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82 Rockwell Automation Publication 2080-UM002G-EN-E - March 2015

Chapter 7 Motion Control

Example: Aborted Movement Function Block During

Acceleration/Deceleration

IMPORTANT

If MC_Halt aborts another movement function block during acceleration

and the MC_Halt Jerk input parameter is less than the Jerk of the

currently executing FB, the Jerk of the currently executing function block

is used to prevent excessively long deceleration.

Velocity

Time

Execute1

Busy

Halt Execute

CommandAborted

46050

Default Chapter3
- Additional Resources3
Preface3
- Purpose of this Manual3
- Who Should Use this Manual3
- Table of Contents7
Chapter 1 Hardware Features15
Hardware Overview15
- Micro830 Controllers16
- Micro850 Controllers18
- Programming Cables20
- Embedded Ethernet Support21
- Embedded Serial Port Cables21
Chapter 2 Programming Software for Micro800 Controllers23
- Obtain Connected Components Workbench23
- Use Connected Components Workbench23
- Using Run Mode Change23
About Your Controller23
- Uncommitted Changes25
Chapter 3 Controller Mounting Dimensions41
- Mounting Dimensions41
- DIN Rail Mounting43
- Panel Mounting44
- Panel Mounting Dimensions44
- System Assembly47
Install Your Controller41
Chapter 449
Wire Your Controller49
- Wiring Requirements and Recommendation49
- Use Surge Suppressors50
  - Recommended Surge Suppressors52
- Grounding the Controller53
- Wiring Diagrams53
- Controller I/O Wiring56
- Embedded Serial Port Wiring59
Chapter 561
Communication Connections61
- Overview61
- Supported Communication Protocols61
- CIP Communications Pass-Thru64
  - Examples of Supported Architectures65
- Configure Serial Port66
- Use Modems with Micro800 Controllers66
  - Making a DF1 Point-To-Point Connection66
  - Construct Your Own Modem Cable66
- Configure Ethernet Settings72
  - Ethernet Host Name74
- Configure CIP Serial Driver74
- OPC Support Using Rslinx Enterprise74
Chapter 6 Overview of Program Execution75
Program Execution in Micro80075
- Rockwell Automation Publication 2080-UM002G-EN-E - March75
- Controller Load and Performance Considerations76
  - Periodic Execution of Programs77
- Execution Rules76
- Power up and First Scan77
  - Variable Retention78
- Guidelines and Limitations for Advanced Users78
- Memory Allocation78
Chapter 7 Use the Micro800 Motion Control Feature82
Motion Control82
- Input and Output Signals84
- Motion Control Function Blocks87
  - General Rules for the Motion Control Function Blocks89
- Motion Axis and Parameters97
- Function Block and Axis Status Error Codes106
- Major Fault Handling109
- Motion Axis Configuration in Connected Components Workbench109
- Monitor an Axis121
- Homing Function Block122
- Use PTO for PWM Control130
  - POU Pwm_Program131
- HSC Feedback Axis132
Chapter 8133
- High-Speed Counter Overview133
- Programmable Limit Switch Overview133
Use the High-Speed Counter and Programmable Limit Switch133
- What Is High-Speed Counter134
  - Features and Operation134
- HSC Inputs and Wiring Mapping135
- High Speed Counter (HSC) Data Structures139
- HSC STS (HSC Status) Data Structure150
- HSC (High Speed Counter) Function Block157
  - HSC Commands (Hsccmd)157
- HSC_SET_STS Function Block159
- Programmable Limit Switch (PLS) Function159
- HSC Interrupts162
- HSC Interrupt Status Information165
- Use HSC166
Chapter 9 Controller Security167
- Compatibility167
- Controller Security167
- Exclusive Access167
- Password Protection167
- Work with a Locked Controller168
- Configure Controller Password170
- Recover from a Lost Password170
Appendix A Micro830 Controllers171
- Micro830 10-Point Controllers171
- Micro830 16-Point Controllers175
- Micro830 24-Point Controllers178
- Micro830 48-Point Controllers182
- Micro830 and Micro850 Relay Charts187
Specifications171
- Micro850 Controllers187
Appendix B Modbus Mapping197
- Endian Configuration197
- Mapping Address Space and Supported Data Types197
- Example 1, Panelview Component HMI (Master) to Micro800198
- (Slave)198
- Example 2, Micro800 (Master) to Powerflex 4M Drive (Slave)199
- Performance202
Modbus Mapping for Micro800197
- Flash Upgrade Your Micro800 Firmware203
- Controller through USB208
- Establish Communications between Rslinx and a Micro830/Micro850208
- Configure Controller Password214
- Use the High Speed Counter218
- Forcing I/Os231
  - Checking if Forces (Locks) Are Enabled231
  - I/O Forces after a Power Cycle232
- Using Run Mode Change233
  - Create the Project233
  - Edit the Project Using Run Mode Change236
Appendix C203
Appendix D Information about Using Interrupts241
- What Is an Interrupt241
- When Can the Controller Operation be Interrupted242
- Priority of User Interrupts242
- User Interrupt Configuration244
- User Fault Routine244
User Interrupts241
- User Interrupt Instructions245
- Selectable Time Interrupt (STI) Function Configuration and Status251
- Using the Selectable Timed Interrupt (STI) Function251
- Using the Event Input Interrupt (EII) Function253
- Event Input Interrupt (EII) Function Configuration and Status254
  - EII Function Configuration254
  - EII Function Status Information255
Appendix E Status Indicators on the Controller257
- Error Conditions258
- Normal Operation258
- Error Codes259
- Controller Error Recovery Model266
- Calling Rockwell Automation for Assistance267
Appendix F270
- How to Autotune271
  - How Autotune Works272
- Troubleshooting an Autotune Process273
- PID Application Example274
  - PID Code Sample275
Appendix G277
- Calculate Total Power for Your Micro830/Micro850 Controller277

Brand	Allen-Bradley
Model	Micro830
Category	Controller
Language	English

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