How to use Add-On instructions to interface a Tolomatic ACS drive with and Allen Bradley RS Logix 5000 PLC

3600-4188_00_TN_ACS-RSLogix5000 • 1 •

Technical Note

Using ACS Add-on instructions

Using Tolomatic, inc.’s Add-on instructions for RSLogix 5000

ContentsOverview ...........................................................2

Step 1: Import Add-On Instructions ............................2

Step 2: Add ACS Drives to Project .............................2

Step 3: Configure Controller Tags ...............................2

Step 4: Add Synchronous Copy Functions to MainRoutine ...........................................................3

Step 5: Create Start Motion Timer Rungs ...................3

Motion Example ........................................................4

Figure 1 - Program Tags ...........................................3

Figure 2 - Synchronous Copy ....................................3

Figure 3 - Start Motion ..............................................4

Figure 4 - Force Move Example .................................4

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© 2014 Tolomatic 201406100805

Information furnished is believed to be accurate and reliable. However, Tolomatic assumes no responsibility for its use or for any errors that may appear in this document. Tolomatic reserves the right to change the design or operation of the equipment described herein and any associated motion products without notice. Information in this document is subject to change without notice.

ACS & RS Logix 5000 Add-On Instructions • 3600-4188_00_TN_ACS-RSLogix5000

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Technical NoteoverviewThese instructions assume that the user is very familiar with RSLogix 5000 programming and Ethernet IP communications. This document references the Ethernet/IP Users Guide 3600-4168 which defines the Ethernet/IP interface to the ACS drive and controller. Basic set-up instructions can be found in the Technical Note "Setting Up the Allen Bradley RS Logix 5000 Software for EtherNet/IP Communication to Tolomatic's ACS Drive" #3600-4171.

Step 1: import Add-on instructionsThe first step to using the ACS Add-On Instructions is to import them into your RSLogix program.

1. In your Controller Organizer tree view, right click on Add-On Instructions and select Import Add-On Instruction.

2. Browse to the directory which contains the ACS Add-On Instructions

3. Select the instruction you wish to import

4. The default configuration should be ok, click ‘OK’

5. Repeat for all instructions you wish to use.

NOTE: IF YOU ARE PLANNING ON USING THE MOTION ADD-ON INSTRUCTIONS, YOU WILL ALSO NEED THE START MOTION, AND CLEAR START MOTION INSTRUCTIONS.

Step 2: Add ACS Drives to ProjectYou will now want to add the ACS Drive(s) to your project.

1. Right click on the Ethernet Port Controller

2. Select ‘New Module’

3. Add Generic Ethernet Module (Vendor: Allen-Bradley)

a. Assign a Name and Description for each drive

b. Assign an IP Address (default ACS IP address is 192.168.0.100)

c. Input Assembly Instance: 100, Size: 7 (32-bit)

d. Output Assembly Instance: 113, Size:8 (32-bit)

e. Configuration Assembly Instance: 1, Size: 0 (32-bit)

4. Once the module has been added, modify the RPI to 25ms

5. Verify the connection Uses Unicast Connection over Ethernet/IP

Step 3: Configure Controller TagsEach drive must have a ToloInput and ToloOutput data type assigned to it. You can approach this several ways. One way involves assigning a unique tag name to each drive. Another way might be to create arrays of ToloInput and ToloOutput structures and referencing the objects through an index. The following instructions describe this process.

1. Open the Edit Controller tags dialog

2. Add a new tag called ToloInputs


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Technical Note3. In Data Type, Select ToloInput, and change the dimension from 0 to the number of drives you are adding

4. Add a new tag called ToloOutputs

5. In Data Type, Select ToloOutput, and change the dimension from 0 to the number of drives you are adding

6. Your tags should look similar to those in the following figure

Figure 1 - Program Tags

Step 4: Add Synchronous Copy Functions to MainRoutineTo keep the drive Input and Output assemblies in sync with the ToloInput and ToloOutput structures, you must add functions that synchronously copy the contents from the ToloOutputs structure into the Output Assembly, and copy the contents from the Input Assembly into the ToloInputs structure. See below:

Figure 2 - Synchronous Copy

Step 5: Create Start Motion Timer RungsAccording to the Ethernet/IP users guide, in order to continuously make motion, you must strobe the Start Motion bit in the Output Assembly. The drive detects the rising edge of the bit, so if you want to make a move after you have already made a move, you must bring the bit low, before you again assert it to start motion. To accomplish this, you


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Technical Noteuse a timer to force down a Clear Start Motion command after a Start Motion Command has been sent. To enforce this logic, we do the following for each drive:

1. In the Program Tags, add a StartMotionTimerEnable BOOL tag

2. In the Program Tags, add a StartMotionTimer TIMER tag

Now create the following rungs in your program:

Figure 3 - Start Motion

You may want different logic in your application, so the add-on instructions give you this control. The basic thing to remember is that the drive must detect the start motion bit LOW before the PLC sets it high again. This means that the Start Motion Timer must be longer than the RPI, and you should not command another move before the Clear ACS Start Motion command has a chance to be sent to the drive.

Motion ExampleThe following is an example of a Force Move (Servo Only), but Absolute and Incremental Moves have the same inputs.

Figure 4 - Force Move Example

In this application, the move is immediately initiated when the drive is not in motion. The move is set up and the ToloOutput structure of the ACS drive is referenced. Here, it is Index 0 of the ToloOutputs array. Once the move is set up, the ACS Start Motion command is sent. We reference the Start Motion Timer program tag, the Start Motion Timer Enable semaphore program tag, and specify the pulse width of the Enable line. For this to be work correctly, this should be 2x the RPI of the drive. In this instance, it is 1000ms.

Engineering

How to use Add-On instructions to interface a Tolomatic ACS drive with and Allen Bradley RS Logix 5000 PLC