User Manual

toc–ii
Publication 1746-6.19 – March 1998
Adjusting Command-word Speed and Acceleration V alues 4–7 . . . . .
Adjusting
Feedforward Parameters 4–7 . . . . . . . . . . . . . . . . . . . . . .
Using
Acceleration Feedforwards 4–8 . . . . . . . . . . . . . . . . . . . . . . .
Adjusting P-I-D Gains
4–8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Finding
the Value of the Dead Band Eliminator 4–9 . . . . . . . . . . . . . . . .
Saving Parameters
4–10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using Ladder Logic Chapter 5
Chapter Objectives 5–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Obtaining
Sample Ladder Program from the Internet 5–1 . . . . . . . . . . . .
To Access the Internet:
5–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configuring Your SLC Processor, Off-line
5–1 . . . . . . . . . . . . . . . . . . . .
Using
the Sample Ladder Program 5–2 . . . . . . . . . . . . . . . . . . . . . . . .
Copy
Configuration Parameters to the SLC Processor 5–3 . . . . . . . .
Copy
Configuration Parameters to the Module 5–3 . . . . . . . . . . . . . .
Back
and Forth Motion with State-machine Logic 5–4 . . . . . . . . . . . .
Jogging the Axes
5–7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Responds to Hydraulics On/Off
5–8 . . . . . . . . . . . . . . . . . . . . . . . . .
Running Synchronized Axes
5–9 . . . . . . . . . . . . . . . . . . . . . . . . . . .
Troubleshooting Chapter 6
Using LED Indicators 6–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Correcting
T ypical Problems 6–1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Module Specifications Appendix A
Electrical A–2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Physical
A–2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Environmental
A–2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Certification
A–2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring Without the
Interface Module
Appendix B
Wiring Example B–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Minimizing
Interference from Radiated Electrical Noise B–2. . . . . . . . . .
Checking
Out the Wiring and Grounding B–2. . . . . . . . . . . . . . . . . . . .
Using Processor Files Appendix C
Transferring Data C–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Transferring Motion Commands and Axis Status C–2. . . . . . . . . . . .
Transferring
Configuration Parameters C–2. . . . . . . . . . . . . . . . . . .
Using
Floating-point for V alues Above 32,767 C–3. . . . . . . . . . . . . . .
Using
M0 and M1 Files for Initial Configuration C–4. . . . . . . . . . . . . . . .
M0
and M1 Memory Map for Ladder Logic C–4. . . . . . . . . . . . . . . . .
Bit
Map of Configuration W ord (e:0, e:16, e:32. e:48) C–5. . . . . . . . .
Using
I/O Image T ables for Commands and Status C–5. . . . . . . . . . . . .
Bit Map of Command Mode Word C–6. . . . . . . . . . . . . . . . . . . . . . .
Bit Map of Axis Status Word C–6. . . . . . . . . . . . . . . . . . . . . . . . . . .