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Introduction to Allen-Bradley Compact Logix & RS Logix 5000

Software (MAH,MAJ,MAS instructions)

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MAH( Motion Axis Home) Instruction

• Use the MAH instruction to home an axis

• Two different homing modes can be selected during axis configuration: Active or Passive

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Active Homing

• The Axis executes the configured Home Sequence Type and establishes an absolute axis position

• No specific homing sequence is executed and the axis is left waiting for the next marker pulse to establish the home position.

Passive Homing

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MAH Instruction Structure

• EN (Enable) -Bit 31 Set when the rung makes a false-to-true transition and remains set until the servo message transaction is completed and the rung goes false.

• .DN (Done)-Bit 29 Set when the axis' faults have been successfully cleared.

• .ER (Error)-Bit 28 Indicates when the instruction detects an error, such as if you specified an un-configured axis.

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MAH Instruction contd…

• .IP (In Process)-Bit 26-Set on a positive rung transition and cleared after the Motion Axis Stop is complete, or terminated by a shutdown command or a servo fault.

• .PC (Process Complete)-Bit 27-Set after the stop operation has successfully completed.

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MAJ (Motion Axis Jog) Instruction

• Use the MAJ instruction to move an axis at a constant speed without regard to position.

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MAS (Motion Axis Stop) Instruction

• Use the MAS instruction to initiate a controlled stop of any motion process on the designated axis.

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MAS Instruction continued…

• This command defaults to stop at the Maximum Deceleration rate, established when the axis is configured.

• You can use the MAS instruction's Change Decel parameter to specify a deceleration rate that is different from the currently-configured Maximum Decel value.

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CONFIGURATION PROCEDURES

RS Logix 5000

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STEP 1:Start New PROJECT • Goto FileNewIn the New Controller Box make following selections

carefully:

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STEP 2: Define Motion Group

• Goto Left Menu Right-click

and create “New Motion Group”

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STEP 3: CREATE AXES To Create a Real Axis: Right-click Motion_GroupNew Axis AXIS_SERVO_DRIVE

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CREATE AXES continued To Create a Virtual Axis: Right-click Motion_GroupNew Axis AXIS_VIRTUAL

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I/O CONFIGURATION

RS Logix 5000

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Compact Logix System Layout

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STEP 4: Setup the 1768 Bus

Ethernet Bus:

Right-click on 1768-Bus New Module Communications Select 1768-

ENBT/A:

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Ethernet Bus Configuration continued

Please Note that the IP Address fields

should be exactly filled with the given

values, otherwise your program will not

work.

Name: “ETHERNET_BUS” IP Address: 192.168.1.105

Slot: 1

Electronic Keying: “Disable Keying”

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STEP 5: Setup SERCOS Module

SERCOS Module:

Right-click on 1768 BusNew ModuleMotion

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STEP 5 Continues: Adding Drives Right-click SERCOS Network New ModuleDrive:

Select: 2098-DSD-030-SE Ultra3000, 230V, SERCOS Drive, 15A Continuous, 30A

Peak…

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STEP 5 Continues: Configuring Drives

Goto your Axis_1 (in this case MOTOR1_LEFT)

in the Motion GroupRight-Click Properties:

Homing Tab Configuration:

Do not enter a value other than 1 for speed and return speed

this may result in abnormal motor functioning.

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Configuring Drives contd…. General Tab Configuration:

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Configuring Drives contd…. Conversion Tab Configuration:

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Configuring Drives contd…. Drive/Motor Configuration Tab:

Amplifier Catalog Number: 2098-DSD-030-SE

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Selecting Motor

Click Change Catalog for selecting the

Motor:

Select “MPL-A430P-M”

A: 230Volts Motor M: Multi-turn Encoder

B: 480V Motor S: Single-turn Encoder

Similarly, to add the second servo drive Repeat Steps 5 for

second servo drive

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Configuring Virtual Axis

Goto your Motion Group Select Virtual Axis Right Click Properties:

Conversion Tab Configuration:

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STEP 6: Setup 1769 Bus: Add Output Module

Right-click 1769-BusNew Module Digital: Select “1769-OW8I”:

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Configure Output Module

1769-OW8I Module Properties:

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Add Input Module Right-click 1769-BusNewModuleDigital: Select “1769-IQ16”

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Configure Input Module

• Enter the following values:

• Name: “DIGITAL_INPUT_24VDC”

• Slot: 2

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CROSS-CHECK SYSTEM Configuration

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MAIN ROUTINE PROCEDURES

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Starting Ladder Logic

• Goto Main Task Main Program(expand the +) Main Routine:

Normally Normally Output Unlatch Latch

Open Closed Contact Output Output

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Adding Enable Servo Drive Logic:

The Servo Drive enable signal is hard-wired from Output Module from

slots 5, 6 and 7 for Drives 1, 2 and 3. Note that 3RD Drive is not running

any motor but still we have to enable it.

Using Tags 5,6,7 from the Output Module:

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Inserting a Contact Example:

Insert & Define Start Home Contact: • Find From the Bit Tab and insert a Normally Open Contact (First in the

list) Name the contact to “HOME_ALL_AXIS”Right-click the contact New “HOME_ALL_AXIS” OK

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Inserting a Parallel Branch

• Drag Parallel Branch towards end of the rung

• Place the cursor at the first parallel branch

• Drag Parallel Branch again.

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Inserting MAH Blocks

• Insert MAH (Motion Axis Home) instruction from the Motion/Move

Tab in the toolbar in all three parallel branches by dragging the MAH

to each branch one at a time:

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Defining TAG for Motion Instructions

• Goto Motion Control, select the Tag Right-click New “Axis_Name”:

Tag Name should be different from the Axis Name, for example- if the Axis Name is MOTOR_LEFT, then Tag Name could be LEFT_MOTOR

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DOWNLOADING PROJECT

Select Controller

Download

During the LAB do not download the project to the controller until you are told

to do so. Each group will be given a opportunity to download and run the

program one at a time.

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SELECT CONTROLLER

Goto “Who Active” AB_ETHIP-1,

Ethernet

192.168.1.105, 1768-ENBT/A, 1768-

ENBT/A

Backplane, 1768 3 Slot Bus

00, 1768-L43 LOGIX5343, AH_Ultra3000_10_29_09

Download

Ignore the Warning Download

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SCREENSHOT

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Controller Date & Time: • Go to Controller (Top of the Hierrachy) Right-click Properties

Select Date/Time TabCheck the option “Make this Controler the Co-ordinated system time master” ApplyOK

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GOING ONLINE • Goto Offline Go Online:

As soon as you go online you’ll see the contacts in the first rung

will go HIGH (GREEN).

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TOGGLING A CONTACT • Right-click the contact Toggle Bit (You must be online

to see a response when you toggle a bit)