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130 Rockwell Automation Publication 2080-UM002K-EN-E - March 2019

Chapter 7 Motion Control

Use PTO for PWM Control

The following example shows you how to use a PTO axis as a PWM.

Launch Connected Components Workbench and create the following

ladder program.

MC_Power_1

MC_Power

Axis

Enable_Positive

Enable

Enable_Negative

PWM0

TRUE

Axis

ENO

Status

Busy

Active

Error

ErrorID

Enable/power up the PWM axis immediately after going to RUN mode. PWM axis will remain powered ON (until Program mode,

and so on).

__SYSVA_FIRST_SCAN

MC_WriteParameter_1

MC_WriteParameter

AxisIn

Parameter_Number

Execute

Value

PWM0

Update_PWM_Duty_Cycle

1005

G_PWM_Duty_Cycle

Axis

ENO

Done

Busy

Error

ErrorID

Continually use MC_WriteParameter (Parameter 1005) to change the Duty Cycle from global variable G_PWM_Duty_Cycle

(example: 0.5 => 50%)

MC_ExecutionMode

Update_PWM_Duty_Cycle

Default Chapter3
- Additional Resources3
- Conformal Coated Catalogs3
Preface3
- Purpose of this Manual3
- Who Should Use this Manual3
- Table of Contents7
Chapter 1 Hardware Features16
Hardware Overview16
- Micro830 Controllers16
- Micro850 Controllers18
- Micro870 Controllers20
- Embedded Ethernet Support22
- Embedded Serial Port Cables22
- Programming Cables22
Chapter 2 Programming Software for Micro800 Controllers25
- Obtain Connected Components Workbench Software25
- Use Connected Components Workbench Software25
- Controller Changes in Run Mode25
- Using Run Mode Change (RMC)26
About Your Controller25
- Uncommitted Changes27
Chapter 3 Controller Mounting Dimensions47
- Mounting Dimensions47
- DIN Rail Mounting50
- Panel Mounting50
- Panel Mounting Dimensions51
- System Assembly53
Install Your Controller47
Chapter 455
Wire Your Controller55
- Wiring Requirements and Recommendation55
- Use Surge Suppressors56
  - Recommended Surge Suppressors58
- Grounding the Controller59
- Wiring Diagrams60
- Controller I/O Wiring66
- Embedded Serial Port Wiring69
Chapter 571
Communication Connections71
- Overview71
- Supported Communication Protocols71
- CIP Communications Pass-Thru76
  - Examples of Supported Architectures76
- Use Modems with Micro800 Controllers78
  - Making a DF1 Point-To-Point Connection78
  - Construct Your Own Modem Cable78
- Configure Serial Port79
- Configure Ethernet Settings84
  - Validate IP Address86
  - Ethernet Host Name86
- Configure CIP Serial Driver87
- OPC Support Using Rslinx Enterprise87
Chapter 6 Overview of Program Execution89
- Execution Rules90
Program Execution in Micro80089
- Optional Module90
- Controller Load and Performance Considerations91
  - Periodic Execution of Programs91
- Power up and First Scan92
  - Variable Retention92
- Guidelines and Limitations for Advanced Users93
- Memory Allocation93
Chapter 7 PTO Motion Control95
- Use the Micro800 Motion Control Feature97
Motion Control95
- Input and Output Signals98
- Motion Control Function Blocks101
  - General Rules for the Motion Control Function Blocks103
- Motion Axis and Parameters111
- Function Block and Axis Status Error Codes120
- Major Fault Handling123
- Motion Axis Configuration in Connected Components Workbench123
- Monitor an Axis135
- Homing Function Block136
- Use PTO for PWM Control144
  - POU Pwm_Program145
- HSC Feedback Axis146
Chapter 8147
- High-Speed Counter Overview147
- Programmable Limit Switch Overview147
Use the High-Speed Counter and Programmable Limit Switch147
- What Is High-Speed Counter148
  - Features and Operation148
- HSC Inputs and Wiring Mapping149
- High Speed Counter (HSC) Data Structures153
- HSC STS (HSC Status) Data Structure164
- HSC (High Speed Counter) Function Block171
  - HSC Commands (Hsccmd)171
- HSC_SET_STS Function Block173
- Programmable Limit Switch (PLS) Function173
- HSC Interrupts176
- HSC Interrupt Status Information179
- Use HSC180
Chapter 9181
Controller Security181
- Exclusive Access181
- Password Protection181
- Compatibility182
- Work with a Locked Controller183
- Configure Controller Password185
- Recover from a Lost Password186
- Using the Memory Module Plug-In186
Chapter 10191
- Overview191
- Project Backup and Restore192
- Data Log200
  - Data Log Directory Structure201
  - Data Log Function (DLG) Block202
- Recipe205
  - Recipe Directory Structure206
  - Recipe Function (RCP) Block206
- Quickstart Projects for Data Log and Recipe Function Blocks209
  - Use the Data Log Feature210
  - Use the Recipe Feature216
Appendix A Micro830 Controllers223
- The Following Tables Provide Specifications, Ratings, and Certifications223
- For the Micro830 Controllers223
- Micro830 10-Point Controllers223
- Micro830 16-Point Controllers226
- Micro830 24-Point Controllers228
- Micro830 48-Point Controllers231
- Environmental Specifications233
- Certifications234
Specifications223
- Micro850 Controllers235
- Micro870 Controllers243
- Relay Chart for Micro830, Micro850, and Micro870 Controllers248
- Micro800 Programmable Controller External AC Power Supply253
Appendix B Modbus Mapping255
- Endian Configuration255
- Mapping Address Space and Supported Data Types255
- Example 1, Panelview Component HMI (Master) to Micro800256
- (Slave)256
- Example 2, Micro800 (Master) to Powerflex 4M Drive (Slave)258
- Performance260
Modbus Mapping for Micro800255
- Establish Communications between Rslinx and a Micro830/Micro850268
- Micro870 Controller through USB268
- Configure Controller Password275
- Use the High Speed Counter278
- Forcing I/Os291
  - Checking if Forces (Locks) Are Enabled291
  - I/O Forces after a Power Cycle292
- Using Run Mode Change293
  - Create the Project293
  - Edit the Project Using Run Mode Change296
Appendix C Flash Upgrade Your Micro800 Firmware261
- Flash Upgrade from Microsd Card264
Appendix D Information about Using Interrupts301
- What Is an Interrupt301
- When Can the Controller Operation be Interrupted302
- Priority of User Interrupts302
- User Interrupt Configuration304
- User Fault Routine304
User Interrupts301
- User Interrupt Instructions305
- Using the Selectable Timed Interrupt (STI) Function311
- Selectable Time Interrupt (STI) Function Configuration and Status312
  - STI Function Configuration312
  - STI Function Status Information312
- Event Input Interrupt (EII) Function Configuration and Status314
  - EII Function Configuration314
  - EII Function Status Information315
Appendix E Status Indicators on the Controller317
- Using the Event Input Interrupt (EII) Function314
- Error Codes319
  - Fault Types319
  - Corrective Action for Recoverable and Non-Recoverable Faults327
- Normal Operation319
- Retrieve a Fault Log327
- Controller Error Recovery Model328
- Calling Rockwell Automation for Assistance329
Appendix F332
- PID Function Block332
- IPIDCONTROLLER Function Block335
- How to Autotune338
  - How Autotune Works339
- PID Application Example340
  - PID Code Sample342
Appendix G345
- Troubleshooting an Autotune Process340
- Calculate Total Power for Your Micro830/Micro850/Micro870345
- Controller345
- Rockwell Automation Publication 2080-UM002K-EN-E - March346
  - Index347
  - Index348
Index349
- Index350
- Index351
- Index352

Brand	Allen-Bradley
Model	Micro830
Category	Controller
Language	English

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