SLC Servo Control

System
(Cat. No. 1746HSRV)

Product Data

Photo/Slide #

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The 1746-HSRV, SLC Servo Control Module, is a low cost

Allen-Bradley motion solution for a single-axis servo application.
This module provides an analog velocity command with
programmable limits up to 10V DC to interface with a variety of
Allen-Bradley servo drives.

SLC Servo Control System

The SLC Servo Control Module, catalog number 1746-HSRV, is

compatible with the SLC 500 family and can only be used with the
SLC 5/03 FRN 5.0 Processor/Firmware and above.
The Ladder Logic in RSLogix 500, AI500 or APS (5.0 or later)
controls all of the motion and it can be programmed for either
incremental or absolute and speed moves, depending on the
application.

SLC Servo Control Module

Operation

The SLC Servo Control Module is compatible with the SLC family.
It is designed to be used with an SLC 5/03 FRN 5.0 and later
processor. You can program and commision the system using
RSLogix 500, AI 500 or APS (5.0 or Later). Once the SLC
Processor is initiated, block execution is independent of the scan
time of the processor. Blended motion allows for complicated move
profiles consisting of two to 32 segments. The blended move
profiles are stored in the SLC Servo Control Modules internal
memory as a series of absolute moves. Since the sequence of moves
is stored in internal memory, it can be executed more than once.
Other move or homing operations can be performed between
blended move profiles.
The SLC Servo Control Module is capable of controlling absolute
position over a range of 32 bits. The SLC Servo Control Module is
able to perform an origin search (also called homing) and
automatically reset the absolute position to home position when an
encoder marker pulse is detected and the SLC Processor requests an
origin search function.
The SLC Servo Control Module operates in two different modes:
Configuration
Command

Configuration Mode
You can configure the SLC Servo Control Module by using M files
containing data provided by the SLC processors. All the
configuration parameters of the SLC Servo Control Module are
on-line.
Configuration mode allows you to select the proper setup
configuration to match the servo drive and motor without setting any
switches and without special software. If you do not set up your own
configuration, the configuration will equal the default setting.
Important:

Publication 1746-2.40 June 1997

You can only enter configuration mode if the system is

in E-stop.

SLC Servo Control System

Command Mode Operation

All motor operations are preformed in command mode. To get to this
mode, set the mode flag (Bit 15 in output Word 0) to 0.
In command mode, the SLC Processor can issue commands and
activate different operations or moves. The actions you can
command are:
Absolute moves
Incremental moves
Speed moves
Monitor moves
Hold moves
Unhold moves
Blend moves
Emergency stop operations
Homing operations
Preset operations
Clear faults
Alternate home moves
When operating in either the configuration or the command mode,
the status of the module is reported to the SLC Controller.

SLC Servo Control Module

Specifications and
Compatibility

"

The SLC Servo Control Module has the following specifications:

Compatible with SLC 5/03 FRN 5.0 and later processors.
Compatible with APS software release 5.0 and later or AI 500
software.
Class 3 device with twelve inputs and twelve outputs. Selection
for the SLC Servo Control Module configuration is OTHER with
the number specified as 10114.
Class 3 device that uses M files for the configuration mode.
The SLC Servo Control Module is UL Listed, CSA Certified and
CE Marked.
Note: The SLC Servo Control Module does not function in a
remote I/O rack.

The SLC Servo Control Module must be configured in the lowest

numbered I/O slot in order to use an SLC applications module
interrupt option. There should be no other modules that generate
module interrupts. Also, the STI and FAULT routines execute at
a higher priority than the module interrupt routine that is linked
to the SLC Servo Control Module interrupt.

Publication 1746-2.40 June 1997

SLC Servo Control System

Typical SLC Servo Control

System Configuration

Figure 1 shows a typical SLC Servo Control System configuration.

This configuration includes:
One SLC 500 modular rack (SLC 5/03 FRN 5 or later)
One SLC Servo Control Module
One 1746-HCA cable
One termination panel
Wiring for a servo system
Figure 1
Typical SLC Servo Control System Configuration

SLC 500
Modular Rack

SLC Servo
Control Module

1746HCA
7 ft.

Connection for the required

user-side power supply

1746HT
Termination
Panel

E-Stop
Wiring
Fast I/O
AB Drives 1386, 1388, 1389, 1391, 1392, 1394

AB845H
Encoder

Publication 1746-2.40 June 1997

Tach.

Drive
Amplifier
AB0742A

AC drives do not require a tachometer.

When supplying the +5V encoder with an external power supply, connect the return line from the
power supply to the encoder power on the termination panel.

SLC Servo Control System

Components of the
SLC Servo Control System

This section describes the components of the SLC Servo Control

System.

SLC Servo Control Module

The SLC Servo Control Module, shown in Figure 2, is the focal
point of the SLC Servo Control System. The SLC Control Module:
Monitors encoder feedback on one channel up to 300kHz at 0
degrees quadrature error
Monitors position and following error at any time after initial
power-up and homing
Provides one fast output
Monitors three fast inputs
Uses discrete transfer to communicate with compatible
Allen-Bradley SLC 500 system components through the
backplane of the SLC 500
Figure 2
SLC Servo Control Module with Door Open

AB0740A

SLC Servo Termination Panel

To provide you with more flexibility, the SLC Servo Control System
features a termination panel (shown in Figure 3). You can mount the
panel on a DIN-type rail. The features of the termination panel
include:
E-stop connections for customer E-stop string
Fast I/O connections for three fast inputs and one fast output.
LEDs show status of each I/O point

Publication 1746-2.40 June 1997

SLC Servo Control System

Encoder which supports encoder feedback for one axis

Drive connections to analog drive
External power connections for +5V, 15V and +24V power from
user power supply
Figure 3
1746-HT Termination Panel

DRIVE
DRIVE
DR RET
SHL D
ENCODER
CH A . HI
CH A . L O
A B SHL D
CH B . HI
CH B . L O
Z SHL D
CH Z. HI
CH Z. L O
ENCODER POWER
+5V
RET
+15V
SHL D
EXT POWER
+5V
RET
+15V
/+RET
15V
+24
+24 RET
EGND
A XIS

292mm
(11.25 in.)

DRIVE ENA B L E

ESTOP
+24V
RES. PB
RES. PB
RESET
STRING IN
STRING OUT
FA ST I/O
FI.1
+24V
FI.2
+24
FI.3
RET
FO.1
1746HT REV 01
TERMINA TION PA NEL

70mm
(2.75 in.)

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AB0741A

SLC Servo Control System

System Power Supply

You will need to supply a power source for the SLC Servo Control
System. The power supply must be:
+5V, 15V, and +24V
Able to meet the minimum voltage requirements of the encoders
and other circuitry

Axis Control

The SLC Servo Control Module controls one axis per module. These
axes can be linear or rotary (with rollover programmed in degrees or
revolutions).
Allen-Bradley reserves the right to revise these specifications
without prior notice.
Rectangular acceleration and deceleration is programmable.

SLC Servo Control Module

You are required to provide a +5V DC, 15V DC power supply.

Velocity Command (Analog Output)

The SLC Servo Control Module creates an output with the following
specifications:
Output voltage swing

10V DC

Resolution

12 bits DAC (including sign bit) at 4.88mV per bit

Load range

2K 20K ohm

Conversion time

100s

Differential linearity

1 LSB maximum (monotonic over entire

temperature range)

Output offset voltage

500s maximum

Gain error drift

7 LSB maximum

Publication 1746-2.40 June 1997

SLC Servo Control System

Feedback Circuitry
The feedback circuitry has:
One feedback channel per module
Differential incremental encoder with gated marker support
Minimum channel frequency of 300kHz at 0 quadrature error
The following formula determines channel frequency:
Fchan = 3334 (90 EQ)
Where Fchan = channels frequency in Hz
Where EQ = quadrature error in degrees (from 90)
Input Signal
Encoder feedback on channels A, B and Z must be differential
with 5V compatible output signals (8830 line driver or
equivalent)
Input sink current (DC): 6.8mA (typical), 7.5mA maximum
Input sink current (AC): 42mA (maximum).
The value of 42mA represents the peak current that occurs as
the differential switches state due to the AC termination, with
a 4V differential swing. The current will decay per the RC
time constant resulting from the 0.01F capacitor and the 221
ohm resistor.
Voltage for the common mode input of 7V

Operating Conditions
The SLC Servo Control Module requires the following operating
conditions:

Publication 1746-2.40 June 1997

Temperature (inlet air)

0 to 60 C (32 to 150F)

Altitude

up to 2000m (6562 ft)

Humidity

5 to 95%, non-condensing atmosphere

Storage Temperature

-40 to 85C (-40 to 185F)

SLC Servo Control System

Emergency Stop (E-stop) Characteristics

The SLC Servo Control Module E-stop characteristics include:
Detection and control of E-stop conditions provided on the board
Each module provides a separate and independent E-stop circuit
Hardware E-stop activated by:
User-defined E-stop circuit (refer to the SLC Servo
User Manual)
Broken wire in the user power supply cable
Powerfail signal from the SLC 500 backplane
Software E-stop is activated by:
Initiated watchdog timeout
Detected quadrature error
Detected broken feedback wire
Detected excess following error
Lost communication with SLC
Lost user power supply
Filled fast-input queue
Software E-stop can only be released if no hardware faults are
present
Specifications for the E-stop relay contacts are:
Switching volts

80V DC (maximum)

Operational time

500s (typical)

Contact bounce

<200s (typical)

Contact resistance

150 milliohm (typical)

Resistive contact rating

4VA at 0.25A (maximum)

General Local Fast Outputs (Source Drivers)

Specifications for the General Local Fast outputs are:
One fast output (compatible with a customer-equipped +24V DC
power supply)
High-level, on-state output voltage (refer to the specifications for
the user-side power supply)
High-level, on-state output current
Without termination panel

+5V (maximum) and 0V (minimum) at 24mA

With termination panel

+24V (maximum) at 400mA

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10

SLC Servo Control System

General Purpose Local Fast Inputs

Specifications for the General Purpose Local Fast inputs are:
Number of fast inputs

3 (compatible with a customer-equipped +24V DC

power supply)

Low-high trip threshold

14.61V DC (maximum) 12.5V DC (typical), 10.51V

DC (minimum)

High-low trip threshold

10V DC (maximum), 8.3V DC (typical), 6.4V DC 9

(minimum)

VHYST

6.5 V DC (maximum), 4.1 V DC (typical), 1.9V DC

(minimum)

Low-high trip debounce filter

0.2 ms (typical)

High-low trip debounce filter

0.2 ms (typical)

Input voltage

75V (maximum)

Input current (at 27V)

50mA (maximum)

SLC 500 Backplane Communications

The SLC 500 Application program sends:
Status information to the SLC 500 once each I/O scan, including:
Discreet bit input status
Actual position, following error or current speed
All configuration and programming data to the SLC Servo. All
sequencing of this data is the responsibility of the programmer.
Current Requirements are 0.300 A +5V.
A Version 2.0 memory pack is required to support SLC 500 and
SLC Servo capabilities.

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SLC Servo Control System

11

Effect on SLC Processor Scan Time

Scan time effect is the amount of time consumed in the SLC
processor to process the overhead associated with each module.
Scan time effect is summed with the time required to scan the
application logic in the processor. In other words, the more modules
in your rack, the slower the application scan rate.
Use the following data to determine the scan time effect on the SLC
processor. To calculate the total scan time effect of all modules in
the rack, refer to Appendix D, Estimating Scan Time, in the SLC
processor manual (publication number 17476.15).

Termination Panel

SLC Processor

Input Scan

Output Scan

5/03

700 microseconds

700 microseconds

5/04

680 microseconds

680 microseconds

The termination panel easily mounts up to 2.1 m (7 ft) from the

motion control module, requiring only a screwdriver and a
wirestripper.
The E-stop relay contacts are rated at 120V AC at 3A continuous;
15s operating time.
The E-stop relay coil is rated for +24V at .05A.

System Power Supply

The SLC Servo has no input requirements for the system power
supply.
Table A
Output Capability
Supply
upp y

T a
Tolerance
Current
u

Maximum Ripple Allowed

ak
ak (P-P)
Peak-to-Peak

U e +5V
User

5%

A not including encode

at 0.150A
encoder

m at 5A
A
100mV

U e +15V
User

5%

A not including encode

at 0.030A
encoder

m at 1A
A
100mV

U e 15V
User

5%

A not including encode

at 0.030A
encoder

m at 1A
A
100mV

U e +24V
User

5%

at 0.060A not including FOUT

current
cu ent

400mV
m at 2A
A

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12

SLC Servo Control System

Ordering the SLC Servo

Control System

Table B lists the catalog numbers you use to order the components of
the SLC Servo Control System.
Table B
Ordering the SLC Servo Control System

Where to Find
More Information

Component
mp

Catalog
a a g Number
umb

What
a You
u Receive
i

Control
ont ol module

1746-HSRV
HS

Control module
User
U e Manual
anual

Te mination panel
anel
Termination

HT
1746-HT

Termination panel
Mounting brackets
Termination Panel Installation
Data Sheet

Cable that connects the control

termination
module to the te
mination panel
anel

H A
1746HCA

Cable
able

ocumentation
Documentation

1746-6.1.2

SLC Servo Control Module

U e Manual
anual
User

Refer to the SLC Servo Control Module User Manual for more
information about the the following for the SLC Servo Control
System:
Selecting encoders, power supplies, and drives
Installing the control module, termination panel, and handheld
pendant
Wiring fast I/O, E-stop, power supplies, encoders, and drives
Integrating the axis
Recovering from an error message

Allen-Bradley, a Rockwell Automation Business, has been helping its customers improve productivity and quality for more than 90 years. We design, manufacture and support a broad range
of automation products worldwide. They include logic processors, power and motion control
devices, operator interfaces, sensors and a variety of software. Rockwell is one of the worlds
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Publication 1746-2.40 June 1997

Supersedes Publication 1746-2.40 April 1996

Publication 1746-2.40 June 1997

Copyright 1997 Allen-Bradley Company, Inc. Printed in USA