Allen-Bradley 1746-HSTP1 User manual

Stepper Controller

Module

(Catalog No. 1746-HSTP1)

User Manual

http://www.roc-electric.com/

Important User Information

Because of the variety of uses for the products described in this

publication, those responsible for the application and use of this

control equipment must satisfy themselves that all necessary steps

have been taken to assure that each application and use meets all

performance and safety requirements, including any applicable laws,

regulations, codes and standards.

The illustrations, charts, sample programs and layout examples shown

in this guide are intended solely for purposes of example. Since there

are many variables and requirements associated with any particular

installation, Allen-Bradley does not assume responsibility or liability

(to include intellectual property liability) for actual use based upon

the examples shown in this publication.

Allen-Bradley publication SGI-1.1, Safety Guidelines for the

Application, Installation and Maintenance of Solid-State Control

(available from your local Allen-Bradley office), describes some

important differences between solid-state equipment and

electromechanical devices that should be taken into consideration

when applying products such as those described in this publication.

Reproduction of the contents of this copyrighted publication, in whole

or part, without written permission of Rockwell Automation, is

prohibited.

Throughout this manual we use notes to make you aware of safety

considerations:

Attention statements help you to:

•identify a hazard

•avoid a hazard

•recognize the consequences

Allen-Bradley is a trademark of Rockwell Automation

ATTENTION

Identifies information about practices or

circumstances that can lead to personal injury or

death, property damage or economic loss

IMPORTANT Identifies information that is critical for successful

application and understanding of the product.

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European Communities (EC)

Directive Compliance

If this product has the CE mark it is approved for installation within

the European Union and EEA regions. It has been designed and

tested to meet the following directives.

EMC Directive

This product is tested to meet the Council Directive 89/336/EC

Electromagnetic Compatibility (EMC) by applying the following

standards, in whole or in part, documented in a technical

construction file:

•EN 50081-2 EMC — Generic Emission Standard, Part 2 —

Industrial Environment

•EN 50082-2 EMC — Generic Immunity Standard, Part 2 —

Industrial Environment

This product is intended for use in an industrial environment.

Low Voltage Directive

This product is tested to meet Council Directive 73/23/EEC Low

Voltage, by applying the safety requirements of EN 61131-2

Programmable Controllers, Part 2 - Equipment Requirements and

Tests. For specific information required by EN 61131-2, see the

appropriate sections in this publication, as well as the Allen-Bradley

publication Industrial Automation Wiring and Grounding Guidelines

For Noise Immunity, publication 1770-4.1.

This equipment is classified as open equipment and must be

mounted in an enclosure during operation to provide safety

protection.

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iPublication 999-121 - December 1999

Table of Contents

Preface

Using This Manual

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Contents of this Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . P-1

Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2

Rockwell Automation Support . . . . . . . . . . . . . . . . . . . . . . P-2

Local Product Support . . . . . . . . . . . . . . . . . . . . . . . . . P-3

Technical Product Assistance . . . . . . . . . . . . . . . . . . . . P-3

On the Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3

Chapter 1

Module Overview

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Stepper Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Configuration Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

Command Mode Operation . . . . . . . . . . . . . . . . . . . . . . . . 1-3

Diagnostic Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

LED Indicator Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

Input/Output Terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

Terminal Block Release Screws . . . . . . . . . . . . . . . . . . . . . 1-5

Chapter 2

Installation and Wiring

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

Starting and Stopping the Module . . . . . . . . . . . . . . . . . . . 2-2

Wiring for a Differential Interface. . . . . . . . . . . . . . . . . . . . 2-2

Wiring to Optocoupler Interface . . . . . . . . . . . . . . . . . . . . 2-3

Wiring to Optocoupler Interface (Continued) . . . . . . . . . . . 2-5

Wiring Information for TTL Interface . . . . . . . . . . . . . . . . . 2-5

Typical Input Circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

Typical Encoder Timing Diagram. . . . . . . . . . . . . . . . . . . . 2-7

Encoder Feedback Connections . . . . . . . . . . . . . . . . . . . . . 2-8

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Publication 999-121 - December 1999

Table of Contents ii

Chapter 3

Start Up and Troubleshooting

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

System Start Up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Normal Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Removing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

Chapter 4

Module Operation

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Module Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Operation Using the Pulse and Direction Outputs . . . . . 4-2

Fixed Speed Operation . . . . . . . . . . . . . . . . . . . . . . . . 4-2

Origin (Home) Search Sequence of Operation. . . . . . . . 4-3

Resetting the Current Absolute Position. . . . . . . . . . . . . 4-3

Chapter 5

Configuration and Programming

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Programming Conventions . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Configuration and Status Bits. . . . . . . . . . . . . . . . . . . . . . . 5-1

Program Scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

SLC Processor Configuration . . . . . . . . . . . . . . . . . . . . . . . 5-1

Processor configuration using APS . . . . . . . . . . . . . . . . 5-2

Processor configuration using HHT (Catalog 1747–PT1). 5-2

Module Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

Configuration Error . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

Configuration mode output image table . . . . . . . . . . . . 5-3

Configuration mode input image table . . . . . . . . . . . . . 5-6

Invalid Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

Programming Command Mode . . . . . . . . . . . . . . . . . . . . . 5-8

Output Words – SLC Processor to Stepper Controller. . . 5-8

Output Command Word 0 Bit Definition . . . . . . . . . . . . . . . . . . . 5-8

Command Mode Output Words. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

Output Command Bits for Word 0 . . . . . . . . . . . . . . . . 5-10

Absolute/relative move commands . . . . . . . . . . . . . . . . 5-11

Homing Routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

Home to Limit Switch. . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

Home to Proximity Limit Switch and Home Limit Switch 5-14

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Publication 999-121 - December 1999

Table of Contents iii

Home to Proximity Limit Switch and Marker . . . . . . . . . 5-14

Programming Simple Moves . . . . . . . . . . . . . . . . . . . . . . . 5-16

General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

Data File Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

Using the N Files for Motion Commands. . . . . . . . . . . . 5-17

Quadrature Encoder Input . . . . . . . . . . . . . . . . . . . . . . 5-17

Use of Direct Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

Programming Blended Moves . . . . . . . . . . . . . . . . . . . . . . 5-18

General Information. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

Blend move programming routine . . . . . . . . . . . . . . . . 5-19

Module Status Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22

Input Word 0. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22

Input Word 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-24

Input Words 2 and 3 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

Input Words 4 and 5 . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

Diagnostics Feedback Test. . . . . . . . . . . . . . . . . . . . . . . . . 5-25

Configuration Data for Loop Back Diagnostic Test. . . . . 5-26

Ladder Instructions for Loop Back Diagnostics Test. . . . 5-26

Command Mode Input Words . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

Chapter 6

Application Examples

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Data table used for the program listing for

Sample Module Check Procedure . . . . . . . . . . . . . . . . . 6-1

Program Listing for Sample Module Check Procedure . . 6-1

Entering Negative Position Data . . . . . . . . . . . . . . . . . . 6-4

Converter Example . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

Appendix A

Specifications

Industry Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

LED Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1

Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

System Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Discrete Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Discrete Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

Input/Output Terminals . . . . . . . . . . . . . . . . . . . . . . . . A-3

Environmental Operating Conditions . . . . . . . . . . . . . . A-3

Storage Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

Feedback Circuitry . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

Program Storage Requirements . . . . . . . . . . . . . . . . . . . A-3

Processor Compatibility . . . . . . . . . . . . . . . . . . . . . . . . A-3

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Publication 999-121 - December 1999

Table of Contents iv

Appendix B

Input/Output Quick Reference

Index

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1Publication 999-121 - December 1999

Preface

Using This Manual

Overview

Read this chapter to familiarize yourself with the rest of the manual. It

provides information concerning the:

•contents of this manual

•intended audience

•conventions used

•hazards of injury or equipment damage

Contents of this Manual

This manual provides specific information relevant to the Stepper

Controller Module, Catalog Number 1746–HSTP1. The following table

identifies the chapters, titles and contents.

Chapter Title Contents

Preface Using This Manual An overview of this manual

1 Module Overview Module Overview, its operation and

hardware features

2 Installation and

Wiring

Interconnection diagrams for various

hardware interfaces for communication

with the Stepper Controller.

3 Start Up and

Troubleshooting

Start up, normal states of LED indicators,

troubleshooting and error handling

information.

4 Module Operation Describes interface selection, the Module’s

use of inputs and outputs, and operating

modes

5 Configuration and

Programming/Status

Provides the steps necessary to configure

the SLC™ Processor and Stepper Controller

6 Application Examples Illustrated sequencer, configuration and

command data files.

Appendix A Specifications Temperature, humidity, input output,

voltage, timing and cabling information.

Appendix B Input/Output Quick

Reference

A quick reference for the Input/Output

config and command bits and words.

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Publication 999-121 - December 1999

P-2 Using This Manual

Intended Audience

This manual is designed for the qualified first time user who has a

working knowledge of SLC 500™ products. If necessary, obtain the

proper training before using the Stepper Controller.

Conventions

The following terms are used throughout this manual:

Input file – refers to the Module's Input Data file. This file is updated

during the SLC Processor input scan

Output file – refers to the Module's Output Data file. This file is

updated during the SLC Processor output scan.

Module – refers to the Stepper Controller, catalog number

1746-HSTP1

Physical outputs – refers to actual outputs on the Stepper Controller

SLC Processor – refers to an SLC 500 family processor

Stepper Translator – refers to the interface between the Stepper

Controller and the stepper motor that converts pulse train outputs into

power signals used to run the motor.

Position Loop – refers to the ability of a controller to accurately

position a mechanism to a precise point based on a dynamic

comparison of command data and feedback from a sensor.

Engineering Units – refer to decimal fractions of units of

measurement; e.g., inches, millimeters and degrees.

CW – refers to rotation or movement in a clockwise direction.

CCW – refers to rotation or movement in a counter-clockwise

direction.

Rockwell Automation

Support

Rockwell Automation offers support services worldwide, with over 75

sales/support offices, 512 authorized distributors, and 260 authorized

systems integrators located throughout the United States. In addition,

Rockwell Automation representatives are located in every major

country in the world.

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Publication 999-121 - December 1999

Using This Manual P-3

Local Product Support

Contact your local Rockwell Automation representative for:

•sales and order support

•product technical training

•warranty support

•support service agreements

Technical Product Assistance

If you need to contact Rockwell Automation for technical assistance,

please review the information in this manual. If the problem persists,

call your local Rockwell Automation representative.

The Rockwell Automation Technical Support number is:

1-603-443-5419

On the Web

For information about Allen-Bradley, visit the following World Wide

Web site:

http://www.ab.com/

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