Allen-Bradley 1738-ADNX Manuel d'utilisateur Page 102
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Publication 1768-UM001C-EN-P - November 2007
102 Develop Motion Applications
Programming Motion
Control
The controller gives you a set of motion control instructions for your axes and:
• uses these instructions just like the rest of the Logix5000 instructions.
You can program motion control in these programming languages:
– Ladder diagram (LD)
– Structured text (ST)
– Sequential function chart (SFC)
• each motion instruction works on one or more axes.
• each motion instruction needs a motion control tag. The tag uses a
MOTION_INSTRUCTION data type and stores the instruction’s
information status.
Motion Control Instruction
Example
Here is an example of a simple ladder diagram that homes, jogs, and moves
an axis.
ATTENTION
Use the tag for the motion control operand of motion instruction
only once. Reuse of the same motion control tag in other
instructions may cause unintended operation of the control
variables.
Motion Control Tag
If Initialize_Pushbutton = on and the axis = off (My_Axis_X.ServoActionStatus = off) then
The MSO instruction turns on the axis.
If Home_Pushbutton = on and the axis hasn’t been homed (My_Axis_X.AxisHomedStatus = off) then
The MAH instruction homes the axis.
- 1768 CompactLogix 1
- Controllers 1
- Important User Information 2
- Summary of Changes 3
- Updated Information 3
- Summary of Changes 4 4
- Table of Contents 5
- 6 Table of Contents 6
- Table of Contents 7 7
- 8 Table of Contents 8
- Purpose of This Manual 9
- Who Should Use This 9
- Publication 9
- Preface 10 10
- 1768 CompactLogix Overview 11
- Communication 12
- Complex CompactLogix System 12
- IMPORTANT 12
- Designing a System 13
- Connect a Controller Via 16
- Configure the Serial Driver 17
- Yes Click OK 18
- Select the Controller Path 19
- Set the IP Address via a 20
- Serial Port 20
- Communicate over Networks 21
- EtherNet/IP Network 22
- 1768-EWEB Web Server Module 26
- ControlNet Network 27
- DeviceNet Network 30
- POWER SUPP 33
- Serial Network 34
- Communicate with DF1 Devices 35
- DH-485 Network 40
- Connection Overview 45
- Producing and Consuming 46
- (interlock) Data 46
- Sending and Receiving 47
- Messages 47
- Calculating Connection Use 48
- Connections Example 49
- Place 1768 and 1769 Modules 51
- 1768 Power Supply 52
- 1769 Module Placement 53
- Configure and Monitor I/O 55
- Configuring I/O 56
- I/O Connections 58
- Configure Distributed I/O 59
- Configuring Distributed I/O 60
- Address I/O Data 61
- Determine When Data 62
- Monitor I/O Modules 63
- Reconfigure an I/O Module 65
- If the module Then 67
- Develop Applications 69
- Developing Programs 70
- Defining Tasks 71
- Defining Programs 72
- Defining Routines 72
- Sample Controller Projects 73
- Organizing Tags 74
- Selecting a Programming 75
- Language 75
- Monitoring Controller 77
- Monitoring Connections 77
- I/O Module 79
- Select a System 80
- Overhead Percentage 80
- Develop Motion Applications 85
- Make the Controller the 86
- Master Clock 86
- Add the Motion Modules 87
- Add SERCOS Interface 88
- Set Up Each SERCOS 90
- Interface Module 90
- Add the Motion Group 91
- 8. Click Finish 93
- Add Your Axes 94
- Set Up Each Axis 95
- Check the Wiring of Each 98
- Tune Each Axis 100
- Obtain Axis Information 101
- Programming Motion 102
- Additional Resources 104
- Configure PhaseManager 105
- PSC POVR PCLF PRNP PATT 106
- PCMD PFL PXRQ PPD PDET 106
- PhaseManager Overview 106
- State Model Overview 107
- How Equipment Changes States 108
- Comparing PhaseManager 109
- Minimum System 110
- Requirements 110
- Equipment Phase 110
- Instructions 110
- Maintain Nonvolatile Memory 111
- Preventing a Major Fault 112
- During a Load 112
- Using a CompactFlash 112
- Appendix 113
- Introduction 113
- Status Indicators 117
- 118 Status Indicators 118
- Status Indicators 119 119
- 120 Status Indicators 120
- Status Indicators 121 121
- RS-232 Serial Port Status 122
- Indicators 122
- Faceplate Pushbutton 122
- Numerics 123
- 124 Index 124
- Index 125 125
- 126 Index 126
- Index 127 127
- 128 Index 128
- How Are We Doing? 129
- BUSINESS REPLY MAIL 130
- Rockwell Automation 132
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