write time excluding all overheads 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 Gene...

Страница 210: ...ts IP20 Wire size 0 32 2 1 mm 22 14 AWG solid copper wire or 0 32 1 3 mm 22 16 AWG stranded copper wire rated 90 C 194 F insulation max Terminal screw torque 0 5 0 6 N m 4 4 5 3 lb in using a Phillips head or 2 5 mm 0 10 in flat blade screwdriver Wiring category 2 2 on power ports Insulation stripping length 7 mm 0 28 in North American temp code T4A 1 Any fluctuation in voltage source must be with...

Страница 211: ... 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 Micro800 uses symbolic variable names instead of physical memory addresses a mapping from symbolic Variable name to physical Modbus addressing is supported in Co...

Страница 212: ...ce is 3 meters 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 ...

Страница 213: ... Error This is to prevent the requirement of power cycling PVC when new Modbus Mappings are downloaded from the Connected Components Workbench software to the Micro800 controller Example 2 Micro800 Master to PowerFlex 4M Drive Slave The following is the overview of the steps to be taken for configuring a PowerFlex 4M drive Parameter numbers listed in this section are for a PowerFlex 4M and will be...

Страница 214: ...art 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 Comm Port Set Start Source to Comm Port Set P106 Start Source to 5 Comm Port Defaults for the remaining Inputs Accept Defaults for the remainder and click Finish 5 Select Parameters from the Connected Components Workbench window 6 The...

Страница 215: ... Stop Start Jog and so on 8194 Speed Reference word xxx x format for 4 4M 40 where 123 12 3 Hz xxx xx format for 40P 400 400N 400P where 123 1 23 Hz 8449 Logic Status word Read Active Fault and so on 8452 Speed Feedback word uses same format as Speed Reference 8450 Error Code word n 1 To access Parameter See the respective PowerFlex 4 Class drive User Manual for additional information about Modbus...

Страница 216: ...am scan is 100 ms and six serial ports are used then the theoretical maximum for serial ports is 60 messages second total This theoretical maximum may not be possible since MSG_MODBUS is a master slave request response protocol so performance is affected by several variables such as message size baud rate and slave response time The performance of Micro800 when receiving Modbus request messages Mi...

Страница 217: ...hernet settings and password The procedure to flash update the controller is similar for both options On Micro850 and Micro870 controllers users can use flash update their controllers through the Ethernet port in addition to the USB Topic Page Flash Upgrade Your Micro800 Firmware 217 Establish Communications Between RSLinx and a Micro830 Micro850 Micro870 Controller through USB 222 Configure Contr...

Страница 218: ...ade or Downgrade Firmware dialog box select the desired Target Revision to flash update the controller If the desired firmware revision is not shown in the drop down list you can 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 IMPORTANT To successfully flash update your controller over USB connec...

Страница 219: ...e your Micro830 Micro850 and Micro870 controller from the microSD card in addition to using ControlFLASH This is two 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 Tran...

Страница 220: ...ility The SD Card 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 uses the drive letter G 4 Select the catalog number of your Micro800 controller ...

Страница 221: ...lose and relaunch the Connected Components Workbench software 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 to edit the ConfigMeFirst txt file Step 2 Edit the ConfigMeFirst txt File To flash upgrade the controller with the firmware that you have transfer...

Страница 222: ...rok auto pcdc Establish Communications Between RSLinx and a Micro830 Micro850 Micro870 Controller through USB This quick start shows you how to get RSLinx RSWho to communicate with a Micro830 Micro850 or Micro870 controller through USB Micro830 Micro850 and Micro870 controllers use the AB_VBP x driver RSLinx Classic is installed as part of the Connected Components Workbench software installation p...

Страница 223: ...cro850 Micro870 controller 2 Plug USB A B cable directly between your PC and the Micro830 Micro850 Micro870 controller 3 Windows should discover the new hardware Click No not this time and then click Next 4 Click Install the software automatically Recommended and then click Next 5 The Wizard searches for new hardware ...

Страница 224: ...the 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 ru...

Страница 225: ...Appendix C Quickstarts Since Micro830 Micro850 Micro870 controllers support embedded EDS files right click this device and select Upload EDS file from device 8 On the EDS wizard that appears click Next to continue 9 Follow the prompts to upload and install the EDS file ...

Страница 226: ...226 Rockwell Automation Publication 2080 UM002L EN E November 2021 Appendix C Quickstarts 10 Click Finish to complete ...

Страница 227: ...jor Minor Configure Controller Password Set change and clear the password on a target controller through the Connected Components Workbench software Set Controller Password IMPORTANT The following instructions are supported on Connected Components Workbench software version 2 and Micro800 controllers with firmware revision 2 For more information about the controller password feature on Micro800 co...

Страница 228: ...t controller On the Device Details toolbar the Secure tooltip message Set Change or Clear Micro800 Controller Password Protection is displayed 3 Click Secure Select Set Password 4 The Set Controller 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 wil...

Страница 229: ...status 6 On the Device Details toolbar click Secure Select Change Password 7 The Change Controller Password dialog appears Enter Old Password New Password and confirm the new password 8 Click OK The controller requires the new password to grant access to any new session Clear Password With an authorized session you can clear the password on a target controller through the Connected Components Work...

Страница 230: ...ter 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 It also guides you through a step by step process on how test your program and enable a Programmable Light Switch PLS This sample project makes use of a quadrature encoder The quadrature encoder is used for determining ...

Страница 231: ...t Switch PLS Function on page 239 Create the HSC Project and Variables 1 Start the Connected Components Workbench software and open 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 window 2 Under Project Organizer right click Programs Click Add New LD Ladder Diagram to add a new ladder logic program Quadra...

Страница 232: ...d 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 233: ...nction block onto the rung 7 Double click the function block to open up the Instruction Selector dialog Choose HSC You can do a quick search for HSC function block by typing HSC on the name field Click OK Your ladder rung appears as shown 8 On the Project Organizer pane double click Local Variables to bring up the Variables window Add the following variables with the corresponding data types as sp...

Страница 234: ...Value column of the Local Variables table 1 On the Initial Value field for the MyCommand variable type 1 See HSC Commands HScCmd on page 140 for more information on the description for each value 2 Assign values to the MyAppData variables Expand the list of MyAppData subvariables clicking the sign Set the values of the different subvariables as shown in the following screenshot Table 48 Variable D...

Страница 235: ... to wire the encoder to the controller MyAppData HPSetting MyAppData LPSetting MyAppData OFSetting and MyAppData UFSetting are all user defined variables that represent the counting range of the HSC Figure 21 on page 236 gives an example of a range of values that can be set for these variables IMPORTANT MyAppData variable has subvariables that determine the settings of the counter It is crucial to...

Страница 236: ...s that when a High Preset 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 element...

Страница 237: ...the Micro830 controller and connect it to your PC Build the program in the Connected Components Workbench software 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 choose Start Debugging Click the green play button below the menu bar or Press the F5 Windows key Now that we are on debug mode we ...

Страница 238: ...le 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 display a Logical Value of 1 which means that the HSC is running See HSC Function Block Status Codes on page 141 for the complete...

Страница 239: ...tion 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 presets are supported by the PLS 1 Start a new project following the same steps and values as the previous project Set the values for the following variables as follows HSCAPP ...

Страница 240: ...w Preset is reached 2 You can now build and download the program into the controller then debug and test it following the instructions for the last project Forcing I Os Inputs are logically forced Status indicators do not show forced values but the inputs in the user program are forced Forcing is only possible with I O and does not apply to user defined variables and non I O variables and special ...

Страница 241: ... the Logical Value for Inputs and Physical Value for Outputs Remember you cannot force a Physical Input and cannot force a Logical Output User Program Logical Inputs Logical Outputs Normal Variables Force Motion HSC Physical Inputs Force Physical Outputs LED status indicators always match the physical value of I O Normal non physical internal variables cannot be forced Special functions such as HS...

Страница 242: ...and not blocked by the cabinet enclosure Micro830 Micro850 and Micro870 controllers have a Force LED indicator I O Forces After a Power Cycle After a controller is power cycled all I O forces are cleared from memory Use Run Mode Change Run Mode Change allows the user to make small changes to the logic of a running project and immediately testing it out on the controller without having to go into P...

Страница 243: ...troller 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 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 ...

Страница 244: ... project to the controller In the Connection Browser dialog select the Micro850 controller 7 Select Download current project to the controller 8 Select Download to confirm 9 When the project has been downloaded to the controller a prompt asking to change the controller to Remote Run mode appears Click Yes ...

Страница 245: ...nal 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 IMPORTANT From Connected Components Workbench software version 8 onwards selecting Yes to change the controller...

Страница 246: ...box 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 5 Click the Test Logic Changes icon to build the project and download it 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 whi...

Страница 247: ...nges will be discarded and the original project will be restored to the controller 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 IMPORTANT When a Test Logic is performed or undoing changes after the Test Logic is com...

Страница 248: ...248 Rockwell Automation Publication 2080 UM002L EN E November 2021 Appendix C Quickstarts Notes ...

Страница 249: ...roller 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 ...

Страница 250: ...ollers allow interrupts to be serviced at any point of a program scan Use UID UIE instructions to protect program block that should not be interrupted Priority of User Interrupts When multiple interrupts occur the interrupts are serviced based on their individual priority When an interrupt occurs and another interrupt s has already occurred but has not been serviced the new interrupt is scheduled ...

Страница 251: ...rupts can be configured and set as AutoStart from the Interrupts window Table 50 Priorities From Highest to Lowest User Fault Routine highest priority Event Interrupt0 Event Interrupt1 Event Interrupt2 Event Interrupt3 High Speed Counter Interrupt0 High Speed Counter Interrupt1 High Speed Counter Interrupt2 High Speed Counter Interrupt3 High Speed Counter Interrupt4 High Speed Counter Interrupt5 E...

Страница 252: ... a POU 2 In the User Interrupt Configuration window configure this POU as a User Fault routine User Interrupt Instructions Instruction Used To Page STIS Selectable Timed Start Use the STIS Selectable Timed Interrupt Start instruction to the start the STI timer from the control program rather than starting automatically 253 UID User Interrupt Disable Use the User Interrupt Disable UID and the User ...

Страница 253: ... 0 is entered 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...

Страница 254: ...22 Plug In Module UPM2 2097152 bit 21 Plug In 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 EI...

Страница 255: ... 23 Plug In Module UPM3 4194304 bit 22 Plug In Module UPM2 2097152 bit 21 Plug In 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 In...

Страница 256: ... Plug In 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 ...

Страница 257: ...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 EI...

Страница 258: ...he name of the Program Organizational Unit POU which is executed immediately when this STI Interrupt occurs You can choose any pre programmed POU from the drop down list STI Auto Start STI0 AS The AS Auto Start is a control bit that can be used in the control program The auto start bit is configured with the programming device and stored as part of the user program The auto start bit automatically...

Страница 259: ...ntroller 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 automatically set and cleared by the controlle...

Страница 260: ...tart EII0 AS AS Auto Start is a control bit that can be used in the control program The auto start bit is configured with the programming device and stored as part of the user program The auto start bit automatically sets the Event User Interrupt Enable bit when the controller enters any executing mode EII Input Select EII0 IS The IS Input Select parameter is used to configure each EII to a specif...

Страница 261: ...controller can process 1 active and maintain up to 1 pending user interrupt conditions before it sets the lost bit This bit is set by the controller It is up to the control program to utilize or track the lost condition if necessary EII User Interrupt Pending EII0 PE PE User Interrupt Pending is a status flag that represents an interrupt is pending This status bit can be monitored or used for logi...

Страница 262: ...262 Rockwell Automation Publication 2080 UM002L EN E November 2021 Appendix D User Interrupts Notes ...

Страница 263: ...ors on the Controller Micro830 Controllers Micro850 Controllers Micro870 Controllers 1 2 3 4 5 6 7 1 2 3 4 5 6 7 1 2 3 4 5 6 7 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 24 point Controllers 48 point Controllers 1 2 3 4 5 6 7 8 9 24 point Controllers ...

Страница 264: ...ndby Steady Green Device operational Flashing Red Minor fault minor and major recoverable faults Steady Red Major Fault non recoverable fault Flashing Green and Red Self test The device is performing power on self test POST During POST the network status indicator alternates flashing green and red The duration of the self test depends on the size of the project in the controller 9 Network status S...

Страница 265: ...nected Components Workbench software then clear the fault The fault LED is solid red when a non recoverable fault occurs Table 56 List of Error Codes for Micro800 controllers Error Code Fault Type Description Recommended Action 0xF000 Recoverable The controller was unexpectedly reset due to a noisy environment or an internal hardware failure If the system variable _SYSVA_USER_DATA_LOST is set the ...

Страница 266: ...e 270 Check wiring 0xF016 Non recoverable An unexpected hardware error occurred Perform one of the following See Corrective Actions for Non recoverable Faults on page 270 Check wiring 0xF017 Non recoverable An unexpected software error occurred due to unexpected hardware interrupt If the system variable _SYSVA_USER_DATA_LOST is set the controller is able to recover the user program but the user da...

Страница 267: ...axes and reconfigure motion with the guidance from the User Manual 0xF15z 1 Recoverable There is a motion engine logic error firmware logic issue or memory crash for one axis detected during motion engine cyclic operation One possible reason can be motion engine data memory crash See Corrective Actions for Recoverable Faults on page 270 0xF210 Recoverable The expansion I O terminator is missing Pe...

Страница 268: ... configuration does not match the actual I O configuration detected Perform one of the following See Corrective Actions for Recoverable Faults on page 270 Correct the plug in I O module configuration in the user program to match that of the actual hardware configuration Check the condition and operation of the plug in I O module Replace the plug in I O module 0xF0Dz 3 Recoverable When power was ap...

Страница 269: ...mponents Workbench software 4 Put the Micro800 controller into Run mode 0xF8A1 Recoverable The DOY parameters are invalid Perform the following 1 See Corrective Actions for Recoverable Faults on page 270 2 Correct the program to ensure that there are no invalid parameters 3 Build and download the program using Connected Components Workbench software 4 Put the Micro800 controller into Run mode 0xFF...

Страница 270: ...nents 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 controller by using the Connected Components Workbench software version 9 or later Perform the following 1 Launch the Connected Components Workbench s...

Страница 271: ...e series letter revision letter and firmware FRN number of the controller controller indicator status Diagnose fault in Connected Components Workbench software and see page 265 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 ...

Страница 272: ...272 Rockwell Automation Publication 2080 UM002L EN E November 2021 Appendix E Troubleshooting Notes ...

Страница 273: ...s cooling 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 parameter...

Страница 274: ...R PID Description Table 58 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 Setpoint SP Input REAL The set point value for the process AutoManual Input BOOL Auto ...

Страница 275: ... 59 GAIN_PID Data Type Parameter Parameter Type Data Type Description Kc Input REAL Controller gain for PID Proportional and Integral are dependent on this gain 0 0001 Increasing Kc improves response time but also increases overshoot and oscillation of the PID If Kc is invalid an error occurs Ti Input REAL Time integral constant in seconds 0 0001 Increasing Ti decreases overshoot and oscillation o...

Страница 276: ... REAL Feedback signal which is the value of the control variable applied to the process 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 a...

Страница 277: ...nstant causes a faster change in the output based on the difference between the PV measured process value and SV set point value integrated over this time A smaller integral time constant decreases the steady state error error when SV is not being changed but increases the chances of instability such as oscillations A larger integral time constant slows down the response of the system and make it ...

Страница 278: ...alue of ATParams Deviation will be 22 5 21 7 2 0 4 Step REAL Step value for AutoTune Must be greater than noise band and less than load ATDynamSet REAL Waiting time in seconds before abandoning auto tune ATReset BOOL Determines whether the output value is reset to zero after an AutoTune sequence TRUE Reset output to zero FALSE Leaves output at Load value Table 64 GAIN Parameter Values GAIN Paramet...

Страница 279: ...ct 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 peak the control output reduces by the amount of Step and waits for the process value to drop to the second peak Second peak is defined as For Direct Operation Second peak PV1 3 x Deviation For Reverse Ope...

Страница 280: ...an only work on first and second order systems A first order system can be described by a single independent energy storage element Examples of first order systems are the cooling of a fluid tank the 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...

Страница 281: ...te variable will be the fluid temperature A second order system can be described by two independent energy storage elements that exchange stored energy Examples of second order systems are a motor driving a disk flywheel with the motor coupled to the flywheel via a shaft with torsional stiffness or an electric circuit composed of a current source driving a series LR inductor and resistor with a sh...

Страница 282: ... function converting a real value to a time related ON OFF output SIM_WATERLVL This user defined function block simulates the process depicted in the application example shown before IMPORTANT User Program Scan Time is Important The autotuning method needs to cause the output of the control loop to oscillate In order to identify the oscillation period the IPID must be called frequently enough to b...

Страница 283: ...ler 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 Calculate External AC Power Supply Loading for your Micro830 Controller To calculate External AC Power Supply Loading Table 66 Micro830 Micro850 and Micro870 Power Requirements Controller Module Power Requirement Micro830 Micro850 and Micro870 without plug in expansion I O 1...

Страница 284: ...a 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 250 mA sensor current 6 W sensor power will have the following Total Loading for AC Power Supply Total loading for AC power supply 17 87 W 6 W 23 87 W ATTENTION Maximum loading to A...

Страница 285: ...s ports 57 ConfigMeFirst txt errors 162 Connected Components Workbench 11 21 71 75 91 150 151 153 165 169 connection limits 58 ControlFLASH 153 controller description 15 grounding 48 I O wiring 53 minimizing electrical noise 53 preventing excessive heat 32 Controller Error Recovery Model 270 controller load 73 Controller Mounting Dimensions 37 controller password 149 recover 153 controller securit...

Страница 286: ...formation About Using Interrupts 249 in position signal 80 input parameters 83 input states on power down 32 Installing Your Controller 37 INT instruction 252 253 interrupt subroutine instruction 252 253 interrupts interrupt instructions 252 overview 249 selectable timed start STS instruction 253 user fault routine 252 user interrupt disable UID instruction 253 user interrupt enable UIE instructio...

Страница 287: ...distance input 83 POU Program Organizational Unit 72 power considerations input states on power down 32 isolation transformers 31 loss of power source 32 other line conditions 32 overview 31 power supply inrush 31 power distribution 31 power source loss of 32 power status 264 power supply inrush power considerations 31 preventing excessive heat 32 Priority of User Interrupts 250 program mode 165 p...

Страница 288: ... 264 Status Indicators on the Controller 263 STI Function Configuration 258 STI Function Status Information 259 STS instruction 253 surge suppressors for motor starters 47 recommended 47 using 46 system assembly Micro830 and Micro850 24 point controllers 42 Micro830 Micro850 and Micro870 24 point controllers 42 T timing diagrams quadrature encoder 129 touch probe input switch 79 80 troubleshooting...

Страница 289: ...Rockwell Automation Publication 2080 UM002L EN E November 2021 289 Micro830 Micro850 and Micro870 Programmable Controllers User Manual ...

Страница 290: ...echnical data publications rok auto literature Product Compatibility and Download Center PCDC Download firmware associated files such as AOP EDS and DTM and access product release notes rok auto pcdc At the end of life this equipment should be collected separately from any unsorted municipal waste Rockwell Otomasyon Ticaret A Ş Kar Plaza İş Merkezi E Blok Kat 6 34752 İçerenkÖy İstanbul Tel 90 216 ...

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