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  • Manufacturer: GE Fanuc
  • Description: Axis Positioning Module Type 1 (Resolver Feedback)
  • Weight: 3 lbs :: ≈ 2 kgs
  • Warranty: 2 Years
  • Product Revisions Available:
  • Other Available Revisions of the IC600BF915 : A, B, C, D, E, F, G, H, I, J, K, L, M, N, O, P, Q, R, S, T, U, V, W, X, Y, Z,

Product Manual Excerpt

AXIS POSITIONING MODULE (TYPE 1) GEK-83543A 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 CommandsYRetur-n D-at-a a-nd- EYrror 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. Enables APM to determine absolute axis position at power-up without home position routine. Absolute and incremental positioning modes. Programmable position loop gain. Provides flexibility in programming. Allows user to set gain without adjusting potentiometer/Greater stability with time and temperature changes. Programmable Velocity Feedforward. 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. Extends applications capabilities. Axis status and system error indications to Series Six CPU. Provides user with complete range of input data. On-board diagnostics and indicator lights. Simplifies troubleshooting. Analog Input. 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 (optional connection) Loop Contactor (optional connection) Negative (Left) Overtravel Switch (optional connection) Positive (Right) Overtravel Switch (optional connection) Home Switch Drive OK (optional connection1 Velocity Command Analog Input (optional connection) Synchronized Start (optional connection) Power Supply 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: ON state = 24 V dc +/-lo%; OFF state < 3 V dc; input current = 10 rnA at 24 V; Input impendance = 2000 ohms. Interpretation: OFF = overtravel. A jumper (JP3) is provided to disable the Overtravel Switch function. Same as Negative Overtravel. Requirements: Same as Negative Overtravel. Interpretation: ON = Negative side of Home Position; OFF = Positive side of Home Position; Requirements: ON state = 24 Vdc +/-10%; OFF state -=z 3 V dc; Input current = 10 mA at 24 V; Input 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: Input range: 0 to +10.0Vdc Gain factor: + 10.0 V dc input produces an output value of 100 to the CPU Input impedance: Greater than 1OK ohms Output on Master APM; Input 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: Two individually shielded twisted pairs, Belden type 8723 or equivalent Feedback Cable: One shielded twisted pair, Belden type 8762 or equivalent. BOARD I Axis Positioning Module GEK-83543 (Type 1) Ed rigja rdrkat744. SAC61 Via-4 Pae.NO. 44A719220 - 001 /2 O FIGURE 1. USER ITEMS (Part 1 of 2) Ref. 70.TMP.56 5 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. T u r n e d o n b y 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 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 Input Enable (l-2); Drive OK Input Disable (2-3). Factory-Set: Drive OK Input Enable (l-2). @ Jumper JP5 Functions: Master Start Output (l-2); Slave Start Input (2-3). Factory-Set: Master Start Output (l-2). @ Jumper JPl Functions: Normal Operation (l-2); Master Clock (2-3). Factory-Set: Normal Operation (l-2). 8 Factory Test LED FIGURE 1. USER ITEMS (Part 2 of 2) (Type 1) GEK-83543 INSTALLATION Figure 2 provides a representation of possible user connections to the APM. The module faceplate is shown. Refer to the APM Manual, GEK-25363, for detailed connection information. WARNING I N Voltages from user field devices could be present on the faceplate terminals, even if the power supply in the I/O rack is off. Care should be taken when handling the faceplate of this module or any wires connected to it. DRIVE ENABLE (DRY CONTACT CLOSURE) LOOP CONTACTOR (DRY CONTACT CLOSURE) NEGATIVE LEFT) OVERTRAVEL SWITCH (24 V DC) POSITIVE (RIGHT) OVERTRAVEL SWITCH (24 V DC) HOME POSITION SWITCH (24 V DC) POSITION SWITCH COMMON = Switch in OPEN Position (Depressed to the Left) Switches No. 1 and No. 2 should be in CLOSED Position FIGURE 3. DIP SWITCH SETTINGS ORDERING INFORMATION Circuit Board and Faceplate Circuit Board Faceplate IC600BF915C IC600YB915C IC600FP915A CATALOG NUMBER REVISION SUFFIX The equipment listed above having the catalog numbers shown and the same equipment having a higher alpha suffix is designed for listing by UL for use as auxiliary control devices. The equipment is a direct replacement for equipment having the same catalog number but a lower alpha suffix. This symbol on the nameplate means the product is listed by Underwriters Laboratories Inc. (UL Standard No. 508, Industrial Control Equipment, subsection Electronic Power Conversion Equipment.) For further information, contact your local GE Fanuc sales office. GE Fanuc Automation North America, Inc., Charlottesville, Virginia 8

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