Rockwell Automation ControlLogix 1756-HYD02 Bedienungsanleitung

User Manual

Catalog Numbers

1756-HYD02

ControlLogix Hydraulic

Servo Module

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the

Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales

office or online at http://literature.rockwellautomation.com) describes some important differences between solid state equipment and hard-

wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all

persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or

application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements

associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the

examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in

this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

Allen-Bradley, Rockwell Automation, and TechConnect are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

WARNING Identifies information about practices or circumstances that can cause an explosion in a

hazardous environment, which may lead to personal injury or death, property damage, or

economic loss.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death,

property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and

recognize the consequence

SHOCK HAZARD Labels may be on or inside the equipment, for example, a drive or motor, to alert people that

dangerous voltage may be present.

BURN HAZARD Labels may be on or inside the equipment, for example, a drive or motor, to alert people that

surfaces may reach dangerous temperatures.

3Publication 1756-UM525A-EN-P - June 2003 3

Table of Contents

Preface

Using This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Who Should Use This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

The Purpose of This Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Chapter 1

What is the 1756-HYD02 Module?

What the Module Does . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Using A ControlLogix Hydraulic Servo Module in the

ControlLogix System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Physical Features of the ControlLogix Hydraulic Servo Module . 10

Certifying Agency Approvals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Full Class I Division 2 Compliance. . . . . . . . . . . . . . . . . . . . . . . . . 11

Preventing Electrostatic Discharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Removal and Insertion Under Power . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 2

Installing the 1756-HYD02 Module

What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Note the Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Installing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Keying the Removable

Terminal Block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Connecting Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Two Types of RTBs (each RTB comes with housing) . . . . . . . . . 16

Wiring the 1756-HYD02 Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Wiring Registration Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Wiring the Home Limit Switch Input. . . . . . . . . . . . . . . . . . . . . . . 20

Wiring the OK Contacts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Connecting LDTs to Your Hydraulic Module . . . . . . . . . . . . . . . . 21

Assembling The Removable Terminal Block and the Housing. . . . . . 23

Choosing the Extended-Depth Housing . . . . . . . . . . . . . . . . . . . . . . . 24

Suggestions for Using the Extended-Depth Housing . . . . . . . . . . 25

Cabinet Size Considerations With the

Extended-Depth Housing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Installing the Removable Terminal Block. . . . . . . . . . . . . . . . . . . . . . . 26

Removing the Removable Terminal Block . . . . . . . . . . . . . . . . . . . . . . 28

Removing the Module from the Chassis. . . . . . . . . . . . . . . . . . . . . . . . 29

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4Publication 1756-UM525A-EN-P - June 2003

Table of Contents

Chapter 3

Configuring the 1756-HYD02

Module

Using RSLogix 5000 Configuration Software. . . . . . . . . . . . . . . . . . . . 31

Overview of the Configuration Process . . . . . . . . . . . . . . . . . . . . . . . . 32

Creating a New Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Configuring General Module Features . . . . . . . . . . . . . . . . . . . . . . . . . 35

Configuring the Axes Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Downloading New Configuration Data . . . . . . . . . . . . . . . . . . . . . . . . 37

Editing Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Reconfiguring Module Parameters in Run Mode . . . . . . . . . . . . . . . . . 39

Reconfiguring Module Parameters in Program Mode . . . . . . . . . . . . . 39

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Chapter 4

Using the 1756-HYD02 Module

Features

What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Using General Module Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Servo Update Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Module Fault Reporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Fully Software Configurable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Electronic Keying . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Using Axes Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

General Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Motion Planner Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Units Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Servo Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Feedback Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Conversion Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Homing Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Hookup Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Tune Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Dynamics Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Gains Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Output Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Limits Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Offset Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Fault Actions Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Tag Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Publication 1756-UM525A-EN-P - June 2003 5

Table of Contents

Chapter 5

Troubleshooting the 1756-HYD02

Module

What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Using the Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Using the OK Indicator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Using the FDBK Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Using the DRIVE Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Using RSLogix 5000 to Troubleshoot the Module. . . . . . . . . . . . . . . . 81

Warning Signal in Controller Organizer . . . . . . . . . . . . . . . . . . . . . 81

Fault Message in Status Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Notification in Axis Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Chapter Summary and What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Appendix A

Specifications

Glossary

Index

6Publication 1756-UM525A-EN-P - June 2003

Table of Contents

7Publication 1756-UM525A-EN-P - June 2003 7

Preface

Using This Manual

This preface describes how to use this manual.

Who Should Use This

Manual

To effectively use this manual, you should be able to program and operate the

Rockwell Automation ControlLogix controllers to efficiently use your

ControlLogix Hydraulic Servo module. In this manual, we also refer to the

module as the 1756-HYD02 module.

If you need more information about programming and operating the

ControlLogix controllers, refer to the Logix5000 Controller User Manual,

publication number

1756-UM001

The Purpose of This Manual

This manual describes how to set up, configure and troubleshoot your

1756-HYD02 module. The following table lists describes each section in this

manual:

If you are looking for this information: See this section

Description of the module and what it does. Chapter 1

What is the 1756-HYD02 Module?

Step by step description of how to install and

wire the module. Chapter 2

Installing the 1756-HYD02 Module

Description of how to use RSLogix 5000

programming software to configure the

module.

Chapter 3

Configuring the 1756-HYD02 Module

Complete listing of the module’s features,

including the general module features and

features that specifically affect the data

coming from axes connected to either of the

module’s channels.

Chapter 4

Using the 1756-HYD02 Module Features

Description of how to troubleshoot any

problems with the module, including the use

of status indicators on the module and

software fault messages in RSLogix 5000.

Chapter 5

Troubleshooting the 1756-HYD02 Module

Specifications for the module. Appendix A

Specifications

8Publication 1756-UM525A-EN-P - June 2003

Preface Preface

Related Documentation

The following table lists related ControlLogix documentation:

To view or order the publications listed above, visit:

•http://literature.rockwellautomation.com

Publication

Number Publication Description

1756-IN580

ControlLogix Hydraulic Servo Module

Installation Instructions Provides instructions for installing, wiring, and

troubleshooting your 1756-HYD02 module.

1756-IN080

ControlLogix Chassis Installation Instructions Provides instructions for installing a

ControlLogix chassis

1756-IN613

ControlLogix Power Supply Installation

Instructions Provides instructions for installing a

ControlLogix power supply

1756-IN573

ControlLogix Redundant Power Supply

Installation Instructions Provides instructions for installing a

ControlLogix redundant power supply

1756-IN574

ControlLogix Redundant Power Supply Chassis

Adapter Module Installation Instructions Provides instructions for installing a

ControlLogix redundant power supply chassis

adapter module

1756-UM001

Logix5000 Controller User Manual Provides information for using your Logix5000

controller and its components.

1756-RM003

Logix5000 Controller Instruction Set Reference

Manual Provides descriptions of all the instructions

supported by the RSLogix 5000 programming

software.

9Publication 1756-UM525A-EN-P - June 2003 9

Chapter

What is the 1756-HYD02 Module?

This chapter describes the ControlLogix Hydraulic Servo module.

What the Module Does

THe 1756-HYD02 module is typically used for accurate positioning and

control of a hydraulic cylinder. The module can be wired to a linear

displacement transducer (LDT) for feedback and a proportional or servo valve

for control of a hydraulic axis and connects to a hydraulic system to close a

high-speed position loop. Each Logix controller can support up to 16

1756-HYD02 modules. Each 1756-HYD02 module can control up to two

axes.

The 1756-HYD02 module monitors the position feedback via the linear

displacement transducer (LDT) input and generates an analog command

reference for the valve to make sure that the actuator (cylinder) follows the

profile. The 1756-HYD02 module closes the position loop at a programmed

rate using position feedback as the input and produces a +/-10V analog

output velocity command.

The module is programmed with motion instructions in the RSLogix 5000

programming software and must be in the same chassis as the ControlLogix

controller that controls the module. If you distribute motion control that uses

the 1756-HYD02 module across different locations, place a ControlLogix

controller in each chassis that has a 1756-HYD02 module. In this case, use a

1756-SYNCH module to synchronize motion between the multiple chassis.

Transducers connected to the 1756-HYD02 must accept external

interrogation signals. In this case, the transducer generates its position

information each time that it receives an interrogation pulse. Do not use

transducers configured for internal interrogation because they will not be

properly synchronized to the module.

For more information about: See page:

What the Module Does 9

Using A ControlLogix Hydraulic Servo Module in

the ControlLogix System 10

Certifying Agency Approvals 11

Preventing Electrostatic Discharge 12

Removal and Insertion Under Power 12

10 Publication 1756-UM525A-EN-P - June 2003

Chapter 1 What is the 1756-HYD02 Module?

Using A ControlLogix

Hydraulic Servo Module in

the ControlLogix System

A ControlLogix Hydraulic Servo module mounts in a ControlLogix chassis

and uses a removable terminal block (RTB) or interface module (IFM) to

connect all field-side wiring.

Before you install and use your module you should have already:

• installed and grounded a ControlLogix chassis and power supply. To

install these products, refer to the publications listed in on page 7.

• ordered and received an RTB or IFM and its components for your

application.

Physical Features of the ControlLogix Hydraulic Servo Module

IMPORTANT RTBs and IFMs are not included with your module purchase.

You must order them separately. For more information, contact

your local distributor or Rockwell Automation representative.

ControlLogix

Backplane

Connector

Removable

Terminal

Block

Indicators

Locking tab

Slots for

keying the

RTB

Connector

pins

Top and

bottom

guides

41623

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