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SERCOS and Analog Configuration and Startup User Manual

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SERCOS and Analog Motion Configuration and StartupCatalog Numbers 1756-HYD02, 1756-M02AE, 1756-M02AS, 1756-M03SE, 1756-M08SE, 1756-M16SE, 1768-M04SE, 2094-SE02F-M00-S0, 2094-SE02F-M00-S1User ManualImportant User InformationSolid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales office or online at http://www.rockwellautomation.com/literature/) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, 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.Allen-Bradley, Rockwell Automation, RSLogix 5000, Rockwell Software, and TechConnect are trademarks of Rockwell Automation, Inc.Trademarks not belonging to Rockwell Automation are property of their respective companies.WARNINGIdentifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.IMPORTANTIdentifies information that is critical for successful application and understanding of the product.ATTENTIONIdentifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequenceSHOCK HAZARDLabels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.BURN HAZARDLabels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.Rockwell Automation Publication MOTION-UM001B-EN-P - November 20113PrefacePrefaceIntroductionUse this manual to configure a motion application and to start up your motion solution using Logix5000 motion modules.Before You BeginThis manual is a redesigned manual from publication LOGIX-UM002. A companion manual is available called the Coordinate System User Manual, publication MOTION -UM002.This manual is designed to give you the quickest and easiest approach to a SERCOS or Analog control solution. If you have any comments or suggestions, please see Documentation Feedback on the back cover of this manual.What You NeedYou need the following to set up either a SERCOS or Analog motion system:SERCOS•Logix L6x or Logix L7x controller •SERCOS interface drive (6000,6200,2000, Ultra3000)•SERCOS interface module •Kinetix 6000 drive/actuators pair•RSLogix 5000 programming softwareAnalog•Logix L6x controller •Analog interface module •Analog interface drive, Ultra3000•Kinetix 6000 drive/actuators pair•RSLogix 5000 programming softwareTopicPageWhat You Need3Configuration and Start-up Scenarios4Help for Selecting Drives and Motors6Where to Find Sample Projects6Additional Resources64Rockwell Automation Publication MOTION-UM001B-EN-P - November 2011PrefaceConfiguration and Start-up ScenariosThe following are three example scenarios of how you can get a motion solution up and running. TIPProgramming Virtual first is the safest method to begin with because you are separating the motion programming from the hardware.1 - WireRefer in Installation Instructions. 2 - Configure3 - Commission4 - ProgramWire FirstConfigure FirstProgram First3 - WireRefer in Installation Instructions. 1 - Configure4 - Commission2 - Program3 - WireRefer in Installation Instructions.2 - Configure4 - Commission1 - Program Virtual1 - Modify ProgramIf you program in Virtual first, you need to modify your program from using virtual axes to real axis.Rockwell Automation Publication MOTION-UM001B-EN-P - November 20115PrefaceDescription of the ModulesThis table describes the Logix5000 motion modules.Motion ModuleDescription1756-M03SE1756-M08SE1756-M16SE1768-M04SEUse a SERCOS interface module to connect the controller to SERCOS interface drives.•The SERCOS interface module lets you control digital drives by using high-speed, real time, serial communication.•SERCOS is the IEC 61491 Serial Real-time Communication System protocol over a fiber optic network.•The module uses a fiber optic network for all the wiring between the drives and the module.2094-SE02F-M00-S0, 2094-SE02F-M00-S1Kinetix 6200 control modules use SERCOS interface to communicate with the Logix controller and EtherNet/IP to access the safety configuration tool.1756-M02AE The 1756-M02AE module is a two-axis servo module for drives/actuators that need a ±10V velocity or torque reference. Use the 1756-M02AE module when your equipment has quadrature encoder feedback.The module also has the following:•Home limit switch inputs•Drive fault inputs•Drive enable outputs•5V or 24V position registration inputs•250 µs position and velocity loop updates1756-HYD02The 1756-HYD02 module is a two-axis servo module for hydraulic actuators that need a ±10V velocity reference. Use the 1756-HYD02 module when your equipment has magnostrictive linear transducer (LDT) feedback.The module is similar to the 1756-M02AE module with these exceptions:•Feed Forward adjust in addition to single-step Auto Tune.•Gain ratio between extend direction and retract direction to accommodate hydraulic cylinder dynamics.•Intelligent transducer noise detection filtering in hardware and firmware replaces programmable IIR filtering.1756-M02ASThe 1756-M02AS module is a two-axis servo module for drives/actuators that need a ±10V velocity or torque reference input. Use the 1756-M02AS module when your equipment has Serial Synchronous Input (SSI) position feedback.The module is similar to the 1756-M02AE module with these exceptions:•Gain ratio between extend direction and retract direction to accommodate hydraulic cylinder dynamics.•Intelligent transducer noise detection filtering in hardware and firmware replaces programmable IIR filtering.•SSI interface consisting of Differential Clock output and Data return signals replaces the differential encoder interface.

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