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Kinetix Vertical Axis Program Mode
jholmes posted a topic in Allen Bradley / Rockwell AutomationI am looking for how others have set up vertical axis motions using the Kinetix 5700 servo system. I have a 2 axis pick/place unit with a horizontal axis (X @ 2500mm) and vertical axis (Z @ 1200mm) that works as designed during normal operation. X axis has no holding brake and Z axis has a factory installed 24vdc to unlock brake. There is a GuardLogix L81ES control system that handles the safety and control. On pressing E-stop/opening Gates the vertical axis will stop the motion, apply the brake and hold with no problems. (2198-D032-ERS3 Drive, 2198-P031 Bus Power, MPL-B430P-MJ72AA X Axis, MPL-B330P-MJ74AA Z axis) The issue that I ran into was an accidental download of the program without activating the e-stop and the vertical axis dropped unexpectedly when entering program mode on the processor. I am aware that this instance was my fault as the programmer, however I am also concerned that this might occur again in the future if the controller ever enters fault mode or someone else completes a download. I have done some investigation with the "ProgrammedStopMode" parameter on this single motion axis and attempted all 5 options and the vertical axis still has a free fall drop for a second before the brake grabs hold - so evidently this is not working for me. (Page 24 of Vertical Load/Holding Brake manual - https://literature.rockwellautomatio...t003_-en-p.pdf) I am curious if there needs to be something done elsewhere as the X and Z axis are set up as coordinated axis? I also am unaware if I need to preform some action/parameter with the bus power supply for this? The current state of the machine as it sits now is preforming a MSF in manual mode after 5 seconds of inactivity or 30 seconds in auto mode. This axis is usually in demand every ~22 seconds. This will shut down the axis after preforming a brake test on the vertical load and seems to function OK, however it is still in the back of my mind the issues mentioned previously if we ever enter a controller fault while indexing. Thanks for your insight
Cleanup SFC chart
jholmes posted a topic in Allen Bradley / Rockwell AutomationI have been given a task to insert a couple more steps into a RSLogix v.20 SFC routine somewhere right in the middle of a chart with about 60 or so steps. Just wondering if there is a quick way to 'auto generate' or 'make it look pretty' afterwards without moving and re-drawing every item? Thanks for your insights..
jholmes started following Cleanup SFC chart
Need Help with Medar 3005 and SLC 5/03
jholmes replied to chas183's topic in Allen Bradley / Rockwell AutomationIn reply to this post, I had recently run into a similar issue and had a medar tech visit on site. He installed a simple hardwire jumper between the scr3 input and +24v, this will eliminate a shunt fault that occurs on the pendant when switching scr wires (the medar is faster than the plc can deenergize and energize outputs) The way it was explained was scr2 input overrides scr3; scr1 overrides scr2 and scr3.. We can leave scr3 on all the time because it will be overridden if required. The other alternative is if you have the medar processor in your allen bradley rack you can use the software bits to trigger the scr... Excerpt from the integrators manual: B6x:11/02-05 Locations 02, 03, 04 and 05 define the Contactor Select Bit #1, #2, #4 and #8, respectively. The user decodes the Contactor select bits to control separate contactor outputs (1 to 15). These bits are provided by application programs that support multi-contactor operation. Currently these are T93300–17 or greater, and T93302–03 or greater.
Slope Comparison in CX-Programmer
jholmes posted a topic in CX-ProgrammerI am looking for some input on how to proceed with programming some logic in CX-Programmer. The set-up that I am faced with is a calibration machine that has a flow meter that will give me a 0-10v signal input. I need to turn an adjustment screw with a small DC motor until a proper flow rate is reached. If it were just a set-point value, we would be away to the races - but the customer has requested that I compare also a few scenarios to wield out bad parts. An ideal calibration would be a straight 45 degree angled line on a chart of flow over time, the more I adjust the screw the more flow, in an even manner until my set-point is reached. I also need to catch a flow spike and flag it as a blocked unit, a relativity unchanged horizontal slope as a leaking unit, and a parabolic-styled slope that indicates a stripped unit. As for collecting my data, the current code I have is: on the start of the test, flag a 0.2 second pulsing timer that will move the scaled voltage input through a series of 30 data registers at a time - so I will have 6 seconds of data and 30 data points to work with. I was hoping to use a limit function to ensure that it is within a margin of error range from the ideal setting. The ideal setting I would like to calculate as a y=mx+b slope function - but that would entail making 30 calculations and making 60 total new data registers of a min and max value for each of my 30 data input points. To catch a leaking unit, I will add a plus/minus offset to the current data point and compare it to the previous 5 points, if it is within range than we know it is a leaking unit. The issue that I have with this code is it does not catch the blocked and stripped unit parameters I was hoping that someone has had some experience with using slope-related math and could provide some insight on to the best way to make a simple code for this application. I have attached what the four possible slope graphs that we are looking to catch.