3
Contents
Introduction .................................................................................................................................... 5
Hardware and Software Setup........................................................................................................ 7
2.1 Hardware................................................................................................................................. 7
2.1.1 Power/signal/communication connectors...................................................................... 7
2.1.2 I/O electrical schematics ............................................................................................... 13
2.1.3 LEDs ............................................................................................................................... 15
2.1.4 Optional: disabling the STO........................................................................................... 16
2.2 Software ................................................................................................................................ 17
2.2.1 VLC configuration .......................................................................................................... 17
2.2.2 Modification of IP settings ............................................................................................ 17
2.2.3 Connecting VLC-2-EIP to an Ethernet/IP network (with a Studio 5000 example) ........ 18
Programming the VLC-2-EIP.......................................................................................................... 22
3.1 Servo objects......................................................................................................................... 22
3.1.1 Acyclic servo objects...................................................................................................... 22
3.1.2 Cyclic servo objects ....................................................................................................... 25
3.2 Executing motion through servo objects .............................................................................. 28
3.3 VLC-2-EIP Programming Guidelines ...................................................................................... 29
3.3.1 General guidelines......................................................................................................... 29
3.3.2 Phasing/Homing management...................................................................................... 29
3.3.3 Fault management ........................................................................................................ 30
3.4 Controlling the VLC-2-EIP with a PLC using Studio 5000 software utilizing Add-On-
Instructions........................................................................................................................................ 31
3.4.1 Basic servo configuration .............................................................................................. 31
3.4.2 Input and status display ................................................................................................ 34
3.4.3 Digital I/O....................................................................................................................... 35
3.4.4 Fault management ........................................................................................................ 36
3.4.5 Phasing .......................................................................................................................... 37
3.4.6 Homing .......................................................................................................................... 39
3.4.7 Position Move................................................................................................................ 41
3.4.8 Velocity Move................................................................................................................ 44
3.4.9 Torque Move................................................................................................................. 46
3.4.10 Current Move ................................................................................................................ 48
3.4.11 Softland ......................................................................................................................... 49
