Allen-Bradley 1746-HSTP1 User Manual
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Allen-Bradley 1746-HSTP1 User Manual

Allen-Bradley 1746-HSTP1 User Manual

Stepper controller module
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Stepper Controller
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(Catalog No. 1746-HSTP1)
User Manual

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Summary of Contents for Allen-Bradley 1746-HSTP1

  • Page 1 Stepper Controller Module (Catalog No. 1746-HSTP1) User Manual...
  • Page 2 Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication.
  • Page 3 Programmable Controllers, Part 2 - Equipment Requirements and Tests. For specific information required by EN 61131-2, see the appropriate sections in this publication, as well as the Allen-Bradley publication Industrial Automation Wiring and Grounding Guidelines For Noise Immunity, publication 1770-4.1.

  • Page 4: Table Of Contents

    Table of Contents Table of Contents Preface Using This Manual Overview ........P-1 Contents of this Manual.
  • Page 5 Table of Contents Chapter 3 Start Up and Troubleshooting Chapter Objectives ......3-1 System Start Up.
  • Page 6 Table of Contents Home to Proximity Limit Switch and Marker ..5-14 Programming Simple Moves ..... . . 5-16 General Information.
  • Page 7 Table of Contents Appendix B Input/Output Quick Reference Index Publication 999-121 - December 1999...

  • Page 8: Preface

    Preface Using This Manual Overview Read this chapter to familiarize yourself with the rest of the manual. It provides information concerning the: • contents of this manual • intended audience • conventions used • hazards of injury or equipment damage Contents of this Manual This manual provides specific information relevant to the Stepper Controller Module, Catalog Number 1746–HSTP1.

  • Page 9: Intended Audience

    Output file – refers to the Module's Output Data file. This file is updated during the SLC Processor output scan. Module – refers to the Stepper Controller, catalog number 1746-HSTP1 Physical outputs – refers to actual outputs on the Stepper Controller SLC Processor – refers to an SLC 500 family processor Stepper Translator –...

  • Page 10: Local Product Support

    If the problem persists, call your local Rockwell Automation representative. The Rockwell Automation Technical Support number is: 1-603-443-5419 On the Web For information about Allen-Bradley, visit the following World Wide Web site: http://www.ab.com/ Publication 999-121 - December 1999...
  • Page 11 Using This Manual Publication 999-121 - December 1999...

  • Page 12: Module Overview

    Chapter Module Overview Chapter Objectives The Module overview will permit you to understand the basic functions of the Module and hardware requirements. Stepper Controller The Module, catalog number 1746–HSTP1, is an SLC 500 family compatible device. It can be used with any SLC 500 Processor. The Module is configured through the SLC 500 backplane and requires no switch settings.

  • Page 13: Operating Modes

    Module Overview Differential inputs are provided for: • Encoder Channel A and A NOT • Encoder Channel B and B NOT • Encoder Marker Channel Figure 1.1 Stepper Module Overview Stepper Controller Power 7 to 24V DC Supply User Power Supply Processor Standard...

  • Page 14: Command Mode Operation

    Module Overview The Module can be configured to: • Determine which inputs are used. • Determine the active level of inputs used. • Set whether just the encoder marker or a prox limit switch and encoder marker combination is used for homing. •...

  • Page 15: Led Indicator Diagnostics

    Module Overview LED Indicator Diagnostics There are five diagnostic LED indicators provided as shown below. Their purpose is to aid in identifying operational problems. Figure 1.2 LED Indicators Processor and System O.K. STEPPER Commanding a Controller Commanding Counterclockwise Move Clockwise Motion An error occurred during No configuration file present command mode operations...

  • Page 16: Input/Output Terminals

    Module Overview Input/Output Terminals These terminals supply power and inputs to the Module and outputs to attached devices. Each can accommodate two #14 gauge wires. Figure 1.3 Input/Output Terminals Release Screw 7-24V DC user power (1) (CCW loosen) CW + or non directional pulse output (2) CW - or non directional pulse output (3) CCW + pulse or direction signal output (4) CCW - pulse or direction signal output (5)
  • Page 17 Module Overview Publication 999-121 - December 1999...

  • Page 18: Installation And Wiring

    Chapter Installation and Wiring Chapter Objectives This chapter provides information which permits you to properly unpack, install and wire the interfaces between the Module and the various Stepper Translators that can be used with the Module. Also covered are typical input circuitry (direct input and encoder input), and encoder timing information and encoder feedback connections.

  • Page 19: Wiring

    Inc. standard UL 508 for industrial control equipment, follow the guidelines below. • Use 60/75° C copper wire when wiring the 1746–HSTP1 system. • Tighten the terminals on the 1746-HSTP1 to 5 lb/in. • Use Class 1 or Class 2 wiring for the terminals on the 1746– HSTP1 system.

  • Page 20: Wiring To Optocoupler Interface

    Installation and Wiring Figure 2.1 Differential Input User Typical Input Connection 7-24V DC Power Supply (Refer to page 6-6) 16 AWG 16 AWG Driver Stepper Controller Electrical Cabinet External Internal Ground Bus Voltage Regulator Wiring to Optocoupler The following diagrams show the circuitry used to interface the Module to a Stepper Translator through two different optocoupler Interface devices.
  • Page 21 Installation and Wiring Figure 2.2 Optocoupler Input Common Supply 7-24V DC 5V DC Typical Input Connection (Refer to page 6-6) 16 AWG Driver Stepper Controller 16 AWG Electrical Cabinet Voltage Ground Bus Regulator Publication 999-121 - December 1999...

  • Page 22: Wiring To Optocoupler Interface (Continued)

    Installation and Wiring Wiring to Optocoupler Figure 2.3 Individually Isolated Optocoupler Interface (Continued) 7-24V DC Typical Input Connection 16 AWG 16 AWG CCW Limit CW Limit Typical Driver Stepper Controller Electrical Cabinet Ground Bus Voltage Regulator 220 W +PLS Pulse Input -PLS -20mA Max.

  • Page 23: Typical Input Circuitry

    Installation and Wiring Figure 2.4 TTL Interface 7-24V DC Typical Input Connection (Refer to page 6-6) 16 AWG Driver Stepper Controller External Internal Voltage Regulator 5V DC 16 AWG Electrical Cabinet Ground Bus Typical Input Circuitry Two basic circuits are used for inputs to the Module. One type is the direct input circuit for home limit switches, overtravel limits, and interrupt devices.

  • Page 24: Typical Encoder Timing Diagram

    Installation and Wiring Figure 2.6 Encoder input equivalent circuit Typical Encoder Timing A typical encoder timing diagram is shown below. For actual connections, consult your encoder manufacturer's timing diagram. For Diagram all encoder types, if the direction (phasing) of the feedback is backwards, correct this condition by reversing the channel A and channel B connections.

  • Page 25: Encoder Feedback Connections

    Installation and Wiring Encoder Feedback The following two diagrams illustrate encoder connections to the Module inputs for both 5-volt and 15-volt encoder power supplies. Connections The -notes" included with each diagram provide specifics on wiring. Figure 2.7 5-volt encoder feedback connections 7-24V DC user power (1) CW + or non directional pulse output (2) CW - or non directional pulse output (3)
  • Page 26 Installation and Wiring Figure 2.8 15-volt encoder feedback connections 7-24V DC user power (1) CW + or non directional pulse output (2) CW - or non directional pulse output (3) CW + pulse or direction signal output (4) CCW - pulse or direction signal output (5) External interrupt input (6) Home limit switch input (7) Home Proximity limit switch input (8)
  • Page 27 2-10 Installation and Wiring Publication 999-121 - December 1999...

  • Page 28: Start Up And Troubleshooting

    Chapter Start Up and Troubleshooting Chapter Objectives This chapter contains information that will help you perform the following start up, troubleshooting, and error handling procedures. System Start Up The following instructions apply to initial start up of a Module. 1. Apply power to the SLC system and to the attached input and output devices.
  • Page 29 Check that the Module is properly inserted in its slot. If the Module appears to be properly seated, request help from Allen-Bradley Technical Support. Be sure to provide a copy of the program involved, and as many other details as you can about the circumstances that trigger the fault to assist in the solution of the problem.

  • Page 30: Safety Precautions

    Start Up and Troubleshooting Safety Precautions Severe injury or death can result from electrical ATTENTION shock, burn, or unintended actuation of controlled equipment. Hazardous voltages may exist in the control cabinet even with the circuit breaker in the off position. Recommended practice is to disconnect and lock out control equipment from power sources, and discharge stored energy in capacitors, if present.
  • Page 31 Start Up and Troubleshooting Publication 999-121 - December 1999...

  • Page 32: Module Operation

    Chapter Module Operation Chapter Objectives The information in this chapter will give you a basic understanding of frequency outputs and pulse train configuration which must be considered in the application of the Module. Module Overview The Module is an SLC family compatible Module. It is designed for use with an SLC 500™, SLC 5/01™, SLC 5/02™, SLC 5/03™, SLC 5/04™,or SLC 5/05™...

  • Page 33: Command

    Module Operation Command The Command mode directs all stepper motor operations, through the Stepper Translator. There are translators which require a pulse train and direction to operate. Other translators require a CW (positive direction) pulse train and a CCW (negative direction) pulse train. The CW and CCW designations refer to directions of stepper motor rotation.

  • Page 34: Origin (Home) Search Sequence Of Operation

    Module Operation programmed velocity data. Use the Jog+ or Jog– to initiate and stop the motion. Turning the appropriate bit on will cause the axis to IMPORTANT move. Turning it off causes the axis to decelerate and stop. Origin (Home) Search Sequence of Operation Information on this subject is contained in Chapter 4 of this manual, within the topic, “Find Home +/(CW), Find Home –/(CCW)”.
  • Page 35 Module Operation Publication 999-121 - December 1999...

  • Page 36: Configuration And Programming

    Chapter Configuration and Programming Chapter Objectives This chapter provides information to help you configure both the SLC Processor and the Module. This chapter also contains instructions for correctly programming the Module for the command mode of operation. Programming Conventions Since the SLC Processor does not support numbers as large as 8,000,000, the number must be entered as two distinct integer values that can be programmed within the capabilities of the SLC Processor.

  • Page 37: Processor Configuration Using Aps

    Configuration and Programming Processor configuration using APS 1. Locate an open slot in your chassis. The Module can be used with any SLC Processor. 2. Assign your SLC Processor, if not done previously: a. Using APS, press F3 (Offline PRG/DOC), F1 (PROCSSR FUNCTNS) and F1 (CHANGE PROCSSR) again to assign your processor and Module.

  • Page 38: Module Configuration

    Configuration and Programming Use the EDT–DAT function to enter parameters into your bit or integer files. The HHT has a default radix of binary for the bit file IMPORTANT (#B) and integer for the integer file (#N). Radices cannot be changed. Module Configuration General Information The Module must be properly configured before any operations may...
  • Page 39 Configuration and Programming upon by the Module until a valid configuration is received. The configuration file has the following format. 15 14 13 12 11 10 9 OUTPUT WORD 0 OUTPUT WORD 1 OUTPUT WORD 2 OUTPUT WORD 3 Output word 0: defines the user's configuration; that is, what types of inputs are present.
  • Page 40 Configuration and Programming bit 10 1 when output pulse type is pulse train and direction 0 when output pulse type is CW pulse train and CCW pulse train bit 11 not used bit 12 0 for limit switch home operations 1 for marker pulse home operations bit 13 and 14 not used bit 15...

  • Page 41: Configuration Mode Input Image Table

    Configuration and Programming Configuration mode input image table The data format of the input image table when the Module is in the configuration mode is: Input word 0: bits 0-5, 8-10 identical to like numbered bits in output table bits 6, 7 and 11 not used configuration error: 1 = error;...
  • Page 42 Configuration and Programming word 0 bit 13, to be true and turn on the red FLT LED indicator if attempted. • A configuration file that does not provide the ability to home the Module, either by means of a home limit switch and home limit switch operations, or quadrature encoder and marker pulse operations.

  • Page 43: Programming Command Mode

    Configuration and Programming Programming Command Output Words – SLC Processor to Stepper Controller Mode Output Command Word 0 Bit Definition 15 14 13 12 11 10 9 Decimal Value WORD 0 Absolute Move Relative Move Hold Motion Resume Move Immediate Stop (pulse train off) Find Home + CW Find Home - Jog +...
  • Page 44 Configuration and Programming 15 14 13 12 11 10 9 Word 1 WORD 1 reserved 15 14 13 12 11 10 9 Word 2 Position WORD 2 MSW 0-to 8388 (1000s) 15 14 13 12 11 10 9 Word 3 Position WORD 3 LSW 0-999 (1s)

  • Page 45: Output Command Bits For Word 0

    5-10 Configuration and Programming Output Command Bits for Word 0 Description Absolute Move Relative Move Hold Motion Resume Move Immediate Stop (pulse train off) Find Home +/(Up) Find Home –/(Down) Jog +/(Up) Jog –/(Down) Preset Position Reset Errors Program Blend Move Profile Read Blend Data Run Blend Move Profile Preset Encoder Position...

  • Page 46: Absolute/Relative Move Commands

    5-11 Configuration and Programming Notes: 1. A 0 to 1 transition of the above control bits must occur to cause the associated operation to take place. 2. Reaching either the CW or CCW limit switch during a normal move or jog operation is treated in the same manner as a pulse train enable/disable input.
  • Page 47 5-12 Configuration and Programming In an absolute move, the number of pulses generated by the Module equals the difference between the target position (destination) and the current position. In a relative move, the target position defines the distance (in pulses) that must be traveled relative to the current position.
  • Page 48 5-13 Configuration and Programming Hold move command: causes a controlled deceleration to the starting speed and stop. Upon completion of the hold stop, the hold state input (bit 2, word 0) of the command mode input word image table is set. While the hold move is in effect, velocity and acceleration or deceleration parameters can be changed.

  • Page 49: Homing Routines

    5-14 Configuration and Programming speed and runs at that speed until the home limit switch is contacted or marker is detected (depending on which is configured), and then stops. Without a home proximity limit switch present, the axis speed moves at the configured starting speed until the home limit switch is detected.
  • Page 50 5-15 Configuration and Programming Note: If you are using a home limit switch and a home proximity limit switch and a right to left home command is required to home the axis, mount the home proximity limit switch to the right of the home limit switch.

  • Page 51: Programming Simple Moves

    5-16 Configuration and Programming Module to output one pulse in the specified direction. This is referred to as a “one shot jog,” and can be made to occur during any 0 to 1 transition of the jog bit, while the velocity is set to zero speed. Preset position: sets the current axis position to the programmed value.

  • Page 52: Using The N Files For Motion Commands

    5-17 Configuration and Programming Using the N Files for Motion Commands The following example is used to denote an axis move equal to 1001 pulse counts, in the CW (+) direction. Word N9:23 contains the information in the (LSW) words which is the fine position in counts. These values can range from 0 to 999.

  • Page 53: Programming Blended Moves

    5-18 Configuration and Programming terminals 6 through 11, respectively. The Module responds to these direct inputs as follows: • External Interrupt Input – When this input is turned on, the axis decelerates to the programmed starting speed, and then stops. This input works only when a jog operation is being performed.

  • Page 54: Blend Move Programming Routine

    5-19 Configuration and Programming means the axis position must be valid for a blend move operation to take place. The first segment of each blend move profile always starts at the programmed starting speed and accelerates up to the programmed velocity. The starting speed for the next segment in the profile is equal to the velocity specified for the previous segment.
  • Page 55 5-20 Configuration and Programming 5. Resetting the send next blend move data bit causes the SLC Processor to reset the read blend data bit (O:2/12). 6. The Module again sets the send next blend move data bit in response to resetting the read blend data bit. 7.
  • Page 56 5-21 Configuration and Programming Publication 999-121 - December 1999...

  • Page 57: Module Status Inputs

    5-22 Configuration and Programming Module Status Inputs While the Module is operating in the command mode, its status is reported to the SLC Processor via the command mode input image table. This input file has the following format. Input Word 0 bit 0 is set when the axis is moving CW bit 1...
  • Page 58 5-23 Configuration and Programming bit 9 send next blend move data bit bit 10 is reset if position is valid bit 11 is set when input error exists bit 12 is set when command error exists bit 13 is set when configuration error exists bit 14 is set when Module is OK bit 15...
  • Page 59 5-24 Configuration and Programming Notes: 1. Direction of travel (CW or CCW) is established looking at the shaft end of the stepper motor. 2. Bit 11 (Input Error) is set by activating either the CW or CCW limit switch, or by an immediate stop input. It can only be cleared by a home or a preset operation.

  • Page 60: Input Words 2 And 3

    5-25 Configuration and Programming Notes: 1. When set, bit 3 (external interrupt) indicates that the Module has initiated a controlled stop, only during a jog operation. The stepper motor decelerates to the programmed starting speed, and then stops. The current position information is retained. 2.

  • Page 61: Configuration Data For Loop Back Diagnostic Test

    5-26 Configuration and Programming in order to generate the output pulses. Wiring for the diagnostic feedback test is shown in the following diagram. Configuration Data for Loop Back Diagnostic Test N9 Configuration for Loop Back Diagnostics Test: N9:0–3120923100 00000 Ladder Instructions for Loop Back Diagnostics Test This rung is used to test the loopback information.
  • Page 62 5-27 Configuration and Programming This rung is used to test the loopback to specific tolerances as defined by the less than and greater than tests. If the test fails the error output, SLC output 1 is turned on and the unit must be power cycled to reset it (based on this ladder logic).

  • Page 63: Command Mode Input Words

    5-28 Configuration and Programming Command Mode Input Words 15 14 13 12 11 10 9 Word 0 Input WORD 0 Status Bits 15 14 13 12 11 10 9 Word 1 WORD 1 Status Bits 15 14 13 12 11 10 9 Word 2 (MSW) WORD 2 Current Position Value...

  • Page 64: Application Examples

    Chapter Application Examples Chapter Objectives This chapter contains an application example, in the form of a ladder diagram, to help you construct an actual program for the Module, using the SLC Processor. Data table used for the program listing for Sample Module Check Procedure Program Listing for Sample Module Check Procedure The following ladder diagram represents a sample program that can...
  • Page 65 Application Examples Publication 999-121 - December 1999...
  • Page 66 Application Examples Publication 999-121 - December 1999...

  • Page 67: Entering Negative Position Data

    Application Examples Entering Negative Position Data The position data is sign magnitude. There are three ways to easily assign a negative number: • Using the ladder • Manipulating the bits manually • Calculating manually To enter negative position data using the ladder: 1.

  • Page 68: Converter Example

    Application Examples To enter negative position data by manipulating the bits manually: 1. Divide the absolute value into MSW, LSW. 2. Enter both MSW and LSW into the position MSW,LSW via decimal. 3. Change radix to binary. 4. Set MSB (15) of the MSW. To enter negative position data by calculating manually: 1.
  • Page 69 Application Examples Publication 999-121 - December 1999...
  • Page 70 Application Examples Publication 999-121 - December 1999...
  • Page 71 Application Examples Publication 999-121 - December 1999...

  • Page 72: Specifications

    Appendix Specifications This chapter defines module design characteristics, both electrical and mechanical, and operating parameters relating to its application and compatibility with other system components. • Backplane isolation to protect other Modules and the processor Industry Standards from external transient voltages. •...

  • Page 73: Power Requirements

    Specifications Power Requirements • Backplane 5 Volts DC 2 A • User Power 24 Volts DC 09A Max. System Limitations Number of modules per chassis is limited by the SLC power supply and applications scan time requirements. Discrete Inputs External Interrupt (7-24 VDC) Single Ended Home limit switch (7-24 VDC) Single Ended...

  • Page 74: Input/Output Terminals

    Specifications Input/Output Terminals These terminals supply power and inputs to the Module and outputs to attached devices. They can accommodate two #14 gauge Wires. Environmental Operating Conditions Operating / Inlet Air Temperature 0° to 60° C (32° to 140° F) Altitude up to 2000 M (6562 Ft) Humidity...
  • Page 75 Specifications Publication 999-121 - December 1999...
  • Page 76 Appendix Input/Output Quick Reference CONFIG OUTPUT WORD 0 CONFIG INPUT WORD 0 Bit 0 set when a CW limit switch is used Bit 0 set when CW limit switch is configured Bit 1 set when a CCW limit switch is used Bit 1 set when CCW limit switch is configured Bit 2...
  • Page 77 Input/Output Quick Reference CONFIG OUTPUT WORD 1 CONFIG INPUT WORD 1 Bit 5 determines the active level of the home Bit 5 reflects active level of the home prox limit proximity limit switch input switch input configured Bits 6 through not used Bits 6 through not used...
  • Page 78 Input/Output Quick Reference COMMAND OUTPUT WORD 4 COMMAND INPUT WORDS 2 and 3 Velocity (pulses/sec) MSW 0 – 250 report the current position data based on the number of pulses that have been sent to the stepper motor COMMAND OUTPUT WORD 5 COMMAND INPUT WORDS 4 and 5 Velocity (pulses/sec) LSW 0 –...
  • Page 79 Input/Output Quick Reference Publication 999-121 - December 1999...
  • Page 80 application examples industry standards Input/Output Quick Reference installation and wiring Intended Audience chapter 1 objectives chapter 2 objectives chapter 3 objectives chapter 4 objectives manual overview chapter 5 objectives Module chapter 6 objectives command mode operation chapter 7 objectives configuration mode chapter 8 objectives diagnostic mode configuration and programming...
  • Page 81 operation safety precautions SLC Processor configuration using APS Processor configuration files configuration using HHT (Catalog 1747-PT1) program listing for sample module check procedure SLC Processor Configuration product support, local SLC Processor configuration telephone number specifications Program Scan start up, operation and troubleshooting programming blended moves Starting and Stopping the Module blend move programming routine...
  • Page 82 Publication 999-121 - December 1999 PN 1746-HSTP1 Supersedes Publication 999-121 - January 1997 © 1999 Rockwell International Corporation. Printed in the U.S.A.

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