SERIES SIX GEK-83543A PROGRAMMABLE CONTROLLERS I AXIS POSITIONING MODULE (TYPE 1) GENERAL DESCRIPTION The Axis Positioning Module (APM) is an intelligent, programmable, single-axis positioning controller integrated into the Series Six Programmable Controller (PC) system. The APM provides a real time interface between the Series Six PC and a servo-controlled axis. The user can monitor and control the APM from a Program Development Terminal (PDT) while the APM performs the complex calculations required to control a precision servo system. Due to the complete integration of the APM into the PC system, the Series Six provides a predictable, yet flexible, axis control capability. The features and benefits of the APM are summarized in Table 1. The Axis Positioning Module resides in a Series Six I/O rack where it is serviced by the Series Six Central Processing Unit (CPU) in the course of a normal CPU scan. (Figure 1 provides a view of the module circuit board and faceplate.) The CPU communicates with the APM via the Series Six I/O Bus using the standard Series Six protocol. The APM translates the positioning commands it receives from the CPU into a position versus time profile, determines the current position of the axis using the input from an absolute position feedback device (a resolver), and compares it with the commanded position indicated by the profile. This process generates a +/-10 V dc (maximum) velocity command output to a drive which moves the axis. A complete command set (containing over 70 commands) and single or multiple resolver feedback capabilities allow the APM to be utilized in numerous applications. Typical position ranges are 140 feet with a resolution of.oool inch, or 1400 feet with.ool inch resolution. Typical velocities are 600 ipm with.oool inch resolution, or 6000 ipm with -001 inch resolution. Up to 10 stored programs (canned cycles) can be downloaded from the CPU to an APM; collectively, the canned cycles can contain up to 492 move commands. A canned cycle is called, or commanded to execute, from relay ladder logic. The APM interface specifications are provided in Table 2; the resolver specifications are provided in Table 3. Refer to the APM Manual, GEK-25363, and the APM Commands Y-----Y Return Data and Error Chart GEJ-6041, for further information. 1
Axis Positioning Moduie (Type 1) GEK-83543 TABLE 1. FEATURES AND BENEFITS FEATURES BENEFITS Directly interfaces with Series Six PC. Reduces wiring costs. Programmable acceleration and deceleration ramps. Maximizes drive capabilities and improves system performance. Multiple resolver/absolute positioning capabilities. Absolute and incremental positioning modes. Programmable position loop gain. Programmable Velocity Feedforward. Enables APM to determine absolute axis position at power-up without home position routine. Provides flexibility in programming. Allows user to set gain without adjusting potentiometer/greater stability with time and temperature changes. Enhances servo performance by allowing operation with reduced following error. Simple, single velocity moves or complex Enables APM to be used as velocity-only controller as velocity/time profiles. well as position controller, Canned cycles. Eliminates repetitious programming. Precise coordination of multiple axis systems. Axis status and system error indications to Series Six CPU. Extends applications capabilities. Provides user with complete range of input data. On-board diagnostics and indicator lights. Simplifies troubleshooting. Analog. Provides general purpose analog input capabilities and programmable alarm setpoints. Programmable Position, Velocity and Acceleration Provides complete control over the motion profile. limits. Programmable dwells. Allows accurate dwell times not dependent on CPU scan time.
Axis Positioning Module (Type 1) GEK-83543 INTERFACE Drive Enable Loop Contactor Negative (Left) Overtravel Switch Positive (Right) Overtravel Switch IN/OUT output output TABLE 2. SPECIFICATIONS CHARACTERISTICS Normally open relay contact; Contact Rating: 24 V ac/dc, 1 amp maximum; (resistive load only); (power supplied by user). Same as Drive Enable. Requirements: Interpretation: Same as Negative Overtravel. ON state = 24 V dc +/-lo%; OFF state < 3 V dc; input current = 10 rna at 24 V; impendance = 2000 ohms. OFF = overtravel. A jumper (JP3) is provided to disable the Overtravel Switch function. Home Switch Requirements: Interpretation: Same as Negative Overtravel. ON = Negative side of Home Position; OFF = Positive side of Home Position; Drive OK (optional connection1 Velocity Command Analog Synchronized Start Power Supply output Requirements: ON state = 24 Vdc +/-10%; OFF state -=z 3 V dc; current = 10 ma at 24 V; impendance = 2000 ohms. Interpretation: ON = Drive OK; OFF = Drive not OK. A jumper (JP4) is provided to disable the DRIVE OK input. Differential output of D/A converter with following characteristics: Resolution: 13 bits including sign Linearity:.012% of Full Scale Output Offset voltage at zero output: +/-500 microvolts max. Maximum output voltage: +/-10v +/-.3 v Minimum output load resistance: 2000 ohms. A/D converter input with the following characteristics: range: 0 to +10.0Vdc Gain factor: + 10.0 V dc input produces an output value of 100 to the CPU impedance: Greater than 1OK ohms Output on Master APM; on Slave APM. Jumpers JPl, JP2 and JP5 configure the APM for Normal or Master/Slave operation. A High-Capacity I/O power supply or Model 60 CPU is required to provide backplane power to the APM.
Axis Positioning Module (Type 1) GEK-83543 TABLE 3. RESOLVER SPECIFICATIONS Transformation ratio: 50 + /- 0.1 DC stator resistance: 30 to 225 ohms Stator input impedance (rotor open) : Rotor output voltage: 4.0 V RMS min with 20K load 1700 to 9000 ohms at 2.5 KHz DC rotor resistance: 15 to 4000 ohms Resolver Cable Specifications Maximum Length: 300 feet (each cable) Excitation Cable: Feedback Cable: Two individually shielded twisted pairs, Belden type 8723 or equivalent One shielded twisted pair, Belden type 8762 or equivalent.
Axis Positioning Module (Type 1) GEK-83543 0 BOARD OK LED ON: APM has passed self-diagnostic tests. These tests are performed when the I/O rack is turned on and whenever an error condition occurs. OFF: APM hardware failure. APM not in High Capacity I/O rack or a Model 60 CPU I/O slot. 02 ENABLED LED ON: APM is capable of controlling position. Turned on by discrete command, ENABLE APM. OFF: Turned off by any error condition or REMOTE STOP Command. @ FEEDBACK OK LED ON: Resolver feedback is present. FLASHING: Resolver feedback is not present. @ Jumper JPl Functions: Normal Operation (l-2); Master Clock (2-3). Factory-Set: Normal Operation (l-2). @ Jumper JP2 Functions: Normal Operation (l-2); Slave Clock (2-3) I Factory-Set: Normal Operation (l-2). @ Jumper JP3 Functions: Overtravel Limit Switch Enable (l-2); Overtravel Limit Switch Disable (2-3). Factory-Set: Overtravel Limit Switch Enable (l-2). 0 Jumper JP4 Functions: Drive OK Enable (l-2); Drive OK Disable (2-3). Factory-Set: Drive OK Enable (l-2). @ Jumper JP5 Functions: Master Start Output (l-2); Slave Start (2-3). Factory-Set: Master Start Output (l-2). 8 Factory Test LED FIGURE 1. USER ITEMS (Part 2 of 2)