User Manual Integrated Motion on the EtherNet/IP Network Configuration and Startup ControlLogix, CompactLogix, Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 755
Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Summary of Changes This manual contains new and updated information. Changes throughout this revision are marked with change bars, as shown to the right of this paragraph. New and Updated Information This table contains the major changes that are made in this revision. Topic Page Added reference information about the Kinetix® 5700 Multi-axis Servo drive. Throughout For the Kinetix 5700 drive, see the Kinetix 5700 Multi-axis Servo Drives User Manual, publication 2198-UM002.
Summary of Changes Notes: 4 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Table of Contents Preface Studio 5000 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Integrated Motion EtherNet/IP Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Configuration and Start-up Scenarios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Help for Selecting Drives and Motors . . . .
Table of Contents Choose Nameplate as the Motor Data Source . . . . . . . . . . . . . . . . . . . Choose Drive NV as the Data Source. . . . . . . . . . . . . . . . . . . . . . . . . . . Motor Model Dialog Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motor Analyzer Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Feedback Configuration Options for the PowerFlex 755 Drive . . .
Table of Contents Run a Marker Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Applying the Commutation Hookup Test. . . . . . . . . . . . . . . . . . . . . Run a Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Polarity Dialog Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Additional Tune for the Kinetix 6500 Module . . . . . . . . . . . . . . . . . Configure Torque Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Additional Tune for the PowerFlex 755 Drive . . . . . . . . . . . . . . . . . Quick Watch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Motion Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of Contents Example Motion Control Program . . . . . . . . . . . . . . . . . . . . . . . . . . . Download a Project and Run Logix . . . . . . . . . . . . . . . . . . . . . . . . . . . Choose a Motion Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Troubleshoot Axis Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Why does my axis accelerate when I stop it?. . . . . . . . . . . . . . . . . . . .
Table of Contents Notes: 10 Rockwell Automation Publication XXXX-X.X.
Preface Use this manual to configure an Integrated Motion on the EtherNet/IP network application and to start up your motion solution using the ControlLogix® and CompactLogix™ systems. Topic Page What You Need 12 Integrated Motion EtherNet/IP Drives 13 Configuration and Start-up Scenarios 14 Help for Selecting Drives and Motors 16 Where to Find Sample Projects 17 This manual is designed to give you the quickest and easiest approach to an integrated motion control solution.
Preface What You Need You need a combination of the following hardware and software to configure an integrated motion solution: • ControlLogix controllers (supports up to 100 position loop configured drives) that support integrated motion control: – 1756-L7x – 1756-L7xS TIP ControlLogix controllers 1756-L6x and L6xS are not supported in Logix Designer application, version 21.00.00 and later.
Preface This table lists the EtherNet/IP drives available for integrated motion. Integrated Motion EtherNet/IP Drives Table 1 - Integrated Motion EtherNet/IP Drives Drive Description Supported Axis Types(1) Voltage Ranges Resources Kinetix 350 The Kinetix 350 drive is a singleaxis EtherNet/IP servo drive with Safe Torque Off feature that support the Integrated Motion on EtherNet/IP network.
Preface Configuration and Start-up Scenarios The two ways to get an Integrated Motion on the EtherNet/IP network solution up and running are to connect the hardware first or configure the software. Connect Hardware First 1 - Connect • Install modules and drives. • Check software and firmware for the latest revisions. 2 - Configure the controllers and communication modules. • Open the Logix Designer application. • Check software and firmware for the latest revisions and update if needed.
Preface Configure Software First 1 - Configure the controllers and communication modules. • Open the Logix Designer application. • Check software and firmware for the latest revisions and update if needed. • You must configure the controllers and communication modules for time synchronization and motion. • To build a project and enable time synchronization, follow the steps in Chapter 4, Configure a Project for Integrated Motion on the EtherNet/IP Network on page 89.
Preface Help for Selecting Drives and Motors Motion Analyzer software helps you select the appropriate Allen-Bradley® drives and motors that are based on your load characteristics and typical motion application cycles. The software guides you through wizard-like screens to collect information specific to your application.
Preface These resources contain information about related products from Rockwell Automation. For More Information Table 2 - Publications About Related Products Resource Description Logix5000 Controller Motion Instructions Reference Manual, publication MOTION-RM002 Provides a programmer with details about motion instructions for a Logix-based controller.
Preface Table 2 - Publications About Related Products (Continued) Resource Description PowerFlex 750-Series AC Drives Reference Manual, publication 750-RM002 Provides detailed drive information including operation, parameter descriptions, and programming of the AC drive. PowerFlex 750-Series AC Drives Programming Manual, publication 750-PM001 Provides information that is needed to install, start-up, and troubleshoot PowerFlex 750-Series Adjustable Frequency AC Drives.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives This chapter provides procedures on how to configure integrated motion control by using the Kinetix 350, Kinetix 5500, and Kinetix 6500 drives. The basic configuration for an integrated motion solution is to associate a drive with motor feedback and an axis configuration type. For the examples in this chapter, the Kinetix 6500 drive is used and the exceptions for the Kinetix 350, Kinetix 5500 drives noted.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives Configuring a Kinetix Drive After you add the drive to your project, use software dialog boxes to configure the drive. As you configure a drive, notice that the dialog boxes change based on your configuration choices, for example, feedback configuration. This table provides you with the basic tasks needed to configure a drive.
Configure Integrated Motion Control Using Kinetix Drives TIP Chapter 1 When you add drive modules for a sercos network, you see the power structures and catalog numbers. With integrated motion, you assign the power structure later in the configuration process. See Assign the appropriate Power Structure. on page 23. 1. Right-click the Ethernet network (node) and choose New Module. 2. Check the Motion checkbox to filter the selections and choose the Kinetix 350, Kinetix 5500, or a Kinetix 6500 drive. 3.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives 4. Type a Name for the module. 5. Type a description, if desired. 6. Assign an EtherNet/IP address. For Private Network segments, you can establish the Node Address of the drive by entering a private IP address via a thumbwheel switch on the drive, using the format 192.168.1.xxx, where the last octet, xxx, is the switch setting.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 The Module Definition dialog box appears. 8. Choose an Electronic Keying option. ATTENTION: The electronic keying feature automatically compares the expected module, as shown in the configuration tree, to the physical module before communication begins. When you are using motion modules, set the electronic keying to either `Exact Match‘ or `Compatible Keying‘. Never use `Disable Keying’ with motion modules.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives You assign the power structure for the Kinetix 6500 drive only. The Kinetix 350 and Kinetix 5500 drives auto-populate the only power structure available. 10. Check the checkbox if you want to verify the power rating on connection. 11. Click OK. When you change the Module Definition, related parameters also change. Changing the major revision or power structure changes the identity of the drive.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 Create an Axis for a Kinetix Drive Follow these steps to create an axis. 1. Double-click the drive in the Controller Organizer to open the Module Properties dialog box. 2. Click the Associated Axes tab. 3. Click New Axis. TIP You can create an axis directly off the Associated Axis dialog box in the drive Module Properties dialog box, or by right-clicking the Motion Group and choosing New Axis.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives The New Tag dialog box appears. Notice that the fields in the next steps are automatically entered for the AXIS_CIP_DRIVE data type. 4. Type a Tag name. 5. Type a Description, if desired. 6. Choose the Tag Type. 7. Choose the Data Type AXIS_CIP_DRIVE. 8. Choose the Scope. 9. Choose the External Access.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 If you have checked Open AXIS_CIP_DRIVE Configuration, then the General dialog box of the Axis Properties appears. If not, double-click the axis in the Controller Organizer. Establish Feedback Port Assignments The Kinetix 6500 drive has two feedback ports. Port 1 is reserved for Motor Feedback on the primary axis (Axis_1).
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives 3. From the Load Feedback Device pull-down menu, choose AUX Feedback Port. Configuring the General Parameters The parameters that you configure on the General dialog box result in the presentation of attributes and parameters that are available for the combination of your selections. IMPORTANT All AXIS_CIP_DRIVE Axis Properties dialog boxes are dynamic.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 Associate Axes and Drives The two ways to establish the drive/axis associations are: • The first way is to assign the drive to the axis on the Associated Axis tab in the Module Properties dialog box. • The second way is to assign the axis to the drive on the General dialog box for the axis.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives Map a Kinetix Drive to the Axis Follow this instruction to map a Kinetix drive. 1. Go the Module Properties dialog box of the drive. • Right-click the module in the I/O tree and choose Properties. • Double-click the module in the I/O tree. • Right-click the axis in the Controller Organizer and choose Go to Module. 2. Go to the Associated Axis tab.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 The changes are applied the Module Properties dialog box closes. If you have not enabled Time Synchronization, this message appears. You must go to the 1756-ENxT Communication Module Properties and enable time synchronization. See Add a 1756-ENxTx Communication Module on page 95 for more information.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives This table compares the axis configuration types for the drives. Table 4 - Compare the Axis Configuration Types for the Drives Axis Type Loop Type Kinetix 350 Kinetix 5500 Kinetix 5700 Kinetix 6500 PowerFlex 755 Position Loop P Yes Yes Yes Yes Yes Velocity Loop V Yes Yes Yes Yes Yes Torque Loop T Yes Yes Yes Yes Yes Feedback Only N No No Yes Yes No Frequency Control F No Yes Yes No Yes 3.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 4. Choose an Application Type, if applicable. Application Type defines the servo loop configuration automatically. These combinations determine how the calculations are made that can eliminate the need for you to perform an Autotune or a Manual Tune. TIP The Application Type determines the type of motion control application. This attribute is used to set the Gain Tuning Configuration Bits.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives Create a Motion Group All axes must be added to the Motion Group in your project. If you don’t group the axes, they remain ungrouped and unavailable for use. You can only have one Motion Group per Logix controller. You can have eight Position Loop axes per 1756-EN2T module. Each drive requires one TCP and one CIP connection.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 5. Choose a Data Type of MOTION-GROUP. 6. Choose the Scope. 7. Choose the External Access. For more information about External Data Access Control and Constants, see the Logix5000 Controllers I/O and Tag Data Programming Guide, publication 1756-PM004. 8. Check Open MOTION_GROUP configuration and click Create. The Motion Group Properties dialog box appears.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives Associate the Axis to the Motion Group There are two ways to assign axes to a Motion Group: • Create a motion group through the Axis Assignment tab on the Motion Group Properties dialog box. • Drag the axis into the Motion Group in the Controller Organizer tree. Follow these instructions to associate an axis to the Motion Group. 1. Select an axis and click Add. 2. Verify that the axis has been assigned to the group. 3. Click Finish.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 Set the Base Update Period The Base Update Period is basically the RPI rate for Ethernet communication between the controller and the motion module, a Unicast connection. There are two alternate update periods that you can configure when using the Axis Scheduling function. See Configure Axis Scheduling on page 77 for details. The Base Update Period determines how often the Motion Task runs.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives For the Kinetix 6500 drive, the minimum Base Update Rate is 1 ms. Figure 1 - Base Update Period Example Motion Task Scans of Your Code, System Overhead, and so on 0 ms 10 ms 20 ms 30 ms 40 ms In this example, the Base Update Period = 10 ms. Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 The Motor Data Source is where you tell the axis where the motor configuration values are originating. You can select a motor by catalog number from the Motion Database. You can enter motor data from a nameplate or datasheet, or use the motor data that is contained in the drive or motor nonvolatile memory.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives 5. Select a motor. Use these filters to reduce the size of the list. The Motor dialog box is now populated with all information related to the motor you selected from the Motion Database. 6. Click Apply. TIP 40 When you use a motor catalog number as the data source, default values, for example, gains and dynamics, are automatically set based on the Application Type and Loop Response settings from the General dialog box.
Configure Integrated Motion Control Using Kinetix Drives Chapter 1 Choose Nameplate The Nameplate option requires you to enter the motor specification information from the motor nameplate and the motor datasheet. 1. On the Motor dialog box of Axis Properties, from the Data Source pulldown menu, choose Nameplate Datasheet. 2. Choose a motor type. This table illustrates the motor types and drives that are compatible.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives Choose Motor NV When you choose Motor NV as the data source, the motor attributes are derived from nonvolatile memory of a motor-mounted smart feedback device that is equipped with a serial interface. Only a minimal set of motor and motor feedback (Feedback 1) attributes are required to configure the drive. 1. From the Motor dialog box of Axis Properties, choose Motor NV. 2.
Configure Integrated Motion Control Using Kinetix Drives Assign Motor Feedback Chapter 1 What appears on the Motor Feedback dialog box is dependent on what you select on the General dialog box for Feedback Configuration. The Motor Feedback dialog box represents the information for the feedback device that is directly coupled to the motor. This dialog box is available if the feedback configuration specified on the General dialog box is anything other than Master Feedback.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives Configuring the Load Feedback The Load Feedback dialog box contains the information from the feedback device that is directly coupled to the load-side of a mechanical transmission or actuator. For your convenience, you can use this link to the Module Properties dialog box for the associated drive. The Load Feedback dialog box is available if the Feedback Configuration specified on the General dialog box is Load or Dual.
Configure Integrated Motion Control Using Kinetix Drives Configuring the Master Feedback Chapter 1 The Master Feedback dialog box is available if the Feedback Configuration specified on the General dialog box is Master Feedback. The attributes that are associated with the Master Feedback dialog box are associated with Feedback 1. Again, like the Load Feedback dialog box, you must enter all the information.
Chapter 1 Configure Integrated Motion Control Using Kinetix Drives 3. Check the Include Special Properties and Advanced list to see all of the information. Figure 2 - Axis Tag Report Example You can also right-click a controller, communication module, and any motion module to print the Module Properties you have configured.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive This chapter provides procedures on how to configure Integrated Motion on the EtherNet/IP network control by using a PowerFlex 755 Embedded EtherNet/IP drive.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive About the PowerFlex 755 Drives Integrated Motion on the EtherNet/IP network supports closed loop servo drives and frequency drives. The PowerFlex 755 drive contains an EtherNet/IP adapter that is embedded on the main control board. The PowerFlex 755 drives supports Position Loop, Velocity Loop, Torque Loop, and Frequency Control axis configuration types.
Configure Integrated Motion Using a PowerFlex 755 Drive Add a PowerFlex 755 Drive Chapter 2 There are six PowerFlex 755 Ethernet drives that you can configure for Integrated Motion on the EtherNet/IP network. TIP When you add drive modules for a sercos network, you see the power structures and catalog numbers. With Integrated Motion on the EtherNet/ IP network, you assign the power structure later in the configuration process. See Assign a Power Structure on page 52.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive 6. Type a Name for the module 7. Type a description, if desired. 8. Assign an EtherNet/IP address. See these manuals for information about configuring IP addresses: • PowerFlex 755 Embedded EtherNet/IP Adapter User Manual, publication 750COM-UM001 • Ethernet User Manual, publication ENET-UM001 9. Under Module Definition, click Change. The Module Definition dialog box appears.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 10. From the Electronic Keying pull-down menu, choose an option. WARNING: When using motion modules, the electronic keying must be either `Exact Match‘ or `Compatible Keying‘. Never use `Disable Keying` with motion modules. Select a Peripheral Feedback Device and Slot Assignment Feedback devices on the PowerFlex 755 drives are called peripheral devices. You must assign the port/channel for each device you are using.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive The device is added. Notice that the feedback device appears. Assign a Power Structure When you select a drive catalog number, you are specifying only a class of drives. You must assign the appropriate power structure you have installed.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 See Create an Axis for a PowerFlex 755 Drive on page 54. IMPORTANT When you change the major revision on the PowerFlex 755 drive, change the power structure, or change the peripheral feedback device, the axis is no longer associated with the modules. When you change parameters, other related parameters change as well. This message always appears after you have changed a configuration.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive Create an Axis for a PowerFlex 755 Drive Once you have added a drive, selected the power structure, and assigned a feedback device, you can create and configure an axis. You must apply the changes and exit the Associated Axis dialog box before the option to create an axis becomes available. There are two approaches that you can take to create and configure an axis.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 5. Type a Description, if desired. The fields in the next steps are automatically entered for the AXIS_CIP_DRIVE data type. 6. Change the Tag Type, Data Type, Scope, and External Access, if needed. 7. Click Create. For more information about External Data Access Control and Constants, see the Logix5000 Controllers I/O and Tag Data Programming Guide, publication 1756-PM004.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive Map the PowerFlex 755 Drive Port Assignment to the Axis Follow these instructions to map the drive port to the axis. 1. Go the Module Properties of the drive. 2. Click the Associated Axis tab. Axis 1 on the Associated Axes tab in Module Properties corresponds to the Axis 1 listed on the General tab on the Axis Properties, see step 2 on page 54.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 2. Click the Associated Axes tab. 3. From the Axis 1 pull-down menu, choose the axis to associate the drive to. When you select the axis, the power structure of the drive is verified. If you have not assigned a power structure, this message appears on the General dialog box. Click the hyperlink to go to the Module Properties dialog boxes for the drive so you can assign a Power Structure.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive The ports and channels that you can select are related to what hardware you have installed. The choices depend on the installation and automatically appear. • If you are configuring a Position Loop, you can choose between Motor Feedback, Dual Feedback, and Dual Integrated Feedback. • If you are configuring a Torque or Velocity Loop, you will have only the option for Motor Feedback.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 If you have not enabled Time Synchronization, this message appears. You must go to the 1756-ENxT communication module properties and enable time synchronization. See Add a 1756-ENxTx Communication Module on page 95. Configure the Associated Axis and Control Mode Now that the axis is associated to the drive, meaningful values are available for other axis configuration properties.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive 2. Choose an Axis Configuration. TIP The associated drive determines what axis and feedback configuration choices are presented. 3. Choose a Feedback Configuration type. This table compares the feedback type and loop type.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 4. Choose an Application Type, if applicable. Application Type defines the servo loop configuration automatically. These combinations determine how the calculations are made, which can reduce the need to perform an Autotune or a Manual Tune. TIP The Application Type determines the type of motion control application. This attribute is used to set the Gain Tuning Configuration Bits.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive Create a Motion Group All axes must be added to the Motion Group in your project. If you don’t group the axes, they remain ungrouped and unavailable for use. You must create a Motion Group for an axis to be configured properly.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 3. Type a description, if desired. The fields in the next steps are automatically entered for the Motion_Group data type. 4. Change the Tag Type, Data Type, Scope, and External Access, if needed. For more information about External Data Access Control and Constants, see the Logix5000 Controllers I/O and Tag Data Programming Guide, publication 1756-PM004. 5. Check Open MOTION_GROUP configuration and click Create.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive Associate the Axis to the Motion Group There are three ways to assign axes to a Motion Group: • Create a motion group. The Motion Group wizard appears and takes you through the necessary screens. • Open the Motion Group properties and make changes. • Drag the axis into the Motion Group in the Controller Organizer. 1. Select an axis and click Add. 2. Verify that the axis has been assigned to the group. 3. Click OK.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 Set the Base Update Period The Base Update Period is basically the RPI rate for Ethernet communication between the controller and the motion module, a Unicast connection. It also sets the motor feedback that is returned from the drive in the drive-to-controller connection. There are two alternate update periods that you can configure when using Axis Scheduling. See Configure Axis Scheduling on page 77 for details.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive TIP Check to see if the Last Scan time values on the Attribute tab are less. Typically, the value is less than 50% of the Base Update Period. Figure 3 - Base Update Period Example Motion Planner Scans of your code and system overhead. 0 ms 10 ms 20 ms 30 ms 40 ms In this example, the Base Update Period = 10 ms. Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner.
Configure Integrated Motion Using a PowerFlex 755 Drive Select the Motor Data Source Chapter 2 The Motor Data Source is where you tell the axis where the motor configuration values are originating. You can select a motor from the database, nameplate, or nonvolatile memory. Choose Catalog Number as the Motor Data Source Follow these steps to identify the specification information that is originating from the Motion Database. 1. If the Axis Properties dialog box is not open, double-click the axis. 2.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive Motor Dialog Box 7. Click Apply. Motor Model Dialog Box The Motor Model dialog box displays the Motor Model Phase to Phase parameters. The parameters that are available depends on the Motor Data Source. Nameplate Datasheet is the only Motor Data Source that lets you input the values. The Motor Analyzer is helpful when configuring the Motor Model dialog box parameters. See Motor Model Dialog Box on page 71.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 Choose Nameplate as the Motor Data Source The Nameplate option requires you to enter the motor specification information. You can find the information on the hardware nameplate or product data sheets. 1. From the Motor dialog box of Axis Properties, choose Nameplate Datasheet. 2. Choose a motor type. This table describes the motor types that are available.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive Choose Drive NV as the Data Source When you choose Drive NV, the motor attributes are derived from the nonvolatile memory of a drive. Only a minimal set of motor and motor feedback (Feedback 1) attributes are required to configure the drive. Follow these instructions to choose a data source. 1. From the Data Source pull-down menu, choose Drive NV. 2. From the Units pull-down menu, choose Revolutions or Meters.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 Motor Model Dialog Box The Motor Model dialog box displays additional information based on the motor, axis, and feedback configuration types you choose. The asterisk next to a category means that you have not applied changes. • If the motor data source is Catalog Number, the fields are populated automatically from the database and the fields are read-only. • If the motor data source is Nameplate Datasheet, you can to enter the information.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive Motor Analyzer Dialog Box Table 13 - Motor Analyzer Parameters Parameter Description Motor Resistance Specifies the phase-to-phase, resistance of a permanent magnet motor. Motor Inductance Specifies the phase-to-phase, inductance of a permanent magnet motor. Motor Rotary Voltage Constant Specifies the voltage, or back-EMF, constant of a rotary permanent magnet motor in phase-to-phase RMS Volts per KRPM.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 The PowerFlex 755 drive requires a peripheral feedback device. As with all parameters, the types of feedback available are dependent on what you select on the General dialog box for Feedback Configuration.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive There are seven available peripherals: • HIM • I/O • Communications, Ethernet Standard • Aux Power • Safety • Encoder Interface • Universal Feedback This table lists valid peripheral devices and ports for various PowerFlex drives.
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 2 The Motor Feedback dialog box contains the information for the feedback device. This category dialog box is not available for Frequency axis configuration and is dependent on the axis configuration type and the motor selection. Select a Feedback Type and Units. The type of feedback available depends on the axis and feedback configurations. The asterisk next to a category means that you have not applied changes. 1.
Chapter 2 Configure Integrated Motion Using a PowerFlex 755 Drive If you are using a motor that is not in the database, the default is Not Aligned. If the motor is in the database, the alignment is set to Controller Offset. Type Description Not Aligned Not Aligned indicates that the motor is not aligned, and that the Commutation Offset value is not valid. If the Commutation Offset is not valid, the drive cannot use the value to determine the commutation angle.
Chapter 3 Configure Axis Scheduling This chapter describes how to configure the Axis Scheduling feature that is located in the Motion Group properties dialog box. Topic Page Example Axis Scheduling Application 78 Axis Scheduling Configuration 79 Motion Utilization 87 Axis Scheduling provides a way for you to configure drives to run at different update rates. Axis Scheduling can improve the performance of your controllers. You can use Axis Scheduling with integrated motion drives and virtual axes.
Chapter 3 Configure Axis Scheduling Example Axis Scheduling Application Axis Scheduling can improve ControlLogix and CompactLogix EtherNet/IP Integrated Architecture Motion system performance by reducing average Logix controller and EtherNet/IP network utilization. Axis Scheduling supports three separate controller/network motion drive update rates per controller, one rate for high performance drives, and two additional rates for lower performance drives.
Configure Axis Scheduling Axis Scheduling Configuration Chapter 3 In Logix Designer, you use the Axis Schedule Panel to configure the update periods. The Axis Schedule Panel provides a Base Update Period and two alternatives. Information such as, Estimated Utilization and Actual Utilization appear on this panel. The alternative rates for lower performance drives provide a way for multiple drives to be ‘multiplexed’ through a single drive update channel.
Chapter 3 Configure Axis Scheduling Configuring the Update Periods Follow these steps to configure the update periods: 1. Double-click the Motion Group. The Motion Group Properties dialog box appears. 2. Assign axes to the group. 3. Click Apply. 4. Go to the Attribute tab. 5. Choose a Base Update Period.
Configure Axis Scheduling Chapter 3 In this example, the Base Update Period is 4.0 ms and the Alternate 1 and 2 Update Periods are 8 ms and 20 ms. The base period acts as the anchor value for the axis scheduling feature. The Alternate Update Periods are multiples of the base. You can edit the Base Update Period when the controller is offline and is read-only when the controller is online. The alternate rates on the Attribute tab are read only. 6. Click the Axis Schedule to go to the Axis Schedule Panel.
Chapter 3 Configure Axis Scheduling The axes appear in the Alternate columns. 8. Choose the Alternate 1 Update Period. The multipliers range from 2…32, so if the base update rate is 2.0, the values in the alternate rates are 4, 6, 8, 10, 12…32. If the base update rate is 3.0, the values are 6, 9, 12, 15, and so on. If you change the base rate to a non-multiple value, a warning flag appears next to an Alternate rate if you change the base rate value where the alternate rate is no longer a multiple.
Configure Axis Scheduling Chapter 3 Once an alternate rate is set on the Axis Schedule Panel, the Base Update Period for the group on the Attribute tab becomes disabled. You can still set the base update rate on the Axis Schedule Panel. If you enter a value outside of that range, a warning appears and the value is set to either 0.5 or 32, depending on if you entered too small or too large of a value.
Chapter 3 Configure Axis Scheduling The Alternate update rates appear on the Attribute tab. Here’s another example. 1. Go to the Axis Schedule Panel and change all rates to be the same, for example 4 ms.
Configure Axis Scheduling Chapter 3 The Base Update Period on the Attribute tab becomes active. Notice that after you have made all update periods in the Axis Schedule Panel, the update period values are the same and the Base Update Period is now active. The Alternate Update Periods are always read-only. 2. Change the Base Update Period.
Chapter 3 Configure Axis Scheduling After you click Apply (or OK), the values in the alternate fields change to match the base. The values are also changed in the Axis Schedule Panel.
Configure Axis Scheduling Motion Utilization Chapter 3 The following values are updated in real time as you change your configuration. You can see how the utilization metrics are responding to your configuration changes and you have the option to modify your configuration. • The yellow! warning indicates that the value is at the borderline of the controller capabilities. • The red X next to the Task I/O Cycle warning indicates that the value has reached beyond what the motion task cycle can handle.
Chapter 3 Configure Axis Scheduling Notes: 88 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 4 Configure a Project for Integrated Motion on the EtherNet/IP Network This chapter describes how to configure an integrated motion project in the Logix Designer application.
Chapter 4 Configure a Project for Integrated Motion on the EtherNet/IP Network 2. Choose a controller, type a name, and click Next. 3. Type a Name for the controller. 4. Assign a location (optional). 5. Click Next. Project Configuration dialog box appears. 6. Choose the chassis type. 7. Assign the slot location of the controller.
Configure a Project for Integrated Motion on the EtherNet/IP Network Chapter 4 8. Assign the Security Authority. 9. Type a description (optional). 10. Click Finish. The Logix Designer application opens with new project.
Chapter 4 Configure a Project for Integrated Motion on the EtherNet/IP Network This technology supports highly distributed applications that require time stamping, sequence of events recording, distributed motion control, and increased control coordination. All controllers and communication modules must have time synchronization that is enabled for applications that use Integrated Motion on the EtherNet/IP network. Set Time Synchronization Time synchronization in the Logix system is called CIP Sync.
Configure a Project for Integrated Motion on the EtherNet/IP Network Chapter 4 The Best Master Clock algorithm determines what device has the best clock. The device with the best clock becomes the Grandmaster time source for your system. All controllers and communication modules must have time synchronization that is enabled to participate in CIP Sync. See the Integrated Architecture and CIP Sync Configuration Application Technique, publication IA-AT003, for detailed information.
Chapter 4 Configure a Project for Integrated Motion on the EtherNet/IP Network 3. Check Enable Time Synchronization. 4. Click OK.
Configure a Project for Integrated Motion on the EtherNet/IP Network Add a 1756-ENxTx Communication Module Chapter 4 Follow these instructions to add an Ethernet communication module to your project. These modules are compatible with the CIP Sync protocol: catalog numbers 1756-EN2T, 1756-EN2F, 1756-EN2TR, and 1756-EN3TR. IMPORTANT For all communication modules, use the firmware revision that goes with the firmware revision of your controller. See the release notes for the firmware of your controller.
Chapter 4 Configure a Project for Integrated Motion on the EtherNet/IP Network The New Module configuration tabs appear. 5. Type a name for the module. 6. If you want, type a description. 7. Assign the Ethernet address of the 1756-ENxTx module.
Configure a Project for Integrated Motion on the EtherNet/IP Network Chapter 4 10. Choose an Electronic Keying option. ATTENTION: The electronic keying feature automatically compares the expected module, as shown in the configuration tree, to the physical module before communication begins. When you are using motion modules, set the electronic keying to either `Exact Match‘ or `Compatible Keying‘. Never use `Disable Keying’ with 1756-ENxTx communication and motion modules.
Chapter 4 Configure a Project for Integrated Motion on the EtherNet/IP Network 11. Choose Time Sync and Motion. IMPORTANT For CIP Sync time coordination to work in motion control, you must set the Time Sync Connection to Time Sync and Motion on all 1756-ENxTx communication modules. The CIP Sync protocol is what enables motion control on the EtherNet/IP network. The Time Sync and Motion selection is available only for firmware version 3.0 and later.
Chapter 5 Configuration Examples for a Kinetix Drive This chapter provides three typical axis configuration examples when using a Kinetix 6500 drive. The differences between the Kinetix drives are noted where applicable.
Chapter 5 Configuration Examples for a Kinetix Drive Example 1: General Dialog Box, Position Loop with Motor Feedback Only The type of drive you selected and the power structure you assigned via the Kinetix 6500 Module Properties. For more information, see Add a Kinetix EtherNet/IP Drive on page 20. The newly created Kinetix 6500 drive module name is the default. The Axis Number defaults to 1, indicating the primary axis of the drive. Axis Number 2 is used only for configuring a Feedback Only axis.
Configuration Examples for a Kinetix Drive Chapter 5 In this case, a MPL-B310P-M motor was chosen. Example 1: Position Loop with Motor Feedback Only, Motor Dialog Box When you select the Catalog Number for the motor specification, the MPL-B310P-M motor is in the Motion Database. The specification data for this motor is automatically entered for you. If the motor you are using is not in the Change Catalog list, then it is not in the Motion Database.
Chapter 5 Configuration Examples for a Kinetix Drive Example 1: Position Loop with Motor Feedback Only, Scaling Dialog Box 6. Choose the Load Type. 7. Enter the Scaling Units. 8. Choose the Travel Mode. For more information about Scaling, see Scaling Dialog Box on page 146. 9. Click Apply. You are now finished configuring the axis for Position Loop with Motor Feedback.
Configuration Examples for a Kinetix Drive Example 2: Position Loop with Dual Feedback Chapter 5 In this example, you create an AXIS_CIP_DRIVE and a Kinetix 6500 drive, which includes the control module and a power structure. You need to configure both feedback ports. You need to have two feedback cables that are connected to the Kinetix 6500 drive for one axis. You connect the Motor Feedback cable to the Motor Feedback port, and the Load Feedback cable to the Aux Feedback port of the Kinetix 6500 drive.
Chapter 5 Configuration Examples for a Kinetix Drive Now that you defined the axis as being a Position Loop with Dual Feedback axis, the Motor, Motor Feedback, and Load dialog boxes become available. 4. From the Data Source pull-down menu, choose Catalog Number. 5. Click Change Catalog and choose your motor. In this case, a MPL-B310P-M motor was chosen.
Configuration Examples for a Kinetix Drive Chapter 5 Example 2: Position Loop with Dual Feedback, Motor Feedback Dialog Box The drive gets the commutation that is offset directly from the motor. For information about Commutation, see Assign Motor Feedback on page 43 and Commutation Test on page 156. The axis is now configured as the primary feedback. The next task is to configure Feedback 2 on the Load Feedback dialog box. 6.
Chapter 5 Configuration Examples for a Kinetix Drive 7. From the Load Feedback Device pull-down menu, choose Aux Feedback Port. 8. Click OK to apply your changes and return to the Load Feedback dialog box. Example 2: Kinetix 6500 Module Properties, Associated Axis Tab 9. Choose the Feedback Type and Units. Example 2: Position Loop with Dual Feedback, Load Feedback Dialog Box Default values for Resolution and Interpolation are automatically provided.
Configuration Examples for a Kinetix Drive Chapter 5 Example 2: Position Loop with Dual Feedback, Scaling Dialog Box The Scaling values are in Load Feedback units. You are now finished configuring the axis as Position Loop axis with Dual Feedback. 10. Click OK to apply your changes and close Axis Properties.
Chapter 5 Configuration Examples for a Kinetix Drive Example 3: Feedback Only In this example, you create a half axis AXIS_CIP_DRIVE type by using the AUX Feedback port of the drive for Master Feedback. You need to connect the Master Feedback device cable to the Aux Feedback port of the Kinetix 6500 drive. TIP You can use feedback only axes, for example, as a master reference for gearing, with PCAM moves, and MAOC output CAMs. 1. From the Axis Configuration pull-down menu, choose Feedback Only. 2.
Configuration Examples for a Kinetix Drive Chapter 5 4. Click the Define feedback device link to associate the drive with the axis. Example 3: Feedback Only with Master Feedback, Master Feedback Dialog Box Feedback 1 is the logical port for this axis that is assigned to physical Port 2, or Aux Feedback port of the Kinetix 6500 drive. 5. From the Axis 2 (Auxiliary Axis) pull-down menu, choose Axis_IV_Feedback Only to associate the axis. Example 3: Master Feedback Dialog Box 6.
Chapter 5 Configuration Examples for a Kinetix Drive Example 3: Feedback Only with Master Feedback, Master Feedback Dialog Box This is Feedback 1 of Axis 2. It is connected to the Aux Feedback port of the primary axis. This Feedback-only axis is also known as the 1/2 axis. Default values are filled in for you. 8. From the Type pull-down menu, choose Digital AqB as the feedback type. 9. From the Units pull-down menu, choose Rev. 10.
Configuration Examples for a Kinetix Drive Chapter 5 Example 3: Feedback Only with Master Feedback, Scaling Dialog Box 11. From the Load Type pull-down menu, choose your load type. 12. Enter the Scaling Units. 13. From the Mode pull-down menu, choose your Travel mode. For more information about Scaling, see Scaling Dialog Box on page 146. 14. Click Apply. You are now finished configuring an axis for Feedback Only.
Chapter 5 Configuration Examples for a Kinetix Drive Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback In this example, you are configuring a Kinetix 5500 servo drive, catalog number 2098-H025-ERS, with motor feedback by using a Rotary Permanent Magnet motor, catalog number VPL-A1001M-P. You will need to connect the Motor Feedback cable to the Motor Feedback port of the Kinetix 5500 drive and then configure the feedback port. 1.
Configuration Examples for a Kinetix Drive Chapter 5 4. Click Change Catalog and choose your motor, for example, catalog number VPL-A1001M-P. When you select the Catalog Number for the motor specification, the VPL-A1001M-P motor is in the Motion Database, The specification data for this motor is automatically filled in for you. If the motor you are using is not in the Change Catalog listing, then it is not in the Motion Database.
Chapter 5 Configuration Examples for a Kinetix Drive 5. Click the Motor Feedback dialog box. With this drive and motor combination, the Motor Mounted Feedback that is available is the Hiperface DSL type. The data is automatically populated based on that selection. You can assign the commutation alignment.
Configuration Examples for a Kinetix Drive Chapter 5 6. Click the Scaling dialog box to adjust the Scaling attributes. 7. Choose the Load Type 8. Enter the Scaling Units 9. .Choose the Travel Mode. For more information about Scaling, see Scaling Dialog Box on page 146. 10. Click Apply. You are now finished configuring the Kinetix 5500 axis for Velocity Loop with Motor Feedback.
Chapter 5 Configuration Examples for a Kinetix Drive Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback In this example, create a project with a CompactLogix controller, for example, 1769-L36ERM. You are configuring a Kinetix 350 drive, catalog number 2097V33PR6-LM, with motor feedback by using a Rotary Permanent Magnet motor, catalog number MPAR-A1xxxB-V2A.
Configuration Examples for a Kinetix Drive Chapter 5 4. Click Change Catalog and choose your motor, for example, catalog number MPAR-A1xxxB-V2A. When you select the Catalog Number for the motor specification, the MPAR-A1xxxB-V2A motor is in the Motion Database, The specification data for this motor is automatically filled in for you. If the motor you are using is not in the Change Catalog listing, then it is not in the Motion Database.
Chapter 5 Configuration Examples for a Kinetix Drive 5. Click the Motor Feedback dialog box. With this drive and motor combination, the data is automatically populated based on that selection.
Configuration Examples for a Kinetix Drive Chapter 5 6. Click the Scaling dialog box to adjust the Scaling attributes. The default load type is linear actuator. 7. Enter the Scaling Units. 8. Enter the Travel Range. For more information about Scaling, see Scaling Dialog Box on page 146. 9. Click OK. You are now finished configuring the Kinetix 350 axis for Position Loop with Motor Feedback.
Chapter 5 Configuration Examples for a Kinetix Drive Notes: 120 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive This chapter provides example axis configurations when using a PowerFlex 755 drive.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Example 1: Position Loop with Motor Feedback Using a UFB Feedback Device This example describes how to create an AXIS_CIP_DRIVE axis that is associated to a PowerFlex 755 drive with motor feedback via a universal feedback device, catalog number 20-750-UFB-1. TIP Remember that you already assigned the feedback device when you added the drive to your project.
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 6 Example 1: Position Loop with Motor Feedback, Motor Dialog Box 4. Choose Catalog Number as the Data Source. 5. Click Change Catalog and choose a motor. When you select the Catalog Number for the motor specification, the MPL-B310P-M motor is in the Motion Database. The specification data for this motor is automatically entered for you. If the motor you are using is not in the Change Catalog list, then it is not in the Motion Database.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive For more information about Commutation, see Assign Motor Feedback on page 43 and Commutation Test on page 156. Example 1: Position Loop with Motor Feedback, Scaling Dialog Box 7. From the Load Type pull-down menu, choose your type of load. 8. Enter the Scaling Units. 9. From the Travel Mode pull-down menu, choose your Travel Mode. For more information about Scaling, see Scaling Dialog Box on page 146. 10.
Axis Configuration Examples for the PowerFlex 755 Drive Example 2: Position Loop with Dual Motor Feedback Via a UFB Feedback Device Chapter 6 This example describes how to create an AXIS_CIP_DRIVE axis that is associated to a PowerFlex 755 drive with dual motor feedback via a universal feedback device, catalog number 20-750-UFB-1. TIP Remember that you already assigned the feedback device when you added the drive to your project.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive 4. From the Data Source pull-down menu, choose Catalog Number. Example 2: Position Loop with Dual Feedback, Motor Dialog Box 5. Click Change Catalog and choose your motor. In this case, a MPL-B310P-M motor was chosen. When you select the Catalog Number for the motor specification, the MPL-B310P-M motor is in the Motion Database. The specification data for this motor is automatically entered for you.
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 6 For more information about Commutation, see Commutation Test on page 156. Example 2: Position Loop with Dual Feedback, Motor Feedback Dialog Box On the Motor Feedback dialog box, the information is automatic based on your selections on the Motor dialog box. If you have not defined a feedback device, the motor dialog box displays a link taking you to the module definition for the drive.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Follow these instructions to define the Load feedback. 1. From the Load Feedback dialog box, click the Define feedback device link. Example 2: Load-side Feedback, Load Feedback Dialog Box Link 2. Click Associated Axes in Module Properties dialog box. 3. From the Load Feedback Device pull-down menu, choose the appropriate port/channel for the Load Feedback Device. Example 2: PowerFlex 755 Module Properties, Associated Axis Tab 4.
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 6 Example 2: Load-side Feedback, Load Feedback Dialog Box Example 2: Position Loop with Dual Feedback, Scaling Dialog Box 7. From the Load Type pull-down menu, choose your load type. 8. Enter the Scaling Units. 9. From the Travel Mode pull-down menu, choose a Travel Mode. See Scaling Dialog Box on page 146 for more information about Scaling. 10. Click Apply and OK to exit Axis Properties.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Example 3: Velocity Loop with Motor Feedback Via a UFB Feedback Device This example describes how to create two AXIS_CIP_DRIVE axes that are associated to a PowerFlex 755 drive with dual motor feedback via a universal feedback device, catalog number 20-750-UFB-1. TIP Remember that you already assigned the feedback device when you added the drive to your project. 1. Once you have created an AXIS_CIP_DRIVE, open the Axis Properties. 2.
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 6 Example 3: Velocity Loop with Motor Feedback, Motor Dialog Box 5. From the Data Source pull-down menu, choose Nameplate Datasheet. 6. From the Motor Type pull-down menu, choose Rotary Induction. 7. Enter the parameters by using the information from the motor Nameplate or Datasheet and click Apply. 8. Enter the parameters on the Motor Model dialog box by using the information from the motor Nameplate or Datasheet and click Apply.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Example 3: Motor Feedback Dialog Box, Velocity Loop with Motor Feedback 9. From the Type pull-down menu, choose the type of feedback. The fields are populated with the data that relates to the motor and feedback types you chose. Example 3: Velocity Loop with Motor Feedback, Motor Feedback Dialog Box 10. Click Scaling.
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 6 Example 3: Velocity Loop with Motor Feedback, Scaling Dialog Box 11. From the Load Type pull-down menu, choose the appropriate load type. 12. Enter the Scaling Units. 13. From the Travel Mode pull-down menu, choose the appropriate Travel Mode. See Scaling Dialog Box on page 146 for more information. 14. Click Apply and OK to exit Axis Properties. You are now finished configuring the axis as Velocity Loop with Motor Feedback.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Example 4: Velocity Loop with No Feedback In this example, you create an AXIS_CIP_DRIVE configured for a Velocity Loop with No Feedback axis and associate the axis to the PowerFlex 755 drive. 1. From the Axis Configuration pull-down menu, choose Velocity Loop. 2. From the Feedback Configuration pull-down menu, choose No Feedback. Example 4: Velocity Loop with No Feedback, General Dialog Box The selections determine the Control Mode.
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 6 3. From the Data Source pull-down menu, choose Nameplate Datasheet. Example 4: Velocity Loop with No Feedback, Motor Dialog Box When you select No Feedback, the Motor Feedback dialog box does not appear. In this case, the drive has already been configured for the motor by the DriveExecutive™ software or the HIM configuration tools.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Example 4: Velocity Loop with No Feedback, Load Dialog Box 8. From the Load Coupling pull-down menu, choose the appropriate load coupling. 9. Enter the System Inertia. 10. Enter the Torque Offset, if applicable. For more information about the load characteristics, see Load Dialog Box on page 164. 11. Click Apply. You are now finished configuring an axis as Velocity Loop with No Feedback.
Axis Configuration Examples for the PowerFlex 755 Drive Example 5: Frequency Control with No Feedback Chapter 6 In this example, you are configuring an axis for Frequency Control with No Feedback. 1. Once you have created the AXIS_CIP_DRIVE axis, open the Axis Properties. 2. From the Axis Configuration pull-down menu, choose Frequency Control. 3. From the Feedback Configuration pull-down menu, choose No Feedback.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive 4. From the Data Source pull-down menu, choose a data source. In this case, Nameplate Datasheet is the Data Source. See the Specifying the Motor Data Source on page 39 for more information about Data Sources. Example 5: Frequency Control with No Feedback, Motor Dialog Box In this case, the data source is Catalog Number and the Motion Database provides values for these fields.
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 6 5. From the Frequency Control Method pull-down menu, choose the appropriate method. 6. Click Apply.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Example 5: Frequency Control with No Feedback, Scaling Dialog Box Conversion Units 7. From the Load Type pull-down menu, choose the appropriate load type. 8. Enter the Transmission Ratio. 9. From the Actuator Type pull-down menu, choose the appropriate actuator. 10. Enter the Diameter dimensions. 11. Enter the Scaling Units. See the Scaling Dialog Box on page 146 for more information. 12.
Axis Configuration Examples for the PowerFlex 755 Drive Example 6: Torque Loop with Feedback Chapter 6 In this example, you are configuring the axis for Torque Loop with feedback. 1. Once you have created the AXIS_CIP_DRIVE axis, open the Axis Properties. 2. From the Axis Configuration pull-down menu, choose Torque Loop. 3. From the Feedback Configuration pull-down menu, choose Motor Feedback. Example 6: Torque Loop with Motor Feedback, General Dialog Box This defines the controller Control Mode.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Example 6: Torque Loop with Motor Feedback, Feedback Type 4. From the Type pull-down menu, choose the appropriate feedback type.
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 6 Example 6: Torque Loop with Motor Feedback, Scaling Load Type 5. From the Load Type pull-down menu, choose the appropriate load type. Example 6: Torque Loop with Motor Feedback, Scaling Conversions 6. Enter the Transmission Ratio. 7. Enter the Scaling Units. 8. From the Travel Mode pull-down menu, choose the appropriate travel mode. See the Scaling Dialog Box on page 146 for more information. 9. Click Apply.
Chapter 6 Axis Configuration Examples for the PowerFlex 755 Drive Notes: 144 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Chapter 7 Commission This chapter discusses how to commission an axis for a motion application. Commissioning includes Off-line Scaling settings, downloading a project, running a Hookup Test, performing Tuning, and using the Motion Direct Commands.
Chapter 7 Commission Scaling Dialog Box Axis motion can be specified in whatever units you want. In the Scaling dialog box, you configure the motion control system to convert between raw internal motion units. For example, Feedback Counts or Planner Counts can be converted to your preferred unit of measure, be it revolutions, degrees, meters, inches, or candy bars. This conversion involves three key Scaling Factor attributes, Conversion Constant, Motion Resolution, and Position Unwind.
Commission TIP Chapter 7 In a sercos application, the Scaling Factors are Conversion Constant, Drive Resolution, and Position Unwind. Direct Coupled Rotary For a Direct Coupled Rotary load type, you can express Scaling Units for the rotary motor, for example, Degrees. Here is an example of Direct Coupled Rotary load that is scaled in Degrees and the resulting values for the Conversion Constant and Motion Resolution.
Chapter 7 Commission Direct Coupled Linear For a Direct Coupled Linear load type, you can express Scaling Units for the linear motor, for example, Inches. Here is an example of Direct Coupled Linear load that is scaled in Inches and the resulting values for the Conversion Constant and Motion Resolution. For more information about Conversion Constant and Motion Resolution, see the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003.
Commission Chapter 7 Linear Actuator With the Linear Actuator load type, you can specify the characteristics of the linear actuator mechanics by the Actuator Type. Changing Scaling Changing Scaling configuration factors can have a significant impact on the calculations of factory defaults for scaling dependent axis configuration attributes. When certain criteria are met, described below, the following dialog box appears when you apply changes.
Chapter 7 Commission Once you have applied your configurations, the factory defaults for dynamic configuration attributes, for example, gain, limits, and filter settings are automatically computed. The calculations are based on your drive and motor configuration settings and selection for application type and loop response. The factory defaults yield a stable operational system that can then be tailored to the specific requirements for many types of machine applications.
Commission Chapter 7 Test Cable Connections, Wiring, and Motion Polarity Various types of Hookup Tests become available depending on what type of drive you are using and what combinations of Axis Configuration and Feedback Configuration types you choose. Table 16 - Types of Hookup Tests Test Description Marker Checks that the drive gets the marker pulse. You must manually move the axis for this test. Motor and Feedback Tests the polarity of the motor, motion, load, and motor feedback.
Chapter 7 Commission This table lists the Hookup Tests that is based on axis configuration and drive type.
Commission Chapter 7 Run a Motor and Feedback Test The Motor and Feedback Test is the most commonly used Hookup Test because it automatically tests both the motor and feedback wiring and determines correct polarity values. ATTENTION: These tests make the axis move even with the controller in remote Program mode. Before you do the tests, make sure no one is in the way of the axis. Follow these steps to perform a Motor and Feedback Hookup Test. 1. Go to the Hookup Tests dialog box.
Chapter 7 Commission The drive determines that the feedback device is working properly and the test passed. 5. Click OK. 6. If your axis moved in a forward direction, click yes and you see that the test result is Normal. If the motor does not move in the forward direction, according to your application the test result is inverted. When you accept test results the Current shows inverted. See the Polarity Dialog Box on page 160. If you are satisfied with the results, you can accept the test results.
Commission Chapter 7 Run a Motor Feedback Test The Motor Feedback Test tests the polarity of the motor feedback. Follow these steps to perform a Motor Feedback test. 1. From the Hookup Tests dialog box, click the Motor Feedback tab. 2. Enter the Test Distance. 3. Click Start. Run a Marker Test The Marker Test checks that the drive receives the marker pulse from the position feedback device. You must manually move the axis for this test. Follow these steps to perform a Marker test. 1.
Chapter 7 Commission The drive receives the marker pulse and the test passed. 5. Click OK. Commutation Test The Commutation Test determines an unknown Commutation Offset and potentially the unknown polarity of the start-up commutation wiring. The Commutation Test can be used also to verify both a known Commutation Offset and the polarity start-up commutation wiring. This test is applied to third-party or custom Permanent Magnet motors that are not available as a Catalog Number in the Motion Database.
Commission Chapter 7 Unknown Commutation Offset The primary use for the Commutation Hookup Test is the case where the machine is equipped with a PM motor that has an unknown Commutation Offset. The Commutation Offset, and potentially Commutation Polarity, can be unknown for different reasons, including an unprogrammed ‘smart encoder’ or any generic third-party encoder where Commutation Offset is unknown. TIP The Kinetix 350 and the Kinetix 5500 drives do not support the Commutation Polarity attribute.
Chapter 7 Commission Verification of Known Commutation Offset Another use of the Commutation Test is to verify that the motor is wired correctly and has the expected Commutation Offset. A machine engineer may not want to correct for a wiring error in software but rather flag a wiring error so that it may be physically corrected. Incorrect wiring of the motor power phases, encoder signal wiring, or commutation signal wiring may show up as an unexpected Commutation Offset.
Commission Chapter 7 Run a Commutation Test Setting the Motor and Feedback Polarity by using the Motor and Feedback Test prior to running the Commutation Test helps ensure that the motor spins in the correct direction for the Commutation Test for monitoring the Commutation Angle. You should run the Motor and Feedback Test first to determine that your feedback is working. If the Feedback is not working, the Commutation Test will give you incorrect results or the test will timeout.
Chapter 7 Commission Polarity Dialog Box If you have run the Motor and Feedback Hookup Test, the settings on the Polarity dialog box are already correct for the application. If the polarity settings are known and cables to the motor and feedback devices are prefabricated and tested, the polarity settings can be entered on this dialog box. At this point in the commissioning process, the axis is ready for operation.
Commission Chapter 7 The Application Type, Loop Response, and Load Coupling settings are conveniently grouped at the top left of the Autotune dialog box. These three attributes control the Autotune servo loop gain and filter bandwidth calculations. If this box is checked, the Autotune moves the motor using a Tune Profile to measure inertia. If this box is not checked, gain and filter bandwidth calculations are still made but the inertia is not measured.
Chapter 7 Commission 3. Set the Speed to the expected operation speed. 4. Set the Torque to the level you want to apply to the motor during the Autotune. The default of 100% Rated Torque usually give good results. 5. Set the Direction that is based on machine constrains. Unidirectional tune profile measures inertia and friction. Bidirectional tune profile adds measurement of active torque loading. Blue arrows next to a field means that these values are immediately applied.
Commission Chapter 7 Once the Autotune is finished, the test state changes. 7. Click OK. After completing the Autotune profile, the measurements that are made during this process are used to update the fields in the Gains Tuned and Inertia Tuned grids. Check your Tune Status Any value that has an asterisk in the left most column has a different value than it’s tuned value. 8. You can compare existing and tuned values for your gains and inertias with the prospective tune values.
Chapter 7 Commission Now you can run the system with the new gain set and evaluate performance. You can improve the performance by adjusting application type, loop response, and/or load coupling selections. TIP Load Dialog Box If your application requires stricter performance, you can further improve performance with manual tuning. See Manual Tune an Axis on page 195. The Load dialog box contains the characteristics of the motor load. You can also use the values that are provided by autotune.
Commission Chapter 7 Table 18 - Load Inertia/Mass Parameter Descriptions Parameter Description Total Inertia Total Inertia represents the combined inertia of the rotary motor and load in engineering units. Inertia/Mass Compensation Inertia compensation controls relate to rotary motors. Mass compensation controls relate to linear motors.
Chapter 7 Commission Load Observer Acceleration Control can optionally include a Load Observer. Feeding the Acceleration Reference (Kinetix 350 drive not supported) into a Load Observer, along with the velocity feedback signal, has been found to be effective in compensating for mechanical backlash, mechanical compliance, and various load disturbances. For example, the effectiveness of the Load Observer can be thought of as a result of the Observer adding virtual inertia to the motor.
Commission Chapter 7 When configured for Load Observer operation, the Acceleration Estimate signal represents the error between the actual acceleration as seen by the feedback device and the acceleration that is estimated by the Load Observer that is based on an ideal model of the motor and load. By subtracting the Acceleration Estimate signal from the output of the Acceleration Limiter, the Load Observer is forcing the actual motor and load to behave like the ideal model, as seen by the velocity loop.
Chapter 7 Commission By choosing Load Observer with Velocity Estimate or Velocity Estimate Only, you can apply the Load Observer’s estimated velocity signal as feedback to the velocity loop. Load Observer with Velocity Estimate: Kinetix 6500 Drive When you choose Acceleration Feedback, it degenerates the Load Observer to an acceleration feedback loop by disconnecting the Acceleration Reference input from the observer. The velocity estimate is not available in this mode of operation.
Commission Motion Analyzer Software Chapter 7 Load Ratio can also be found through Autotune from Motion Analyzer. If you don’t want to run the autotune you can go to Motion Analyzer software and get the load ratio or the total inertia. See Help for Selecting Drives and Motors on page 16 and 169 for more information about the Motion Analyzer software.
Chapter 7 Commission Test an Axis with Motion Direct Commands Motion direct commands let you issue motion commands while you are online without having to write or execute an application program. You must be online to execute a Motion Direct Command. There are several ways to access the Motion Direct Command. Motion Direct Commands (MDC) are useful when you are commissioning or troubleshooting a motion application.
Commission Chapter 7 Figure 5 - Motion Direct Commands Dialog Box The content of the Motion Direct Command dialog box will varies, depending on the command you have chosen. In the Command list, you can either type the mnemonic and the list advances to the closest match or you can choose a command from the Axis pull-down menu. Choose the desired command and its dialog box appears. You can access an axis by using the drop down list. Axis status indicators are located in this dialog box.
Chapter 7 Commission This dialog box is an example of axis indicator values. You can also get to the commands either by right-clicking the axis and choosing Motion Generator or on the Manual Tune dialog box. IMPORTANT If you are using a PowerFlex 755 drive and it’s configured for Velocity Mode, and you have set the Flying Start Enable attribute to true, the device starts spinning at the command velocity immediately after you execute an MDS command.
Commission Chapter 7 Understanding STO Bypass When Using Motion Direct Commands For complete information about Motion Direct Commands in motion control systems including the Safe Torque Off feature, see the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001 and the Kinetix 5700 Multi-axis Servo Drives User Manual, publication 2198-UM002.
Chapter 7 Commission Table 19 - Drives Supporting STO - Safe Torque Off Drive Mechanism Axis Status STO Configuration K5500ers2 STO Networked .SafetyStatus Logix K5500ers2 Profile, and Module-Defined tag. K5700 STO Hardwired .GuardStatus None (Hardwired) K5700 STO Networked .SafetyStatus Logix K5700ers2 Profile, K5700 is two pieces of functionality in 1 hardware package and ModuleDefined tag.
Chapter 8 Home an Axis Homing puts your equipment at a specific starting point for operation. This starting point is called the home position. Typically, you home your equipment when you reset it for operation. When using Integrated Motion on the EtherNet/IP network, all active and passive homes are setting absolute positions as long as an absolute device is being used.
Chapter 8 Home an Axis Table 21 - Guidelines for the Homing Procedures (Continued) Guideline Description If your equipment can’t back up, use unidirectional homing. With unidirectional homing, the axis doesn’t reverse direction to move to the Home Position. For greater accuracy, consider using an offset: • Use a Home Offset that is in the same direction as the Home Direction. • Use a Home Offset that is greater than the deceleration distance.
Home an Axis Examples Chapter 8 Active Homing These examples show different ways to use active homing. Table 22 - Active Homing Examples Sequence Description Active immediate home This sequence sets the axis position to the Home Position without moving the axis. If feedback isn’t enabled, this sequence enables feedback. Active home to switch in forward bidirectional The switch homing sequence is useful for multi-turn rotary and linear applications.
Chapter 8 Home an Axis Table 22 - Active Homing Examples (Continued) Sequence Description Active home to marker in forward bidirectional The marker homing sequence is useful for single-turn rotary and linear encoder applications because these applications have one encoder marker only for full axis travel. Active Bidirectional Home with Marker Homing Vel Axis Velocity 1 2 Axis Position Return Vel 1: Encoder Marker Detected 2: Home Position These steps occur during the sequence. 1.
Home an Axis Chapter 8 Table 22 - Active Homing Examples (Continued) Sequence Description Active home to switch and marker in forward bidirectional This is the most precise active homing sequence available. Active Bidirectional Home with Switch then Marker Homing Vel Axis Velocity 1 4 Axis Position 2 3 Return Vel 1: Home Limit Switch Detected 2: Home Limit Switch Cleared 3: Encoder Marker Detected 4: Home Position These steps occur during the sequence. 1.
Chapter 8 Home an Axis Table 22 - Active Homing Examples (Continued) Sequence Description Active Home to Torque The Home to Torque Level sequence is a type of homing used when a hard stop is going to be used as the home position, as in a linear actuator. Torque Level homing is similar to Home Switch homing, with the exception that the torque level is used instead of the home switch input. This graphic depicts the Position/Velocity for Torque Level Homing.
Home an Axis Chapter 8 Passive Homing These examples show different ways to use passive homing. Table 23 - Passive Homing Examples Sequence Description Passive Immediate Home This is the simplest passive homing sequence type. When this sequence is performed, the controller immediately assigns the Home Position to the current axis actual position. This homing sequence produces no axis motion.
Chapter 8 Home an Axis Absolute Position Recovery (APR) APR is the recovery of the absolute position of an axis that has been machine referenced after a power cycle, or reconnection. The terms Absolute Position and Machine Reference Position are synonymous. APR Terminology This table describes terminology related to the APR feature. Term Description Absolute Feedback Position Position value read from an absolute feedback device.
Home an Axis Absolute Position Recovery Functionality Chapter 8 APR provides support for maintaining absolute position referenced to a specific machine, commonly called the machine referenced absolute position or just absolute position, after a power loss, program download, or firmware update. Absolute position is established by a homing procedure initiated by successful execution of an MAH instruction.
Chapter 8 Home an Axis By contrast, an Integrated Motion on the EtherNet/IP network axis supports controller based scaling where absolute position is maintained in the controller’s firmware. Without the work of the APR feature, absolute position would be lost after a power cycle or project download. APR Faults APR faults are generated during the events and when one of the conditions defined in the following APR Fault Conditions is present.
Home an Axis Chapter 8 APR Fault Generation An APR fault that is caused by a project download, restore from a CompactFlash card, a restore from an SD card, or a ControlFLASH firmware update after one of these events: • Axis configuration – Change in any of the axis attributes that impacts the absolute machine position. • Attribute changes – Offline edits of the axis attributes or configuration does not cause an APR fault until after download occurs.
Chapter 8 Home an Axis Care must be taken when changing these values so that the new values are correctly related to the Position Unit of the product and the mechanics of the system. This is typically done as part of a product recipe change. For example, when you are wrapping regular sized candy bars and then you need to change and make king sized bars, you would change the conversion constant.
Home an Axis Chapter 8 Absolute Position Recovery Scenarios ATTENTION: Whenever memory becomes corrupt, you lose position even if you have it stored on an SD card. This table provides detailed information on when the APR feature recovers absolute position. The following assumptions need to be considered.
Chapter 8 Home an Axis This table describes the scenarios whether the APR feature recovers absolute position. In each of these cases marked by Yes, the APR feature restores absolute position and preserves the state of the Axis Homed bit, indicating that the axis has a machine referenced absolute position. Table 26 - APR Recovery Scenarios Controller 188 Event Machine Reference Retained Controller removal and insertion under power (RIUP) with a battery(1). Yes Controller power cycle with battery.
Home an Axis Chapter 8 Table 26 - APR Recovery Scenarios Controller and drives remained powered Battery backed controller Event Machine Reference Retained Disconnect and reconnect the Ethernet cable. Yes Disconnect and reconnect the same feedback and/or motor cable on an axis. Yes Inhibit or uninhibit an axis or drive. Yes Event Save to a CompactFlash(2) Machine Reference Retained (3) or SD card with a homed axis and you initiate the Yes restore.
Chapter 8 Home an Axis Table 26 - APR Recovery Scenarios Download same program with no hardware changes Download same program and no hardware changes Position feedback Feedback device Event Machine Reference Retained Change the name of an axis. Yes Download the same program to the controller. Yes Save As with a different filename. Yes Partial Export and then import an axis. Yes Added application logic. Yes Download a project of an existing axis.
Home an Axis Chapter 8 Table 26 - APR Recovery Scenarios Drive Scaling Event Machine Reference Retained The drive cycled power with incremental feedback. No The drive firmware updated with incremental feedback. No Change the drive. Yes Cycle power to the drive. Yes Cycle power to the drive with absolute feedback. Yes Change the motor, assuming the motor does not contain a feedback device. Yes The drive firmware was update with absolute feedback.
Chapter 8 Home an Axis Online Scaling Any change or SSV message that results in a motion resolution change can generate an APR fault.
Home an Axis Chapter 8 • A power loss TIP When you perform an import/export on a project in the RSLogix 5000 software, version 19 or earlier, the axis absolute position is not recovered on download to the controller. The APR can potentially be restored from a CompactFlash card on a 1756-L6x or 1756-L6xS controller (if a battery is not present) or an SD card on a 1756-L7x controller (if a 1756-ESMxxx module is not present) as described on page 182.
Chapter 8 Home an Axis Saving an ACD File Versus Upload of a Project The following is an example of a sequence of events that can generate an APR fault. 1. Make an online change to an axis attribute that generates an APR fault. 2. Rehome the axis. This is normally done so APR will restore axes positions after a download. 3. Save your project. 4. Download your project. You still get an APR fault because saving the project only uploads the tags, not the changed attributes.
Chapter 9 Manual Tune The Manual Tune function lets you manually improve motion performance by adjusting system bandwidth, damping factor, and drive loop gains, filters, and compensations via direct online control. Perform a manual tune when you are online with a controller to get a real-time tune of an axis.
Chapter 9 Manual Tune Axis Configuration Types Manual Tune applies to Position Loop and Velocity Loop axis configurations. Manual Tune is not available for any other axis configurations. If you change the axis configuration to a value other than Position Loop or Velocity Loop while Manual Tune is open, the contents of the Manual Tune expander becomes disabled. This also applies to the Additional Tune functions. Current Tuning Configuration Manual Tune displays the current tuning configuration.
Manual Tune Chapter 9 Loop Responses This is where you can enter values for system bandwidth and system damping, which affect the loop gains. You can also individually modify the gains. The gains and filters that you have tuned by using either default factory values or Autotune are your initial values in the Manual Tune dialog box. Coupling displays how tightly set or how you chose the system to tune. The Motion Console dialog box displays Manual Tuning and Motion Generator.
Chapter 9 Manual Tune The tuning procedure tunes the proportional gains. Typically, tune the proportional gains first and see how your equipment runs. Follow these instructions to manually tune an axis. 1. To open Manual Tune, do one of the following: • Double-click an axis while online with a controller. • Right-click an axis and choose Manual Tune. • Click Manual Tune in the lower left of any category dialog box. The Manual Tune dialog box appears.
Manual Tune Chapter 9 Motion Generator and Motion Direct Commands The commands on the Motion Generator give you basic control of a closed loop servo axis. Commands, also called instructions. Manual Tune Tab Click Axis State to go to the Status category dialog box. Click Axis Fault to go to the Faults and Alarms category dialog box. The following instructions are available are on the Motion Generator dialog box.
Chapter 9 Manual Tune Follow these instructions to use a Motion Direct Command. 1. Select MSO (Motion Servo On) and click Execute. 2. Click Reset. Reset restores all values that were there when you first opened Manual Tune. 3. Select MAM (Motion Axis Move) and click Execute. 4. Click Execute. Your drive moves according to your configuration settings. 5. Adjust your settings, if desired. 6. Select another command and click Execute.
Manual Tune Additional Tune Chapter 9 The Additional Tune tabs are available for both the Kinetix 6500 and PowerFlex 755 drives. The attributes that appear on the tabs are determined by the type of drive you are using. See the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003, for detailed information about the AXIS_CIP_DRIVE attributes.
Chapter 9 Manual Tune The Compensation tab lets you input scaling gain and friction offset values. Attribute Description System Inertia Torque or force scaling gain value that converts commanded acceleration into equivalent rated torque/force. Torque Offset Provides a torque bias when performing closed loop control. Friction Value added to the current/torque command to offset the effects of coulomb friction.
Manual Tune Chapter 9 Attribute Description Torque Notch Filter High Frequency Limit The high frequency limit for vibration suppression. The value must be greater than the Torque Notch Filter Low Frequency Limit value. The default Torque Notch Filter High Frequency limit is 1000 Hertz Torque Notch Filter Low Frequency Limit The low frequency limit for vibration suppression. The value must be less than the Torque Notch Filter High Frequency Limit value.
Chapter 9 204 Manual Tune Attribute Description Maximum The value of the Maximum Speed attribute used by various motion instructions to determine the steady-state speed of the axis. Maximum Acceleration and Maximum Deceleration The Maximum Acceleration and Maximum Deceleration values frequently used by motion instructions, for example, MAJ, MAM, and MCD, to determine the acceleration/deceleration rate to apply to the axis.
Manual Tune Chapter 9 Additional Tune for the PowerFlex 755 Drive The Additional Tune section gives you access to additional tuning parameters, typically needed for more advanced servo loop settings. Additional Tune for the PowerFlex 755 drive provides access to five parameter tabs: • Feedforward • Compensation • Filters • Limits • Planner TIP You may need to turn all your toolbars off to see the complete screen.
Chapter 9 Manual Tune The Filters tab lets you input torque values. Attribute Description Torque Low Pass Filter Bandwidth Break frequency for the second order low pass filter that is applied to the torque reference signal. Torque Notch Filter Frequency Center frequency of the notch filter that is applied to the toque reference signal. The Limits tab lets you input peak and velocity values.
Manual Tune Chapter 9 Quick Watch The Quick Watch window lets you monitor the tags in your program while you are executing commands. To open Quick Watch, press ALT+3 or choose it from the View menu. You create Quick Watch Lists by choosing Quick Watch from the pull-down menu. Once you name a Quick Watch List, it available in the ACD, L5K, and L5X files. Make sure to name your lists. Lists that do not have names are lost when you close the software.
Chapter 9 Manual Tune Motion Generator This example assumes the following: • The servo is off, with session Online • Axis State: Stopped • Axis Faults: No Faults 1. Choose MSO (Motion Servo On). This readies the drive for motion, and enables the servo loop. 2. Click Execute. The axis state goes to Servo = On. The Motion Console dialog box displays the following: • Axis State: Running • Axis Faults: No Faults The Results window displays the following message. 3.
Manual Tune Chapter 9 The axis state goes Servo-On, and the controller performs the Axis Home procedure, which is based on the configured Home settings. The Motion Console dialog box appears: • Axis State: Running • Axis Faults: No Faults Blue arrows next to a field means that these values are immediately applied. Once you put a value in the field and then leave that field, it is automatically sent to the controller. The Results window displays No Error. 4. Choose MAM (Motion Axis Move).
Chapter 9 Manual Tune Some examples include the following: • Watch-window: Quick Watch tag name = Axis_y.ActualPosition or = Axis_y.ActualVelocity • New Trend with Tags: Axis_y.ActualPosition or = Axis_y.ActualVelocity • Axis Properties: Status dialog box = Axis_y.ActualPosition or = Axis_y.ActualVelocity 5. Click Execute. The controller performs a controlled axis move. The Motion Console dialog box appears: • Axis State: Running • Axis Faults: No Faults The Results window displays No Error. 6.
Chapter 10 Faults and Alarms There are four ways to find and view faults and alarms: • Fault and Alarm Log • QuickView Pane • Tag Monitor, see the individual fault-related attributes • Drive Status Indicators Faults and Alarms Dialog Box Topic Page Troubleshoot Faults 214 Manage Motion Faults 215 Configure the Exception Actions for AXIS_CIP_DRIVE 216 Inhibit an Axis 219 The Faults and Alarms dialog box displays the status of faults and alarms in the controller for an axis.
Chapter 10 Faults and Alarms This table describes the parameters for the Faults and Alarms dialog box. Table 28 - Faults and Alarms Dialog Box Descriptions 212 Parameter Description Indicator Displays the following icons to indicate the state of a fault or alarm: • Alarm On • Alarm Off • Fault Occurred • Reset Occurred Date/Time Displays the date and time the event occurred. The time stamp is the workstation setting.
Faults and Alarms Chapter 10 QuickView Pane The QuickView pane gives you a quick summary of faults and alarms that are related to the axis you select in the Controller Organizer. The information includes the type of axis, description, axis state, faults, and alarms. Data Monitor The Data Monitor is where you can read and write the values that are assigned to specific tags, both online and offline. You can do the following: • Set a tag description. • Change the display style of a value.
Chapter 10 Faults and Alarms Drive Status Indicators For complete information on drive status indicators, see the following publications: Kinetix 6500 drive • Kinetix 6500 Control Modules Installation Instructions, publication 2094-IN014 • Kinetix 6000 Multi-Axis Drive User Manual, publication 2094-UM001 Kinetix 350 drive • Kinetix 350 Single-axis EtherNet/IP Servo Drives User Manual, publication 2097-UM002 Kinetix 5500 drive • Kinetix 5500 Servo Drives User Manual, publication 2198-UM001 Kinetix 5700 dri
Faults and Alarms Manage Motion Faults Chapter 10 By default, the controller runs when there is a motion fault. As an option, you can have motion faults cause a major fault and shut down the controller. 1. Choose a General Fault Type. 2. Do you want any motion fault to cause a major fault and shut down the controller? • YES - Choose Major Fault. • NO - Choose Non-Major Fault. You must write code to handle motion faults. 3. Right-click Motion Group and choose Properties. 4. Click the Attribute tab. 5.
Chapter 10 Faults and Alarms Configure the Exception Actions for AXIS_CIP_DRIVE Use exception actions to set how an axis responds to different types of faults. The types of faults depend on the type of axis and how you configure it. TIP If you have used sercos motion, these are called fault actions. The available actions for each Exception are controlled by the drive the axis is associated with. When a fault or alarm occurs, the corresponding fault or alarm axis attributes are set.
Faults and Alarms Chapter 10 The list of actions that are taken can be restricted by the drive. When a previously selected entry is no longer supported due to a configuration change, most of the entries default to Stop Drive. In the few cases where Stop Drive does not apply, the default is Fault Status Only. For example, Stop Drive does not apply with a Feedback Only type configuration.
Chapter 10 Faults and Alarms Table 29 - Action Tasks and Related Faults Task Choose Description Leave the servo loop on and stop the axis at its Maximum Deceleration rate. Stop Planner Use this fault action for less severe faults. It is the gentlest way to stop. Once the axis stops, you must clear the fault before you can move the axis. The exception is Hardware Overtravel and Software Overtravel faults, where you can jog or move the axis off the limit.
Faults and Alarms Inhibit an Axis Chapter 10 Follow these instructions to determine when to inhibit an axis and how to block the controller from using an axis. You want to block the controller from using an axis because the axis has faulted or is not installed. You want to let the controller use the other axes. Table 30 - Inhibit Axes Before you inhibit or uninhibit an axis, turn off all axes.
Chapter 10 Faults and Alarms Example: Inhibit an Axis 1. Make sure all axes are off. And this axis is off. This axis is off. All axes are off. 2. Use a one-shot instruction to trigger the inhibit. Your condition to inhibit the axis is on. Your condition to uninhibit the axis is off. Give the command to inhibit the axis. All axes are off. 3. Inhibit the axis. The inhibit command turns on. Inhibit this axis. Inhibit the axis. 4. Wait for the inhibit process to finish.
Faults and Alarms Chapter 10 Example: Uninhibit an Axis 1. Make sure all axes are off. This axis is off. All axes are off. And this axis is off. 2. Use a one-shot instruction to trigger the uninhibit. Your condition to uninhibit the axis is on. Your condition to inhibit the axis is off. All axes are off. Give the command to uninhibit the axis. 3. Uninhibit the axis. Uninhibit this axis. The uninhibit command turns on. Uninhibit the axis. 4. Wait for the inhibit process to finish.
Chapter 10 Faults and Alarms Notes: 222 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Appendix A CIP Drive Module Properties Use this appendix for a description of each tab of the CIP drive Module Properties dialog box.
Appendix A CIP Drive Module Properties General Tab The General tab provides the internal drive type description, vendor, and the parent 1756-EnxT communication module. On the General tab, you can do the following: • Name the drive module. • Write a description for the drive module. • Configure the module. Figure 8 - General Tab Click Change in the Module Definition area to select the following: • Revision of the module. • Electronic Keying type, do not use Disable Keying for motion applications.
CIP Drive Module Properties Appendix A Figure 9 - General Tab Table 31 - Module Properties: General Tab Parameter Descriptions Parameter Description Revision Assign the major and minor revision of the drive. The major revision is set automatically and it cannot be changed. If you change the major revision, any axis that is associated with the drive is lost and the module configuration settings are reset to default values. The minor revision is a value from 1…255.
Appendix A CIP Drive Module Properties Connection Tab The Connection tab provides you with information about the connection condition between the controller and a module. The information comes from the controller. Figure 10 - Connection Tab Table 32 - Module Properties: Connections Tab Parameter Descriptions Parameter Description Requested Packet Interval (RPI) Each controller has its own RPI setting. The Connection tab for each module displays its own value. This is also true for a virtual adapter.
CIP Drive Module Properties Appendix A Safety Tab The Safety tab provides you with information about the connection between the owner and the 2198-Hxxx-ERS2 servo drive. The information comes from the controller.
Appendix A CIP Drive Module Properties Time Sync Tab When you are online with the controller, you can review the time synchronization status data that is related to the network. When you are offline, no values display. Figure 11 - Time Sync Tab Table 34 - Time Sync Tab Descriptions for the Grandmaster Clock 228 Parameter Description Identity Specifies the unique identifier for the Grandmaster clock. The format depends on the network protocol.
CIP Drive Module Properties Appendix A Table 35 - Time Sync Tab Descriptions for the Local Clock Parameter Description Local Clock Specifies clock property information for the local clock. The Local Clock values appear dimmed in offline mode or when PTP is disabled. Synchronization Status Specifies whether the local clock is synchronized with the Grandmaster reference clock. The value is 1 if the local clock is synchronized and zero if the local clock is not synchronized.
Appendix A CIP Drive Module Properties Table 36 - Module Properties: Module Info Tab Descriptions Category Parameter Description Identification Vendor Manufacturer of the module. Product Type Type of module. Product Code Usually the same as the name. Revision Firmware revision of the module. Serial Number Serial number of the module. Product Name This value comes from the module. It relates to the Kinetix 6500 drive that you configured as part of your network. Major Fault Unrecoverable.
CIP Drive Module Properties Appendix A Internet Protocol Tab The Internet Protocol tab lets you configure EtherNet/IP settings. You must be online to configure EtherNet/IP settings. These settings appear dimmed when you are offline. They also appear dimmed when you are online and there is a module mismatch or a communication error occurs. BOOTP or DHCP is not supported. If you use the switches on the module to set the EtherNet/IP address, the IP is set automatically.
Appendix A CIP Drive Module Properties Table 37 - Module Properties: Internet Protocol Tab Descriptions 232 Parameter Description Physical Module IP Address Displays physical IP address of the module or, if you selected to configure the IP settings manually, enter a valid physical module IP address. See the IP address for valid values. • The Physical Module IP Address appears dimmed and has no value when you are offline or online with a module mismatch or a communication error occurs.
CIP Drive Module Properties Appendix A Table 37 - Module Properties: Internet Protocol Tab Descriptions Parameter Description Secondary DNS Server Address Displays the secondary DNS server IP address of the module or, if you selected to configure the IP settings manually, enter a valid secondary DNS server address. The Secondary DNS Server Address appears only if the module supports a secondary DNS server address.
Appendix A CIP Drive Module Properties Notice in Figure 13 on page 233 that you cannot see the current Speed or Duplex. You must click Refresh communication to have those fields populate after you select Auto-Negotiate. After you click Refresh communication, you can see that this drive’s communication port is set to 100 Mbps for Speed and Full for Duplex. Click Set to commit your changes. IMPORTANT You must reset the drive to use the new settings.
CIP Drive Module Properties Appendix A Table 38 - Module Properties: Port Configuration Tab Descriptions Parameter Description Port Port name. Enable Enabled state of the port or check to enable the port. Enable appears dimmed when you are offline or online and a module mismatch or communication error has occurred. Link Status Displays the link status as Inactive (port is inactive) or Active (port is active).
Appendix A CIP Drive Module Properties Table 38 - Module Properties: Port Configuration Tab Descriptions 236 Parameter Description Reset Module A reset module message appears stating that the module needs to be reset before the modifications take effect.
CIP Drive Module Properties Appendix A Network Tab The Network tab provides you the network information for the port. TIP The Network tab does not exist on the module properties of the PowerFlex 755 or Kinetix 350 drives. Figure 14 - Network Tab Table 39 - Module Properties: Network Tab Descriptions Parameter Description Network Topology Displays the current network topology as either Linear/Star or Ring.
Appendix A CIP Drive Module Properties Table 39 - Module Properties: Network Tab Descriptions 238 Parameter Description Ring Faults Detected When the module is configured as a ring supervisor on the network, it displays the number of times that a ring fault is detected by the Ring.
CIP Drive Module Properties Appendix A Table 39 - Module Properties: Network Tab Descriptions Parameter Description Clear Fault Clear Fault causes the Active Ring Supervisor to clear the Rapid Faults/Restore Cycles fault.
Appendix A CIP Drive Module Properties Associated Axes Tab The Associated Axes tab provides different functions depending on the drive you are configuring. Kinetix 6500 and PowerFlex 755 Drives For the Kinetix 6500 and PowerFlex 755, use the Associated Axes tab to do the following: • Associate an axis from a list of axis tags. • Create axis tags. • Choose the Motor Feedback Device. • Choose the Load Feedback Device. • Choose the Master Feedback Device.
CIP Drive Module Properties Appendix A Kinetix 5500 Drive • Associate an axis from a list of axis tags. • Create axis tags. Each drive module can have one full axis. If you change the drive’s Major Revision module property, you remove the axis association. The feedback configuration and power structure module properties are fixed. When you remove an association, either by changing the module definition or selecting a different axis causes the following to be reset: • Association in the axis.
Appendix A CIP Drive Module Properties Figure 15 - Associated Axes Tab Table 40 - Module Properties: Associated Axis Tab Descriptions Parameter Description Axis 1 Select the AXIS_CIP_DRIVE axis tag that you want to be associated as the full axis for the drive module. Axis 2 Select the axis that you want to be the half axis, if needed. New Axis Opens the New Tag dialog box where you can create an AXIS_CIP_DRIVE axis.
CIP Drive Module Properties Appendix A Figure 19 - Associated Axes Tab for the 5700 Drive and DAI 1 Table 41 - Module Properties: Associated Axis Tab Descriptions Parameter Description Axis 1 Select the AXIS_CIP_DRIVE axis tag that you want to be associated as the full axis for the drive module. Motor Feedback Device Allows selection of the Motor feedback device for Axis 1.
Appendix A CIP Drive Module Properties Power Tab The parameters that display on this tab is different depending on the drive you are configuring, even within a drive family. It varies based on the Power Structure you select.
CIP Drive Module Properties Appendix A Table 42 - Module Properties: Power Tab Descriptions Parameter Description Power Structure Displays the drive catalog number and the drive power rating. AC Input Phasing Specify the AC input phasing. Valid values are 3 Phase and Single Phase. Regenerative Power Limit Enter a negative percentage value for the regenerative power limit. Bus Regulator Action Get or Set the bus regulator action to a configuration tag.
Appendix A CIP Drive Module Properties Figure 26 - Kinetix 5500 Offline Display of the Advanced Limits Dialog Box Figure 27 - PowerFlex 755 Offline Display of the Advanced Limits Dialog Box The Kinetix 350 drive does not have an Advanced Limits dialog box.
CIP Drive Module Properties Appendix A Digital Input Tab Use the Digital Input tab to enter digital input values for the drive module. These offline displays are the default values for the Kinetix 6500 and PowerFlex 755 Ethernet drives. The Kinetix 350 and the Kinetix 5500 drives do not have a Digital Input tab.
Appendix A CIP Drive Module Properties Motion Diagnostics Tab When online, the Motion Diagnostics tab displays basic connection information that is related to the Motion Ethernet packet transmission rates. You can also go to the Transition Statistics dialog box to view Lost and Late transmissions and Timing Statistics.
CIP Drive Module Properties Appendix A Notes: Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 249
Appendix A 250 CIP Drive Module Properties Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Appendix B Parameter Group Dialog Boxes This appendix describes the parameter group dialog boxes. You can access all parameters that are associated with each category dialog box by clicking Parameters on the dialog box. Parameter Dialog Box Listings Each Parameter dialog box list can contain more attributes than the associated category dialog box. In some cases, attributes that are contained on the Parameter List dialog box are not contained on the associated category dialog box.
Appendix B Parameter Group Dialog Boxes This dialog box is an example of the parameters available for an axis that is configured as a Position Loop. There are six parameters that you can set on the Position Loop and Position Loop Parameter Group dialog boxes. Click Parameters to open the Parameter Group listing. On this dialog box, the list includes the parameters that are on the Position Loop dialog box and more advanced parameters.
Parameter Group Dialog Boxes Appendix B Figure 33 - Frequency Control Parameters Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 253
Appendix B Parameter Group Dialog Boxes Notes: 254 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Appendix C Program This chapter describes how to program a velocity profile and jerk rate.
Appendix C Program Choose a Profile Consider cycle time and smoothness when you choose a profile. Choose this profile Consideration • Fastest acceleration and deceleration times • More flexibility in programming subsequent motion Trapezoidal Jerk doesn’t limit the acceleration and deceleration time: • The Acceleration and Deceleration rates control the maximum change in Velocity. • Your equipment and load get more stress than with an S-curve profile.
Program Appendix C Use % of Time for the Easiest Programming of Jerk Use % of Time to specify how much of the acceleration or deceleration time has jerk. You don’t have to calculate actual jerk values. Example Profile 100% of Time At 100% of Time, the acceleration or deceleration changes the entire time that the axis speeds up or slows down.
Appendix C Program Velocity Profile Effects This table summarizes the differences between profiles. Profile ACC/DEC Motor Priority of Control Type Time Stress Highest to Lowest Trapezoidal Fastest Worst Acc/Dec Velocity Position S-curve 2X Slower Best Jerk Acc/Dec Velocity Position Jerk Rate Calculation If the instruction uses or changes an S-curve profile, the controller calculates acceleration, deceleration, and jerk when you start the instruction.
Program Appendix C Jerks for programmed moves, such as MAM or MCLM instructions, in units of % time are converted to engineering units as follows: If Start Speed < Programmed Speed Programmed Accel Rate2 Accel Jerk (Units/Sec3) = Programmed Speed * ( 200 % of Time -1 ) Programmed Decel Rate2 Decel Jerk (Units/Sec3) = Max (Programmed Speed, [Start Speed - Programmed Speed]) * * ( 200 % of Time -1 ) ( 200 % of Time -1 ) Velocity Programmed Speed Decel Jerk Accel Jerk Time If Start Spe
Appendix C Program Depending on the instruction’s Speed parameter, the same ‘% of time’ jerk can result in different slopes for the acceleration profile than on the deceleration profile. Speed 60% of Time Jerk Deceleration The motion planner algorithm adjusts the actual jerk rate so that both the acceleration profile and the deceleration profile contain at least the ‘% of time’ ramp time.
Program Appendix C For Decel Jerk: 2 jd [% of Time] = 1+ jd [EU/s3] vmax [EU/s] 100 dmax [EU/s2] Jerk Programming in Units/Sec3 If you want to specify the jerk in 'Units/sec3' instead of '% of time', adjust your jerk value as follows so that you get the value that you programmed.
Appendix C Program EXAMPLE Example #1 Start Speed = 8.0 in/sec Desired Speed = 5.0 in/sec Desired Decel Rate = 2.0 in/sec2 Desired Decel Jerk = 1.0 in/sec3 Temporary Speed = (Desired Decel Rate)2 / Desired jerk value in Units/Sec3 = 2.02 / 1.0 = = 4.0 in/sec k = (8.0 - 5.0) / max(5.0, 4.0) = 3.0 / 5.0 = = 0.6 Because k < 1, we can enter the desired Decel jerk directly in the faceplate Instruction faceplate Decel jerk in Units/Sec3 = 1.0 in/sec3 EXAMPLE Example #2 Start Speed = 13.
Program Appendix C Profile Operand This operand has two profile types: • Trapezoidal Velocity Profile • S-curve Velocity Profile Trapezoidal Velocity Profile The trapezoidal velocity profile is the most commonly used profile because it provides the most flexibility in programming subsequent motion and the fastest acceleration and deceleration times. The change in velocity per unit time is specified by acceleration and deceleration. Jerk is not a factor for trapezoidal profiles.
Appendix C Program S-curve Velocity Profile S-curve velocity profiles are most often used when the stress on the mechanical system and load needs to be minimized. The acceleration and deceleration time is balanced against the machine stress using two additional parameters, acceleration jerk and deceleration jerk.
Program Appendix C Very small Jerk rates, that is less than 5% of time, produce acceleration and deceleration profiles close to rectangular ones, such as the one shown in Trapezoidal Accel/Decel Time on page 263. Higher values of the % of Time result in lower values of Jerk Rate Limits and, therefore, slower profiles. See the following table for reference.
Appendix C Program Velocity S-curve Accel/Decel Time, Backward Compatibility Setting: Acceleration Jerk = 100% of Time Accel Time Jerk Time Time Enter Basic Logic The controller gives you a set of motion control instructions for your axes: • Use these instructions just like the rest of the Logix Designer instructions.
Program Appendix C Example Motion Control Program This is an example of Ladder Logix that homes, jogs, and moves an axis. If Initialize_Pushbutton = on and the axis = off (My_Axis_X.ServoActionStatus = off) then the MSO instruction turns on the axis. If Home_Pushbutton = on and the axis hasn’t been homed (My_Axis_X.AxisHomedStatus = off) then the MAH instruction homes the axis. If Jog_Pushbutton = on and the axis = on (My_Axis_X.
Appendix C Program Download a Project and Run Logix Follow these steps to download your program to a controller. 1. With the keyswitch, place the controller in Program or Remote Program mode. 2. From the Communications menu, choose Download. 3. Confirm that you wish to complete the download procedure. 4. Click Download. 5. Once the download is complete, place the controller in Run/Test mode. After the project file is downloaded, status and compiler messages appear in the status bar.
Program Appendix C Table 46 - Available Motion Direct Commands If You Want To And Use This Instruction Motion Direct Command Control axis position Stop any motion process on an axis. MAS Motion Axis Stop Yes Home an axis. MAH Motion Axis Home Yes Jog an axis. MAJ Motion Axis Jog Yes Move an axis to a specific position. MAM Motion Axis Move Yes Start electronic gearing between two axes.
Appendix C Program Table 46 - Available Motion Direct Commands If You Want To And Use This Instruction Motion Direct Command Tune an axis and run diagnostic tests for your control system. These tests include the following: • Motor/encoder hookup test • Encoder hookup test • Marker test Control multi-axis coordinated motion Run a tuning motion profile for an axis MRAT Motion Run Axis Tuning No Run one of the diagnostic tests on an axis.
Program Troubleshoot Axis Motion Appendix C This section helps you troubleshoot some situations that could happen while you are running an axis. Example Situation Page Why does my axis accelerate when I stop it? 271 Why does my axis overshoot its target speed? 272 Why is there a delay when I stop and then restart a jog? 275 Why does my axis reverse direction when I stop and start it? 277 Why does my axis accelerate when I stop it? While an axis is accelerating, you try to stop it.
Appendix C Program Cause When you use an S-curve profile, jerk determines the acceleration and deceleration time of the axis: • An S-curve profile has to get acceleration to 0 before the axis can slow down. • The time it takes depends on the acceleration and speed. • In the meantime, the axis continues to speed up. The following trends show how the axis stops with a trapezoidal profile and an S-curve profile.
Program Appendix C Look For Cause When you use an S-curve profile, jerk determines the acceleration and deceleration time of the axis: • An S-curve profile has to get acceleration to 0 before the axis can slow down. • If you reduce the acceleration, it takes longer to get acceleration to 0. • In the meantime, the axis continues past its initial target speed. The following trends show how the axis stops with a trapezoidal profile and an S-curve profile.
Appendix C Program Stop while accelerating and reduce the acceleration rate Trapezoidal The axis slows down as soon as you start the stopping instruction. The lower acceleration doesn’t change the response of the axis. 274 S-curve The stopping instruction reduces the acceleration of the axis. It now takes longer to bring the acceleration rate to 0. The axis continues past its target speed until acceleration equals 0.
Program Appendix C Corrective Action Use a Motion Axis Stop (MAS) instruction to stop the axis or set up your instructions like this. Why is there a delay when I stop and then restart a jog? While an axis is jogging at its target speed, you stop the axis. Before the axis stops completely, you restart the jog. The axis continues to slow down before it speeds up. Example You use a Motion Axis Stop (MAS) instruction to stop a jog.
Appendix C Program Look For Cause When you use an S-curve profile, jerk determines the acceleration and deceleration time of the axis. An S-curve profile has to get acceleration to 0 before the axis can speed up again. The following trends show how the axis stops and starts with a trapezoidal profile and an S-curve profile. Start while decelerating Trapezoidal The axis speeds back up as soon as you start the jog again.
Program Appendix C Corrective Action If you want the axis to accelerate right away, use a trapezoidal profile. Why does my axis reverse direction when I stop and start it? While an axis is jogging at its target speed, you stop the axis. Before the axis stops completely, you restart the jog. The axis continues to slow down and then reverses direction. Eventually the axis changes direction again and moves in the programmed direction. Example You use a Motion Axis Stop (MAS) instruction to stop a jog.
Appendix C Program The following trends show how the axis stops and starts with a trapezoidal profile and an S-curve profile. Start while decelerating and reduce the deceleration rate Trapezoidal S-curve The axis speeds back up as soon as you start the jog again. The lower deceleration doesn’t change the response of the axis. The jog instruction reduces the deceleration of the axis. It now takes longer to bring the acceleration rate to 0.
Program Programming with the MDSC Function Appendix C This is an example of programming motion with the MDSC functionality. In this example, we illustrate a 50.0 mm move. Figure 34 - Slave Speed Control from Master with Lock Position, MDSC Time Based Speed Slave Speed2 or Master 20 mm/s Master 10 mm/s Operational Speed Start 0.0 mm 0.2 sec Target Position 50.0 mm Master Programmed Total Move Time 0.2 sec Programmed Total Move Time 1.2 sec Lock Position Time Slave: Speed= 2.
Appendix C Program In this figure, we are programming rate. The controller calculates the time of the move: Speed & Accel/Decel as units = units (seconds). Figure 35 - Programming Rate in RSLogix 5000 Software Version 19 and Earlier Speed Programmed Speed Decel Accel 47.5 mm 1.25 mm 1.25 mm Programmed Distance per Rate Time Travel Distance @ speed = Rate Start 0.0 Equivalent to: End = 50.0 mm Distance Speed = 10 mm/sec Accel/Decel = 40.
Program Appendix C In this figure, we are programming time. The controller calculates the speed of the move: Speed & Accel/Decel as time [seconds] Figure 36 - Programming Time in RSLogix 5000 Software Version 20 and Later Speed Calculated Speed Decel Accel 4.75sec .25 sec Target Distance per Time .25sec Time Travel Distance @ speed = Time Start 0.0 Equivalent to: End = 50.0 mm Distance Speed = 10 mm/sec Time Accel/Decel = 0.
Appendix C Program Notes: 282 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Appendix History of Changes D This appendix summarizes the revisions to this manual. Reference this appendix if you need information to determine what changes have been made across multiple revisions. This may be especially useful if you are deciding to upgrade your hardware or software based on information added with previous revisions of this manual. This table contains the changes that were made in MOTION-UM003E-EN-P Topic Page Added a chapter for the Axis Scheduling feature.
History of Changes Notes: 284 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Glossary The following terms and abbreviations are used throughout this manual. For definitions of terms that are not listed here, refer to the Allen-Bradley Industrial Automation Glossary, publication AG-7.1. Absolute Position Retention (APR) While Homing creates an absolute machine reference position, the APR bit is designed to retain the absolute position. Axis An axis is a logical element of a motion control system that exhibits some form of movement.
Glossary Integrated Motion on the EtherNet/ The I/O connection is the periodic bidirectional, Class 1, CIP connection IP network I/O Connection between a controller and a drive that is defined as part of the Integrated Motion on the EtherNet/IP network standard. Integrated Motion on the EtherNet/ Refers to any drive device that complies with the CIP Motion standard. IP Network Drive Inverter An inverter is a device that generally converts DC input to AC output.
Glossary Synchronized Synchronized is a condition where the local clock value on the drive is locked onto the master clock of the distributed System Time. When synchronized, the drive and controller devices can use time stamps that are associated with an Integrated Motion on the EtherNet/IP network connection data.
Glossary Notes: 288 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Index Numerics 1756-EN2F 95 1756-EN2T 95 1756-EN2TR 95 1756-EN3TR 95 1756-ENxT firmware 95 1756-L6x APR 186 1756-L7x APR 186 2198-Hxxx-ERS2 227 axis scheduling 77 alternate update period 82 axis assignment 81 base update rate 78 multiple drives 79 system performance 77 utilization 87 AXIS_CIP_DRIVE exception actions 216 exceptions 217 alarm 218 fault status only 218 ignore 218 stop drive 217 stop planner 218 A absolute feedback device 183 absolute feedback position 182 absolute position 175, 182, 183 abso
Index active ring supervisor 237 advanced 239 clear fault 239 enable supervisor mode 237 network status 237 reset counter 238 ring fault 238 ring faults detected 238 status 238 supervisor status 238 topology 237 verify fault location 238 port configuration 233, 234, 236 auto-negotiate 235 current duplex 235, 236 current speed 235 enable 235 link status 235 port 235 refresh communication 236 selected duplex 235 selected speed 235 power 244, 245 AC input phasing 245 bus regulator action 245 power structure 2
Index I incremental feedback position 182 Integrated Architecture Builder base update period 66 course update period 38 interface and media counters 234 K Kinetix 350 12 voltage ranges 13 Kinetix 5500 voltage ranges 13 Kinetix 6500 12 voltage ranges 13 L linear actuator 146, 149 load type 146, 148 Logix Designer 11 M machine home/reference 182 MAFR Motion Axis Fault Reset 199 MAH 183 Motion Axis Home 199 MAJ Motion Axis Jog 199 MAM Motion Axis Move 199 manual tune 201 marker homing sequence 175 MAS Moti
Index motion state instructions Motion Axis Fault Reset (MAFR) 268 Motion Axis Shutdown (MAS) 268 Motion Axis Shutdown Reset (MASR) 268 Motion Servo Off 268 Motion Servo On 268 motioni event instructions Motion Arm Registration (MAR) 269 MSO Motion Servo Off 199 Motion Servo On 199, 268 O overload and voltage limits 245 ownership 227 P passive home 175 persistent media fault firmware error 186 planner 201, 205 power cycle 182 power structure auto-populate 24 PowerFlex 755 12, 48 customize gains 60 feedba
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Integrated Motion on the EtherNet/IP Network Configuration and Startup User Manual
