Rockwell Automation Publication 2080-UM002N-EN-E - November 2022 157
Chapter 9
Motion Control
Generally two types of motion control are used in Micro800 controller motion applications that
have Kinetix 3 servo drives.
• Indexed Motion – Micro800 controller issues position indexes to the servo drive using
Modbus RTU communications or discrete I/O. Used for simple positioning. See
publication CC-QS025
for building block example.
• PTO Motion – Micro800 controller uses pulse and direction outputs to the servo drive for
precise control of position and velocity with Modbus RTU communications or discrete I/
O for feedback. Micro800 motion configuration and instructions make programming
easy. See publication CC-QS033
for building block example.
PTO Motion Control Certain Micro830, Micro850, and Micro870 controllers, shown in Table 26, support motion
control through high-speed pulse-train outputs (PTO). PTO functionality refers to the ability of
a controller to accurately generate a specific number of pulses at a specified frequency.
These pulses are sent to a motion device, such as a servo drive, which in turn controls the
number of rotations (position) of a servo motor. Each PTO is exactly mapped to one axis, to
allow for control of simple positioning in stepper motors and servo drives with pulse/direction
input.
As the duty cycle of the PTO can be changed dynamically, the PTO can also be used as a pulse
width modulation (PWM) output.
PTO/PWM and motion axes support on the Micro830, Micro850, and Micro870 controllers are
summarized below.
Table 26 - PTO/PWM and Motion Axis Support on Micro830, Micro850, and Micro870
Controller PTO (built-in) Number of Axes Supported
10/16 Points
(1)
2080-LC30-10QVB
2080-LC30-16QVB
(1) For Micro830 catalogs, Pulse Train Output functionality is only supported from firmware revision 2 and later.
11
24 Points
2080-LC30-24QVB
(1)
2080-LC30-24QBB
(1)
2080-LC50-24QVB
2080-L50E-24QVB
2080-LC50-24QBB
2080-L50E-24QBB
2080-LC70-24QBB
2080-L70E-24QBB
2080-LC70-24QBBK
2080-L70E-24QBBK
2080-L70E-24QBBN
22
48 Points
2080-LC30-48QVB
(1)
2080-LC30-48QBB
(1)
2080-LC50-48QVB
2080-L50E-48QVB
2080-LC50-48QBB
2080-L50E-48QBB
33
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