位置控制

先进性

AB提供伺服位置控制来控制步进马达及电子伺服马达. 编码器和计数器模块来满足某些类型的位置控制应用。

ControlLogix 位置控制模块

• 伺服模块 (订货号 1756-M02AE)工作在Controllogix处
  理器下提供集成的运动控制和顺序控制依靠Controllogix
  处理器来完成运动应用程序和运动规划功能。. 这个 "灵巧" 伺服模块从Logix5550处理器接受位置命令变换执行一个
  高速闭合杰出规划位置环 及速度环. ControlLogix 机架提供与处理器之间高速数据通道一个处理器最大控制16模块, 在一个框架内最多控制32轴. 模块编程在RSLOGIX5000环境中.
  点击此处.

PLC-5 位置控制模块

• 伺服位置器件 (1771-QC), 支持伺服驱动器, 马达, 转速计, 编码器, 控制单轴. 你可以增加第二个模块控制第二个轴及第三个模块控制第三轴. 点击此处

• 步进马达位置器件 (1771-QA) 在各种运动应用中通过使用PLC5处理器控制步进电机. 你能编程加速减速常速和最终位置在单个动作和联合动作。

对1771模块更多描述, 点击此处.

• 4 MHz 正交编码器输入
• 200微秒 位置环，速度环更新周
  
• 2路高速5－24V直流输入
  
• 初始位置及驱动器故障输入
  
• 16位精度模拟量输出
• 驱动器使能输出
• 远程中断操作
• 软件组态（即插即用）
• 每个处理器最多控制16个模块

Incremental Digital Encoder Feedback for precise closed-loop positioning



Absolute or Incremental Positioning Commands for programming flexibility



Programmable Gain Break to allow high gain for precise positioning at low speed and low gain for stability at high speed



Programmable Acceleration / Deceleration to optimize the machine cycle time over varying loads



Programmable In-Position Band for flexibility of positioning accuracy



Programmable Jog Rates for flexibility of manual positioning



Programmable dwell for precise dwell times



Excess following error detection for automatic drive shutdown if the axis following error becomes too large



Loss-of-feedback detection to allow automatic drive shutdown during a move if tachometer or encoder feedback is lost

Jog forward, jog reverse, or jog to a starting position



Automatically override moves in progress



Offset all moves of a move profile to compensate for tool wear without reprogramming



Preset the starting position to a desired value



Extend the range of travel beyond the 999,999 pulse limit of the stepper positioning assembly



Select the operating mode single-step, continuous, independent, or synchronous



Select the acceleration, final rate, deceleration, and final position values



Skip a move or combination of moves



Halt one axis or all three axes using a programmed stop command or an E-STOP switch

Positioning and speed control of single axis



User-defined output limits



Fast module update time (0.2ms) independent of SLC scans



General-purpose fast inputs/outputs (24V dc) for absolute moves, incremental moves, speed moves, monitor moves, hold moves, unhold moves, blend moves, emergency stop operations, homing operations, preset operations, clear faults, and alternate home moves

Low-cost solution for many open-loop applications with stepper controllers



Acceleration step rate of 4ms or less



Outputs configurable for:

pulse and direction or


clockwise-pulse and counter-clockwise pulse

Actions you can command include: absolute moves, relative moves, hold moves, resume moves, immediate stop operations, homing operations, jogging operations, blend moves, preset operations, and reset errors

包装机



打标机



定长剪切



传送



旋转台



线性分拣



输送带



小装配机

Catalog Number/ Module	Axes	Inputs	Maxiumum Input Frequency	Outputs	Servo Loop Update Period	Location	Backplane Current Load	RTB
1756-M02AE Servo Module	2	Digital inputs for

• drive fault home registration E-stop encoder (quadrature)	4 MHz	Analog output for velocity command Digital output for enable drive	200 µs	Local 1756 chassis only (1 slot)	700mA @ 5V dc; 2.5mA @ 24V dc	1756-TBCH, -TBS6H
  Description - This servo module is an intelligent I/O module that provides 2 axes of servo positioning control. Because motion control is integral to the Logix5550 processor, this servo module must be installed into the local chassis, in the same backplane with the Logix5550 processor. All necessary configuration parameters are sent from the processor to the servo module. The position loop is closed on the servo module with the quadrature encoder inputs. The velocity loop is also closed on the servo module with a velocity feedback signal derived from the encoder inputs. The servo loop has a 32-bit gain resolution. The absolute position range is ±1,000,000,000 bits.

• Catalog Number/ Module	Axes	Inputs	Maxiumum Input Frequency	Outputs	Module Update Period	Location	Backplane Current Load	RTB
  1746-HSTP1 SLC Stepper Controller Module	1	Digital inputs single-ended (12-24V dc) or differential (5V dc) for external interrupt; home limit switch; home proximity input; CW travel limit input; CCW travel limit input; emergency stop, encoder channels A & B, encoder marker channel	250 KHz	Digital output differential for CW or non-directional pulse output; CCW pulse or direction signal output	4ms	1746 I/O chassis (1 slot)	0.2A @ 5V dc	Not Applicable
  	Description - This module provides a low-cost solution for a single-axis, open-loop application. With an absolute position of over ±8,000,000 counts, and pulse train velocities of up to 250KHz, the module is versatile yet compact enough to fit in the standard SLC 500 line of I/O racks and is compatible with SLC 500, 5/01, 5/02, and 5/03 processors. The module is compatible with translators with differential inputs, single-ended TTL and opto-coupler interfaces. The module is configurable for pulse train and direction bit or clockwise and counter-clockwise pulse train outputs. The module operates in three modes: Configuration, Command, and Diagnostic.
  1746-HSRV SLC Servo Control Module	1	3 General- purpose local fast inputs 24V dc	300 KHz @ 0° quadrature error	1 General- purpose local fast output 24V dc	0.2ms (typical)	1746 I/O chassis (1 slot)	0.3A @ 5V dc	1746-HT termination panel and 1746-HCA cable
  	Description - This module provides an analog velocity command with programmable limits up to ±10V dc to interface with a variety of Rockwell Automation servo drives. It lets you execute and sequence individual motion commands or one of 16 motion profiles of up to 32 segments for complex motion profiles. The module operates in two modes: Configuration and Command. Compatible with SLC 5/03 and 5/04 processors. It does not function in a remote I/O chassis.
  1746-HS IMC 110 Servo Controller Module	1 (linear or rotary-selectable)	3 General- purpose local fast inputs 24V dc	300 KHz @ 0° quadrature	1 General- purpose fast output 24V dc	4.8 ms	1746 I/O chassis (1 slot)	300mA @ 5V dc 104mA @ 24V dc (when using hand-held terminal)	Not Applicable
  	Description - Controls one linear or rotary axis. This module can monitor position and following error at any time after initial power-up and homing. It provides three fast inputs and one fast output. The SLC handheld terminal (catalog number 1747-PT1) works with motion programs and becomes a handheld pendant once you switch it to IMC 110 mode for debugging an MML program, initializing and modifying system variables, jogging the axis in both directions (positive and negative), displaying software or hardware errors, and much more.

• Catalog Number/ Module	Inputs	Maxiumum Input Frequency	Outputs	Module Update Period	Location	Backplane Current Load	Wiring Arm
  1771-DE Absolute Encoder Module	5V dc, 12 Bit Absolute Encoder (BCD, Natural Binary, or Gray Code Format)	50 KHz	(8) 5-24V dc Current Sourcing 2.0A Continuous per Output (current sourcing)	200µs	1771 I/O chassis (2 slots)	0.80A	1771-WG
  	Description - This module converts a 12-bit (maximum) natural binary or gray-code value from an absolute encoder into a 16-bit (4-digit) BCD value. The module can also pass through a 12-bit (3-digit) BCD value from the encoder. It accepts a turn-on preset value and a turn-off preset value for each of 8 outputs. The module compares the position value to these preset values for an output to provide a very fast (200µs) response to position change. This module is compatible with PLC-5 processors.
  1771-DL Gray Encoder Input Module	12-24V dc 8 Bit Absolute Encoder (Gray Code Format Only)	1 kHz	(1) 120V ac 0.5A Continuous Zero Speed Switch	1ms	1771 I/O chassis (1 slot)	0.12A	1771-WB
  	Description - This module contains a decoder that converts an 8-bit gray-code input value from an absolute encoder into an 8-bit natural binary value. This absolute position value is available through the I/O scan to the input image table. A zero-speed output disables machine motion if encoder failure is detected. This module is compatible with PLC-5 processors.
  1771-IJ , -IK Encoder Counter Module	1771-IJ 5V TTL Single-ended or Differential Incremental Encoder or Single-Channel Device 1771-IK 12-24V dc Single-ended Incremental Encoder or Single Channel Device	50 kHz	(2) 5V dc Open- Collector 0.5A Per Output	1.3ms	1771 I/O chassis (2 slots)	1.2A	1771-WB
  	Description - This module maintains a count (independent of the PLC-5 processor) of input pulses that typically come from such devices as quadrature-type encoders, high-speed optical-beam counters, and certain types of switches. The module makes decisions based on the count total by comparing it to previously programmed values and activating either one or both of its outputs based on the results of the comparison. The module can also return the accumulated count (BCD or binary numbers) to the processor for arithmetic computations or display. The module also provides inputs for a marker signal from an encoder and a voltage-level signal from a limit switch to allow for home positioning. (IJ module outputs can either be driven from the 5V dc supply through the module or from a separate load supply of a different voltage. IK module outputs can be driven either from the external supply through the module or from a separate load supply.)
  1771-QA Stepper Motor Positioning Assembly	Description - Stepper Motor Positioning Assembly provides open-loop stepper control and point-to-point positioning. The assembly consists of one 1771-M1 and three 1771-OJ modules (see rows below). One M1 module can control three OJ modules. The system can be expanded modularly from one to three axes per I/O chassis by placing one to three OJ modules in the chassis. The OJ modules can be located in any slot except the left-most slot and in any order in the I/O chassis. Multiple stepper assemblies can be distributed throughout the plant using remote I/O or Data Highway configurations. Each axis can control a linear slide although not limited to that type of mechanical load. The axes can be controlled independently or control of the axes can be synchronized. The OJ module will accept from TTL up to 30V dc inputs, and inputs from the 1771-IJ, IK modules (see rows above).
  1771-M1 Stepper Motor Controller Module	Not Applicable	Not Applicable	Not Applicable	Not Applicable	1771 I/O chassis (1 slot)	1.75A	None
  1771-OJ Pulse Output Expander Module	5-30V dc digital inputs for Jogging & E Stop	Not Applicable	20 kHz output to translator Source/Sink Push-Pull	2.4 to 3.1ms (to update output)	1771 I/O chassis (1 slot per OJ module)	0.80A	1771-WB
  1771-QC Servo Positioning Assembly	Description - A Servo Positioning Assembly (1771-QC), which consists of one 1771-M3 Servo Controller Modules and one 1771-ES Servo Expander Module (see rows below). You can add a servo drive, motor, tachometer, and encoder, to help control the motion of one user-supplied axis.
  1771-M3 Servo Controller Module	Not Applicable	Not Applicable	Not Applicable	Not Applicable	1771 I/O chassis (1 slot)	1.75A	None
  1771-ES Servo Encoder Feedback Expander Module	5-30V dc, Incremental encoder. Auxiliary digital inputs: Jog, Start-stop, Override	250 kHz differential input	+10V dc analog command	2.4ms (to update analog output voltage)	1771 I/O chassis (2 slots)	1.75A	1771-WB (two wiring arms ship with this module)