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1394 Drive Conversions Technical Data

1. Contactor Components require Control and ur ud more time for Fuse Block Disconnect Status 1 0 e Panel Layout Design Line Interface Module Three phase e Sizing the System 2094 BLxxS Single Stage i Circuit Break i Line Fite Making 100 Wire ABD Compact Cost effective Terminations e Reduced Labor for Design N de e Mounting 9 Components Panel Layout and Mounting A Contactor TP Power Supply e Testing as ad Safety Contactor Control and e Extra Filtering Status 1 0 e Safety Contactor e 230V Auxiliary Control Power Single phase T Single Stage e Factory Tested Line Filter 230V Auxiliary 1 0 Auxiliary Control Three phase Auxiliary VO Auxiliary Control Three phase Power Output Power Output Power Output Power Output Power Output Power Output Power Output Power Output Power Output Power Output 24V dc to 24V dc to 230V to to Drive to Drive 24V de to 24V dc to 230V to to Drive to Drive Motor Brake Sensors PLC 230V ac 460V ac Motor Brake Sensors PLC 230V ac 460V ac other PLC HMI Terminal other ferminal other other AC Line ther AC Line F Filter 7 Filter 85858 EO BERE
2. Bulletin 1326AB 1326AS or MP Series Bulletin MPL Motors with resolver based or absolute high resolution feedback 7 ode ee 1394C SUTxx D mj i System Module Ca Cay SERCOS Ring Bulletin 1326AB 1326AS or MP Series Bulletin MPL Motors with resolver based or absolute high resolution feedback Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 9 Kinetix 6000 Multi axis The Kinetix 6000 multi axis servo drives provide powerful simplicity to handle even the most demanding application The Kinetix 6000 Servo Drive Systems drive system is configured using either ControlLogix or CompactLogix controller platforms and RSLogix 5000 software The Kinetix 6000 multi axis servo drives are part of the Kinetix Integrated Motion solution Typical Configuration Kinetix 6000 System with LIM module Logix Controller Programming Network al Logix SERCOS
3. B AxisLink 9 PanelView HMI 1394x SJTxx L Tm T System Module exo SEa _ 1394 SJDo C ij E med DH 485 System Module fifa Bulleun 1326AB 1326AS or UT Bulletin MPL Resolver Motors Sp 2 Bulletin 1326AB 1326AS or 1 GML Software INN Bulletin MPL Resolver Motors j 845H Encoder RS 232 RS 422 h La j TT m 1 Flex 1 0 oO j EE rS 1 a a a Digital Outputs Digital Inputs Analog Outputs 842A Analog Inputs Encoder 4100 AEC Publication 1394 TD004A EN P January 2008 6 1394 Drive Conversions This table provides a checklist of considerations when migrating from a GMC or GMC Turbo system module This includes catalog numbers 1394x SJTxx C 1394C SJTxx L and 1394x SJTxx T Checklist for 1394 GMC Conversions 1394 GMC Feature Function Page Kinetix 6000 Conversion The Kinetix 6000 drives are configured and programmed using The 1394 GMC motion controller system uses GML 59 RSLogix 5000 software and communicate over the SERCOS fiber optic software for motion programming network through a ControlLogix CompactLogix or SoftLogix SERCOS interface module PCI car
4. 1394 Drive Conversions 31 SCANport Adapter FBO Axis 0 Resolver Feedback Input FB1 Axis 1 Resolver Feedback Input FB2 Axis 2 Resolver Feedback Input FB3 Axis 3 Resolver Feedback Input Publication 1394 TD004A EN P January 2008 32 1394 Drive Conversions These examples illustrate the I O and feedback connectors for the Kinetix 6000 IAM and AM modules Kinetix 6000 IAM AM Modules Axis Module Top View X Integrated Axis Module Top View m CONTE Contactor Enable CED Connector SERCOS Transmit Tx Connector DPI Connector present on IAM module only SERCOS Receive Rx Connector Axis Module Front View 26 pin 1 0 Connector 15 pin Pin 18 Motor Feedback Connector Auxiliary Feedback Connector Pin 10 Pin 5 Pin 6 Pin 11 R 15 Pin 1 11 Pin 1 Pin 15 Pin 6 epos 1 0 IOD Connector Motor Feedback MF Connector Auxiliary Feedback AF Connector Low profile Connector Kits Cat No Connector Type 2090 K6CK D15M Motor feedback 2090 K6CK D15MF Motor feedback with filter 2090 K6CK D15F AF Auxiliary feedback 2090 K6CK
5. Optional Bulletin 1201 FSS HIM module or other 2222 1 Digital Outputs remote SCANport 8122 n Digital Inputs 5 interface device 8 P 4 Optional Bulletin 1203 1 Analog Outputs Communication Module 0 a Analog Inputs J j 1 ToRIO Serial DeviceNet or SLC device The Kinetix 6000 drives and Logix platforms provide position velocity or torque loop control using RSLogix 5000 software Based on existing machine needs select appropriate Logix controller SERCOS module and Kinetix 6000 drive combination Publication 1394 TD004A EN P January 2008 8 1394 Drive Conversions SERCOS System The 1394 SERCOS system module catalog numbers 1394C SJTxx D is a digital servo drive system with a fiber optic digital network interface The 1394 SERCOS system is configured using either ControlLogix CompactLogix or SoftLogix controller platforms and RSLogix 5000 software SERCOS System Logix Controller Programming Network Logix SERCOS interface Module SSS ate 0 05 05 EOEO D gt X eer 1394C SJTxxD RSLogix 5000 Software System Module Logix Platform ControlLogix is shown SERCOS Ring SERCOS Ring
6. Specifications Shunt Module Drive Peak Peak Continuous C it Fuse Cat No Voltage w Power Current Power pem ance Replacement Vac kW A w i 230 5 7 14 2094 BSP2 28 75 200 470 N A 460 225 28 no internal fuse For tables with the Kinetix 6000 shunt module in combination with an IAM module internal shunt Gwhen present and the various external passive shunt resistors available for the Kinetix 6000 drive systems refer to the Kinetix Motion Control Selection Guide publication GMC SG001 Use these tables to determine the shunt module combination you need based on the requirements of your application 2094 BSP2 Shunt Module Dimensions 263 10 3 Dimensions are in mm in 70 ee 4 276 9 8 123 43 20 4 8 2 0n 0 8 0 8 x T o B 281 11 0 2094 BSP2 Shunt Module H g e 256 10 1 o v y Modules are shown mounted to the power rail and the dimensions reflect that Publication 1394 TD004A EN P January 2008 24 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 Kinetix 6000 Slot Filler Module Specifications The Kinetix 6000 slot filler module catalog number 2094 PRF fills empty slots on the power rail Empty power rail slots provide a convenient means of adding a future AM or SM module IMPORTANT Power rail slots not occupied by an IAM AM or SM module must have a slot fille
7. 42 1394 Drive Conversions Use class CC J L or R fuses with current rating as indicated in the table below The following fuse examples and Allen Bradley circuit breakers are recommended for use with IAM modules 2094 BCxx Mxx S when a LIM module is not used LIM modules catalog numbers 2094 ALxxS 2094 BLxxS and IMPORTANT SM en IMPORTANT 2094 XL75S Cx provide branch circuit protection to the IAM module Follow all applicable NEC and local codes Kinetix 6000 Fuse Specifications Kinetix 6000 VAC Input Power Control Input Power DC Common Bus Fuse IAM Module Bussmann Allen Bradley Bussmann Allen Bradley Bussmann Ferraz Cat No Fuse Circuit Breaker 1 Fuse Circuit Breaker Fuse Shawmut Fuse 2094 AC05 MP5 S KTK R 20 20 A 1492 CB3H300 140M F8E C16 N A A50P20 1 2094 AC05 M01 S 1492 CB2H060 2094 AC09 MO2 S KTK R 30 30 A 1492 CB3H400 140M F8E C20 FWH 35B A50P35 4 2094 AC16 M03 S LPJ 45SP 45 A N A 140U H6C3 C50 TE FWH 60B 0 60 4 2094 2 05 5 LPJ 80SP 80 A N A 140U H6C3 C90 FWH 125B A50P125 4 FNO R 10 10 A 2094 BC01 MP5 S KTK R 20 20 A 1492 CB3H300 140M F8E C32 N A A100P20 1 2094 BC01 M01 S 2094 02 02 5 KTK R 30 30 A 1492 CB3H400 140M F8E C45 1492 CB2H060 FWJ 40A A100P40 1 2094 BC04 M03 S LPJ 45SP 45 A N A 140U H6C3 C50 FWJ 70A A100P70 1 2094 BC07 MO05 S LPJ 80SP 80 A 140U H6C3 C90 FWJ 125A A100P125 1
8. 6B8BLS9STEZI Motor Power MP Connector Motor Resistive Brake BC Connector Motor Power MP Connector Motor Resistive Brake BC Connector TIP Although the physical size of some IAM and AM modules may be larger the location of the connectors is the same Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 29 Motor Feedback and 1 0 Wiring Differences Remote 1 0 2 Connectors SLC IN GMC Turbo system only SLC OUT GMC Turbo system only GMC Input Wiring Board DH 485 2 Connectors AxisLink Connector Flex 1 0 Connector Axis 0 J3 Auxiliary Encoder Input Axis 1 J4 Auxiliary Encoder Input Axis 2 J5 Auxiliary Encoder Input 2 Axis 3 J10 Auxiliary Encoder Input 2 Feedback Cable Clamp 1 series C system modules only 00 00000 00000 e UU 00800 0000000 00000000 1 000090800 E These drawings illustrate motor feedback and I O wiring differences between the 1394 drives and the Kinetix 6000 drives Differences also exist between 1394 system modules depending on functionality analog GMC GMC Turbo or SERCOS interface This example illustrates the I O and feedback wiring for
9. UT 5 Single Point Bond Bar System Module Bottom View Series C and D 5 and 10 kW catalog number 1394C SJT05 D is shown Shunt Power Connector Logic Power Connector ufo Ok Input Power Connector e d 5 000005 Publication 1394 TD004A EN P January 2008 26 1394 Drive Conversions The only power wiring difference between series A and B system modules and series C system modules for 22 kW systems is the addition of a single point bond bar 1394 System Modules 22 kW System Module Front View Series A and B 22 kW catalog number 1394 SJT22 T is shown System Module Front View Series C and D 22 kW catalog number 1394C SJT22 D is shown xi zt a 20 ea D i o A C 2 x JA 5 m e 58868 5 is CC wy vj w Input Logic and Shunt s E Power Connections Single Point Bond Bar
10. f When using Bulletin 1492 circuit protection devices the maximum short circuit current available from the source is limited to 5000 A ATTENTION l Bulletin 1492 and 140M circuit breakers should not be used on the output of an ac drive as an isolating disconnect switch or motor overload device These devices are designed to operate on sine wave voltage and the drive s PWM waveform does not allow it to operate properly As a result damage to the device occurs Kinetix 6000 Contactor Ratings 460V IAM Module Allen Bradley Ratin Cat No Contactor Description m 7 2094 01 5 5 100 C23x10 ac coil 2094 BC01 M01 S 100 237 10 dc coi 2094 02 02 5 600V ac 37 A 2094 BC04 M03 S 600V ac 60 2094 07 05 5 600V ac 72 A 1 Recommended Allen Bradley contactors for IAM modules for systems without a LIM module Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 43 Power Dissipation Specifications Usage as of Rated Power Output Kinetix 6000 Drive Module watts Cat No 20 40 60 80 100 Integrated Axis Module IAM Converter 1 2094 1 5 5 2094 BC01 M01 S d 3 2094 02 02 5 20 30 40 50 60 2094 BC04 M03 S 22 43 65 86 108 2094 BC07 M05 S 44 TI 111 144 177 Integrated Axis Module IAM Inverter or Axis M
11. 1394 Drive Conversions In rung 1 the axis jogs forward based on these five program interlocking criterion e Manual mode is selected e The ServoOKToJog tag an output from rung 0 indicating this axis is enabled and not faulted e The forward jog input is given e The reverse jog input is not true The servo axis Positive Overtravel input is not true The jog speed depends on a variable that comes from an HMI terminal RSLogix 5000 Code Rung 1 Jog Axis Forward AxisManualMode IKAXIS SD AccumulatorSlide PosOvertravelinputStatus tau AccSlide Manual Mode ServoOKToJog X ServoJogForward ServoJogReverse Equal Source manual slide sequence 0 Source 10 Servo Axis PosOvertravelinputStatus _ Motion Axis Jog Axis Servo Axis AXIS SD AccumulatorSlide Motion Control Servo MotionCTRL 1 AxisAccSlide MotionCTRL MAJ 1 Direction 0 Speed Servo MotionDATA JogSpd 0 AxisAccSiide MotionData JogSpd 0 50e Speed Units Units per sec Accel Rate Servo MotionDATA JogAcce 0 AxisAccSlide MotionData JogAccel 0 50e Accel Units Units per sec2 Decel Rate Servo MotionDATA JogDece 0 lt AxisAccSlide_MotionData JogDecel 0 50e Decel Unts Units per sec2 Profile Trapezoidal Accel Jerk 100 0 Decel Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed 69 Move Source Dest manual slide sequence 0
12. Publication 1394 TD004A EN P January 2008 70 1394 Drive Conversions In rung 2 the axis jogs reverse based on these five program interlocking criterion e Manual mode is selected e The ServoOKToJog tag an output from rung 0 indicating this axis is enabled and not faulted e The forward jog input is not true The reverse jog input is given The servo axis Negative Overtravel input is not true The jog speed depends on a variable that comes from an HMI terminal RSLogix 5000 Code Rung 2 Jog Axis Reverse AxisManualMode EQU AccSlide Manual Mode ServoOKToJog ServoJogReverse ServoJogForward Equal Source manual slide sequence 0 JE JE Source B SA A DE D R a E D A M O e A 9 M Servo Axis NegOvertravelinputStatus AXIS SD AccumulatorSlide NegOvertravellnputStatus Motion Axis Jog Axis Servo Axis AXIS SD AccumulatorSlide Motion Control Servo MotionCTRL MAJ 2 AxisAccSlide MotionCTRL MAJ 2 Direction 1 Speed Servo MotionDATA JogSpd 0 AxisAccSlide MotionData JogSpd 0 50 Speed Units Units per sec AccelRate Servo MotionDATA JogAccel 0 AxisAccSbde MotionData JogAccel 0 50 Accel Units Units per sec2 Decel Rate Servo MotionDATA JogDecel 0 AxisAccSide MotionData JogDecel 0 506 Decel Units Unis per sec2 Profile Trapezoidal Accel Jerk 100 0
13. 1394 Drive Conversions 51 System System System Peak System Peak Motor Rated 1394 Axis Motor Max Speed Continuous Continuous r ys Stall Current Stall Torque Output Module Cat No rpm Stall Current Stall Torque A 0 nk Nm Ib in kW Cat No A 0 pk Nm Ib in p es 4 24 4 75 42 8 5 9 30 82 1394 6 40 7 17 63 12 7 13 8 122 1394C AM04 MPL B4540F 3000 3 0 21 2 22 4 198 1394C AMO7 9 10 10 20 90 26 0 27 1 240 1394C AM50 MPL B4560F 3000 10 6 12 6 111 21 2 22 7 200 3 2 394C AMO7 10 6 9 86 87 212 16 5 146 1394C AMO7 MPL B520K 4000 3 5 11 5 10 7 95 33 0 23 2 205 1394C AM50 MPL B540D 2000 10 5 19 4 172 21 2 37 9 335 3 4 394C AMO7 10 6 10 3 89 212 17 2 152 1394C AMO7 MPL B540K 4000 46 9 38 0 336 5 4 1394C AM50 20 5 19 4 172 60 0 48 6 430 1394C AM75 46 9 51 2 453 1394C AM50 MPL B560F 3000 20 6 26 8 237 5 5 68 0 67 8 600 1394C AM75 46 9 52 8 467 1394C AM50 MPL B580F 3000 26 0 34 0 301 7 16 70 7 72 4 640 1394C AM75 46 9 45 6 403 1394C AM50 MPL B580J 3800 32 0 34 0 301 79 70 7 65 2 577 1394C AM75 46 9 52 1 462 1394C AM50 MPL B640F 3000 32 1 36 7 325 6 11 b ____ 65 0 72 3 640 1394C AM75 33 0 41 1 364 46 9 56 2 497 1394C AM50 MPL B660F 3000 6 15 38 5 48 0 425 70 7 84 7 750 1394C AM75 33 0 60 9 539 46 9 82 4 729 1394C AM50 MPL B680D 2000 9 3 34 0 62 8 556 70 7 120 1062 1394C AM75 33 0 41 2 365 46 9 56 2
14. Axis Setup in GML software and Axis Properties in RSLogix 5000 both provide a way to configure axes for their intended use This example shows the Axis Setup dialog General tab in GML software GML Commander Axis Setup General E File Edit View Configure Module Diagram Tools Window Help kt L AXISO General Physical Axio AKSO Axis Servo Position Mode Linear Drive Interface Module Axis Cancel Next gt Help This example shows the Axis Properties dialog General tab in RSLogix 5000 software RSLogix 5000 Axis Properties General Tab Sods Configuration Mobon Group Associated Module Module Module Type Node Publication 1394 TD004A EN P January 2008 Homina Hookup Dynamics Gans Oupa Lims Offset FaukActions Genel Motion Plone Dive Mota Moto Feedback AuxFeedback Conversion Axis Properties AXIS EJ T Servo Werkes m eee sas AM 2US4 BMUI 5 ce o _ 1394 Drive Conversions 79 Axis Setup Summary Comparing GML and RSLogix 5000 Software Seu re Me Axis Setup Description in GML Software Axis Setup Conversion in RSLogix 5000 Software Use the General tab to configure the Axis Type Motion Group and Axis Module that the axis is associated with Use the General ee ET ED Del Me MOIS IDIME Co
15. MCLM or MCCM Type Either MCLM or MCMM instruction Interpolator N A Profile Profile Mode Move type Time N A Number of axes X axis destination Position axis 0 Y axis destination Position axis 1 Merge from previous segment Blend function Wait for completion N A Speed Speed Accel Decel Accel rate decel rate There are four functions or items to discuss in the transition of the GML Interpolator to the RSLogix 5000 instruction set First GML software has the ability to use two interpolators to execute two separate interpolated moves at the same time There are no limitations to the number of interpolations that may be executing at one time However the use of complex motion instructions can affect 1394 Drive Conversions 113 the processor execution time Too many motion executions at one time can lead to SERCOS ring drops or other functional issues Second GML software supports helical interpolation RSLogix 5000 software MCCM and MCLM motion instructions do not have this specific embedded function The proposed program code would be to use a virtual axis as the master and have Axis Y Axis X and Axis Z all position cammed to it Axis X and Axis Y would be setup to execute a circularly profile Axis Z will then be a linear profile Therefore when you move or jog the virtual axis all three axis perform a coordinated helical movement Third merge from previous segment A MCLM or
16. 1 GML Feedback Block Feedback Feedback On Axis 0 On Axis 1 5 In ladder logic when the sequence step variable equals 5 an MSO instruction is used to enable AxisO A value of 10 is also moved into the sequence step variable to move on to the next step which checks to make sure that the axis does enable by examining the Axis0 ServoActionStatus bit When this bit equals 1 the axis is enabled and ready for motion commands When the bit equals 0 the axis is disabled Once the axis is enabled a 15 is placed into the sequence variable to move on to the next step RSLogix 5000 Code Example Enable Axis 0 and Check Servo Action Status Bit MSO Equal Motion Servo On EN Source A Cut to Length Sequence Step Axis 0 DN gt 0 Motion Control Axis 0 Feedback On Source B 5 ov Move Source 10 Dest Cut to Length Sequence Step 0 QU 0 ServoActionStatus lov Equal Move Source Cut to Length Sequence Step Source 15 0 Source B 10 Dest Cut to Length Sequence Step 0 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 131 The next step in the sequence is to enable 1 The same procedure is followed for Axis 1 as Axis0 When the sequence variable equals 15 an MSO instruction is executed on Axis 1 the sequence variable is incriminated to a value of 20 and the Axis1 ServoActionStatus bit is examined to make sure the axis is enabled Once enab
17. Move Source Dest When an instruction completes it is removed from the queue and there is space for another instruction to enter the queue Both bits always have the same value because you can queue only one pending instruction at a time If the application requires several instructions to be executed in sequence the bits are set using these parameters Fourth a Wait for Completion routine in a MCCM or MCLM instruction is not supported in RSLogix 5000 software Use the PC bit of the MCLM or MCCM instruction in the application code before an instruction you want to execute This way the specific MCCM MCILM instruction must complete before the next instruction can occur Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 115 Watch Position and On Watch GML software uses the Watch Control and On Watch blocks to arm a Watch Position event to occur when the selected axis reaches the setpoint position The Wait for Tripped selection in this block or the On Watch block can be used to pause a specific task until the event occurs Otherwise the On Watch block can be used for proper program flow if the event occurs or not e disarm a previously armed Watch Position event that has not yet occurred e arm a Registration event to store the actual positions of all physical and virtual axes on the specified edge of a dedicated high speed registration input e disarm a Registration event which has
18. Once the jog has started the net function block in the GML diagram arms a watch position on 0 The watch block looks for AxisO to reach a position of 10 going in the positive direction With the Wait for Tripped box checked on the Watch Position configuration tab of the function block the diagram pauses until the block completes GML Watch Control Block X Watch Control watch Position Am C Disarm v C Enable Event Action 2 TUI EEE8S W atch Control latch Position Input Registration z Axis Jaxiso Watch Control Watch Control Watch Position Trip Condition Moves from lt setpoint to gt setpoint C Moves from gt setpoint to lt setpoint Setpoint Position 0 Wait for Tripped Publication 1394 TD004A EN P January 2008 136 1394 Drive Conversions RSLogix 5000 software performs this step using the MAW motion instruction The instruction is configured to watch for AxisO to reach a position of 10 moving in the forward direction just as the Watch Position GML function block did Since the MAW motion instruction does not have the ability to hold the program scan until AxisO reaches the correct position two rungs are needed to duplicate the operation of the function block The first rung arms the watch position and uses both the IP from the motion instruction as well as the Axis0 WatchEventArmedStatus status bit from the axis tag struct
19. in mm and in 1 2 2 150 2 9 28 20 20 21 ie ee p WT 0 8 _ _ i etone e Thay ro 2 400 13 8 e SSS a HIE Y Mg s 9 95 LI Y cru Feedback Cable Clamps Mounting Hole Detail 1394C SJT22 X System Modules series C and D onl 8 0 0 3 y y 7 F 8 0 0 3 10 HAE EL Y 05 a 57 16 0 6 All slots accept M6 or Feedback Cable Clamps 2 3 1 4 20 mounting screws 1394C SJTO5 x and 1394C SJT10 x System Modules series C and D only This dimension only applies to GMC Turbo catalog number 1394x SJT xx T system modules 2 1394xSJDocT system modules require an additional 101 6 mm 4 0 in of clearance to the left of the system module to allow for connecting the SLC interface cable catalog number 1747 C7 or 1747 C9 B These dimensions only apply to 1394x AM50 and 1394x AM75 axis modules Publication 1394 TD004A EN P January 2008 3 385 2 15 2 280 rt ee 1394 nee e Axis Modules width 9 335 13 3 o o B 1994C AMOS lt 1 6 1394C AM04 105 Motor Power Cable Clamp 1394C AM07 1394C AMxx xx series C 44 1994C AMB0 xx Axis Modules 1 7 1394C AM75 xx 1394 Drive
20. Speed Units of Maximum More Axisins MAM O PC Output that MAM is complete HEN lt gt Axis HODND Synchronize with next Move Axis is used in GML software to run another Move Axis block on another axis simultaneously in the motion control task In the RSLogix 5000 MAM instruction this function is not available The best way to synchronize two axis moves in RSLogix 5000 software is to use the Motion Coordinated Linear Move MCLM instruction In the example below a coordinated time system is set up in RSLogix 5000 to coordinate Axis 0 and Axis 1 Once setup a home position is established at a zero reference position The attached MCLM instruction simultaneously moves Axis 0 to an absolute position of 10 and Axis 1 to an absolute position of 10 GML software is a sequential based programming language Therefore when two axis are synchronized this way they are moved or executed at the same time Since RSLogix 5000 software is a scan based language the performance or execution is not immediate instead it is based on the Motion Group Coarse Update Rate CUR A general rule of thumb is to expect execution no longer than 2x the CUR In most instances of machine performance this will not be noticeable Publication 1394 TD004A EN P January 2008 84 1394 Drive Conversions RSLogix 5000 Code Example MCLM Instruction with Absolute Move Motion Coordinated Linear Move Coordinate System
21. 1326AB B xxxx 21 or Module Connector 1326AS Bxxxx 21 Motors Signal MF Connector 1326AS Bxxxx 21 Motors Signal FBx 4 Sine differential input 52 Sine differential input 52 FBx 9 Sine differential input S4 gt Sine differential input S4 FBx 3 Cosine differential input S1 Cosine differential input 1 FBx 8 Cosine differential input S3 Cosine differential input S3 FBx 1 Resolver excitation R1 gt MF5 Resolver excitation R1 FBx 6 Resolver excitation R2 gt MF 10 Resolver excitation R2 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 35 Converting 1394 SERCOS 1 0 and Feedback Wiring These tables list the I O and feedback wiring differences between 1394 SERCOS system modules catalog numbers 1394C SJTxx D and Kinetix 6000 IAM AM modules TIP Converting 1394 SERCOS Discrete Inputs to Kinetix 6000 Drive Use 2090 K6CK D26M low profile connector kits for wiring 1 0 and Feedback connections to the IOD connector 1394 Discrete Input Tai Kinetix 6000 Pal Connectors Description Signal Name 1 0 Connector Description Signal Name Axis x Pin 1 Hardware enable ENABLEx 100 2 Hardware enable input ENABLE Pin 2 Home switch input HOMEx 100 5 Home switch input HO
22. Cam End Position cam endi Dutput Compensation output_comp1 1 Execution Mode Continuous Execution Schedule Immediate Axis Arm Position am posl cam arm posl Actual Arm Position Position Reference lt lt Less MDOC Motion Disarm Output Cam N gt Axis Axis3 zz Execution Target exec trat2 R gt Motion Control MDOC_2 Disarm Type All Publication 1394 TD004A EN P January 2008 124 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 Comparing Output CAM Parameters GML Software Parameter ien Tye MAOC enable or disable Axis Axis Cam Execution Target Position Position Reference Start of Window Cam Start Position End of Window Cam End Position Actuation Delay Output Compensation Tag Explorer Execution Target Analog Offset This GML function block lets the position controller use an external analog input for a scaled position offset to be added to the commanded position output This analog input is secured through Flex I O Analog Input modules catalog numbers 1794 IE8 or 1794 IE4XOE2 GML Analog Offset Block Analog Offset fg Axis axiso x Analog Offset Analog Input Scalar 200 Polarity Positive Setpoint 5 Tag Esplorer The Kinetix 6000 drive cannot accept a direct analog offset into the position command You can bring an ana
23. Units per sec 100 Units per sec2 100 Units per sec2 Trapezoidal Disabled Programmed Comparing Jog Axis Parameters 1394 Drive Conversions 85 GML Software RSLogix 5000 Software Parameter Parameter Axis Axis Direction Direction Speed Speed Speed Units Speed Units Accel Accel Rate Accel Units Accel Units GML Software RSLogix 5000 Software Parameter Parameter Decel Decel Rate Decel Units Decel Units Override Profile Profile Merge from CAM or Gear Merge Enable Synchronize with next Jog N A Axis Synchronize with next Jog Axis is used in GML to run another Jog Axis block on another axis simultaneously in the motion control task In the RSLogix 5000 MAJ instruction this function is not available However if you would like two axes to jog at the same time create a virtual axis and have both axes geared to the virtual such that they jog at the same time that the virtual axis is jogged If you want one axis to jog at a different speed than the other simply set the gear ratio different GML software is a sequential based programming language Therefore when two axis are synchronized this way they are moved or executed at the same time Since RSLogix 5000 software is a scan based language the performance or execution is not immediate instead it is based on the Motion Group Coarse Update Rate CUR A general rule of thumb is to expect execution no longer than 2x the CUR
24. tan Type ams Daniae Pri 100 Staring Offset 300 ComEniPoar 214 Patom Pile 0 Colurnis Time Slave Profle Axes Siwe 161 H Time Leck Cam Slave tis e050 l Direction Posie Merge fromdog I with nast TCam Scele To properly execute a Time Lock Cam function block in GML software the Build Table and Configure Cam function blocks are used to set up and execute the Cam function The Build Table function block sets up the cam points based on the master time versus slave time profile The Build Table block can also be setup as a variable array used in GML software The Configure Cam block typically sets up the reference for the Time Lock Cam function Use the Time Lock Cam block to set up a non linear motion profile for a slave axis with respect to a time base and then execute the specific Time Lock Cam in the required program area RSLogix 5000 software combines these three blocks into one MATC instruction If the cam profile is not specifically known is in a data table or may change during the process due to the HMI terminal or other interface the MCCP makes these calculations creates the cam profile and works with the MATC instruction to execute the function Publication 1394 TD004A EN P January 2008 106 1394 Drive Conversions Publication 1394 TD004A EN P January 2008
25. RSLogix 5000 Motion Instruction MSO Use this table as a reference to see how the GML function blocks and RSLogix 5000 motion instructions compare Description The Motion Servo On MSO instruction is used to enable the axis MSF The Motion Servo Off MSF instruction is used to disable the axis MAM The Motion Axis Move MAM instruction initiates a move for a specified axis MAJ The Motion Axis Jog MAJ instruction initiates a jog for a specified axis MAG The Motion Axis Gear MAG instruction provides electronic gearing between two specified axes in a specified direction at a specified ratio MAFR or MASR The Motion Axis Fault Reset MAFR instruction clears all motion faults for a specified axis The Motion Axis Shutdown Reset MASR instruction can clear when corrected an axis shutdown condition MAS The Motion Axis Stop MAS instruction initiates a controlled stop of any motion process on a specified axis MAH The Motion Axis Home MAH instruction is used to home the specified axis MCD The Motion Change Dynamics MCD instruction is used to change speed acceleration rate or deceleration rate of the move jog profile in process 1394 Drive Conversions 147 GML Function Block Page 94 Description This function block sets the actual or command position of the selected axis to the commanded absolute position 95 T
26. Shield Clamp Overall Shield Overall Shield When using Bulletin Analog System Kinetix 6000 1326AB B 21 or Signal MF Connector 1326AS Bxxxx 21 Motors MF 1 Sine differential input 4 52 MF 2 Sine differential input 4 MF 3 Cosine differential input 4 1 4 Cosine differential input S3 MF 5 Resolver excitation R1 MF 10 Resolver excitation R2 MF 16 TS MET Motor thermal switch 1 Ts Shield Clamp Overall Shield Overall Shield 326AB or 1326AS resolver based motors use 2090 K6CK D15MF low profile connector kits Converting 1394 Analog 1 0 and Feedback Wiring These tables list the I O and feedback wiring differences between 1394 Analog system modules catalog numbers 1394x SJTxx A and Kinetix 6000 IAM AM modules Converting 1394 Analog Input Wiring to Kinetix 6000 Drive Kinetix 6000 Module Connector Description Signal MF Connector Description Signal TB1 7 TB1 14 Hardware enable input on Hardware enable input on each TB2 7 TB2 14 1394 system module ENABLE piz IAM AM module TB2 16 TB2 17 Contactor enable CONTACTOR EN CED 1 2 Contactor enable relay ONT 2 TB2 18 TB2 19 Drive OK relay DROK Not used TIP The other 1394 Analog 1 0 connections become transparent due to Analog System additional Kinetix 6000 drive functionality Converting 1394 Analog Resolver Feedback to Kinetix 6000 Drive 1326AB B xxxx 21 or Kinetix 6000
27. of Maximum za Less Stop Axis0 DN Move Source 85 Dest Cut to Length Sequence 0 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 143 The next block in the GML diagram provides a slight delay before the next step is executed The Wait for Timeout box is checked causing the GML diagram to pause in this block until the timer completes GML Set Timer Block EXL EN X Set Time x Timer Count Down Timert Set Time Seconds 2 Set Timer Wait 2 Sec IV Wait for Timeout OK Cancel 17 RSLogix 5000 software uses a TON instruction to duplicate this step and monitors the DN bit of the timer to determine when the timer has timed out before moving on to the next step in the sequence All timer preset values are entered into the instruction using a time base of milliseconds ms RSLogix 5000 Code Example of TON Instruction QU TON Equal Timer On Delay Source Cut to Length Sequence Timer Delay Timer 0 Preset 200 Source B 85 Accum 0 Delay_Timer DN Move Source Dest Cut to Length Sequence 0 Publication 1394 TD004A EN P January 2008 144 1394 Drive Conversions Finally after the two axes have stopped and the timer times out the axes are disabled using two Feedback function blocks configured to turn the feedback off The GML diagram also restarts at the beginning of the diagram by looping from
28. 497 1394C AM50 MPL B680F 3000 75 48 0 60 0 531 70 7 84 7 750 1394C AM75 MPL B860D 2000 45 3 79 6 704 70 7 16 1028 12 5 1394C AM75 MPL B880C 1500 45 3 104 920 70 7 152 1344 12 6 1394C AM75 MPL B960B 1200 42 5 130 1150 70 7 95 1724 12 7 1394C AM75 MPL B960C 1500 41 5 102 902 70 7 42 1256 13 5 1394C AM75 MPL B980B 1000 40 0 163 1441 70 7 229 2025 15 2 1394C AM75 MPL B980C 1500 47 5 104 920 70 7 51 1335 13 5 1394C AM75 Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C 104 F and drive at 50 C 122 F ambient and rated line voltage For additional information on ambient and line conditions refer to the Motion Analyzer CD publication PST SG003 Publication 1394 TD004A EN P January 2008 52 1394 Drive Conversions These combinations are with 1394x SJTxx A 1394x SJTxx C 1394x SJTxx L and 1394x SJTxx T non SERCOS drives and MPL BxxxxR resolver motors 1394 Non SERCOS Drives Bulletin MPL 460V Motors Performance Specifications System System Motor Max Speed Continuous Continuous System Peak System Peak Motor Rated 1394 Axis Stall Current Stall Torque Output Module Cat No rpm Stall Current Stall Torque A0 pk Nm Ib in kW Cat No 0 Nm Ib in A MPL B310P 5000 2 40 1 58 14 4 30 2 48 21 95 0 72
29. A0 pk Nm Ib in p bi MPL B310P 5000 2 40 1 58 14 7 1 3 60 32 0 72 1394C AMO3 4 24 2 77 24 8 5 5 0 44 1394C AMO3 MPL B320P 5000 2 7 7 10 63 1 3 394C AM04 4 50 2 94 26 I M 3 7 30 65 1394C AMO7 4 24 2 91 26 8 5 5 62 50 1394C AM03 MPL B330P 5000 27 8 40 74 17 394C AM04 6 10 4 18 37 l 7 11 1 98 1394C AMO7 4 24 3 14 28 8 5 5 62 50 1394C AMO3 27 8 39 74 394C AM04 MPL B420P 5000 1 9 6 40 4 74 42 21 2 12 7 112 1394C AMO7 23 13 5 119 1394C AM50 4 24 3 02 27 8 5 5 90 52 1394C AM03 6 40 4 56 40 12 7 8 70 77 1394C AM04 MPL B430P 5000 24 o 21 2 14 0 124 1394C AMO7 9 20 6 55 58 31 19 8 175 1394C AM50 4 24 3 04 27 8 50 4 78 42 1394C AMO3 6 40 4 59 41 12 70 7 14 63 1394C AM04 MPL B4520P 5000 2 5 _ _ _______ 21 00 11 8 104 1394C AMO7 8 50 6 10 54 o 24 00 13 5 119 1394C AM50 4 24 4 90 44 8 5 9 20 81 1394C AMO3 MPL B4530F 3000 6 40 7 40 65 12 7 13 3 118 22 1394C AM04 7 10 8 36 74 21 0 20 3 180 1394C AMO7 4 24 3 22 28 8 5 6 20 55 1394C AMO3 6 40 4 80 42 12 7 9 10 80 1394C AM04 MPL B4530K 4000 2 6 I L 10 60 8 06 71 21 2 14 6 129 1394C AMO7 11 00 8 36 74 31 0 20 3 180 1394C AM50 Publication 1394 TD004A EN P January 2008
30. Decel Jerk 100 0 Jerk Units of Time Merge Disabled Merge Speed Programmed Move Source Dest manual slide sequence 0 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 71 In rung 3 the axis stops jogging based on these four program interlocking criterion e Manual mode is selected e The forward jog input is not true e The reverse jog input is not true e One of the jog process bits forward or reverse is set indicating that the accumulator is jogging in one direction Rung 3 latches a Command Stop bit that is tied to rung 4 and contains the actual Motion Axis Stop command RSLogix 5000 Code Rung 3 Latch Stop Bit AxisManualMode Servo MotionCTRL 5 Manual Mode ServoJogReverse ServoJogForward AxisAccSlide MotionCTRL MAJ 1 IP Source amp manual slide sequence ssh DECRE Servo MotionCTRL MAJ 2 IP AxisAccSlide MotionCTRL MAJ 2 P gt JE Equal E j fee JE Source B 20 lt AccSlideAxis_Stop Ia lt 4 ServoCMD Stop Move Source 25 Dest manual slide sequence 0 In rung 4 the ServoCMD bit goes true and the Motion Axis Stop occurs Finally the ServoCMD bit is unlatched so the next jog for example can occur RSLogix 5000 Code Rung 4 Stop Axis Jog ServoCMD Stop EQU AccSlideAxis Stop MAS Equal j E Motion Axis Stop Source manuel slide sequenc
31. Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 1394 TD004A EN P January 2008 Copyright 2008 Rockwell Automation Inc All rights reserved Printed in the U S A
32. In most instances of machine performance this will not be noticeable Publication 1394 TD004A EN P January 2008 86 1394 Drive Conversions RSLogix 5000 Code Example Using Virtual Axis to Jog Two Axes at the Same Time Gear AxisX and AxisV to Virtual Axis AxisX N21 ServoActionStatus AG Motion Axis Gear EN Slave Axis AxisX N21 DN gt AxisY N22 ServoActionStatus Master Axis Virtual Servo 4 ER gt Motion Control MAG to Virtual 0 Direction Ratio Motion Axis Gear Slave Axis AxisY N22 Master Axis Virtual Servo 4 Motion Control MAG to Virtual Direction 0 Ratio 1 More gt gt MAG Virtual 0 IP Start Virtual Jog AJ Motion Axis Jog Axis Virtual Servo 4 Motion Control Virtual jog Direction 0 MAG to Virtual1 P Speed 10 Speed Units Units per sec More Publication 1394 TD004A EN P January 2008 Gear Axis 1394 Drive Conversions 87 The Gear Axis function block and the MAG instruction are used to enable a fixed ratio between two axes Both instructions let you determine the master and slave axis The same options for direction of the slave axis in relationship to the master are available in either software Both instructions let you enter the gear ratio in either a fixed number of position units on the slave for one position unit of movement on the master or as a ratio of feedback counts on the
33. MPL Bxxxx R Motors Signal aE eae ek MPL Bxxxx R 460V Motors Signal 1 Sine differential input S2 gt MF 1 Sine differential input S2 2 Sine differential input S4 gt MF 2 Sine differential input 54 3 Cosine differential input S1 MF 3 Cosine differential input 4 51 4 Cosine differential input 3 gt MF 4 Cosine differential input S3 10 Resolver excitation R1 gt MF 5 Resolver excitation R1 11 Resolver excitation R2 gt MF 10 Resolver excitation R2 12 Motor thermal switch input TS MF 11 TS 13 Motor thermal switch input TS gt MF 6 Motor thermal switch TS 1394 System 1326AB B xxxx 21 or Signal Kinetix 6000 1326AB B xxxx 21 or Signal Module Connector 1326AS Bxxxx 21 Motors MF Connector 1326AS Bxxxx 21 Motors 1 Sine differential input 52 gt MF 1 Sine differential input S2 2 Sine differential input S4 gt MF 2 Sine differential input S4 3 Cosine differential input S1 gt MF 3 Cosine differential input S1 4 Cosine differential input S3 gt 4 Cosine differential input S3 10 Resolver excitation R1 MF 5 Resolver excitation R1 11 Resolver excitation R2 e MF 10 Resolver excitation R2 12 Motor thermal switch input TS gt MF 16 TS 13 Motor thermal switch input TS gt MF 17 Motor thermal switch P TS 1 When using Bulletin MPL Bxxxx R resolver based motors use 2090 K6CK D15M low profile connec
34. Source manus elde sequante lt AxisAceSide_Status OK Axis amp ceside CMD Awstnebked Manual Servo Todog 5 Move Scurca 10 Deel slide sequence 55 Control Settings Motion Settings Show Axis Position The Control Settings Motion Settings and Show Axis Position function blocks and the SSV GSV instructions let you program the drive to change or adjust power up or working control values for example maximum axis speed and acceleration They are also used to send axis position or registration data for example to the HMI terminal 1394 Drive Conversions 97 GML Control Settings Block Ccnirol Sattings To Type Sige C Read C Show Adust Set Ta D Working E C Set To Power up Value Tag Explorer Tag Window Data Bits Dala Parameters Dala Paareters Acce Units Decimal Digits Accel Units Told Digts Analog Test 0 Avis 1294 Analog Test 0 Mode 1291 Analog Test 1 Axis 1294 Analog Test 1 Mode 1294 In RSLogix 5000 software Set System Value SSV instruction is used to adjust an axis property or configuration for example an Axis Servo Drive acceleration limit The Get System Value GSV instruction is used to view an axis property or configuration on an HMI terminal or somewhere else in the program IMPORTANT Use Set System Value SSV instructions sparingly If many are needed stagger them in rungs with state logic and wait for
35. block is configured to disable the gearing but not stop Axis1 the slave axis By checking Continue Jog at last Master Speed the gearing between the two axes stops but Axis1 continues to jog at whatever the current geared speed of Axis1 is at the time the block is executed The motion on AxisO is unaffected by this instruction GML Disable Gearing Block Disable Gearing w Slave Axis V Continue Jog at last Master Speed Disable Gearing ok Cancel y In RSLogix 5000 software this step is accomplished using the MAJ instruction with merging enabled Merging lets the instruction cancel any other active motion on the selected axis and blend or merge into a jog The programmer has the option of selecting a new speed or continuing at the current speed by selecting either Current or Programmed in the Merge Speed parameter If Current is selected then any value entered into the Speed parameter is ignored RSLogix 5000 Code Example MAJ Instruction Used to Merge Axis 1 to Current Speed Source A Cut to Length Sequence EQU MAJ Motion Axis Jog 4 Axis Axist E 0 Motion Control Jog Axis1 DN gt 70 Direction 0 ER Speed 0 IP Speed Units Units per sec Accel Rate 25 Accel Units of Maximum Decel Rate 25 Decel Units of Maximum Profile Trapezoidal Merge Enabled Merge Speed Current lt lt Less Jog Axis1 IP MOV Move Source 75 Dest Cut
36. the MOTION INSTRUCTION data type The tag stores the status information for the instruction Additionally RSLogix 5000 software provides support for the S88 equipment phase state model for batch and machine control applications via the Coptional PhaseManager feature For a complete list of RSLogix 5000 motion instructions and a description of their use refer to the Logix5000 Controllers Motion Instructions Reference Manual publication 1756 RMO007 1394 Communication Platforms The 1394 standard GMC system modules support the use of Remote I O RIO Axislink DH 485 RS 422 and RS 232 serial devices Additionally GMC Turbo system modules provides an SLC interface for I O bit word file transfer between the 1394 system running GML software and the SLC controller running RSLogix 500 software Complex applications such as line shaft multiple axis coordination capability require interfacing to the HMI terminal programmable logic controller PLC or other 1394 GMC system modules GML Commander software and the 1394 motion controller use these networks for proper data flow to and from each device The handshaking between the 1394 motion controller and the PLC module is required for proper application flow RSLogix 5000 software contains both the sequential process and motion instructions in one language Using the Logix controller system you eliminate the handshaking from one program controlling sequential logic and the other handl
37. 1394x AM03 4 24 2 71 24 52 1394 MPL B320P 5000 7 10 4 52 40 1 3 4 50 2 94 26 02 1394x AM04 4 24 2 91 25 71 8 50 5 62 49 77 1394 MPL B330P 5000 1 7 6 10 4 18 36 99 9 90 6 55 57 97 1394x AM04 4 24 3 14 27 79 8 50 5 62 49 71 1394x AM03 MPL B420P 5000 2 10 8 39 74 27 1 9 1394x AM04 6 40 4 74 41 95 13 00 8 59 76 02 1394xAM07 4 24 3 02 26 72 8 50 5 90 52 22 1394x AM03 MPL B430P 5000 6 40 4 56 40 33 2 10 8 82 78 02 24 1394x AM04 9 20 6 55 57 97 17 00 11 80 104 43 1394x AMO7 4 24 3 04 26 93 8 50 4 78 42 31 1394 6 40 4 59 40 65 2 70 7 14 63 22 1394x AM04 MPL B4520P 5000 2 5 21 00 11 81 104 54 1394x AMO7 8 50 6 10 53 99 24 00 13 50 119 48 1394x AM50 4 24 4 99 44 18 8 50 8 32 73 64 1394 MPL B4530F 3000 6 40 7 54 66 69 12 70 12 43 110 03 22 1394x AM04 7 10 8 36 73 99 19 00 18 60 164 61 1394x AMO7 4 24 3 22 28 52 8 50 5 86 51 82 1394x AM03 6 40 4 86 43 05 12 70 8 75 77 43 1394x AM04 MPL B4530K 4000 2 6 Pb 10 60 8 06 71 30 21 00 14 47 128 03 1394x AMO7 11 00 8 36 73 99 27 00 18 60 164 61 1394x AM50 4 24 4 75 42 06 8 50 8 76 77 51 1394 6 40 7 17 63 49 12 70 13 09 115 82 1394x AM04 MPL B4540F 3000 3 0 21 00 21 64 191 51 1394x AMO7 9 10 10 20 90 27 23 00 23 70 209 75 1394 50 580 3000 26 0 34 0 301 70 7 72 4 640 7 16 394x AM75 Performance specification data and
38. 5000 software communication to different 1394 GMC motion controllers AxisLink with an ALEC module to link multiple motion AxisLink is not required since you can have multiple Kinetix 6000 power M rails with up to 32 axes per motion group per processor Axes can be controllers ito provide real time axis coordination betwen 72 earaed to one another in the same motion group or different processor axes in a distributed 1394 GMC multi axis system gear group motion groups The Kinetix 6000 drive does not support flexible inputs such as Flex 1 0 Flex 1 0 modules for local 1 0 used in the GML code for 73 However the Logix platforms have various input and output modules to machine control replace a Flex 1 0 block The existing Flex 1 0 blocks can be used with a network configuration such as ethernet to tie into the Logix platform Drive Interface Module DIM is used to control an external The Kinetix 6000 drive does not support an analog input nor can it control 10V velocity or torque control drive input The drive must 79 an analog input type drive The 1756 M02AE feedback or also produce an AOB quadrature encoder output signal for 1756 MO02AS SSI feedback analog modules support control of up to two closed loop feedback to the 1394 GMC system 10V velocity or torque control drive inputs The Bulletin 4100 modules are not required A multi turn Stegmann Bulletin 4100 AEC 4100 TEC or 4100 REC modules 125 encoder can be interfaced
39. 7 Master Reference Positen 0 Unidiectional eriy Synchronize vath next Seale Praile m p ak Cancel ne Publication 1394 TD004A EN P January 2008 108 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 To properly execute a Position Lock Cam function block in GML software the Build Table and Configure Cam function blocks are used to set up and execute the Cam function The Build Table function block sets up the cam points based on the master position versus slave profile The Build Table block can also be setup as a variable array to be used in GML software The Configure Cam block typically sets up the reference for the Position Lock Cam The Position Lock Cam lets you set up a non linear motion profile for a slave axis with respect to a physical encoder only virtual or imaginary axis RSLogix 5000 software combines these three blocks into one MAPC instruction If the cam profile is not specifically known is in a data table or may change during the process due to the HMI terminal or other interface the MCCP makes these calculations creates the cam profile and works with the MAPC instruction to execute the function RSLogix 5000 MCCP MAPC Instructions Axis Position Cam _ lt Slave Axis Axis Ex Master Axis Axis E lt DND Motion Control MAPC_1 Direction 1 AEFD Motion Calculate Cam Pr
40. 81 0 716 45 2094 BM05 MPL B680D 2000 34 0 62 8 555 73 4 24 1098 9 3 2094 BM05 MPL B680F 3000 47 9 59 7 528 73 4 85 4 755 4 2 2094 BM05 MPL B860D 2000 47 3 83 2 736 73 4 20 1065 3 3 2094 BM05 MPL B880C 500 47 5 09 965 73 4 57 1387 27 2094 BM05 MPL B880D 2000 48 9 79 9 706 73 4 14 1011 12 7 2094 BM05 MPL B960B 200 42 5 30 1150 73 4 90 1684 9 8 2094 BM05 MPL B960C 500 48 9 10 975 73 4 46 1296 3 0 2094 BM05 MPL B960D 2000 48 9 86 760 73 4 31 1158 15 0 2094 BM05 MPL B980B 000 40 0 62 1440 73 4 235 2077 9 7 2094 BM05 MPL B980C 500 48 9 12 996 73 4 57 1387 5 3 2094 BM05 MPL B980D 2000 48 9 97 858 73 4 47 1300 18 6 2094 BM05 Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C 104 F and drive at 50 C 122 F ambient and rated line voltage For additional information on ambient and line conditions refer to the Motion Analyzer CD publication PST SG003 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions Kinetix 6000 Drives 1326AB 460V Motors Performance Specifications 57 System System Motor Max Speed Continuous Continuous System Peak System Peak Motor Rated Kinetix 6000 Stall Current Stall Torque Output 460V Drives Cat No rpm Stall
41. AXIS0 Aws Decel 500 In summary the SLC module generated an input from a switch or HMI terminal that triggered an output to the 1394 GMC system module to put the accumulator axis in a manual mode Then based on the need to jog the accumulator forward or reverse the SLC module sent bit and floating point information to the GMC system module to complete these actions When the actions were complete the jog was stopped Publication 1394 TD004A EN P January 2008 68 1394 Drive Conversions RSLogix 5000 Software Example You can use RSLogix 5000 software and state logic to perform the same functions with one software package and several rungs of ladder logic Use of interlocking tags local to the software complete the accumulator jog State logic provides for the evaluation of where the program may be faulting or improperly functioning In rung 0 the interlocks are in place of the servo status to make sure the jog function is ready and that manual mode is enabled RSLogix 5000 Code Rung 0 0 Equal Source manual slide sequence Source B Enable Manual Mode Servo Status Servo AxisEnabled AxisManualMode Axis amp ccSlide Status OK AxisAccSlide CMD AxisEnabled AccSlide Manual Mode ServoOKToJog 3E m 3E lt gt 04 5 Publication 1394 TD004A EN P January 2008 coc 9 o ce Move Source 10 Dest manual_slide_sequence 0
42. Description The Input Show Input Status and Output function blocks let you program the drive to control program flow with a 98 dedicated configured or miscellaneous input They are also used for turning on a Show Input Status general purpose SLC RIO AxisLink or Flex 1 0 discrete output The Expression and Equation function blocks and the EQU instructions let you 100 program the drive to configure a mathematical expression or assign a value for example to a variable or cam profile points Equation The Timeout and Set Timer function n blocks are countdown timers used to 101 pause the GML software program until the time has elapsed by checking the mm Wait for Timeout block Xo The Change Gain function block in GML 102 software lets you change the axis gains at any point in the program without Change Gain affecting the power up values The Direct Drive Control function block xj directly sets the servo output of the Ea 103 selected physical axis to the commanded voltage current or percent of maximum Direct Drive Control The maximum settings are either 10V or es 150 mA gt The Native Code function block lets you 103 write base ICODE instructions in GML Publication 1394 TD004A software EN P January 2008 RSLogix 5000 Motion Instruction BIT Control RSLogix 5000 folder which contains various instructions Desc
43. GMC system 1394 GMC System Modules 1394 x SJTxx C xx 1394 x SJT xx T xx 1394 x SJTxx L xx GMC System Modules Front View catalog number 1394x SJT22 T RL is shown 1394x SJT oc C xx 1394x SJT xx 1394 x SJT xx L xx GMC System Modules Bottom View catalog number 1394C SJT05 T RL is shown RS 232 and RS 422 Connectors RS 232 RS 422 and DH 485 Connectors Axis 0 J5 Resolver Feedback Input Axis 1 J6 Resolver Feedback Input 3 Axis 2 J7 Resolver Feedback Input 3 Axis 3 J10 Resolver Feedback Input 3 Cable Clamp Grounding Bracket n series C system modules only Grounding bracket and cable clamps are only present on series C system modules Only two auxiliary encoder inputs are present on the 1394C SJTxx L system modules Only one resolver feedback input is present on the 1394C SJTxx L system modules Publication 1394 TD004A EN P January 2008 30 1394 Drive Conversions This example illustrates the I O and feedback wiring for SERCOS interface system modules 1394 SERCOS Interface System Modules 1394C SJTxx D SERCOS interface System Modules Front View catalog number 1394C SJT05 D is shown Analog Outputs Connector Relay Outputs Connector Discrete Input Connectors 4 SERCOS Receive Rx Connector sERcos Transmit SERCOS Transmit Tx Connector 1394C SJT xx D SERCOS interface System Modules Bottom View catalog number 1394C SJT05 D is sho
44. MCCM instruction does not have a motion checkbox for merging from a previous MCLM or MCCM instruction To blend from one MCLM to the next use this approach or fine tune it to your application RSLogix 5000 Code Example for Blended Instructions If Step 1 then 1 starts and moves the axes to a position of 5 0 And once Movel is in process And there is room to queue another move Step 2 QU CLM Motion Coordinated Linear Move Coordinate System cs Motion Control Move1 Move Type 0 Equal Source Step 0 1 Source B Position My Path 0 X Axis 50 Y Axis 0 0 More gt gt MovetlP cs1 MovePendingGueueFullStatus p Move Source Dest Publication 1394 TD004A EN P January 2008 114 1394 Drive Conversions RSLogix 5000 Code Example for Blended Instructions continued If Step 2 then Movel is already happening Move2 goes into the queue and waits for Move to complete When Move is complete Move2 moves the axes to a position of 10 5 And once Move2 is in process and there is room in the queue Step 3 QU Motion Coordinated Circular Move HEN Coordinate System cst Motion Control Move2 HCER Move Type 0 r lt P gt Equal Source Step 0 Source B 2 Position My Path 2 X Axis 10 0 Y Axis 50 More Move2 P cs1 MovePendingGQueueFullStatus k E
45. Motion Control Move Type Position AxisO Axis1 Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Termination Type Merge Merge Speed Jog Axis Coordinated_sys a MCLM 0 0 move position 0 10 0 10 0 10 Units per sec 5 Units per sec2 5 Units per sec2 Trapezoidal 0 Disabled Current lt lt Less TS Move Type is Absolute Position defined in absolute units The Jog Axis function block and the MAJ instruction in the RSLogix 5000 software are used to jog the axis Both instructions have the option of determining the direction and speed of the jog The GML function block has a drop down menu selecting direction The RSLogix 5000 MAJ motion instruction requires that you enter a numeric value into the Direction parameter with the value of the parameter determining the direction of the jog GML Jog Axis Block and RSLogix 5000 MAJ Instruction ST Jog A JAXISO Direction Postive zl Speed D z Oo EMI qe Ovewide Profle Trepezaidal Merge trom or Gear Ai Curent Speed gt 5ynchonize with next Axis Publication 1394 TD004A EN P January 2008 Motion Axis J Axis Motion Control Direction Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Merge Merge Speed AJ og Axiso E Jog_Axis0 DN5 0 ER 0 IP5
46. Publication 1394 TD004A EN P January 2008 Axis ServoActionStatus JogPlusPb AxisOkAxisZ AxisNoAxisFaults amp xisZ AxisNoMotnActive2 AxisZ N23 ServoActionStatus Local2 Data 10 Axisins MAM 0 IP MAM Motion Axis Move EN ServoActionStatus must Axis uus ced AxisZ N23 ER2 betrue before MAM Motion Control AxisinsMAM 0 KXIP instruction is executed Move Type Absolute KPC 0e Position 0 Speed Local 8 ChO Data 014039993 Speed Unts of Maximum More RSLogix 5000 MSO Instruction MSO Motion Servo On Axis mde Motion control Axis is the name of the axis to perform the function on Axes are configured in your RSLogix 5000 software program Motion control is the structure used to access instruction status parameters The motion control tag indicates the health of the motion instruction Use it to determine if the instruction was executed or for interlocking other program instructions Mnemonic tags associate each motion instruction In this example there are three tags EN is the Enable bit This bit is set when the rung makes a false to true transition and remains set until the servo message transaction is completed and the rung goes false DN is the Done bit The DN bit is set when the axis servo action has been successfully enabled and the drive enable status bit has been set After the DN bit is set BrakeReleaseDelayTime expires and
47. RSLogix 5000 MCCP MATC Instructions Comparing Build Table Parameters GML Software Parameter MATC Motion Axis Time Cam Lac MCC Axis Axis E Motion Calculate Cam Profile CEND Motion Control MATC_1 DN Motion Control MCCP 1 Direction Cam 1 0 ND meter Length z 0 MN Cam Profile Cam pro3 2 Distance Scaling 35 HIP gt E Start Slope 1 0 Time Scaling 2 2 End Slope 1 0 Execution Mode Continuous Execution Schedule Pending Cam Profile cam prol 1 L lt lt Less RSLogix 5000 Software Parameter MCCP Type Cam Profile exclusive Row Offset N A Columns Master Time Cam Master Position N A Slave Profile Cam Axes Master N A Slave Cam Profile exclusive Table Comparing Configure CAM Parameters GML Software Parameter Slave Axis Cam RSLogix 5000 Software Parameter MATC Axis Cam Type MATC exclusive instruction Cam Start Point Tag array set in Cam profile Cam End Point Tag array set in Cam profile Perform Profile Comparing Time Lock CAM Parameters GML Software Parameter Execution Mode RSLogix 5000 Software Parameter MATC Slave Axis Axis Direction Direction Merge from Jog N A Synchronize with next TCAM N A Scale Profile Total Time Time Scaling Total Distance Distance Scaling Buld Table Type CAM Table x Rows Starting Offset 500 Co
48. RSLogix 5000 software a separate motion instruction is used to enable or disable the axis The MSO instruction is used to enable the axis and the MSF instruction is used to disable the axis To convert from GML to RSLogix 5000 software the appropriate instruction needs to be added to the ladder diagram and the axis tag name needs to be added in the axis parameter of the motion instruction GML Feedback Block and RSLogix 5000 MSO MSF Instruction Motion Servo On XEN2 Axis 0 E DhN5 Motion Control Enable Axis ER SF Motion Servo Off Axis 0 E Motion Control Disable Axis 1394 Drive Conversions 81 The MSO block in RSLogix 5000 software works with the brake disengage time to set a servo action status bit that can be used to interlock any other rungs with commanded motion In this way no motion is commanded to overdrive the brake RSLogix 5000 Code Example Servo Action Status Bit is True Before MAM Instruction Executes Axis ServoActionStatus JogPlusPb AxisOkAxisZ AxisNoAxisFeullsAxisZ AxisNoMotnActive2 lt AxisZ_N23 ServoActionStetus gt Local2 1Data 10 Axisins MAM 0 MAM 1 Motion Axis Move FEN ServoActionStatus must Axis HM ENE lt AxisZ 3 gt gt be true before MAM Motion Control Axisins MAM O KXIP instruction is executed Move Type Absolute KPC oe Position 0 Speed Local amp 1 Ch0Data 0 14039993 Sp
49. System Modules 1394x SJT05 x 66 70 73 77 80 1394x SJT10 x 70 77 84 81 98 1394x SJT22 x 100 150 200 250 300 Axis Modules 1394 24 30 36 42 48 1394x AM04 27 36 45 54 63 1394x AMO7 33 48 63 78 93 1394 AM50 1394 AM50 IH 21 56 95 139 183 227 1394 AM75 and 1394 AM75 IH P 85 45 212 279 346 1394 AMSO inside the cabinet 18 8 18 18 18 1394 50 outside the cabinet 38 7 138 165 209 1394 75 inside the cabinet 18 8 18 18 18 1394 75 outside the cabinet 67 27 194 261 324 The 1394 AM50 and 1394 AM75 axis modules are designed to mount with the rear heat sink extended outside the customer supplied enclosure If the modules are mounted entirely inside the customer supplied enclosure the full power dissipation is inside the cabinet the sum of the inside outside columns 2 The 1394 AM50 IH and 1394 AM75 IH axis modules are designed to mount entirely inside the customer supplied enclosure Publication 1394 TD004A EN P January 2008 40 1394 Drive Conversions Attribute Power Specifications for Kinetix 6000 Drives IAM 460V Modules Power Specifications Value 2094 BC01 MP5 S 2094 BC01 M01 S 2094 BC02 M02 S 2094 BC04 M03 S 2094 BC07 M05 S AC input voltage 324 528V rms three phase 360 480V nom AC input frequency 47 63 Hz Main ac input current 1 Nom rms 10
50. This drawing illustrates the input power wiring connections for the Kinetix 6000 IAM modules The Bulletin 2094 power rail features a grounding stud for making a high frequency bond replacing the single point bond bar on 1394 series C system modules Kinetix 6000 IAM Modules Integrated Axis Module Top View catalog number 2094 BC01 MP5 S is shown Control Power CTRL 2 CPD Connector CTRL 1 l 0 DC z5 DC V Spel DC Bus AC Input Power m IPD Connector 13 1 12 ta MBRK o gt zooms Although the physical size of some IAM modules may be d TIP Allo LEE larger the location of the connectors is the same Y o Ls Lj Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 21 Motor Power Wiring These drawings illustrate motor power wiring differences between the 1394 drives the Kinetix 6000 drives Differences This drawing illustrates the motor power wiring for 1394 axis modules series C axis modules included filters in the motor brake and thermal circuits series A and B axis modules did not 1394 Axis Modules P 1394 Of o Axis Module Front View catalog number 1394C AMO3 is shown eee Motor Power HHH Connections
51. a position of 50 going in the positive direction With the Wait for Tripped box checked on the Watch Position configuration tab of the function block the diagram pauses at this block until the block completes Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 139 GML Watch Control Block x Walch Control watch Position Type Am v C Disarm C Enable Event Action Watch Control Class Watch Position Registratior z Axis axso 7 Watch Control X Watch Control Watch Position Trip Condition Moves from lt setpoint to gt setpoint C Moves from gt setpoint to lt setpoint Setpoint Position 50 Wait for Tripped Cancel RSLogix software performs this step using the MAW motion instruction The instruction is configured to watch for AxisO to reach a position of 50 moving in the forward direction just as the Watch Position function block did Since the MAW motion instruction does not have the ability to hold the program scan until AxisO reaches the correct position two rungs are needed to duplicate the operation of the function block The first rung arms the watch position and uses both the IP from the motion instruction as well as the Axis0 WatchEventArmedStatus status bit from the axis tag structure to make sure that the watch is active before incrementing to the next rung Publication 1394 TD004A EN P January 2008 1
52. and MPL B330P MPL B420P and MPL B430P MPL B4520P MPL B4530F MPL B4530K MPL B4540F MPL B4560F and MPL B520K 2090 165 MPL B540K MPL B560F and MPL B580F 2090 XXNPMP 14S xx MPL B580J 2090 XXNPMP 10S xx MPL B640F MPL B660F MPL B680D and MPL B680F MPL B860D MPL B880C and MPL B880D MPL B960B MPL B960C MPL B980B and MPL B980C 2090 85 MPL B960D MPL B980D MP Series 460V Low Inertia Motors All MPL Bxxxx motors that require a brake cable 2090 MCNPMP 6Sxx Motor Brake Cables 2090 UXNBMP 18Sxx Publication 1394 TD004A EN P January 2008 50 1394 Drive Conversions 1394 Drive Motor System This section provides drive motor system combination data for your existing 1394 drive motor combination Combinations These combinations are with 1394C SJTxx D SERCOS drives and MPL BxxxxM S motors To achieve the performance specifications in the table below your IMPORTANT us IMPORTANT 1394C SJTxx D system module must have firmware revision 1 058 or later 1394 SERCOS Drives Bulletin MPL 460V Motors Performance Specifications System System System Peak System Peak Motor Rated 1394 Axis Motor Max Speed Continuous Continuous y y Stall Current Stall Torque Output Module Cat No rpm Stall Current Stall Torque A 0 nk Nm Ib in kW Cat No
53. curves reflect nominal system performance of a typical system with motor at 40 C 104 F and drive at 50 C 122 F ambient and rated line voltage For additional information on ambient and line conditions refer to the Motion Analyzer CD publication PST SG003 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 1394 Drives 1326AB 460V Motors Performance Specifications 53 System System Motor Max Speed Contiiious Continuous System Peak System Peak Motor Rated 1394 Axis Stall Current Stall Torque Output Module Cat No rpm Stall Current Stall Torque A rms Nm Ib in kW Cat No A rms Nm Ib in 6 0 6 6 58 1394 1326 4106 5000 2 45 2 7 24 1 0 c 7 32 8 1 72 1394x AM04 3 0 2 3 21 6 0 4 7 42 1394x AM03 1326AB B410J 7250 9 0 7 0 62 1 4 1394x AM04 3 48 2 7 24 EO se 10 4 8 1 72 1394x AM07 6 0 10 6 94 1394x AM03 1326AB B420E 3000 2 84 5 0 44 1 1 8 0 14 9 132 1394x AM04 3 0 2 8 25 6 0 5 6 50 1394x AM03 1326AB B420H 6000 4 5 4 2 37 9 0 8 4 74 22 1394x AMOA 5 46 5 1 45 15 0 14 0 124 1394x AM07 3 0 5 1 45 6 0 10 1 89 394x AMO3 1326AB B430E 3000 9 0 15 2 135 1 4 394x AM04 3 9 6 6 58 I 11 6 19 7 174 394x AM07 4 5 5 2 46 9 0 10 3 82 394x AM04 1326AB B430G 5000 2 3 5 6 6 4 57 15 0 17 2
54. interface Module 5 gt Ga RSLogix 5000 SEF Logix Platform Software ControlLogix is shown U Hos Kinetix 6000 Multi axis Servo Drive System 2090 XXLF xxxx S 2090 SCxxx x AC Line Filter SERCOS Fiber optic Cable required for CE 7 7 7 7 7 Three Ph 2094 BSP2 died 115 230V Control Power Shunt Module optional component 2094 xCxx Mxx S Integrated E B 2094 PRF Axis Module E B E E E E E Slot Filler Module I required to fill any unused slots Cala Cala Uae Cala 188 O O oO o oO 2094 PRSx i Power Rail l NE 2094 4 5 2094 xMxx S Line Interface Module l l Axis Modules 5 optional component j C nnections To Input Sensors 2090 K6CK Dxxx Control string 2090 XXNFxx Sxx or Low Profile Connector Kits for 2090 CFBM6DF CBAAxx 1 0 Motor Feedback and Aux Feedback 2090 XXNPxx xxSxx or Motor Feedback Cable 2090 CPXM6DF 16AAxx AT EAE SEE 2m Motor Power Cable MP Series TL Series 1326AB M2L S2L and F Series Rotary Motors and Actuators MPL xxxx motors s
55. rewire from the encoder directly to the Kinetix 6000 drive auxiliary feedback AF connector and configure the axis as Feedback Only Make sure the master encoder feedback specifications are listed as compatible in the Kinetix 6000 User Manual publication 2094 UMOOI Refer to the ALEC AxisLink Encoder Converter Installation and Setup Manual publication 4100 5 3 for more information Publication 1394 TD004A EN P January 2008 128 1394 Drive Conversions Jg Aris Wah Conia Stop Maton GML to RSLogix 5000 Software Conversion Example Because of the sequential nature of the GML block diagram the conversion of the program can be done using state logic to program the ladder logic in the RSLogix 5000 software State logic lets the programmer sequentially move through a sequence of ladder logic rungs by incrementing a value in a variable and then using the value of that variable to determine which step in the sequence to initiate In this example the GML diagram for a simple cut to length application is converted to ladder logic using state logic The value stored in the variable Cut_To_Length_Sequence_Step is used to determine which step in the ladder logic to execute Typical GML Diagram for Cut to Length Application Input Feedback Feedback Cycle Start PB On Ass 0 On Axis 1 wt E 4 m m m Set Timer Feecback Feedback Wait 2 Sec Off Asis 0 Off 5 5 1 Publication
56. sending to GML variable speed foot 2 mer the Panahna Martial tog Spred to the Upper 1794 Publication 1394 TD004A EN P January 2008 Spend Rotation pr Fin mies Dee e Length hog Speed Shier entis Dort maa The jog_speed_c variable is the accumulator jog speed Jog_speed_c is entered in the PanelView terminal and networked to the SLC controller platform This input to the SLC controller is transmitted to the 1394 motion controller shown above in rung 0010 and becomes an input variable for both the forward and reverse jog blocks 1394 Drive Conversions 67 TIP Many of the existing GML software settings for speed acceleration and deceleration could be used in the transition to RSLogix 5000 software and motion instructions The final part of the GML Commander routine is to stop the forward or reverse jog based on the sequence of inputs In this example if neither the Jog Slide Fwd input or the Jog Slide Rev input is energized the program sequence leads to the Stop AxisO Jog or axis c GML Commander Code Stop Command a Am2 Am A Debe NL Find Code MG Hande RIO and Jg Jong She WB Clow Alk Faut ESL Hande NE Hande Vinad Am Farts warte Hore WE Menus mode LET Spe WE Tune Complete NI Hone H vro NE Tune Side Stop Motion Mode Stop Jog
57. slave for a fixed number of feedback counts on the master GML Gear Axis Block and RSLogix 5000 MAG Instruction Cear aes 2 Bear rer Slave Axis aso x Master Axs faxist Slave to Actual z Direcson Same X IV SetRatio Real Raio 1 Ramp to Master Speed amp ccel Rate fi 00 Synchrmize wth next Gear Aves AG Motion Axis Gear EN gt Slave Axis AxisO Master Axis Axis1 DN5 Motion Control Enable Gear Direction ER Ratio IP5 Slave Counts Master Counts Actual Real Enabled 100 Master Reference Ratio Format Clutch Accel Rate Accel Units Units per sec2 Less Comparing Gear Axis Parameters GML Software Parameter RSLogix 5000 Software Parameter Slave Axis Slave Axis Master Axis Master Axis Direction Direction Slave To Master Reference Set Ratio Ratio Format Slave Master Ratio Ratio Slave Master Counts Ramp to Master Speed Clutch Accel Rate Accel Rate Accel Units Synchronize with next Gear Axis N A Synchronize with next Gear Axis lets you run another Gear Axis block on another axis simultaneously in the motion control task This initiates electronic gearing on multiple axes simultaneously Publication 1394 TD004A EN P January 2008 88 1394 Drive Conversions Gear AxisX and AxisV to Virtual Axis 3 MAG to Virtual 0 IP MAG to Virtua 1 P Publication 1394 TD004A E
58. system is in manual mode So the accumulator can be jogged forward or reverse with an input With the use of the 1394 GMC Turbo system you are allowed 40 I O data high speed transfer In this example if the SLC input bit B13 0 4 is true a SLC output bit O14 7 which equals jog c fwd GML programming is triggered in the SLC module that corresponded to a SLC input bit in the 1394 GMC Turbo system module In this case the accumulator called axis jogs forward at a floating point data value from the SLC module to 1394 GMC Turbo system module until the input is removed Conversely if the SLC input bit B13 0 15 which equals jog c rev GML programming is true the accumulator will reverse jog 1394 Drive Conversions 65 In GML Commander software the conditions of jogging the accumulator are tied into the input blocks If the jog c fwd is true you jog forward If the jog c fwd is false you go to another input block If the jog c rev is true you jog reverse If at that time the jog c rev is false you stop jogging and end the routine This SLC input bit is transferred over the Bulletin 1746 SLC Backplane as the 1394 GMC Turbo system acts like a four slot SLC rack There is handshaking between the RSLogix 500 and GML software in order for this to actually occur GML Commander Input Blocks using RSLogix 500 input 3 Dam S xele alela a BG Axis 2 BS Axis 3 88 Disable 8G Fauk Code B Han
59. 08 12 1394 Drive Conversions Logix Controller Platforms Publication 1394 TD004A EN P January 2008 ControlLogix and CompactLogix controller platforms include SERCOS modules for interfacing with the Kinetix 6000 servo drives ControlLogix Controller Platform The ControlLogix platform is a modular system capable of handling your most intensive applications Modules are inserted into slots on the ControlLogix chassis The ControlLogix SERCOS modules available for your motion control application include e 1756 M03SE 1756 MO8SE and 1756 M16SE SERCOS interface modules that can accommodate up to 3 8 and 16 axes respectively e 1756 L60M03SE combination controller and SERCOS interface module that can accommodate up to 3 axes For more information regarding the ControlLogix platform refer to the ControlLogix Selection Guide publication 1756 56001 CompactLogix Controller Platform The CompactLogix platform is a modular system that provides cost effective control for smaller applications Modules snap together side by side on a DIN rail The CompactLogix SERCOS module available for your motion control application is the 1768 M04SE SERCOS interface module and accommodates up to 4 axes Each 1768 L45 CompactLogix system can hold one or two SERCOS modules for up to 8 real 4 auxiliary and 6 virtual axes For more information regarding the CompactLogix platform refer to the CompactLogix Selection Guide publication 1769 5
60. 1394 Drive Conversions 75 Comparing GML and RSLogix 5000 Programming Software Many of the function blocks in GML software are similar in function to the motion instructions used in RSLogix 5000 software This section explains the similarities and differences between them and points out how the Logix instructions or code usage corresponds to each of the GML function blocks Sample MSO Instruction Using RSLogix 5000 Software The Feedback block in GML software is used to turn on the selected drive enable output which enables feedback loop processing GML Feedback Block i Feedback However another function block is needed to tell the program that the axis is ready to be moved The On Axis block can be used two ways e Wait For Axis or the input to pause the program e If Axis or input to trigger program flow GML On Axis Block 1 RSLogix 5000 software uses the Motion Servo On MSO motion instruction to activate the servo amplifier and to activate the servo axis control loop The actual tags associated with the Axis Servo Drive axis type can be used for interlocking the program to make sure a move command is not initiated until the Axis Feedback block is on No other instruction is required The MSO block is used in ladder diagrams or structured text and used on an Axis Servo Drive for use on a SERCOS Network Publication 1394 TD004A EN P January 2008 76 1394 Drive Conversions Motion control tag
61. 1394 TD004A EN P January 2008 out grr 1394 Drive Conversions 129 The first block in the GML diagram is an Input block configured to wait for a Flex I O input to turn on indicating that the input has been pressed GML Input Block lt lt Input Configured Type Wait for Input ON Input Class Configured j C Wait for Input OFF v 2n C If Input Input Cycle Start PB v Require OFF to ON Transition E Flex 1 0 Input active_tool cycle_stop home MOVE FEED AXIS TO P Cancel Apply Help In ladder logic the first step of the sequence starts with the Cut to Length Sequence Step equal to zero When the Cycle Start PB is pressed a value of 5 is placed into the sequence step variable to move to the next step RSLogix 5000 Code Example Use of State Logic and Cycle Start Input This rung is the first rung of the state logic machine This rungs waits for the input from the Cycle Start PB and tien moves a 5 into the sequence variable to move tothe next sterp inthe sequence EQU Cycle Statt PB Ov Equal Source Cut_to_Length_Sequence_Step 0 Source B 0 Move Source 5 Dest Cut to Length Sequence Step 0 Publication 1394 TD004A EN P January 2008 130 1394 Drive Conversions The next two blocks in the diagram are Feedback blocks In this example the blocks are used to turn feedback on or enable both 0 and
62. 153 1394x AM07 4 5 7 7 68 9 0 15 4 136 394x AM04 1326AB B515E 3000 15 0 25 6 226 23 1394x AMO7 6 1 10 4 92 c 18 3 31 2 276 1394x AM50 7 5 7 9 70 15 15 8 140 1394x AM07 1326AB B515G 5000 2 9 9 5 10 4 92 28 5 31 2 276 1394x AM50 4 5 8 8 78 9 0 17 7 157 1394x AM04 1326AB B520E 3000 15 0 29 4 260 2 9 1394x AM07 6 7 3 0 115 20 1 39 0 345 1394x AM50 75 1 2 99 15 0 22 4 198 394x AMO7 1326AB B520F 3500 2 9 c 8 8 3 1 116 26 4 39 3 348 1394x AM50 75 4 2 126 15 0 28 4 251 394x AMO7 1326AB B530E 3000 42 c 9 5 8 0 160 28 5 54 2 480 1394x AM50 33 2 58 5 518 394x AM50 326AB B720E 3500 17 5 30 9 273 6 8 c 50 0 88 1 780 1394x AM75 33 2 38 336 394x AM50 1326AB B720F 5000 27 5 31 8 282 11 7 50 56 495 394x AM75 33 2 56 8 502 394x AM50 1326AB B730E 3350 22 8 39 0 345 9 6 l 50 0 85 4 756 1394x AM75 Publication 1394 TD004A EN P January 2008 54 1394 Drive Conversions System System 2 Motor Max Speed Continuous Continuous System Peak System Peak Motor Rated 1394 Axis Stall Current Stall Torque Output Module Cat No rpm Stall Current Stall Torque 2 s A rms Nm Ib in kW Cat No A rms Nm Ib in 33 2 84 2 745 1394x AM50 1326AB B740C 2200 20 9 53 0 469 8 7 50 0 126 8 1122 1394x AM75 23 33 37 0 327 33 2 52 6 465 1394x AM50 1326AB B740E 3400 12 7 32 0 50 8 450 50 0 79 4 702 1394x AM75 Performan
63. 1816 Discrete Input 1794 088 Discrete AC Output 1794 0B16 Discrete Output 1794 IB10XOB6 Discrete Combo 1794 IE8 Analog Input 1794 OW8 Relay Output 1794 OE4 Analog Output 1794 IF41 Isolated Analog Input 1794 IEAXOE2 Analog Combo AC 1794 OB16P Discrete Output To reuse the Flex I O connections that are already in the system requires using the proper network interface block and then rewriting internal RSLogix 5000 software code to access the Flex I O blocks In this example the Bulletin 1794 AENT adapter module communicates via ethernet between the Flex I O modules and ControlLogix controller Publication 1394 TD004A EN P January 2008 74 1394 Drive Conversions Flex 1 0 Networked via EtherNet IP to Logix Controller EtherNet IP Communication ontrollLogix processor ith 1756 ENBT module EtherNet P Network Publication 1394 TD004A EN P January 2008 The Kinetix 6000 drive has a limited number of dedicated inputs However ControlLogix and CompactLogix controller platforms have various I O modules that replace Flex I O modules and interface to the motion instructions through RSLogix 5000 software If you decide to convert to Logix I O modules go to http www ab com e tools and follow the appropriate links for programmable controllers and distributed I O selection tools The tool is designed to help you determine which ControlLogix or CompactLogix I O modules you need
64. 29 8 54 2 480 1394x AM50 33 2 63 6 563 394x AM50 1326AS B690E 3000 19 0 36 4 322 5 0 I M 41 3 79 1 700 1394x AM75 33 2 59 0 522 394x AM50 1326AS B840E 3000 212 37 6 333 4 7 c 39 5 70 0 620 1394x AM75 33 2 93 0 823 394x AM50 1326AS B860C 2000 17 6 49 3 436 6 0 44 4 124 0 1100 394x AM75 Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C 104 F and drive at 50 C 122 F ambient and rated line voltage For additi ional information on ambient and line condi Publication 1394 TD004A EN P January 2008 ions refer to the Mot ion Analyzer CD publication PST SG003 1394 Drive Conversions 55 Kinetix 6000 Drive Motor System Combinations This section provides drive motor system combinations for your conversion to Kinetix 6000 drives For torque speed curves and combinations with other MP Series TL Series or F Series motors refer to the Kinetix Motion Control Selection Guide publication GMC SG001 or the Motion Analyzer Motion Selector CD publication PST SG003 Kinetix 6000 Drives Bulletin MPL 460V Motors Performance Specifications System System US Motor Max Speed Continuous Continuous System Peak System Peak Motor Rated Kinetix 6000 Stal
65. 40 1394 Drive Conversions EQU RSLogix 5000 Code Example MAW Instructions to Watch Axis 0 Position MA Equal Source B Source Cut to Length Sequence HEN 0 H KDN5 0 Motion Control Axis O0 Watch Position2 rceR gt Trigger Condition Forward HUP5 Position 50 HPO Motion Arm Watch Axis 60 Axis_0_Watch_Position2 IP MOV Move Source 65 AxisO WatchEventArmedStatus Dest Cut to Length Sequence 0 Once the watch is active the pause on the GML diagram is duplicated by monitoring the PC bit from the motion instruction and the Axis0 WatchEventStatus status bit from the axis tag structure When these bits turn on 0 has reached the desired position moving the correct direction as configured in the motion instruction The next step in the sequence is initiated by moving a 55 into the sequence step variable RSLogix 5000 Code Example Checks Position Input MOV AS _0_VVatch_Postion2 PC EQU Equal Source B Source A Cut to Length Sequence Move Source 70 65 Dest Cut to Length Sequence 0 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 141 Upon completing the watch position GML function block the next step in the sequence is to disable the gear relationship between Axis1 to Axis 0 This is done using the Disable Gearing function block This
66. 6001 SoftLogix Controller Platform A simple SoftLogix system can consist of a single standalone computer and its networked devices For more robust systems use I O in multiple platforms distributed over multiple I O links These devices all reside on a virtual backplane displayed on your computer 1394 Drive Conversions 13 1394 to Kinetix 6000 Drive The SoftLogix products available for your motion control application include e 1784 PM16SE SERCOS interface PCI card e 1784 PMO2AE analog servo PCI card For more information regarding the SoftLogix platform refer to the SoftLogix5800 Selection Guide publication 1789 56001 Use these tables as a starting point for your 1394 to Kinetix 6000 drive conversion Conversions 1394 System Module to Kinetix 6000 IAM Conversions 1394 Drives Kinetix 6000 Drives ystem NES Module Continuous Output Continuous Output Kinetix 6000 IAM Continuous Output Continuous Output Cat No Current Power Cat No Current Power A dc kW A dc kW 1394x SJT05 7 36 5 0 2094 BC01 MO1 S 10 0 6 0 1394x SJT10 147 10 0 2094 02 02 5 24 0 15 0 1394x SJT22 33 8 22 0 2094 BC04 M03 S 43 0 27 6 1394 Axis Module to Kinetix 6000 AM Conversions 1394 Drives Kinetix 6000 Drives 1394 Axis Made Module Continuous Output Continuous Output Kinetix 6000 AM Continuous Output Continuous Output Cat No Current Power Cat No Curre
67. 8 axis 1 TB1 22 axis 2 TB2 22 axis 3 Registration common REG_COMx TB1 7 axis 0 TB2 7 axis 1 TB1 13 axis 2 TB2 13 axis 3 Thermal switch input THERM FLTx TB2 24 25 Drive OK relay DRIVE OK 1 0 Connector Description Signal Name Hardware enable input on oi each IAM AM module IOD 5 Home switch input HOME 100 8 OT Positive negative overtravel limit switch I0D 11 OT 100 3 6 9 12 Common for inputs 24V_COM 100 1 4 7 10 24V digital input power 24V_PWR 100 13 16 24V registration power REG_24V 100 14 High speed registration 1 REGI input 100 17 High speed registration 2 REG2 input 100 15 Common for registration REG COM MF 11 Motor thermal switch TS normally closed CONT EN CED 1 2 Contactor enable relay CONT EN I The Kinetix 6000 drive does not support 5V dc registration inputs REG1 100 14 and REG2 100 17 are 24V dc registration inputs Publication 1394 TD004A EN P January 2008 34 1394 Drive Conversions Converting 1394 GMC Resolver Feedback to Kinetix 6000 Drive GMC System 1326AB B xxxx 21 or Signal Module Connector 1326AS Bxxxx 21 Motors Jx4 Sine differential input 52 Jx 9 Sine differential input 4 Jx 3 Cosine differential input S1 Jx 8 Cosine differential input S3 Jx 1 Resolver excitation R1 Jx 6 Resolver excitation R2 TB1 7 axis 0 TS Motor thermal switch i TB2 13 axis 3
68. A 24A 44A 71A Max inrush 0 pk 10A 20A 34A 56A DC input voltage common bus follower 458 747V dc DC input current common bus follower 10A 24A 43A 71A Control power ac input voltage 95 264V rms single phase 230V nom Control power ac input current Nom 220 230V ac rms 3A Nom 110 115V ac rms 6A Max inrush 0 pk 25 A Nominal bus output voltage 650V dc Line loss ride through 20 ms Continuous output current o bus Age 10A 24A 43 A 71A Intermittent output current o bus Ayd 2 20 A 48 A 86 A 142 A Bus overvoltage 825V dc Bus undervoltage 275V dc Internal shunt Continuous power 50 W 200 W Peak power 5600 W 22 300 W Internal shunt resistor 115 Q 28 75 Q Shunt on 805V dc Shunt off 755V dc Continuous power output to bus 6 kW 15 kW 27 6 kW 45 kW Peak power output 12 kW 30 kW 55 2 kW 90 kW Efficiency 95 Converter inductance 250 uH 125 uH 75 uH Converter capacitance 110 uF 220 uF 940 uF 1410 uF All 2094 xCxx integrated axis modules are li 2 Intermittent output current duration equals 250 ms Publication 1394 TD004A EN P January 2008 mited to 2 contactor cycles per minute with up to 4 axis modules or 1 con actor cycle per minute with 5 to 8 axis modules 1394 Drive Conversions 41 Control Power Current Requirements Modules on d eae Input VA Modules on ae eae a Input VA Power Rail A A VA Power Rail A A VA IAM only 0 75 0 35 150
69. B MP Series Photoelectric ControlLogix PanelView Plus Kinetix 6000 IAM or MP Series Photoelectric ControlLogi PanelView Plus Kinetix 6000 IAM or Motor Sensors Chassis Terminal Kinetix 7000 Drive Motor Sensors Chassis Terminal Kinetix 7000 Drive Publication 1394 TD004A EN P January 2008 For more information on selecting a LIM module for your 1394 drive conversion refer to the Kinetix Motion Control Selection Guide publication GMC SG001 1394 Drive Conversions 45 AC Line Filters An ac line filter is required for meeting CE requirements 1394 AC Line Filters 1394 System Module AC Line Filter Cat No Cat No 1394x SJT05 2090 UXLF HV323 1394x SJT10 2090 XXLF X330B 1394x SJT22 2090 XXLF 375 Line filters used with your 1394 drive may perform adequately with your Kinetix 6000 conversion drive to suppress electrical noise however Kinetix 6000 drives were tested for CE compliance using the Bulletin 2090 filters as listed in this table Kinetix 6000 AC Line Filters Kinetix 6000 IAM AC Line Filter Cat No Cat No 2094 BC01 MP5 S 2094 BC01 M01 S 2090 XXLF X330B 2094 BC02 M02 S 2094 BC04 M03 S 2090 XXLF 375B 2094 BC07 M05 S 2090 XXLF 3100 For more information on selecting an ac line filter for your 1394 drive conversion refer to the Kinetix Motion Control Selection Guide publication GMC SG001 Publication 1394 TD004A EN P January 2008 46 1394 Drive Conversions Exter
70. B B720F 5000 10 1 c 39 5 31 7 280 70 7 56 7 501 2094 BM05 30 0 36 1 319 40 0 54 2 479 2094 BM03 1326AB B730E 3400 9 3 c 32 3 38 9 344 70 7 85 3 754 2094 BM05 Publication 1394 TD004A EN P January 2008 58 1394 Drive Conversions System System m Motor Max Speed Continous System Peak System Peak Motor Rated Kinetix 6000 Stall Current Stall Torque Output 460V Drives Cat No rpm Stall Current Stall Torque A0 vk Nm Ib in kW Cat N A0 pk Nm Ib in p aean ud 14 6 26 1 231 21 8 39 0 345 5 2 2094 BM02 1326AB B740C 2200 40 0 80 6 713 2094 BM03 29 7 53 2 470 6 5 70 7 127 1123 2094 BM05 30 0 33 5 296 45 0 50 4 446 2094 BM03 1326AB B740E 3400 11 3 45 3 50 8 449 70 7 79 3 701 2094 BM05 Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C 104 F and drive at 50 C 122 F ambient and rated line voltage For additional information on ambient and line conditions refer to the Motion Analyzer CD publication PST SG003 Kinetix 6000 Drives 1326AS 460V Motors Performance Specifications Maximum System System System Peak System Peak Motor Rated Kinetix 6000 Motor Continuous Continuous Speed Stall Current Stall Torque Output 460V Drives Cat No Stall Current Torque Amps fms Nm Ib in k
71. Conversions 19 Kinetix 6000 Multi axis System Dimensions 4 Dimensions are in mm and in 436 17 2 Ju A Typical Kinetix 6000 281 460V Four axis System 11 0 six axis power rail a 318 B 256 Hos 10 1 TELL LAG 000 060 099 o o _ Y Power rail not visible behind drive modules Y Y 196 141 70 70 7 7 l 5 5 2 8 2 8 477 18 8 IAM double wide Module AM double wide Module single wide Modules catalog number 2094 BC07 M05 S catalog number 2094 BM03 S catalog number 2094 BM01 S i A Kinetix 6000 System Dimensions B 89 460V IAM and AM Modules 0 35 Dimension A Dimension B mm in mm in g B 212 10 7 249 9 8 241 r 9 5 Low profile Connector Kits Cat No mnn Designator 2090 K6CK D15M Motor feedback 2090 K6CK D15MF Motor feedback with filter 2090 K6CK D xxxx Low profile Connector Kit 2090 K6CK D15F AF Auxiliary feedback Y 2090 K6CK D26M 100 1 0 Power Rail Publication 1394 TD004A EN P January 2008 20 1394 Drive Conversions Kinetix 6000 Drive Modules This section contains selection information and mountin
72. Current Stall Torque A 0 nk Nm Ib in kW Cat No A 0 pk Nm Ib in p db 5 9 4 6 41 2094 BMP5 326AB B410G 5000 34 2 7 24 1 0 IL M 10 3 8 1 72 2094 BM01 13 0 7 2 64 2094 BM01 1326AB B410J 7250 49 2 7 24 14 I M 14 6 8 1 72 2094 BM02 5 9 7 8 70 2094 BMP5 1326AB B420E 3000 4 0 5 0 44 1 1 11 3 4 9 132 2094 BM0 13 0 8 6 76 2094 BM0 326AB B420H 6000 77 5 1 45 2 1 c 21 1 14 0 124 2094 BM02 13 0 5 6 138 2094 BM0 1326AB B430E 3000 5 5 6 6 58 1 5 N 16 4 19 7 174 2094 BM02 13 0 10 5 93 2094 BM0 1326AB B430G 5000 7 9 6 4 57 23 21 1 7 2 152 2094 BM02 13 0 15 6 138 2094 BM0 1326AB B515E 3000 8 7 10 4 92 21 8 26 1 231 2 0 2094 BM02 26 0 31 1 275 2094 BM03 8 7 6 6 58 13 0 9 9 88 2 5 2094 BM01 1326AB B515G 5000 21 8 16 6 147 34 2094 BM02 13 6 10 4 92 41 0 31 4 278 4 0 2094 BM03 8 7 12 0 106 13 0 17 8 157 1 3 2094 BM01 1326AB B520E 3000 21 8 29 9 264 1 7 2094 02 9 5 13 115 28 4 39 0 345 23 2094 BM03 8 7 9 1 81 13 0 13 7 121 22 2094 BM01 1326AB B520F 3500 21 8 23 0 203 27 2094 BM02 124 13 1 116 37 3 39 3 347 3 1 2094 BM03 8 7 11 7 103 13 0 17 5 155 22 2094 BM01 1326AB B530E 3000 21 8 29 3 259 2094 BM02 13 4 18 0 160 34 40 0 54 0 477 2094 BM03 14 6 18 0 159 21 8 27 0 239 2 0 2094 BM02 1326AB B720E 3500 45 0 55 6 492 4 7 2094 BM03 24 8 30 7 271 70 7 87 7 775 6 0 2094 BM05 30 0 23 9 211 45 0 36 0 318 2094 BM03 1326A
73. D26M 100 0 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 33 1394 TB1 TB2 1 0 Connector 1 1 2 1 Converting 1394 1 0 and Feedback Wiring These tables list the I O and feedback wiring differences between 1394 GMC system modules catalog numbers 1394x SJTxx C 1394C SJTxx L 1394x SJTxx T and Kinetix 6000 IAM AM modules TIP Converting 1394 GMC Input Wiring to Kinetix 6000 Drive Description System enable input on 1394 system module Signal Name SYS ENABLE TB1 4 axis 0 TB2 4 axis 1 TB1 10 axis 2 TB2 10 axis 3 Home switch HOMEx Kinetix 6000 Use 2090 K6CK D26M low profile connector kits for wiring 1 0 and feedback connections to the IOD connector TB1 5 axis 0 TB2 5 axis 1 TB1 11 axis 2 TB2 11 axis 3 TB1 6 axis 0 TB2 6 axis 1 TB1 12 axis 2 TB2 12 axis 3 Positive negative overtravel limit switch POS OTRAVx NEG OTRAVx 1 2 8 14 2 2 8 14 Input common 24V INPUT COMMON Customer supplied 24 V digital input power 10_24V Customer supplied 24 V registration power REG 24V TB1 17 18 axis 0 TB2 17 18 axis 1 TB1 21 22 axis 2 TB2 21 22 axis 3 24V dc registration input REG1x TB1 16 axis 0 TB2 16 axis 1 TB1 20 axis 2 TB2 20 axis 3 5V dc registration input 1 REG2x TB1 18 axis 0 TB2 1
74. IAM 4 AM 3 75 1 70 450 IAM 1 AM 1 50 0 70 200 IAM 5 AM 4 50 2 0 550 IAM 2 AM 2 25 10 275 IAM 6 5 25 2 40 650 IAM 3 AM 3 0 1 35 350 IAM 7 AM 6 0 3 0 750 These specifications apply to the axis module specified in the column heading by catalog number and the same axis module inverter section that resides within an integrated axis module AM inverter 460V Module Power Specifications Value Attribute 2094 BMP5 S 2094 BM01 S 2094 BM02 S 2094 BM03 S 2094 BM05 S 2094 BC01 MP5 S 2094 BC01 M01 S 2094 BC02 M02 S 2094 BC04 M03 S 2094 BC07 M05 S Bandwidth Velocity loop 500 Hz Current loop 1300 Hz PWM frequency 8 kHz 4 kHz Input voltage nom 650V dc Continuous current rms 28A 6 1A 10 3A 212A 34 8A e MSN 40A 8 6 A 14 6 A 30 0 A A Peak current rms 2 42A 92A 155A 318A 51 9 A Peak current 0 pk 59A 12 9A 218A 45 0 A 73 4 A Continuous power out nom 1 8 kW 3 9 kW 6 6 kW 13 5 kW 22 0 kW Internal shunt Continuous power 50 W 200 W Peak power 5600 W 22 300 W Internal shunt resistor 159 28 75 Q Shunt on 805V dc Shunt off 755V dc Efficiency 9796 Capacitance 75 uF 150 uF 270 uF 840 uF 1175 uF Capacitive energy absorption 10 J 19 J 35 J 108 J 152 J 1 2 Peak current duration equals 2 5 s Bandwidth values vary based on tuning parameters and mechanical components Publication 1394 TD004A EN P January 2008
75. Kinetix 6000 multi axis drive system Included are checklists describing the differences between the drive families and specific mounting and wiring information for determining the impact on panel space and cable lengths Also included are drive specifications drive motor system performance specifications and GML to RSLogix 5000 programming software conversion examples This publication does not include the conversion of 9 Series CNC system modules catalog numbers 1394 SJTxx E While executing the migration a risk assessment should be ATTENTION RM conducted to make sure that all task hazard combinations have been identified and addressed The risk assessment may require additional circuitry to reduce the risk to an acceptable level Additional Resources on page 151 contains publication numbers for the Kinetix Motion Control Selection Guide Motion Analyzer CD and drive manuals you will need to complete your 1394 drive conversion For each 1394 control feature you can find a suitable solution with Kinetix 6000 multi axis servo drives ControlLogix or CompactLogix controller platforms and RSLogix 5000 programming software Checklist for All 1394 System Conversions This table provides a checklist of common considerations when migrating from any 1394 system module to Kinetix 6000 drives Page Kinetix 6000 Conversion Page DC Common Bus Capability The 1394 DC Link Module DCLM provides additional load leveling and
76. L function block has some additional features when compared to the Logix motion instruction With the GML function block you can choose to clear all faults on an axis at once or reset each fault individually depending on the configuration of the block You also have the option of resetting the 1394 drive through the fault reset block The MAFR MASR instructions only provide the ability to reset any and all active faults on the axis at the same time However with RSLogix 5000 software you can access the Axis Servo Drive tag and evaluate a fault condition and monitor it through an HMI terminal for example to indicate that a MAFR or MASR should be issued GML Reset Fault Block and RSLogix 5000 MAFR Instruction AFR Motion Axis Fault Reset Axis 0 Motion Control Reset Faults Axis The MAFR instruction can clear an axis specific fault for example Position Error fault E19 The MASR instruction can clear when corrected an axis shutdown condition for example Drive Overvoltage fault E10 RSLogix 5000 MASR Instruction ASR Motion Axis Shutdown Reset N Axis N gt Motion control R Publication 1394 TD004A EN P January 2008 90 1394 Drive Conversions Stop Motion The Stop Motion function block and MAS instruction are used to bring the axis to a controlled stop Both instructions give you the option of stopping all motion on an axis or stopping a particular type of mot
77. ME Pin 5 Positive overtravel limit switch POS OTRAVx 100 8 Positive overtravel limit switch OT Pin 6 Negative overtravel limit switch EG_OTRAVx 100 11 Negative overtravel limit switch OT Pin 7 1 0 Common 0 COMx 100 3 6 9 12 Common 24V COM Customer supplied 24V digital input power 0 24Vx I0D 1 4 7 10 24V digital input power 24V_PWR Customer supplied 24V registration power REG_24Vx 100 13 16 24V registration power REG_24V Pin 4 High speed registration 1 input REGx 1 100 14 High speed registration 1 input REG1 Pin 8 High speed registration 2 input REGx 2 100 17 High speed registration 2 input REG2 Pin 3 Registration common REGx COMx 100 15 18 Common for registration REG COM Converting 1394 SERCOS Relay Outputs to Kinetix 6000 Drive TS MIN m Kinetix 6000 Output Description Signal Name Description Signal Name 1 0 Connector Connector 1 CED 1 CONT EN Drive OK relay DRIVE OK Contactor enable relay 2 CED 2 CONT EN 3 Motor brake connections on axis BC 5 Motor brake connections on AM OUTPUT 3 4 module axis 3 BC 6 module axis 4 MBRK 5 Motor brake connections on axis BC 5 Motor brake connections on MBRK OUTPUT 2 6 module axis 2 BC 6 module axis 3 MBR 7 Motor brake connections on axis BC 5 Motor brake connections on MBRK d OUTPUT 1 4 8 module axis 1 BC 6 module axis 2 MBRK 3 Motor brake connections on axis BC 5 Motor brake connections on MBRK OUTPUT 0 10 mod
78. N P January 2008 Start Virtual Jog Use simple code interaction and locking to achieve this in RSLogix 5000 software In the previous jog example using parallel MAG commands along with making sure the MAG instructions are in IP is basically emulating the GML function in RSLogix 5000 software Since your axes are not moving when you initiate the gear instructions they act essentially the same as having them synchronize with the next gear function RSLogix 5000 Code Example Using MAG Instruction Two Separate Axes Follow a Master Virtual Axis AxisX N21 ServoActionStatus AG Motion Axis Gear Slave amp xis AxisX N21 Master Axis Virtual Servo 4 Motion Control MAG to Virtual 0 Direction 0 AxisY N22 ServoActionStatus Ratio 1 More AG Motion Axis Gear Slave Axis AxisY N22 Master Axis Virtual Servo 4 Motion Control MAG to Virtual 1 Direction 0 Ratio 1 More OA Motion Axis Jog Axis Virtual Servo 4 DN gt Motion Control Virtual_jog ER gt Direction 0 IP Speed 10 Speed Units Units per sec More Reset Foul x Rese Fault pl axis Fault aiso Faut Ercoder Noise x OK Cancel ppl 1394 Drive Conversions 89 Reset Fault The Reset Fault block and the MAFR instruction are used to reset faults on an axis The main functional difference between the two is that the GM
79. Publication 1394 TD004A EN P January 2008 56 1394 Drive Conversions System System Motor Max Speed Continuous System Peak System Peak Motor Rated Kinetix 6000 Stall Current Stall Torque Output 460V Drives Cat No rpm Stall Current Stall Torque A 0 nk Nm Ib in kW Cat No A 0 Nm Ib in p iR 8 6 9 75 86 13 0 13 5 119 2094 BM01 MPL B4540F 3000 21 8 21 4 189 2 6 2094 BM02 9 1 10 20 90 29 0 27 1 240 2094 BM03 8 6 10 1 89 13 0 14 7 130 2094 BM01 MPL B4560F 3000 21 8 23 3 206 3 1 2094 BM02 11 8 14 0 124 36 0 34 4 304 2094 BM03 8 6 8 09 71 13 0 10 9 96 2 3 2094 BM01 MPL B520K 4000 21 8 17 0 150 2094 BM02 11 5 10 7 95 3 1 33 0 23 2 205 2094 BM03 8 6 15 8 140 13 0 23 6 208 2094 BM01 MPL B540D 2000 21 8 38 8 343 3 4 2094 BM02 10 5 19 4 172 23 0 41 0 362 2094 BM03 45 0 38 1 337 2094 BM03 MPL B540K 4000 20 4 19 4 171 5 0 60 0 48 6 430 2094 BM05 45 0 49 3 436 2094 BM03 MPL B560F 3000 20 9 26 7 236 55 68 0 67 7 599 2094 BM05 45 0 51 0 451 2094 BM03 MPL B580F 3000 26 1 34 0 300 7 2 73 4 74 3 657 2094 BM05 30 0 31 8 281 45 0 43 7 386 2094 BM03 MPL B580J 3800 8 4 32 0 33 9 299 73 4 66 6 589 2094 BM05 30 0 34 2 302 45 0 50 8 449 2094 BM03 MPL B640F 3000 5 6 32 0 36 7 324 65 0 72 7 643 2094 BM05 MPL B660F 3000 38 5 47 9 423 73 4
80. SJT05 systems Series Aand B FRS R 20 or equivalen 600V ac 20 A KTK R 20 or equivalent 600V ac 20 A 1394C SJT05 systems Series C and D LPJ SP 20 or equivalent 600V ac 20 A 1394 SJT10 systems Series Aand B FRS R 30 or equivalen 600V ac 30 A KTK R 30 or equivalent 600V ac 30 A 1394C SJT10 systems Series C and D LPJ SP 30 or equivalent 600V ac 30 A FRS R 35 or equivalen 600V ac 35 A 1394x SJT22 systems LPS RK SP 40 or equivalent 600V ac 40 A LPJ SP 45 or equivalent 600V ac 45 A Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 39 1394 Contactor M1 Specifications 1394 System Module Series Allen Bradley as Rating Cat No Contactor Description 1394 5 05 and 1394 SJT10 Series A and B 600V ac 43 A 1394C SJTO5 and 1394C SJT10 Series C and D 600V ac 23 1394 5722 ean cal 600V ac 37 A IMPORTANT Use the power dissipation figures shown below to calculate cumulative system heat dissipation to ensure that the ambient temperature inside the enclosure does not exceed 50 C 122 F To calculate total power dissipation add the dissipation of the system module to the dissipation of the axis modules 1394 System Power Dissipation Specifications Usage as of Rated Power Output 1394 Drive Module Cat No 20 40 60 80 100
81. Speed 1000 mm s Return Speed 140 mm s RSLogix 5000 software version 16 added the ability to home to a torque level or torque level marker if required and provides more flexibility in the homing functions There are multiple active homing directions for example bi directional and uni directional homing Absolute mode immediate sequence is used for retaining absolute positioning of an axis when power is removed These functions are not available in GML software Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 93 Change Dynamics The Change Dynamics function block and the MCD instruction are used to change speed accelerations and decelerations for existing move and jog functions GML Change Dynamics Block and RSLogix 5000 MCD Instruction Change Dynamics Change Dynamics di D Motion Change Dynamics Axis AXIS SD GentryY Axis AXISO Motion Contro Change Dynamics Gantry Motion Type Jog For current Jog Change Speed Yes Speed 50 Speed 0 units per sec X Change Accel No Accel Rate 100 Accel Change Decel No Decel Rate 100 Decel Speed Units Units per sec Accel Units of Maximum Decel Units of Maximum Less Comparing Change Dynamics Parameters d RSLogix 5000 Software Parameter Axis Axis For Current Motion Type Speed Change Speed Speed Units Accel Change Accel Accel Rate Accel Units Decel Change Dece
82. Task Number Taski OK Cancel Apply You can have 32 tasks operating in the Logix5000 Architecture You can use periodic or event driven tasks with up to 15 prioritization schedules There are also Program Control blocks in the RSLogix 5000 instructions such as Jump to a Subroutine JSR or Return from Subroutine RET to help with program flow Publication 1394 TD004A EN P January 2008 122 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 End Program and Restart Program The End Program and Restart Program function blocks are used in GML software to end or start a program at any point in the program Restart Program also lets you begin the program after some fault routine or determination of an anomaly in the GML program GML End Program Block End Program End Program Type End When End or Fault r r Restart Program Restart Program Type Restart C When Restart OK Cancel Help In RSLogix 5000 software the Master Control Relay MCR instruction is a mandatory hard wired relay that can be de energized by any series connected emergency stop switch When used in pairs the MCR instruction creates a program zone that can disable all rungs with MCR instructions To restart use state logic to determine where in the program the actual sequence stopped New Module The New Module function block is used to create a subroutine of motion instructi
83. Technical Data 1394 Drive Conversions Catalog Numbers 1394 SJT05 A 1394 SJT10 A 1394 SJT22 A 1394 SJT05 C 1394 SJT10 C 1394 SJT22 C 1394 SJT05 T 1394 SJT10 T 1394 SJT22 T 1394C SJT05 A 1394C SJT10 A 1394C SJT22 A 1394C SJT05 C 1394C SJT10 C 1394C SJT22 C 1394C SJT05 T 1394C SJT10 T 1394C SJT22 T 1394C SJT05 D 1394C SJT10 D 1394C SJT22 D 1394C SJT05 L 1394C SJT10 L Topic Pag About This Publication tsi Od About Converting From 1394 Drives 2 Kinetix 6000 Multi axis Servo Drive Systems 9 Logix Controller Platforms 12 1394 to Kinetix 6000 Drive Conversions 13 Catalog Number Explanations 14 Mounting Dimension Differences 18 Kinetix 6000 Drive Modules 20 Input Power Wiring Differences 25 Motor Power Wiring Differences 27 Motor Feedback and 1 0 Wiring Differences 29 Power Specifications 37 Drive Accessories 44 Motor Drive Cable Compatibility 47 1394 Drive Motor System Combinations 50 Kinetix 6000 Drive Motor System Combinations 55 Converting Your GML Software to RSLogix 5000 Software 59 GML and RSLogix 5000 Software Programming Reference 146 Additional Resources 151 Rockwell ALLEN BRADLEY ROCKWELL SOFTWARE Automation 2 1394 Drive Conversions About This Publication About Converting From 1394 Drives 1394 Drive Feature Function This publication provides a migration path for converting your 1394 multi axis drive system to a
84. Txx T GMC 1 5 axis 1394C SJTxx L N A SERCOS interface 1394C SJTxx D 394C SJTxx D N A no es o 1394C AMOS 1394C AM04 1394 1394 AM04 and 1394C AMO7 and 1394 07 Axis modules Inverter external heatsink N A and pica and Inverter internal heatsink E and N A Catalog Numbers for Kinetix 6000 Drives Kinetix 6000 IAM Module Catalog Numbers 2094 x C xx M xx x Ta Safety Feature S Safe off Inverter Current Rating peak of sine P5 4 A 460V input voltage 01 9 A 460 input voltage 02 15 A 460V input voltage 03 30 A 460V input voltage 05 49 A 460V input voltage Inverter Axis Module Converter Power Rating 01 2 6 kW 460V input voltage 02 15 kW 460V input voltage 04 28 kW 460V input voltage 07 45 kW 460V input voltage Converter Input Voltage A 230V ac 50 60 Hz B 460V ac 50 60 Hz Bulletin Number Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 17 Kinetix 6000 AM Module Catalog Numbers 2094 xM xx x LO Safety Feature S Safe off Inverter Current Rating peak of sine P5 4 A 460V input voltage 01 9 A 460V input voltage 02 15 A 460V input voltage 03 30 A 460V input voltage 05 49 A 460V input voltage Module Input Voltage AM 230V ac 50 60 Hz BM 460V ac 50 60 Hz Bulletin Number m Kinetix 6000 SM Module Catalog Numbers 2094 BSP2 Input Voltage kW Ra
85. W Cat No p Amps rms Nm Ib in p 1326AS B310H 6200 0 8 0 70 6 1 24 2 10 18 0 3 2094 BMP5 326AS B330H 6500 2 1 2 10 18 6 0 5 60 50 0 9 2094 BM01 326AS B420G 5250 2 6 3 20 28 78 9 60 84 1 2 2094 BM01 1326AS B440G 5250 5 4 6 40 56 16 2 19 0 168 2 0 2094 BM03 326AS B460F 4300 6 2 9 0 80 18 6 27 1 240 2 8 2094 BM03 326AS B630F 4500 78 10 7 95 18 5 25 4 225 24 2094 BM03 1326AS B660E 3000 11 8 21 5 190 29 8 54 2 480 3 4 2094 BM05 326AS B690E 3000 19 0 36 4 322 4 3 79 1 700 5 0 2094 BM05 326AS B840E 3000 212 37 6 333 39 5 70 0 620 47 2094 BM05 1326AS B860C 2000 17 6 49 3 436 444 124 1100 6 0 2094 BM05 Performance specification data and curves reflect nominal system performance of a typical system with motor at 40 C 104 F and drive at 50 C 122 F ambient and rated line voltage For additional information on ambient and line conditions refer to the Motion Analyzer CD publication PST SG003 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 59 Converting Your GML Software to RSLogix 5000 Software The 1394 GMC and GMC Turbo motion controllers use Graphical Motion Language GML software for motion control programming This programming conversion is based on the use of GML Commander software GML Commander software uses RS 232 serial networking to download and monitor GML Commander driven application programs to the 1394 GMC or GMC Turbo motion controller T
86. ab configures the Gains and Dynamics tabs It The Tune Servo action will optimize both Gains also populates the Output tab with load to motor mismatch position velocity and Dynamics speed accel decel You must values and other variables Tuning values developed in GML be in online mode to configure GML software automatically sets software are not an exact match to those in RSLogix 5000 the Gains and Dynamics tabs after a successful tune software However you can use the GML settings as a starting point for the next system The Gains tab is populated from the Tune Servo action Position ae oe ee The Logix Gains tab similarly provides access to the system Gains AUS is Velocity Feedforward gains are also gains Acceleration Feedforward is also included in Logix The Dynamics tab parameters are set by the Tune action and The Dynamics tab is populated from the Tune Servo action similarly provides access to the maximum speed acceleration Dynamics Maximum speed acceleration deceleration and Error Tolerance and deceleration parameters Maximum jerk is added in the parameters are set version 16 release The Tune action also sets the Position Error Tolerance parameter listed on the Limits tab Publication 1394 TD004A EN P January 2008 80 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 Enable Disable Axis The Feedback block is used in GML software to enable and disable the axis In
87. age to current conversion for directly driving hydraulic servo valves from 10V output motion controllers The Kinetix 6000 drive modules do not support Temposonic feedback If the existing system uses a 1394 analog system module and hydraulic valve control your conversion should include the ControlLogix analog servo module catalog number 1756 HYD02 for hydraulic valve control and Temposonics feedback You can terminate a feedback only axis or Temposonic feedback on the analog module Due to compatibility issues do not terminate the TEC converted IMPORTANT encoder signal at the auxiliary feedback AF connector on the Kinetix 6000 drive module Refer to the TEC 242 Transducer to Encoder Converter Installation and Setup Manual publication 999 059 for more information ALEC Module The ALEC module is a single axis AxisLink Encoder Converter which interfaces a single incremental encoder to the 1394 GMC system module via AxisLink communication It provides a master encoder input for 1394 GMC systems without the need to sacrifice a full servo axis for use as a master encoder input The ALEC module is not compatible with Kinetix 6000 drives or the Logix platforms However Kinetix 6000 drives are governed by SERCOS interface communication and you can utilize up to 32 axes per Logix controller For example if a 5V differential line drive type encoder is connected to an ALEC module and terminated on the 1394 GMC system module you can
88. al connection of the input to the ControlLogix system RSLogix 5000 Code Example Checks Position Input Qu Move_Feed_Axis_to Position Equal l Move Source Cut to Length Sequence Step Source 0 Source B 25 Dest Cut to Length Sequence Step Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 133 The next two function blocks in the GML diagram redefine the actual position of AxisO and 1 to be equal to zero GML Redefine Position Block x Redefine Position ki Avis axiso Mode Absolute v Position Actual New Position o v v E a Em 7 Synchronize with next block Redefine Position Redefine Position axis 0 axis 1 The ladder logic redefines the position of AxisO and Axis1 to be zero in the next two rungs using an MRP instruction In this example the DN bit of the motion instruction is used to increment the sequence variable once the MRP instructions have completed OK Apply Help RSLogix 5000 Code Example MRP Instruction for Axis 0 and Axis 1 Qu Equal Motion Redefine Position EN Source Cut to Length Sequence Step Axis 0 Ej 0 Motion Control Axis 0 Redefine Position DN5 Source B 30 Type Absolute Position Select Actual ER gt Position 0 Axis 0 Redefine Position DN Move Source Dest Cut to Length Sequence Step 0 Qu RP Equal Motion Redefine Position EN Source Cut to Length Sequence Step Axis Ax
89. am Use state logic programming style to troubleshoot RSLogix 5000 programming code Both programs use motion direct Publication 1394 TD004A EN P January 2008 60 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 commands for simple motion instruction execution outside of the main program GML code is sequential functions executed task based on the requirement in the application Therefore GML code is best emulated in RSLogix 5000 software by using Sequential Function Chart SFC programming However because ladder diagrams are the industry standard in PLC programming and similar functions this manual focuses on converting your GML Commander program to an RSLogix 5000 program using ladder diagrams Also ladder diagrams are scan based programs and are not executed or handled exactly like a GML Commander program in the 1394 motion controller Many of those sequence versus scan differences are explained in Comparing GML and RSLogix 5000 Programming Software beginning on page 75 GML Software Overview The standard GMC catalog numbers 1394x SJTxx C and 1394C SJTxx L and GMC Turbo catalog number 1394x SJTxx T motion control systems use GML software GML is a sequential flow chart oriented approach to motion control programming GML Commander software is the emulation of many years of improvement in the GML software family and is used in this transition process When using GML software you create a diagram
90. ansfer data between the 1394x SJTxx T module and the SLC controller Both systems are completely programmed and commissioned using GML Graphical Motion Control Language software offer Allen Bradley DH 485 RS 232 and RS 422 as standard communication and have Remote I O RIO and AxisLink available as communication options GMC Turbo Example Systems SLC 500 Controller ALEC 845 PanelView HMI ES RIO AxisL
91. atio parameter Values entered into the Slave Counts and Master Counts parameters are ignored If the Ratio parameter is set to Fractional Slave Master Counts then the gear ratio units are in feedback counts of the slave and master axis Publication 1394 TD004A EN P January 2008 138 1394 Drive Conversions In this case the actual number of feedback counts of slave motion for a defined number of master encoder counts is entered in on the Slave Counts and Master Counts parameters and any value in the Ratio parameter is ignored Once gearing is enabled a 60 is placed into the sequence step variable to index to the next step TIP For smoother slave axis ramp to master axis speed use the clutch function in the MAG instruction RSLogix 5000 Code Example MAG Instruction Used to Gear Axis_1 to Axis_0 EQU MAG I Equal Motion Axis Gear HLEN Source Cut to Length Sequence Slave Axis Axist o Master Axis Axis0 HFXDN5 Source B 55 Motion Control Gear Axis1 to AxisO Direction 0 PFXER2 Ratio 2 mP Slave Counts 0 Master Counts 0 Master Reference Actual Ratio Format Real Clutch Disabled Accel Rate 100 Accel Unis Units per sec2 lt lt Less Gear Axist to AxisOJP MOV Move E Source 50 Dest Cut to Length Sequence o Once the gear is active the next function block in the GML diagram arms a watch position on 0 The watch block waits for AxisO to reach
92. ay Friday 8 a m 5 p m EST Outside United States Please contact your local Rockwell Automation representative for any technical support issues United States New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Allen Bradley CompactLogix ControlLogix DriveLogix Flex I O FlexLogix GML IMC IMC S Class Kinetix MP Series PanelView PLC 5 SLC Rockwell Automation RSLogix 500 RSLogix 5000 SCANport SoftLogix SynchLink TL Series and TechConnect are trademarks of Rockwell Automation Inc United States Trademarks not belonging to Rockwell Automation are property of their respective companies www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600
93. ce specification data and curves reflect nominal system performance of a typical system with motor at 40 C 104 F and drive at 50 C 122 F ambient and rated line voltage For additi ional information on ambient and line condi ions refer to the Mot ion Analyzer CD publication PST SG003 1394 Drives 1326AS 460V Motors Performance Specifications Maximum System System System Peak System Peak Motor Rated 1394 Axis Motor Continuous Continuous Speed Stall Current Stall Torque Output Module Cat No Stall Current Torque Amps rms Nm Ib in kW Cat No p Amps rms Nm Ib in p VP A 1326AS B310H 6200 0 8 0 7 6 1 24 2 1 18 0 3 1394x AM03 394x AM03 1326AS B330H 6500 2 1 2 1 18 6 0 5 6 50 0 9 394x AM04 6 0 7 3 65 394x AM03 1326AS B420G 5250 2 6 3 2 28 1 2 394x AM04 7 8 9 6 84 Jo 394x AMO7 45 5 3 47 9 0 10 5 93 394x AM04 1326AS B440G 5250 15 0 17 6 156 2 0 394x AMO7 5 4 6 4 56 I M 16 2 19 0 168 394x AMBO 45 6 6 58 9 0 13 1 116 394x AM04 1326AS B460F 4300 15 0 21 9 194 2 8 394x AMO7 6 2 9 0 80 I M 18 6 27 1 240 394x AM50 7 5 10 3 91 5 0 20 6 182 394x AMO7 1326AS B630F 4500 24 c 7 8 10 7 95 18 5 25 4 225 1394x AM50 7 5 13 7 121 5 0 27 3 242 394x AM07 1326AS B660E 3000 3 4 11 8 21 5 190
94. ciation of Boston MA An article on wire sizes and types for grounding electrical equipment Allen Bradley Industrial Automation Glossary publication AG 7 1 A glossary of industrial automation terms and abbreviations You can view or download publications at http literature rockwellautomation com To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative Publication 1394 TD004A EN P January 2008 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your product up and running 1 440 646 3434 Mond
95. ct to a time base and then execute the specific Time Lock Cam in Time Lock CAM the required program area Eum The Position Lock Cam function block x 107 sets up a non linear motion profile for a slave axis with respect to a physical Position Lock CAM encoder only virtual or imaginary axis Use the Interpolate Axes function block to move a group of two or more servo axes e toa specified absolute position or by a specified incremental distance 111 e along a specified linear circular or helical path Interpolate Axes e ata specified speed e ata specified rate of acceleration and deceleration e using a selected motion profile This function block arms an axis to watch 115 for either a specific position to be Watch Control reached or a registration event to occur i RSLogix 5000 Motion Instruction AOI or Program Control folder Description The Add On Instruction AOI is used to create your own subroutine fo instructions For example it is possible to create an AOI routine for fault reset enabling and homing an axis This eliminates having to create the ladder code but it can make troubleshooting the program a bit more difficult The Program Control block can also be used to jump to another routine MCCP The MCCP instruction calculates the CAM profile based on master versus slave profile MATC The MATC instruction executes master time versus slave pos
96. d RSLogix 5000 software is a scan based language the performance or GML software is a sequential based programming execution is not immediate instead it is based on the Motion Group language Therefore when two axis are synchronized this 59 Coarse Update Rate CUR A general rule of thumb is to expect execution way they are moved or executed at the same time no longer than 2x the CUR In most instances of machine performance this will not be noticeable The RIO and DH 485 features are replaced by a Logix module and RSLogix Remote 1 0 RIO adapter or DH 485 serial port 5000 software which uses one program to manage 1 0 process data and e Used to handshake PLC 5 1 0 with data bit or block data c command motion instructions transfer to and from the 1394 GMC system module The existing PLC 5 and HMI terminal screens can be reused but the e Used to interface to an HMI terminal interface to Logix needs to be retrofitted to accommodate the new controller platform The 1394 GMC Turbo motion controller system uses the SLC Hele intertace is feplaced by a Logix module ana RSLogix 3000 63 software which uses one program to manage 1 0 processing and motion or backplane interface to transfer 1 0 data bits words Instructions DH 485 serial port 62 Eae The Kinetix 6000 does not have serial port configuration of the drives RS 232 RS 422 serial ports used for multi drop 72 and motion programming is done in the RSLogix
97. d in GML End Program software to end or start a program at any 122 point in the program Restart Program also lets you begin the program after some fault routine or determination of an anomaly in the GML program Restart Program The New Module function block is used hs to create a subroutine of motion i 122 instructions that are used for program maintenance or for external use in the New Module 1 Call Module function at some point in the program The Output CAM function block is used to enable or disable the output cam function Up to 48 output cam profiles 123 can be configured for 1 0 RIO discrete SLC or general purpose Dutput CAM outputs These output cam profiles turn on or off at specific axis positions 6 The Analog Offset function block lets the gt motion controller use an analog input to q 124 generate a scaled position offset and add that offset to the command position Analog Offset of the selected servo axis The Disable Gearing function block is 141 used to immediately stop the electronic Publication 1394 TD004A EN P January 2008 RSLogix 5000 Motion Instruction Periodic or Event based tasks Description You can create a Periodic or Event based task from the RSLogix 5000 software organizer MCR The Master Control Relay MCR instruction is a mandatory hard wired relay that can be de energized by any series connected emergency stop switch Whenever the MCR is de ener
98. directly to the Auxiliary Feedback AF connector Publication 1394 TD004A EN P January 2008 on the Kinetix 6000 IAM AM modules 1394 Drive Conversions 7 Analog Servo System The 1394 Analog servo system catalog numbers 1394x SJTxx A provides a traditional 10V dc analog interface The 1394 Analog system supports up to four axes and can be used as a velocity or torque control system It is commissioned with the Bulletin 1201 HIM module which provides access to auto tuning and start up prompting The 1394 Analog system also provides a SCANport interface as a standard feature Analog Servo System SLC 500 Controller o 5 Te oj s 6 Qu C Or OF PanelView HMI MEE eet te 1394x SJTxx A EH Bulletin 1203 HIM Module c System Module DH 488 om pneri IMC S Class Compact eleka 1 Saas a GML Software a Bulletin 1326AB 1326AS or RS 232 RS 422 motion controller UTR jn etin MPL Resolver Motors SCANport 1 E
99. dle RIO and Bg Clear Alink Fault B Handle AxisLink 85 Handle Virtual Axis F auts 6 RIO 8G heartbeat RE Home WE Manual mode 8G Jog Slide 8G Jog Spin B Tune Complete WE Home 1 Tuning Bg Tune Slide Axis WS Tune Spin Axisl Jog Slide X Jog Slide Rev Publication 1394 TD004A EN P January 2008 66 1394 Drive Conversions Because the accumulator jogging speed and direction could be changed using an HMI terminal or the PLC it is written as a variable In this example the manual forward or reverse jog of the accumulator is written with a few motion instructions in GML software GML Commander Move Block Variable using RSLogix 500 variable for speed E Horde FIO end Oen ALIE Fat ME Hone loi n Jog Avis 20150 Direction Negative z Speed seed c of mar 500 unis per sec2 Ded 500 frets persece Overide Profe tom Cam or Synchronize with newt Jog The JogAxis of the accumulator properties are the fill in the blank folders within the GML motion instruction Speed jog_speed_c is a variable Use of the SLC module to 1394 GMC Turbo also allowed I O floating point numbers to be sent along the I O bits The number of floats varied based on the number of I O bits sent RSLogix 500 Copy File
100. e Axis Servo Axis 0 AXIS SD AccumulatorSlide Source B 25 Motion Control Servo MotionCTRL MASIO AxisAccSlide MotionCTRL MAS 0 Stop Type All Change Decel No Decel Rate 50 Decel Units of Maximum Change Decel Jerk Yes Decel Jerk 100 0 Jerk Units of Time lt lt Less ServoCMD Stop AccSlideAxis Stop lt lt lt lt MOV Move Source 30 Dest manual slide sequence 0 In summary the handshaking from the sequence programming RSLogix 500 and the GML is eliminated AII of the inputs and outputs and motion instructions are in one RSLogix 5000 software Publication 1394 TD004A EN P January 2008 72 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 AxisLink AxisLink with an ALEC module uses an external encoder or one of the 1394 GMC system encoder emulations to link multiple motion controllers to provide real time axis coordination between axes in a distributed 1394 GMC multi axis system Each Logix processor can support up to 32 axes in a motion group e You can coordinate axes within the same motion group You can have more than one processor in certain Logix configurations providing additional axes based on performance needs AxisLink Pallete Interface Instructions RS 422 and RS 232 Serial Communication RS 422 is a multi drop serial communication network that can be used fro
101. e REC device is a Resolver to Encoder Converter catalog numbers REC 4096 and REC Catalog number REC superseded REC 4096 The REC module converts a single or dual Master Vernier resolver input signal to an AQuadB quadrature encoder output signal The AQuadB quadrature output signal can be directly connected to the 1394 GMC system module The REC module also has two resolver input channels Publication 1394 TD004A EN P January 2008 126 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 The Kinetix 6000 drive supports transmitter style resolver feedback but only with specific performance parameters as found on Bulletin 1326AB Bxxxx 21 1326AS Bxxxx 21 and MPL BxxxxR resolver motors Use of 2090 K6CK D15MF low profile connector kit is required to make drive connections from 1326AB AS motors For a smoother migration to Kinetix 6000 drives move to an absolute feedback device embedded in standard Rockwell Automation products such as the MP Series low inertia motors catalog number MPL B330P M for example with absolute feedback capability IMPORTANT Due to compatibility issues do not terminate the REC converted encoder signal at the auxiliary feedback AF connector on the Kinetix 6000 drive module Refer to the REC Resolver to Encoder Converter Installation and Setup Manual publication 999 126 for more information AEC Converters The AEC device is an Absolute Encoder to Encoder Converter cata
102. e axis Axis1 follows the actual position of 0 and runs in the same direction as 0 With the Set Ratio parameter set to Real the gear ratio is configured for two position units of motion on the slave axis for every one position unit move on the master TIP Depending on the application it may be beneficial to use the Ramp to Master Speed function to let the slave axis smoothly move to the master axis speed GML Gear Axes Block ear anes xj Gear Axes E T Slave 51 z Master Axis xs e Slave to Actual v Direction Same 7 TU IV SetRatio Real Gear Axes Slave Master Ratio 2 Ramp to Master Speed IF its per sec2 Synchronize with next Gear Axes In RSLogix 5000 software the ladder logic to enable gearing uses the MAG instruction The instruction is configured the same as before with AxisO as the master and Axis1 as the slave The direction of the slave axis is determined by the value of the Direction parameter A value of 1 indicates that the slave axis runs in the opposite direction as the master A value of 0 indicates that the slave runs in the same direction as the master The gear ratio units are determined by the Ratio Format parameter If Ratio Format is set to Real then the gear ratio is in position units of the master and slave axes The desired number of position units of motion on the slave for every one position unit of motion on the master is entered in the R
103. e first rung of the state logic machine This rung waits for the input from the Cycle Start PB then moves a 5 into the sequence variable to move to the next step in the Cycle Start PB sequence RSLogix 5000 Code Example Using BIT Control This rung is the first rung of the state logic machine This rungs waits for the input from the Cycle Start PB and tren moves a 5 into the sequence variable to move tothe next sterp inthe sequence Cycle Start PB JE QU Ov Equal Source A Cut_to_Length_Sequence_Step 0 Source 0 Move Source 5 Dest Cut to Length Sequence Step 0 You can use the BIT expressions such as Examine or Examine Off CXIC for inputs used in the program flow You can use OTE Output Energized as an output to be energized based on program sequence RSLogix 5000 Code Example MAM Instruction PC Bit Turns Output On Output that MAM is complete Motion Axis Move HN CM Axis Axis HFOND AxisZ N23 HFXER2 Motion Control Axisins MAM O Hap Move Type Absolute HPCo 0e Position 0 Speed Local 8 1 ChO0Data 014039993 Speed Units of Maximum More gt gt The Input function block is similar to BIT Control in RSLogix 5000 software However it should be noted that the input in GML software can interrupt and hold the program until the input is active or not In RSLogix 5000 software this is purely a scan based type of input and
104. e standard GMC and GMC Turbo system modules are identical except that the GMC Turbo catalog number 1394x SJTxx T offers SLC backplane interface with 64 of memory with a 32 bit processor while the standard GMC catalog number 1394x SJTxx C offers 32 of program memory with a 16 bit processor without the SLC interface The GMC system module catalog number 1394C SJTxx L is functionally the same as the standard GMC system module catalog number 1394x SJT xx C except it supports one axis and provides two auxiliary encoder inputs The GMC system module catalog number 1394C SJTxx L is only available in 5 and 10 kW system modules Series C system modules include Smart Power improved terminations and EMI filtering Series D system modules include faster SERCOS communication and ring rates 1394 Axis Modules 1394 x AM xx xx 1394 Drive Conversions 15 Heat Sink Options IH Inside cabinet heatsink 1394C AM50 IH and 1394C AM75 IH only Blank 1394x AM03 1394x AM04 1394x AM07 inside cabinet and 1394 50 and 1394 AM75 through cabinet heatsink Output Power kW Ratings 03 2 kW 04 3 kW 07 5 kW 50 15 6 kW 75 23 8 kW Type AM Servo amplifier module Series C Series C enhancements Blank without series C enhancements Bulletin Number 1 Series C axis modules have improved terminations and EMI filtering 1394 Series Change Series C system modules catalog numbers 1394C SJTx
105. ed slots 2094 PRSx Power Rail 2090 XXNFxx Sxx or 2090 CFBM6DF CBAAxx Motor Feedback Cable 2094 xMxx S 2090 K6CK Dxxx Low Profile Connector Kits for Ja s 2 F 1 0 Motor Feedback and Aux Feedback EA demas Axis Modules 5 2090 XXNPoo xxS xx or 2090 CPXM6DF 16AA Xx Motor Power Cable In the DC Common Bus example the leader IAM is connected to the follower IAM via the dc common bus based on system needs for regeneration or configuration requirements When planning your panel layout you must configure the common bus master to include the common bus follower capacitance since it controls system precharge and shunt control Refer to the Kinetix 6000 Servo Drive User Manual publication 2094 UM001 when making this calculation 1394 Drive Conversions 11 IMPORTANT If total bus capacitance of your system exceeds the leader IAM pre charge rating the IAM seven segment status will display error code E90 pre charge time out fault if input power is applied To correct this condition you must replace the leader IAM with a larger module or decrease the total bus capacitance by removing axis modules Typical Configuration Kinetix 6000 Syste
106. eed Unts of Maximum More The MSF command works with the brake engage time to apply full rated torque while the brake engages After this time elapses the servo IGBT circuits are disabled and de energizes the servo action status bit The brake engage disengage times are set in the Fault Actions Custom Stop Action Attributes dialog of the Axis Properties tab RSLogix 5000 Axis Properties Limits Tab Custom Stop Action Attributes Custom Stop Action Attributes 307 07546 100s Publication 1394 TD004A EN P January 2008 82 1394 Drive Conversions Move Axis The Move Axis block is used in GML software to initiate a move on the axis In RSLogix 5000 software a Motion Axis Move MAM instruction is used to initiate a move The same move types are available on both types of instructions If the Wait for Completion box is checked on a GML function block you use the PC bit from the motion control tag in your ladder logic program to determine when the move is complete and interlock the next step in your sequence GML Move Axis Block and RSLogix 5000 MAM Instruction Motion amp xis Move EN gt Axis AxisO E x Motion Control Move AxisO DN5 Move Type ER Position P Axs 5150 Speed Move Absobste hd PC Position 0 Speed Units Units per sec Speed o urispersec rl Accel Rate 100 s per sec2 00 EE Accel Units Units
107. energy storage capacitance for 1394 systems The module can be used alone or linked to a second 1394 system with the DCLM module using the DC Link cable N A needs for regeneration or configuration requirements When planning your You can configure the Kinetix 6000 IAM module in RSLogix 5000 software as a common bus master or common bus follower drive based on system 11 panel layout the common bus master must be configured to include the common bus follower capacitance since it controls system precharge and shunt control Typical Input Power Components e 324 528V ac 50 60 Hz 3 phase input e 24V ac control power supply e Disconnect fuse block main contactor e 24V dc power supply for motor brakes and motor thermal contacts 37 Kinetix 6000 drives have similar requirements for input power and you may be able to reuse some of your 1394 input power components The Line Interface Module LIM includes many of the input power components that you will need for your Kinetix 6000 system and provides A4 3 phase input power control power auxiliary power and 24V dc power for motor brakes Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 3 1394 Drive Feature Function Page Kinetix 6000 Conversion Page Customer supplied External 24V dc Power Supply for Motor Brakes e On GMC and analog systems t
108. ensions are in mm in 0 313 TYP 7 r ita 254 9 241 3 1 0 2 2 2 2 2 o 9 5 z z L z s 190 5 L L L 7 5 J J J J L 2y 8 o 0158 0 625 TYP 124 0 49 m Dimension A Dimension B Dimension C Cat No Description 4 mm in mm in mm in 2094 PRS1 Refer to figure on page 21 2094 PRS2 2 axis power rail 205 7 8 10 124 5 4 90 N A 2094 PRS3 3 axis power rail 276 9 10 90 195 6 7 70 N A 2094 PRS4 4 axis power rail 348 0 13 70 266 7 10 50 N A 2094 PRS5 5 axis power rail 419 1 16 50 337 8 13 30 195 6 7 70 2094 PRS6 6 axis power rail 490 2 19 30 408 9 16 10 195 6 7 70 2094 PRS7 7 axis power rai 561 3 22 10 480 1 18 90 266 7 10 50 2094 PRS8 8 axis power rai 632 5 24 90 551 2 21 70 266 7 10 50 Publication 1394 TD004A EN P January 2008 Kinetix 6000 Drives 2094 5 Power Rail 1394 Drive Conversions 23 Kinetix 6000 Shunt Module Specifications The Kinetix 6000 shunt module SM catalog number 2094 BSP2 provides an additional 200 W of shunt capacity to the drive system and is where connections to an external shunt module are made For Bulletin 1394 external shunt module catalog numbers refer to External Shunt Modules on page 46 SM Module Power Specifications
109. equence 0 1 zz KDND Axis 1 Feedback Off ER gt Ov Move Source 105 Dest Cut_to_Length_Sequence Move Source Dest Cut_to_Length_Sequence 0 Move Source Dest Cut to Length Sequence 0 Publication 1394 TD004A EN P January 2008 146 1394 Drive Conversions GML and RSLogix 5000 Software Programming Reference GML Function Block Fi Page Description This function block directly and immediately affects the appropriate accelerations and decelerations 80 drive enable output and feedback loop Feedback processing This function block moves the servo axis 82 to a specified absolute position or incremental distance This function block continuously moves a 84 servo axis in a specified direction at a specified speed This function block enables electronic 87 gearing between two axes at a specified ratio gt ib This function block clears all axis faults 89 or a specified fault on a specified axis It can also reset the 1394 drive Reset Fault This function block stops all motion or a 90 specified type of motion on the selected axis It can also be used to Kill Control Stop Motion 3 foe This function block performs the homing 91 operation and redefines the actual position of the selected axis This function block makes on the fly 93 servo axis changes for speed Change Dynamics Publication 1394 TD004A EN P January 2008
110. g dimensions for the Bulletin 2094 power rail shunt module and slot filler modules Kinetix 6000 Power Rail Specifications The Kinetix 6000 IAM AM SM and slot filler modules hang on the Bulletin 2094 power rail which comes in sizes from 1 8 axes IAM AM and SM Module Slot Requirements Converter Inverter Converter Inverter IAM Cat No Slot Used Slots Used AM Cat No Slot Used Slots Used 2094 BC01 MP5 S 1 2094 BMP5 S 1 2094 BC01 M01 S 1 2094 BM01 S 1 2094 02 02 5 460V 1 1 2094 BM02 S 460V 0 1 2094 BC04 M03 S 2 2094 BM03 S 2 2094 BC07 M05 S 2 2094 BM05 S 2 Converter Inverter SM Cat No Slot Used Slots Used 230 2094 BSP2 480V 0 1 2094 BC04 M03 S and 2094 BC07 M05 S IAM modules and 2094 BM03 S and 2094 BM05 S AM modules are double wide modules that require two inverter slots on the power rail The leftmost slot on each power rail is the converter slot and only used by the IAM All other slots are inverter slots and are used by the IAM AM or SM The power rail catalog number indicates the number of available inverter slots For example the Bulletin 2094 PRS1 power rail contains one inverter slot This limits the use of this power rail to systems requiring only one axis inverter slot Similarly the Bulletin 2094 PRS8 power rail contains eight inverter slots This limits the use of this power rail to systems requiring up to eight axes inverter slots When se
111. gized its contacts open to de energize all application 1 0 devices Periodic or Event based Tasks There is one continuous task that has the lowest program priority You can create a maximum of 32 periodic or event tasks to schedule programs with 15 different priority levels MAOC The Motion Arm Output Cam objects in the MAOC instruction handle the Motion Planner Object Cam functionality Each Output Cam object is responsible for one output which consists of 32 output bits Each single output bit can be programmed separately with an Output Cam profile and compensated for position offset and time delay No instruction in AXIS SERVO DRIVE The Kinetix 7000 drive provides an analog input to adjust the position loop for the Kinetix 7000 but RSLogix 5000 version 16 or later drive software is required The Motion Axis Stop MAS instruction MAS is used to initiate a controlled stop of any motion process on the designated axis 1394 Drive Conversions 151 Additional Resources These documents contain additional information concerning related Rockwell Automation products Resource Kinetix 6000 Multi axis Servo Drives User Manual publication 2094 UM001 Description Information for mounting wiring setup with RSLogix 5000 software applying power and troubleshooting information with appendices to support firmware upgrades and common bus applications 1394 SERCOS interface Multi axis Mo
112. he Kinetix 6000 servo drives use a Logix controller platform a Logix SERCOS interface motion module RSLogix 5000 software and communication is over a fiber optic network This section covers points to consider when converting from GML software to RSLogix 5000 software Topic Pag Introduction 59 GML Software Overview 60 RSLogix 5000 Software Overview 60 1394 Communication Platforms 61 Flex I 0 73 Comparing GML and RSLogix 5000 Programming Software 75 REC AEC TEC and ALEC Module Conversion 125 GML to RSLogix 5000 Software Conversion Example 128 GML and RSLogix 5000 Software Programming Reference 146 Introduction In general there is an equivalent RSLogix 5000 motion instruction or application code for each GML function block While not all instruction data entry is the same there are ways to convert a function in GML software to a similar RSLogix 5000 software motion instruction You can double click each function block in the GML diagram to view or edit the configuration and connect the function blocks in the order that you want them to execute With RSLogix 5000 software you typically program the motion instructions in ladder logic and sequence the program by the way you interlock the rungs of logic Also the ladder logic instructions are configured on the same screen as the screen used to enter and edit your ladder logic code You can trace the program flow when troubleshooting a GML progr
113. he On Axis Show Axis Status and If Axis Fault function blocks program the drive to proceed not proceed if an axis is faulted Control Settings Motion Settings Show Axis Position hogs 96 The Control Settings Motion Settings and Show Axis Position function blocks let you program the drive to change or adjust power up or working control values such as maximum axis speed acceleration They are also used to send axis position or registration data for example to the HMI terminal RSLogix 5000 Motion Instruction MRP Description The Motion Redefine Position MRP instruction is used to change the command or actual position of an axis AXIS_SERVO_DRIVE The AXIS_SERVO_DRIVE tag structure contains axis attributes that can be used for program direction SSV GSV The Set System Value SSV instruction programs the drive to change or adjust power up or working control values such as maximum axis speed and acceleration The Get System Values GSV instruction is used to access specific axis or program data IMPORTANT Use Set System Value SSV instructions sparingly If many are needed stagger them in rungs with state logic and wait for the AXIS_SERVO_DRIVE configuration update in process to be off before executing another SSV instruction Publication 1394 TD004A EN P January 2008 148 1394 Drive Conversions GML Function Block B gt Page
114. he brake connections are made on the bottom of each 27 The Kinetix 6000 IAM and AM inverter modules also require 24V dc input axis module TB1 and TB2 for motor brakes However the Motor Brake BC connector on each IAM On SERCOS interface systems the brake and AM module also provide programmable motor brake relay outputs and connections are made on the relay outputs 30 supply an MOV device for arc suppression connector on the system module 1 0 Terminations e GMC system modules have an input wiring board TB1 and 2 where the 1 0 for upto 29 The Kinetix 6000 IAM and AM modules each have their own dedicated 1 0 four axes terminate 100 connector for terminating the individual 1 0 points for each axis Each 3 SERCOS interface system modules have four 100 connector requires a low profile connector kit catalog number 8 pin connectors where the 1 0 for up to four 30 2090 K6CK D26M axes terminate Relay Outputs to Protect Drive Electronics e On GMC system modules the Drive OK relay 29 output is on the input wiring board TB2 SERCOS system modules the Drive OK 30 The Kinetix 6000 IAM module provides the Contactor Enable CED relay output is on the relay outputs connector connector for the same purpose Wiring the contactor enable relay into 32 e Analog system modules the Contactor yoursatety control stringis Sq Enable relay output is on the input wiring 31 board TB2 Digital Input and Registration Input Powe
115. how it reacts is determined by the program In addition the Show Program Status block is used in GML software to show the task or program being run It also indicates a runtime fault Use the State Logix code in between the EQU and the MOV block This makes sure you that if the program were to fault or not flow properly you can identify within a specific rung where the error occurred Publication 1394 TD004A EN P January 2008 100 1394 Drive Conversions On Expression and Equation The On Expression and Equation function blocks and the Compare Compute Math instruction folders let you program the drive to configure a mathematical expression or assign a value for example to a variable or cam profile points GML Equation Block Equation General System Vari SLC 4 Output Bit Output Group Bit The Compare instruction folder lets you create a Compare to a Value using for example NEQ or EQU instructions Use the Compute Math folder to use ADD or similar math functions RSLogix 5000 ADD and NEO Instructions ADD EQ Add Source TA LargestPEDifference Value 141 49678 Source B TA SpliceVVidth HMI 2 25 Dest TA DropOffPosn CalcdTGT 144 74678 Publication 1394 TD004A EN P January 2008 Not Equal Source Servo Axis AxisFault AXIS SD amp ccumulatorRotate AxisFautt gt 16820000 0002 Source B 0 1394 Drive Conversions 101 On Timeout and Set Timer You can use the On Ti
116. hown MP Series Integrated Linear Actuators MPAI xxxx actuators shown MP Series Integrated Linear Stages MPAS x9xxx ballscrew shown Publication 1394 TD004A EN P January 2008 10 1394 Drive Conversions Three phase Input Power Line Disconnect Typical Configuration Kinetix 6000 System without LIM module Logix Controller Programming Network Lo Device RSLogix 5000 Software Kinetix 6000 Multi axis Servo Drive System Input Fusing Single phase Control Power Magnetic Contactor 2090 Line Filter required for CE 2094 xCxx Mxx S Axis Module 1 0 Connections To Input Sensors and Control String MP Series TL Series 1326AB M2L S2L and F Series Rotary Motors and Actuators MPL xxxx motors shown MP Series Integrated Linear Actuators MPAI xxxx actuators shown MP Series Integrated Linear Stages MPAS x9xx ballscrew shown Publication 1394 TD004A EN P January 2008 2090 5 SERCOS Fiber optic Cable gix SERCOS interface Module Logix Platform ControlLogix is shown 2094 BSP2 Shunt Module x optional component Integrated 2094 PRF Slot Filler Module required to fill any unus
117. ing the motion control instructions You have to determine where your machine I O is coming from how to structure it into the Logix backplane and to associate the various motion functions In addition use of an HMI terminal ties directly to the Logix backplane such that machine status machine recipe and other functions can tie into various required motion functions Publication 1394 TD004A EN P January 2008 62 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 Remote 1 0 Remote I O RIO is used from the PLC 5 or SLC module to the 1394 GMC system module for handshaking PLC I O with data bit or block transfer to and from the 1394 motion control system This is no longer required as the Logix controller uses one program to do both I O processing and motion instructions RIO is also used as an interface to the HMI terminal Your existing HMI terminal can be reused as well as the screens but the interface to Logix needs to be retrofitted to accommodate the new platform There are four RIO Pallete interface instructions in GML software that are transparent when you use RSLogix 5000 software The function of RIO is embedded in the RSLogix 5000 software code with sequential and motion instructions in the same rung of logic RIO Pallete Interface Instructions DH 485 Serial Communication DH 485 serial communication is standard on GMC system modules and can be used in ways similar to RIO The DH 485 seria
118. ink 2 Encoder AxisLink Bd 0 QE OF B C3 S d de B x LLL Cs Dg D ene no 8 SLC 5 03 5 04 5 05 il 40 BASTAT EMI 1394x SJTxx T Controller System Module System Module 8 6 slates ea 1746 C7 or JT ELT Bulletin 1326AB 1326AS or 1746 C9 Cable CREE d I Bulletin MPL Resolver Motors Bulletin 1326AB 1326AS or E Uu lan Bulletin MPL Resolver Motors 5 io n 1 GML Software 1 r3 jul 1 RS 232 RS 422 J 1 J l 1 1 Li 1 1 b L3 Digital Outputs 13 n gt i 7 Digital Inputs gt Flex 1 0 Jl 842A Analog Outputs L Encoder H Analog Inputs gt Fexl O 4100 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 5 Standard GMC Example Systems SLC 500 Controller ALEC o 6 ves 845H RIO AxisLink Encoder E eum mug 6
119. inuous Shunt Power Kinetix 6000 Shunt Power Example 900 W Continuous Shunt Power rail mounted shunt and internal shunts are disabled when external shunt is present For more information on selecting an external shunt module for your 1394 drive conversion refer to the Kinetix Motion Control Selection Guide publication GMC SG001 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 47 Motor Drive Cable This section provides motor drive cable compatibility information for our 1394 drive conversion Compatibility T 1326AB Motors Motor Cat No Drive Compatibility Feedback Type Motor Feedback Cables Multi turn High Resolution Absolute or Single turn High Resolution 1394C SJDocD Encoder Feedback 2094 BC xx Mxx S or 2094 BMxx S 1326AB Bxxxxx M2L S2L 2090 XXNFMP Sxx flying lead or 2090 UXNFBMP S xx premolded connector 2090 CDNFDMP Sxx 2094 BC xx Mxx S or 2094 BMxx S 1394x SJDo A 1394x SJTxx C 1394C SJTxx D 1394C SJTxx L 1394x SJTxx T 1326AB Bxxxxx 21 Resolver 1326 CCUx x xxx 2 Use low profile connector kit catalog number 2090 K6CK D15M or panel mounted breakout components on drive end Refer to Kinetix Motion Control Selection Guide publication GMC SG001 for more information 0 Use low profile connector kit catalog number 2090 K6CK D15MF on drive end Refer to Kinetix Motion Control Selection Guide publication GMC SGO001 for more informat
120. ion 1326AB 460V M2L S2L Motors 1326AB B410G 1326AB B410J 1326AB B420E 1326AB B420H 1326AB B430E 1326AB B430G 1326AB B515E 1326AB B515G 1326AB B520E 1326AB B520F and 1326AB B530E Motor Power Cables 2090 XXNPMP 16Sxx 1326AB B720E 2090 XXNPMP 14Sxx 1326AB B720F 1326AB B730E 1326AB B740C and 1326AB B740E 1326AB 460V Resolver Motors 1326AB B410G 1326AB B410J 1326AB B420E 1326AB B420H 1326AB B430E 1326AB B430G 1326AB B515E 1326AB B515G 1326AB B520E 1326AB B520F and 1326AB B530E 2090 XXNPMP 10Sxx Motor Power Cables 1326 1 1326AB B720E 1326AB B720F 1326AB B730E 1326AB B740C and 1326AB B740E 1326AB 460V Motors All 1326AB Bxxxx M2L S2L motors 1326 CPC1 Motor Brake Cables 2090 UXNBMP 18S xx All 1326AB Bxxxx 21 motors Separate brake cable not required Brake wires are included with power cable Publication 1394 TD004A EN P January 2008 48 1394 Drive Conversions 1326AS Motors Motor Cat No Drive Compatibility Feedback Type Motor Feedback Cables 2094 5 or 2094 BMxx S 1394x SJDo A 1394x SUT xx C j x xxx U 1326AS BXxxxx 21 1394C SJDocD Resolver 1326 CCUXx xxxx 1394C SJDocL 1394x SJDoc T f Use low profile connector kit catalog number 2090 K6CK D15MF on drive end Refer to Kinetix Motion Control Selection Guide publication GMC SGO001 for more information 1326AS 460V Resolver Motors M
121. ion such as a jog move gear home or cam The MAS instruction lets you set a deceleration rate by setting the Change Decel parameter to Yes and then putting the desired rate of deceleration and the units of the deceleration in the subsequent parameters If the Change Decel parameter is set to No the deceleration limit set in the Axis Properties dialog Dynamics tab is used The percent of maximum is also a percent of maximum deceleration You can also find this in the Axis Properties dialog Dynamics tab GML Stop Motion Block and RSLogix 5000 MAS Instruction AS x Motion Axis Stop EN2 Stop Maton Axis Axis0 DN Motion Control _ 0 ER Stop Type All IP Mode Stool Change Decel Yes PCo Jaxiso gt Decel Rate 50 Decel 100 unils per sec2 hd 2 Decel Units 96 of Maximum lt lt Less Comparing Stop Motion Parameters GML Software RSLogix 5000 Software _ Parameter Parameter Mode Stop Type Axis Axis Decel Decel Publication 1394 TD004A EN P January 2008 1394 Drive Conversions Home Axis The Home Axis function block and the MAH instruction are used to home an axis and define the actual position of the axis upon completion of the procedure Both instructions execute the homing procedure as configured in the axis properties dialog of the axis GML Home Axis Block and RSLogix 5000 MAH Instruction ome Ais x Home Axis Axis AxISO
122. ionStatus Axis 2 PositionCamStatus Cam Profile Slave Scaling Slave Axis Master Axis Motion Control Direction Cam Profile Slave Scaling Motion Axis Position Cam More Motion Axis Position Cam More Ais 1 E Virtual 1 MAPC 0 0 cam 21 1 Axis 2 Virtual 1 MAPC 1 0 CAMQ 1 Move Type Position Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Accel Jerk Decel Jerk Jerk Units Merge Merge Speed Publication 1394 TD004A EN P January 2008 Move Axis 1 PositionCamLockStatus MAM Motion Axis Move Axis Virtual 1 Axis 2 PositionCamLockStatus Motion Control 1 25 10 Units per sec 100 Units per sec2 100 Units per sec2 of Maximum Disabled Current lt lt Less Interpolate Axes 1394 Drive Conversions 111 This GML block lets you use a group of two or more axes in a specified absolute incremental distance along a linear circular or helical path at a specific speed accel decel rate using a given motion profile The types listed are linear radius arc intermediate arc and helical GML Interpolate Axes Block Interpolate Axes Interpolate Axes Type Linear X Mode Absolute 2 Axes X 6 151 X Merge from Previous Segment Wait for Completion interpolator 0 v Trapezoidal Time
123. is1 gy 0 Motion Control Axis 1 Redefine Position DN gt Source B 35 Type Absolute Position Select Actual ER Position 0 Axis 1 Redefine Position DN Move Source Dest Cut to Length Sequence Step 0 Publication 1394 TD004A EN P January 2008 134 1394 Drive Conversions In the GML block diagram once the two axes are redefined to be at Zero a jog is started on 0 to begin feeding material into the cutter GML Jog Axis Block CT Jog Axis gi Axis AX1S0 Direction Positive Speed units per sec EE ise M EE C E Override Profile Trapezoidal ef Merge from Cam or Gear 2 Current Speed E Synchronize with next Jog Axis In ladder logic once the sequence variable is equal to 40 an MAJ instruction starts a jog on 0 The IP or In Process bit of the motion instruction is used to verify that the jog has started before a 45 is placed into the sequence variable to move on to the next step in the sequence RSLogix 5000 Code Example MAJ Instruction for Axis 0 QU Motion Axis Jog Axis Axis0 zz Motion Control Jog Axis 0 Direction 0 Equal Source Cut to Length Sequence Step 0 40 Source B Speed B Speed Units Units per sec Jog Axis OP Move Source 45 Dest Cut to Length Sequence Step 0 Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 135
124. ith the Watch Control block for a registration event and either handle program flow after the event occurs or halt the program flow as it waits for the event to occur The Wait for Tripped function lets the Watch block be used to pause the existing motion task not the other tasks and wait for the event to occur Either function could be used but not both for the same event 1394 Drive Conversions 119 RSLogix 5000 software uses the MAR instruction to arm the axis to watch for a registration event and the MDR instruction to disarm a registration event that is armed but has not occurred yet The MAR and MDR instructions have a parameter called Input Number to designate which of the two inputs a particular motion instruction is accessing The MAR motion instruction in RSLogix 5000 software does not provide the capability of pausing the ladder scan and if in a continuous task is not a prioritized task Use an Event task for a MAR instruction to prioritize the event scheduling in RSLogix 5000 software RSLogix 5000 New Task Event for Axis Registration Name Axis 1 Registration OK Description R Cancel Help Type Event Trigger Axis Registration 1 X Tag Reg_1_event x Execute Task If No Event Occurs Within ms Priority 10 uj Lower Number Yields Higher Priority Watchdog 500 000 ms Disable Automatic Output Processing To Reduce Task Overhead Inhibit Task A registration input lets you execute specific a
125. ition profile MAPC The MAPC instruction executes master position versus slave position profile MCLM MCCM Use the MCLM instruction to start a single or multi dimensional linear coordinated move for the specified axes within a Cartesian coordinate system You can define the new position as either absolute or incremental Use the MCCM instruction to initiate a two or three dimensional circular coordinated move for the specified axes within the Cartesian coordinate system New position is defined as either an absolute or incremental position RSLogix 5000 software cannot make helical interpolation moves MAW The Motion Axis Watch MAW instruction is used to arm motion module watch position event checking for the specified axis MAR The Motion Arm Registration MAR instruction is used to arm servo module registration event checking for the specified axis Publication 1394 TD004A EN P January 2008 150 1394 Drive Conversions GML Function Block Page Description The On Task and Task Control function blocks are used in GML software for task control You can have up to ten motion Disable Gearing gearing motion of the selected axis with no deceleration 121 tasks executing at one time and you may o for example have tasks waiting for an gt e Le event or other block to execute Task Control The End Program and Restart Program function blocks are use
126. l Current Stall Torque Output 460V Drives Cat No rpm Stall Current Stall Torque 0 pk Nm Ib in kW Cat No A 0 pk Nm Ib in p pom MPL B1510V 8000 0 95 0 26 2 3 3 10 0 77 6 8 0 16 2094 BMP5 5 90 1 53 13 3 2094 BMP5 MPL B1520U 7000 1 80 0 49 4 3 0 27 6 10 1 58 13 9 2094 BM01 5 90 2 34 20 7 2094 BMP5 MPL B1530U 7000 2 0 0 90 8 0 0 39 7 20 2 82 24 9 2094 BM01 MPL B210V 8000 1 75 0 55 4 9 5 80 1 52 13 4 0 37 2094 BMP5 5 90 2 50 21 3 2094 BMP5 MPL B220T 6000 3 30 1 61 14 2 0 62 11 3 4 74 41 9 2094 BMO 5 90 4 30 38 0 2094 BMP5 MPL B230P 5000 2 60 2 10 18 6 0 86 11 3 8 20 73 0 2094 BMO 5 90 3 2 28 2094 BMP5 MPL B310P 5000 24 1 6 14 0 77 7 10 3 6 32 2094 BMO 4 0 2 70 24 5 90 3 9 34 2094 BMP5 MPL B320P 5000 14 4 5 3 10 27 13 0 7 5 66 2094 BM01 13 0 8 0 71 2094 BMO MPL B330P 5000 6 1 4 18 37 17 19 0 1 1 98 2094 BM02 13 0 8 7 77 2094 BMO MPL B420P 5000 6 3 4 74 42 21 8 3 4 118 1 9 2094 BM02 22 0 3 5 119 2094 BM03 8 6 6 11 54 13 0 8 8 78 2094 BM01 MPL B430P 5000 21 8 4 4 127 2 2 2094 BM02 9 2 6 55 58 N 32 0 9 8 175 2094 BM03 13 0 8 1 72 2094 BM01 MPL B4520P 5000 8 1 5 64 50 21 8 2 4 110 2 1 2094 BM02 25 0 3 75 121 2094 BM03 13 0 3 9 123 2094 BM01 MPL B4530F 3000 6 7 8 36 74 2 1 c 21 0 20 3 180 2094 BM02 8 6 7 16 63 13 0 9 9 87 2094 BM01 MPL B4530K 4000 21 8 15 5 137 2 5 2094 BM02 9 9 8 25 73 c 31 0 20 3 179 2094 BM03
127. l Decel Rate Decel Units Publication 1394 TD004A EN P January 2008 94 1394 Drive Conversions Redefine Position The Redefine Position function block and the MRP instruction are used to set the actual or command position of the selected axis to the commanded absolute position GML Redefine Position Block and RSLogix 5000 MRP Instruction Axis 50 Md Mode Absolute Position Actual m RP New Position 0 Motion Redefine Position Axis Axis E Synchronize with next block Motion Control Axis 0 Redefine Position Type Absolute Position Select Actual Position 0 EN gt ON gt ER gt Comparing Redefine Position Parameters GML Software 510 5000 Software _ Parameter Parameter Axis Axis Mode Type Position Position Select New Position Position Synchronize with next block N A In GML software the Synchronize with next block function lets you simultaneously redefine the position of multiple axes The MRP instruction in RSLogix 5000 software does not have this specific function but has software code with parallel MRP instructions that you can use to closely simulate this function Refer to the RSLogix 5000 code example on page 95 for an example For more information and cautions for the use of the MRP instruction refer to the Logix5000 Controllers Motion Instructions Reference Manual publication 1756 007 For example use absolute
128. l ports use DH 485 value blocks or SLC message instructions to send receive information from to an HMI terminal Either the existing HMI terminal could be used with the Logix controller or new networks and code created There are four DH 485 Pallete interface instructions in GML software that are transparent when you use RSLogix 5000 software The function of DH 485 communication is embedded in the RSLogix 5000 software code with sequential and motion instructions in the same rung of logic DH 485 Pallete Interface Instructions 1394 Drive Conversions 63 Turbo SLC 1 0 Bit Word File Transfer SLC interface or backplane interface is only compatible with the 1394 GMC Turbo system module With this option the SLC controller views the 1394 motion controller as a four slot SLC rack with the same backplane communication The I O data bits and words move back and forth in the RSLogix 500 and GML Commander software programs to turn on a servo or read back motor position for example RSLogix 5000 software does not require this handshaking as it is one program that handles both logic and motion in one rung routine There are three SLC Pallete interface instructions in GML Commander software that are transparent when you use RSLogix 5000 software These instructions are for the SLC module status SLC Pallete Interface Instructions SLC Turbo Example Typically the use of handshaking whether RIO DH 485 or Turbo Backplane required
129. lecting a power rail determine the number of inverter slots required by all rail mounted modules and choose a power rail with that minimum number of inverter slots IMPORTANT If you select a power rail with slots exceeding the minimum required for your system you must install a slot filler module catalog number 2094 PRF in each unused slot Publication 1394 TD004A EN P January 2008 2094 PRS1 Power Rail Converter Slot 2094 PRS8 Power Rail Converter Slot Inverter Slots 1 8 Dimensions are in mm in 1394 Drive Conversions 21 Power Rail Slot Examples 9 e Inverter Slot 1 e e e oO ae e9 o o o E E a B a J E g L a a a a E e 2094 PRS1 Slim Power Rail Dimensions 134 6 22 9 5 3 0 90 88 9 3 5 7 95 we 254 0 313 1 0 254 2413 10 e 9 5 e 190 5 7 5 e 1 ONE 15 88 699 0 625 TYP 2 75 0 49 Publication 1394 TD004A EN P January 2008 22 1394 Drive Conversions 2094 PRS2 2094 PRS3 2094 PRS4 2094 PRS5 2094 PRS6 2094 PRS7 and 2094 PRS8 Slim Power Rail Dimensions 22 9 A 0 90 B 07 95 C Dim
130. led a 25 is placed into the sequence variable to move to the next step RSLogix 5000 Code Example Enable Axis 1 and Check Servo Action Status Bit QU Motion Servo On Axis Axist 8 lt 0 5 Motion Control Axis 1 Feedback On Equal Source Cut to Length Sequence Step 0 15 Source Source 20 Dest Cut to Length Sequence Step Axis1 ServoActionStatus QU Move Source Equal Source Cut to Length Sequence Step 0 20 Source Dest Cut to Length Sequence Step 0 Publication 1394 TD004A EN P January 2008 132 1394 Drive Conversions The next GML function block in the sequence waits for another Flex I O input Move Feed Axis to Position to turn on indicating that the material is in the correct position to begin the cutting process GML Input Block Used to Find Out if Product is In Position Input Configured v 28 C Wait for Input ON Input Class Configured awe product in Require OFF to ON Transition position kar x Input Configured Tag Explorer active_tool CYCLE_START cycle_stop home The ladder logic duplicates this step when the sequence step counter is equal to 25 by examining the input Move_Feed_Axis_To_Position and placing a 30 into the sequence variable when the input turns on The address of this input is determined by the physic
131. ling Total Slave Distance Slave Scaling Auto Correction and Synchronize with next Pcam functions are not available in RSLogix 5000 MAPC MCCP instructions In GML software the Auto Correction parameter in conjunction with Auto Registration is used to continuously re synchronize position lock cam master and slave axes to registration marks Continuous re synchronization is necessary when an axis slips or if the material upon which the registration marks are printed is not consistent Auto Correction is not standard in the MAPC instruction Code needs to be written in RSLogix 5000 software to emulate such a function The Synchronize with next Pcam parameter lets you synchronize two Position Lock Cam profiles so that they start at the same time This is beneficial in using two different slave axes cammed to the same master In RSLogix 5000 software this can be accomplished by initializing two MAPC instructions that are slaved to a master virtual axis refer to the example on page 110 You can move the virtual axis using an MAJ or MAM instruction and both corresponding slave axes will start at the same time based on the configuration Publication 1394 TD004A EN P January 2008 110 1394 Drive Conversions RSLogix 5000 Code Example Using MAPC Instructions to Synchronize Two Slave Axes Axis 1 ServoActionStatus Axis 1 PositionCamStatus Slave Axis Master Axis Motion Control Direction Axis 2 ServoAct
132. log numbers AEC 216 and AEC Catalog number AEC superseded 216 The module receives the absolute position data sent by the SSI transducer and changes it to an incremental quadrature signal for the 1394 GMC system module The Kinetix 6000 drive modules do not support SSI type feedback SSI devices are clock driven devices and are not compatible with the Kinetix 6000 drive feedback input You can however utilize an SSI type input to the ControlLogix analog module catalog number 1756 M02AS For a smoother migration to Kinetix 6000 drives move to an absolute feedback device embedded in standard Rockwell Automation products such as MP Series low inertia motors catalog number MPL B330P M for example with absolute feedback capability IMPORTANT Due to compatibility issues do not terminate the AEC converted encoder signal at the auxiliary feedback AF connector on the Kinetix 6000 drive module Refer to the AEC Absolute Encoder Converter Installation and Setup Manual publication 4100 5 2 for more information 1394 Drive Conversions 127 TEC Converters The TEC device is a Transducer Temposonics linear scale to Encoder Converter catalog number TEC 242 The TEC 242 module lets you use Temposonics non contacting magneto strictive feedback transducers with the 1394 GMC system module This module provides two complete channels of Temposonics to encoder format signal conversion and two complete channels of volt
133. log input into the Logix controller and assign a periodic task to monitor the input and act on that task but it is not at a servo rate update If this function is important use the Kinetix 7000 drive which has an analog input on the 26 pin IOD connector You must configure the analog input with real time attributes and scaling changes are possible with an MSG instruction RSLogix 5000 version 16 or later software is required 1394 Drive Conversions 125 REC AEC TEC and ALEC Module Conversion The REC AEC and TEC converters provide various types of auxiliary feedback input to the 1394 system module The ALEC converter provides encoder input over AxisLink communication to the 1394 GMC system module for axis coordination The GML software setup for REC AEC and TEC modules is done in the Axis Setup Options dialog If the motor being used is the physical axis velocity feedback an incremental encoder REC AEC or TEC is the position feedback or what is called dual loop configuration If Master Axis or Feedback Only is selected the incremental encoder REC AEC or is the position feedback Either way the feedback from these devices is brought in on the 1394 system module GMC or GMC Turbo 12 pin auxiliary axis termination GML Axis Feedback Setup AXISO Feedback Transducer Type Motor Resolver Transducer Resolution External Conversion Counts Motor Revolubon REC Converters Th
134. lumns Mest Master Position Slave Profile Axes Master IMAGINARY X Slave faxis 2 X 1394 Drive Conversions 107 The Merge from Job and synchronize with next TCAM parameters are not supported in the MATC instruction The most effective way of blending or moving into an MATC instruction is to create an initial MATC instruction moving the slave per unit of time at one speed and then using a pending MATC instruction to smoothly move the slave to another profile The most effective way of having multiple axes follow a master time schedule is to use a virtual axis and MAPC instruction to command the slave axis to the master axis such that the profile can emulate a time versus slave position profile Or perhaps use of the MCLM and MCCM functions for coordination of multiple axes Build Table Configure CAM Position Lock CAM Use the Build Table Configure CAM and Position Lock CAM function blocks and the MCCP MAPC instructions to build position cam profiles and arrays of user variables Construct a table of values by entering a value or expression for each item in the table or by copying points from a spreadsheet GML Build Table Configure CAM Position Lock CAM Blocks Can Type Postion ices Can Stat Pore 0 fico Paton Profis Once 1 Aun Comeon Position Lock CAM Postion Lack Cam SlyveAwe 4050 Master ds 451 La Slaveto zj Direction Same
135. m DC Common Bus 2090 XXLF xxxx AC Line Filter required for CE Three phase Input Power 2094 XLxxS Line Interface Module optional component 2094 xCxx M xx S Integrated Axis Module Common Bus Follower 2094 PRSx Power Rail 115 230V Control Power Logix Controller Programming Network Logix SERCOS interface Module Logix Platform ControlLogix is shown RSLogix 5000 2 5 Software Kinetix 6000 Multi axis Servo Drive 2090 SCxxx x SERCOS Fiber optic Cable 2094 BSP2 Shunt Module optional component 2094 xCxx Mxx S Integrated Axis Module Common Bus Leader 2094 PRF Slot Filler Module required to fill any unused slots 2094 PRSx Power Rail DC Common Bus 2094 xMxx S Axis Modules 5 2090 SCxxx x SERCOS Fiber optic Cable jA 100 oO 2 M 2094 Slot Filler Module required to fill any unused slots 2094 xMxx S Axis Modules 5 Motors and other details common to both three phase ac and dc common bus configurations are removed Publication 1394 TD004A EN P January 20
136. m one 1394 GMC system module to another 1394 GMC system module RS 232 is a common communication network used between the 1394 GMC controller and the personal computer containing GML Commander software There are nine RS 232 and RS 422 Pallete interface instructions These instructions provide keying of information being sent back and forth through these two serial networks Many of these functions are now handled in the RSLogix 5000 software from use of tag accessibility Get System Value GSV Set System Value SSV Message MSG and ASCII instructions RS 232 and RS 422 Pallete Interface Instructions 1394 Drive Conversions 73 Flex 1 0 The 1394 GMC system accepts up to eight Flex I O modules into a dedicated Flex I O connector on the system module These are flexible inputs that look like local I O and can be used in the GML software code for varying types of machine control In this example the GML input block turns on a servo motor with the Flex I O input named Turn_Servo_On This input is likely wired from an external switch not shown here GML Input Block Using Flex 1 0 Input Input Configured Tag Explorer Tag Window C Flxl lnpu Input Tum Setvo i resto Input SLC Input Bit 1394 GMC Compatible Flex 1 0 Blocks Bulletin 1794 1 0 Blocks Bulletin 1794 Flex 1 0 Blocks Cat No Function Cat No Function 1794
137. meout and Set Timer function blocks and the Timer Counter folders as countdown timers The On Timeout and Set Timer function blocks are used to pause the GML software program until the time has elapsed by checking the Wait for Timeout block GML Set Timer Block x Set Timer Timer Count Down Timerl Set Time Seconds 2 Wait for Timeout DK Cancel Apply RSLogix 5000 software uses a TON instruction to duplicate this step and monitor the DN bit of the timer to determine when the timer has timed out before moving on to the next step in the sequence In this code example the Delay Timer DN tag completes and the ladder diagram moves to the Cut to Length Sequence value of 90 RSLogix 5000 Code Example TON Instructions QU TOI Equal Timer On Delay Source A Cut to Length Sequence Timer Delay Timer 0 Preset 200 Source B 85 Accum 0 Delay Timer DN Move Source Dest Cut to Length Sequence 0 Publication 1394 TD004A EN P January 2008 102 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 Change Gain The Change Gain function block in GML software lets you change the axis gains at any point in the program without affecting the power up values GML Change Gain Block Change Gain Change Gain Axis AXISO id Gain meg yl Value 0 OK Cancel Help In RSLogix 5000 software the Set System Value SSV instruction is best to adjus
138. mes the rated Continuous Current Output for 600 ms or the rated Peak Power Output for a duration equal to the equivalent watt seconds Publication 1394 TD004A EN P January 2008 38 1394 Drive Conversions 1394 Axis Module Specifications Value 1394 1394x AM04 1394 07 T AM 1a AMS and 1394C AM50 IH and 1394C AM75 IH Speed regulation 0 0 05 of base speed with 100 torque disturbance Static gain 1 1 28 2 6 49 22 8 22 8 rms A mV 200 200 200 143 143 limit adjust Modulation 5 kHz 10 5 kHz 10 5 kHz 10 5 kHz 10 5 kHz 10 frequency Drif 0 03 rpm C 0 03 rpm C 0 03 rpm C 0 03 rpm C 0 03 rpm C Win 530 680V dc 530 680V dc 530 680V dc 530 680V dc 530 680V dc eurent a 75A 233A 350A rms 60A 90 150A 332A 50 0 A rms 1 second Continuous power out 360 460V 1 6 2 kW 2 4 3 kW 4 5 kW 11 34 15 6 kW 17 8 23 8 kW nominal Efficiency 9896 9896 98 98 98 7 kg 15 44 Ib 7 kg 15 44 Ib 1394 AM50 module 1394 AM75 module Weight 5 kg 11 02 Ib 5 kg 11 02 Ib 5 kg 11 02 Ib 6 73 kg 14 8 Ib 6 73 kg 14 8 Ib 1394 AM50 IH module 1394 AM75 IH module Capacitance 110 pF 110 pF 220 uF 465 uF 660 uF 1 When used with the controller in the catalog number 1394x SJTxx x system module 1394 Fuse Specifications 1394 System Module Cat No Series Fuse Description Rating 1394
139. mode only if the selected axis is stationary Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 95 Qu Motion Redefine Position EN Source Cut to Length Sequence Step Axis 0 zz 0 Motion Control Axis 0 Redefine Position DN gt 30 Type Absolute Position Select Actual Position 0 QU RP Motion Redefine Position EN Source A Cut to Length Sequence Step Axis Axis 0 Motion Control Axis 1 Redefine Position DN 35 Type Absolute RSLogix 5000 Code Example Using the MRP Instruction for Two Axis Position Definition Axis 0 Redefine Position DN Move Source 35 Dest Cut to Length Sequence Step 0 Position Select Actual Position Axis 1 Redefine Position DN JE Move Source 40 Dest Cut to Length Sequence Step 0 On Axis If Axis Fault and Show Axis Status The On Axis If Axis Fault and Show Axis Status function blocks program the drive to proceed not proceed if an axis status is known GML On Axis Block On Axis Typ 4 C WaitforAxis If Axis Axis z axiso Status flocked OK Cancel Help Wait for Axis is used to determine the axis status and program flow If Axis is used to move to the next GML function block if that specific axis status is true GML software is a sequential based language so it can hold a task until this actual Axis status is true RSLogix 5000 s
140. nal Shunt Modules Select one of these Bulletin 1394 passive shunt modules when your Kinetix 6000 drive application exceeds the capacity of the internal IAM AM module shunt resistor 1394 External Shunt Modules 1394 System Module Shunt Module Cat No Cat No 1394x SJT05 and 1394x SJT10 1394 SR10A 1394 SR9A 1394 SR9AF 1394x SJT22 1394 SR36A 1394 SR36AF 1 The 1394x SJTO5 and 1394x SJT10 system modules contain a 200 W internal shunt resistor The 1394x SJT22 system module requires an external shunt Kinetix 6000 External Shunt Modules Kinetix 6000 IAM Module Shunt Module 7 Cat No Cat No 1394 SR9A 1394 SR9AF 2094 5 1394 SR36A 1394 SR36AF 1 These external passive shunt modules wire to the Kinetix 6000 rail mounted shunt module catalog number 2094 BSP2 Shunt Power Example _ 6 OF OF Si Module 1394 SR9AF a eee um External Shunt Module 900 W Capacity 1394 SR9AF External Shunt Module 900 W Capacity SM 2094 BSP2 200 W Shunt Module AM 2094 BM01 SM 50 W Internal Shunt AM 2094 BM02 SM 50 W Internal Shunt AM 2094 BM02 SM 50 W Internal Shunt IAM 2094 02 02 50 W Internal Shunt 1394 Shunt Power Example 900 W Cont
141. not yet occurred e enable a Watch Position event to occur in response to a setpoint position event e enable a Dedicated or Configured input event to occur in response to a setpoint position event e disarm an event or action enabled by a previous Watch Control block which has not yet occurred Watch Control Block and Motion Axis Watch MAW Instruction Watch Corral weich Position Type Am C Enable E vent Achon AVY Motion Arm Watch EN Axis AxisO F HDN gt Motion Control Watch_AxisO ER Trigger Condition Forward IP Position 0 PC Chss Watch Poshor x Walch Control Watch Fosition Tip Cendiion f liom lt cetpoint to gt selpaint Moves gt seipaintto lt seipaint Seront Position f Wat ter Cancel Help Publication 1394 TD004A EN P January 2008 116 1394 Drive Conversions Comparing Motion Axis Watch Parameters GML Software Parameter RSLogix 5000 Software Parameter MAW Axis Axis Move from setpoint to 2 Trigger condition Forward setpoint Move from setpoint to Trigger condition Reverse setpoint Setpoint Position Position Wait for Tripped N A RSLogix 5000 software uses the MAW instruction to arm the axis to watch for the axis to reach a certain position and the MDW instruction to disarm a watch position that is armed but has not occurred yet Yo
142. nt Power A rms kW A rms kW 2094 BMP5 S 2 80 1 8 394x AM03 3 0 2 0 2094 BM01 S 6 10 3 9 394x AM04 4 5 3 0 2094 BM01 S 6 10 3 9 394 07 7 5 5 0 2094 BM02 S 10 3 6 6 394x AM50 23 3 15 6 2094 BM03 S 21 2 13 5 394 75 35 0 23 8 2094 BM05 S 34 6 22 0 Publication 1394 TD004A EN P January 2008 14 1394 Drive Conversions Catalog Number Explanations Publication 1394 TD004A EN P January 2008 Catalog numbers consist of various characters each of which identifies a specific version or option for that component Use these configuration charts to understand the 1394 and Kinetix 6000 drive catalog numbers Catalog Numbers for 1394 Drives 1394 System Modules 1394 x S J T xx x xx GMC Options RL With RIO and AxisLink applies to GMC system modules Factory Installed Options 10V dc analog input HIM not included C IMC S Class GMC integrated motion controller 1 supports four axis and four auxiliary encoder inputs D SERCOS network interface L IMC S Class GMC integrated motion controller 2 3 supports one axis and two auxiliary encoder inputs T IMC S Class GMC Turbo integrated motion controller 1 Power Rating 05 5 kW 10 10 kW 22 22 kW Input Phase T Three phase Input Voltage J 360 480V ac 50 60 Hz Type S System Module Series C Series or series D enhancements Blank Series A or B Bulletin Number 1 Th
143. nue to use the MP Series Bulletin MPL or 1326AB M2L S2L a MP Series catalog numbers MPL BxxxxM S servo motors However when migrating to Kinetix 6000 drives you need to servo motors with high resolution feedback replace the feedback cable for MPL BxxxxM S and 1326AB M2L S2L i MP Series catalog numbers MPL BxxxaR servo motors You also need one low profile connector kit catalog number 2090 K6CK D15M for each of these motors motors with resolver feedback Publication 1394 TD004A EN P January 2008 4 1394 Drive Conversions GMC Systems The 1394 GMC System provides all the functionality of the IMC S Class Compact Motion Controller and power conversion within the 1394 system module The 1394x SJTxx C standard GMC system module supports four axis modules and provides four channels of auxiliary encoder input The 1394C SJTxx L standard GMC module provides the same functionality as the 1394x SJTxx C module but supports only one axis module and provides two channels of auxiliary encoder input The 1394x SJTxx T GMC Turbo system module provides more GML application program memory and executes the programs faster The 1394x SJTxx T module offers 64 of memory with a 32 bit processor while the 1394x SJTxx C module offers 32 K of program memory with a 16 bit processor The 1394x SJTxx T module also includes a direct high speed link to the SLC controller rack that simplifies the programming required to tr
144. nversion tab to configure the position mode rotary or linear The 1394 DIM module is not used or supported in RSLogix 5000 software The Position Units tab is used to setup the actual type of Use the Units tab to set the position units Display of Units position units in addition to position velocity accel and decel position velocity accel decel are set in the Axis Servo Drive display format tag structure Tae Feedback at 1s used 1o setup eee Woe Uso the Motor Fedback tab over the feedback field is filled when motor catalog number is known and to set Feedback also sets the conversion and extemal conversion constants and cycles rev interpolation factor and feedback resolution The unwind e E P i rud a Master e S Due could Conversion tab is used to set position mode conversion a encoder filter for the position signals sent to slave type constant and unwind data ae The default Axis Move and Jog Profiles are set when using Te Posing ab sets he default Moe and Jog Protest speci MAM and MA structs Poston ck Positioning Compensation if a linear axis were used and the average eae MES ab 5 velocity timebase set in the Offset tab and average velocity timebase is set in the Units tab The Homing tab lets you configure a similar homing The Homing tab is used to configure an active or passive home e Us SEL IDE e DG Homing The absolute MV is used to configure an external absolute E withthe Absolute mode setting Fhe d
145. odule AM 11 2094 BC01 MP5 S or 2094 5 5 75 7 80 9 86 92 98 2094 BC01 M01 S or 2094 01 5 95 120 145 170 195 2094 02 02 5 2094 02 5 98 126 154 182 210 2094 BC04 M03 S 2094 BM03 S 95 132 171 212 256 2094 BC07 M05 S 2094 BM05 S 118 182 251 326 406 Shunt Module SM 2094 BSP2 68 121 174 227 280 1 Internal shunt power is not included in the calculations and must be added based on utilization Publication 1394 TD004A EN P January 2008 44 1394 Drive Conversions Drive Accessories Three phase Line Input 460V Consider these power components when planning your 1394 to Kinetix 6000 drive conversion Line Interface Modules The Bulletin 2094 Line Interface Module LIM is designed to replace many of the common input power components required for your servo drive system Using the LIM module saves panel space and reduces the amount of wiring when compared with individual components mounted separately In this example the 2094 BLxxS module is compared to a similar configuration of discrete components Auxiliary and control power 230V is developed from the LIM module three phase input power Comparing the 2094 BLxxS LIM Module with Discrete Components Three phase Line Input 460
146. of your application solution by placing function blocks representing actions on the screen and connecting them in the proper order to achieve the sequence of operations needed for your application You enter motion and process details later using a fill in the blank approach Once completed you translate the diagram into a script in the native language of the motion controller and download the script to the motion controller via serial communication For a complete list of the GML function blocks and a description of their use refer to the GML Commander Reference Manual publication GMLC 5 2 RSLogix 5000 Software Overview RSLogix 5000 Enterprise Series software is designed to work with the Rockwell Automation ControlLogix CompactLogix FlexLogix SoftLogix5800 and DriveLogix controller platforms With RSLogix 5000 software you need only one software package for sequential process drive and motion control programming 1394 Drive Conversions 61 e RSLogix 5000 software offers an easy to use IEC 61131 3 compliant interface symbolic programming with structures and arrays and a comprehensive instruction set that serves many types of applications RSLogix 5000 software supports relay ladder diagrams structured text function block diagrams and sequential function charts for developing application programs Each motion instruction works on one or more axes Each instruction needs a unique motion control tag The tag uses
147. ofile ND Cam Profile Can pre1 0 E CIP2 Motion Control MCCP 1 SEDES Lo C Cam 1 0 Dtb 6 am 1 0 Master Scaling 1 0 Length 30 Rk Execution Mode Once Start SI 10 Execution Schedule Immediate art e Master Lock Mickpos RS End Slope 1 0 Cam Lock Position Cickpos Master Referenze Actual Cam Profile cam prol 1 VE Direction Forward Only lt lt Less Comparing Build Table Parameters GML Software RSLogix 5000 Software Parameter Parameter MCCP Type Cam Profile exclusive Row Offset N A Columns Master Time N A Master Position Cam Slave Profile Cam Axes Master In MAPC instruction Slave Cam Profile exclusive Table Cam 1394 Drive Conversions 109 Comparing Configure CAM Parameters GML Software RSLogix 5000 Software Parameter Parameter MAPC Slave Axis Slave Axis Cam Type exclusive instruction Cam Start Point Tag array set in Cam profile Cam End Point Tag array set in Cam profile Execution Mode N A Perform Profile Auto Correction Comparing Position Lock CAM Parameters GML Software Parameter REC Slave Axis Slave Axis Master Axis Master Axis Slave To Master Reference Direction Direction Master Reference Direction Master Lock Position Uni directional Only Master Direction Synchronize with next Pcam N A Scale Profile Total Master Distance Master Sca
148. oftware is scan based so it is not possible to stop the scan but it is Publication 1394 TD004A EN P January 2008 96 1394 Drive Conversions possible to use AFI instructions to make the rung always false or to use interlocking of code to determine if a next step should happen or not When using RSLogix 5000 software an AXIS SERVO DRIVE instruction is created for every axis on the SERCOS ring The tag structure automatically creates many associated tags that give the status of the axis for example if the drive is enabled or if the drive has faulted It is possible to use the tags associated with the Axis Servo Drive structure to direct program execution with simple code For example Examine On XIO or Examine Off XIC instructions along with the Axis Servo Drive structure allows program flow based on axis status In this ladder diagram a User Defined Tag UDT is created for a Servo Status If the Servo is OK this XIO closes If the Axis is enabled the next XIO closes If the mode is changed from automatic to manual the next XIO closes If all three are true the ServoOkToJog output turns on and work wherever it is referenced The first two XIO tags are referenced to the servo axis through the AXIS SERVO DRIVE tag structure RSLogix 5000 Code Example Using Tags for Axis Status Servo Status OK Servo CIVD AxisEnsiled Axis ManuaMoce 0 FH Equal Source B Publication 1394 TD004A EN P January 2008 tL
149. ons that are used for program maintenance or for external use in the Call Module function at some point in the program GML New Module Block MODULE EE The creation of a task program or routine replaces this function based on the need in RSLogix 5000 software code Output CAM 1394 Drive Conversions 123 You can configure up to 48 output cam profiles for Flex I O RIO discrete SLC or general purpose outputs These output cam profiles turn on or off at specific axis positions This block is used to enable or disable the output cam function GML Output CAM Block Output Can Type C Enable Disable wi A150 Cana 0 Fosilicn Actual windy 0 Erdut Wirluw 100 Aciusten Delay sec 1 Tag Explorer SLC Bit Tag Window SLC Output B Fearbeat out Fome complete run permiszive In RSLogix 5000 software the Output Cam objects in the MAOC instruction handle the Motion Planner Object Cam functionality Each Output Cam object is responsible for one output which consists of 32 output bits Each single output bit can be programmed separately with an Output Cam profile and compensated for position offset and time delay RSLogix 5000 MAOC MDOC Instructions MAOC Motion Arm Output Cam NC Axis Axis3 xz Execution Target exec tratl N Motion Control MADC 3 R Dutput output Input inputl Dutput Cam outputcam 1 zz Cam Start Position cam siti 027
150. otor Power Cables 1326AS B310H and 1326AS B330H 1326AS B420G 1326AS B440G and 1326AS B460F 1326AS B630F 1326AS B660E and 1326AS B690E 1326AS B840E and 1326AS B860C 1326 1 1326 1 1326AS 460V Motors Motor Brake Cables Separate brake cable not required Brake AI T326AS Boge wires are included with power cable Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 49 MP Series Low Inertia Motors Motor Cat No Drive Compatibility Feedback Type 2094 BCxx Mxx S or 2094 BMxx S Multi turn High Resolution Absolute Motor Feedback Cables 2090 XXNFMP Sxx flying lead or MPL BxxxxM S H 2090 UXNFBMP Sxx premolded connector 1394C SJTxx D Single turn High Resolution 2090 CDNFDMP Sxx flying lead 1 Encoder Feedback MPL BxxxxV E 2094 BCxx Mxx S or 2094 BMxx S 2090 XXNFMF Sxx flying lead 2094 BC xx Mxx S or 2094 5 1394x SUTXx A 394x SUT xx C Resolver 2090 flying lead 394C SJT xx D 394C SUT xx L 394x SJDocT 1 1 1 1 Use low profile connector kit catalog number 2090 K6CK D15M or panel mounted breakout components on drive end Refer to Kinetix Motion Control Selection Guide publication GMC SG001 for more information MP Series 460V Low Inertia Motors MPL B15xx and MPL B2xx Motor Power Cables 2090 XXNPMF 16Sxx MPL B310P MPL B320P
151. per sec2 Decel 100 units per sec X Decel Rate 100 OvendePrle Trapezo 7 I 2 Decel Units Units per sec2 Profile Trapezoidal Wallu completun Syrcteunice with read Muve Axis Merge Disabled Merge Speed Programmed lt lt Less Comparing Axis Move Parameters GML Software RSLogix 5000 Software GML Software RSLogix 5000 Software Parameter Parameter Parameter Parameter Axis Axis Decel Decel Rate Move Move Type Decel Units Decel Units Position Position Override Profile Profile Speed Speed Merge Merge Enable Speed Units Speed Units Wait for Completion N A Accel Accel Rate Synchronize with next N A Accel Units Accel Units Move Axis Publication 1394 TD004A EN P January 2008 Wait for Completion is used in GMC systems to cause the motion controller to halt the current task until the execution of the current move block finished RSLogix 5000 software is a scan based programming system The MAM instruction contains bits that you can use for program execution control for example the PC process complete bit 1394 Drive Conversions 83 In this example the MAM instruction is executed and when the PC bit is complete the output turns on RSLogix 5000 Code Example Using the MAM PC Bit to Set Output Motion Axis Move Axis AxisZ N23 aa Motion Control Axisins 0 KP Move Type Absolute Heey 0e Position 0 Speed Local 8 1 ChOData 014039993
152. pplication code when a motion axis reaches a specific location A physical device determines the location and triggers the task RSLogix 5000 Registration Input Event 1 I 1 Axis Position Registration Input Event Scan Au L Latency Publication 1394 TD004A EN P January 2008 120 1394 Drive Conversions There are three Motion Axis Registration functions in the GML software blocks that are not specific to the MAR blocks in RSLogix 5000 e Fither transition The MAR instruction can trigger positive edge or negative edge and not both as in the GML Watch Block e Auto rearm input The MAR instruction does not have this specific re arm of the function However it is recommended to use the following code Note the rung must change from false to true to re arm dependant on the ladder scan and coarse update rate RSLogix 5000 Code Example Executing Auto rearm of MAR Instruction Condition Registration Armed to start registration Waiting for Sensor EnableRegistration Registration Rearned MAR Motion Arm Registration Axis Axis_0 5x Motion Control My Registration R gt Trigger Condition Positive_Edge gt Windowed Registration Disabled Min Position Max Position Input Number Registration Armed Waiting for Sensor My Regstration IP Registration Rearmed My Regstration EN Registration Armed Waiting for Sensor My Registraton PC Registration Rea
153. r Supplies e The GMC system modules require an external 5V dc or 24V d ly for th istrati 33 33 and 24V dc for digital pis fen The Kinetix 6000 has an internal 24V dc power supply on each IAM AM i module dedicated for use by the enable home and overtravel digital e The system modules require an external 24V dc for the two registration inputs 36 IRR Wo r gistration Inputs 36 and 24V dc for the four digital inputs Hardware Enable Inputs The GMC system modules provide only one 33 33 System Enable input TB1 or TB2 The Kinetix 6000 IAM and AM modules each have their own Hardware e Each 8 pin 1 0 connector on the SERCOS Enable input on the 1 0 IOD connector Each IOD connector requires a interface system module has its own 36 low profile connector kit catalog number 2090 K6CK D26M 36 Hardware Enable input Servo Motor Compatibility Bulletin 1326AB resolver servo motors 47 You can continue to use the Bulletin 1326AB or 1326AS resolver servo 47 motors and the same motor power and feedback cables However when migrating to Kinetix 6000 drives you need the low profile connector kit catalog number 2090 K6CK D15MF for each of these motors This kit Bulletin 1326AS resolver servo motors 48 includes noise filters for the thermal switch connections that replace the 48 filter circuitry between TB1 and TB2 on the bottom of each 1394 series C axis module Bulletin 1326AB M2L S2L servo motors c You can conti
154. r module installed 2094 PRF Slot Filler Module Dimensions I Dimensions are in mm in 56 70 22 gt Power Rail Modules are shown mounted to the power rail and the dimensions reflect that 1394 Drive Conversions 25 Input Power Wiring Differences System Module Front View Series A and B 5 and 10 kW catalog number 1394 SJT05 C is shown Input Logic and Shunt Power Connections These drawings illustrate input power wiring differences between the 1394 drives and the Kinetix 6000 drives Differences also exist between 1394 system modules depending on the series series A and B or C and D but are not dependant on functionality analog GMC GMC Turbo or SERCOS interface This example illustrates the power wiring differences between 1394 series A and B system modules and series C and D system modules for 5 and 10 kW systems Series A and B system modules have terminal blocks for power wiring which was replaced by connectors on the bottom of series C and D system modules and a single point bond bar 1394 System Modules 5 and 10 kW b System Module Front View amp r LIE orl Series C and D 5 and 10 kW 0 p catalog number Be 1394C SJT05 D is shown DANGER o oN
155. ription BIT control instructions enable program flow based on program tag status for example the AXIS SERVO DRIVE servo action status bit Compare and Compute Math folder Instructions in these folders compare values in the program and direct program flow The Compare Math folder creates mathematical expressions using program data for proper program flow Time Counter folder Instructions in these folders are used to pause the program until the time has elapsed SSV The Set System Value SSV instruction is used to set available axis properties for example control loop gains MDO The Motion Direct Drive On MDO instruction is used in analog applications with the 1756 MO2AE or 1756 M02AS modules only N A N A 1394 Drive Conversions 149 GML Function Block Page Description The Call Module function block in GML 104 software lets you call and execute for an external module that is a subroutine for Call Module the existing GML program The Build Table function block sets up the cam points based on the master time versus slave time profile The Build Table block can also be setup as a variable Build T able array used in GML software gt The Configure Cam function block 105 typically sets up the reference for the Time Lock Cam function Configure CAM The Time Lock Cam function block sets up a non linear motion profile for a slave i axis with respe
156. rive is resolver encoder interface for absolute positioning disabled The Absolute Reference Bit lets the axis retain position within 4096 revs while all power is down The Overtravel tab is used to configure hard and soft travel Use the Limits tab to configure hard and soft travel limits Overtravel limits If the hard overtravel limit is used it is wired into the These physical inputs are wired to the Kinetix 6000 drive 1 0 GMC System Module 100 connector Use the Drive Motor tab to select the motor amplifier and The Motor Drive tab is used to select the motor catalog number Motor Drive configure the motor velocity and torque limits and configure the binati D que bi y d tth motor thermal circuitry combination The Dynamics tab is used to set the maximum application speed and accel decel and jerk values an autotune will automatically set the dynamics tab values Use the Fault Actions tab to configure the system to Disable The Fault Action tab is used to configure the system to Disable Fault Action Drive Stop Motion or Status Only when a fault occurs PI IP Motion Status Only or Shutdown when a fault The Hookups tab configures the transducer polarity and control Hiokts output polarity The actual test is available when the personal Use the Hookup tab to initiate a marker feedback or test computer and GML software is online with the applicable 1394 command test GMC System Module The Logix Tune t
157. rmed Wait for Tripped The Wait for Tripped selection in the Watch Position block or the On Watch block can be used to pause a specific task until the event occurs GML software is a sequential based programming language Since RSLogix 5000 IMPORTANT software is a scan based language the performance or execution of a watch or registration event is not immediate instead it is based on the Motion Group Coarse Update Rate CUR A general rule of thumb is to expect execution no longer than 2x the CUR In most instances of machine performance this is not noticeable For more information on event based tasks refer to Using Event Tasks with Logix5000 Controllers publication LOGIX WP003 The performance of a similar Axis Watch or Registration in the Logix 5000 architecture may vary from that in the GML code simply due to processor speed scan times and coarse update rate Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 121 On Task and Task Control The On Task and Task Control function blocks are used in GML software for task control You can have up to ten motion tasks executing at one time and you may for example have tasks waiting for an event or other block to execute GML On Task Block On Task C Wait for Task fTask Task Number Task0 OK Cancel Apply Help GML Task Control Block Task Control Task Control Type Start New Task v
158. se Motion Modules in Logix5000 Control Systems User Manual publication LOGIX UM002 Information for configuring and troubleshooting your ControlLogix and CompactLogix SERCOS interface modules SoftLogix Motion Card Setup and Configuration Manual publication 1784 UM003 Information for configuring and troubleshooting your SoftLogix PCI card ControlLogix Controllers User Manual publication 1756 UM001 Information for installing configuring programming and operating a ControlLogix System ControlLogix Motion Module Programming Manual publication 1756 RM086 More detailed information on the use of ControlLogix motion features and application examples Logix5000 Controllers Motion Instructions Reference Manual publication 1756 007 The instructions needed to program a motion application using RSLogix 5000 software GML Commander Reference Manual publication GMLC 5 2 The instructions needed to program a motion application using GML Commander software Rockwell Automation Configuration and Selection Tools website http ab com e tools Online product selection and system configuration tools including AutoCAD DXF drawings Rockwell Automation Product Certification website http www ab com For declarations of conformity DoC currently available from Rockwell Automation National Electrical Code published by the National Fire Protection Asso
159. sec Destination 0 0 Speed 0 units per sec teen 100 units per sec2 ba In RSLogix 5000 software the MCLM and instruction can simulate the linear and radius intermediate arc but cannot make the helical interpolation moves Publication 1394 TD004A EN P January 2008 112 1394 Drive Conversions RSLogix 5000 MCLM MCCM Instructions CLM Motion Coordinated Linear Move Coordinate System Motion Control Move Type Position Axis Axis Speed Speed Units Accel Rate Accel Units Decel Rate Decel Units Profile Termination Type Merge Merge Speed Publication 1394 TD004A EN P January 2008 Coordinated sys MCLM 3 0 move_position 6 1 5 0 0 0 20 of Maximum 30 of Maximum 30 of Maximum S Curve 0 Disabled Programmed lt lt Less 007777 MCCM Motion Coordinated Circular Move EN Coordinate System Coordinated_sys Motion Control MCCM 0 D Move Type 0 CER gt Position MCCM Move position 0 Axis 0 0 CIP gt Axis 5 0 Circle Type 0 Via Center R adius CPO VIA 0 Direction 0 Speed 10 Speed Units of Maximum Accel Rate 50 Accel Units of Maximum Decel Rate 50 of Maximum Trapezoidal 0 Decel Units Profile Termination Type Disabled Programmed Merge Merge Speed lt lt Less Comparing Interpolate Axes Parameters GML Software Parameter RSLogix 5000 Software Parameter
160. t an axis property like for example a tuning function RSLogix 5000 SSV Instruction Set System Value Class Name Axis Instance Name AXIS SD AccumulatorRotate Attribute Name PositionIntegralGain Source PoslntGain 0 0 1394 Drive Conversions 103 Direct Drive Control The Direct Drive Control function block in GML software is not applicable to conversion with the Kinetix 6000 drive In RSLogix 5000 software the MDO instruction is used most likely in an analog application with the 1756 MO2AE or 1756 M02AS motion module GML Direct Drive Control Block Direct Drive Control tem Axis 50 Output 0 Vots X Native Code The Native Code function block lets you write base ICODE instructions in GML software This is not applicable in RSLogix 5000 software GML Native Code Block Native Code E Native Code Statement s tatement Publication 1394 TD004A EN P January 2008 104 1394 Drive Conversions Chk Battery Call Module The Call Module function block in GML software lets you call and execute for an external module that is a subroutine for the existing GML program GML Call Module Block Call Module User Defined Module Number Statement Cancel Use the Program Control Folder in RSLogix 5000 software to move to another part of the program For example the Jump To Subroutine SR instruction can be used to j
161. the AXIS SERVO DRIVE configuration update in process to be off before executing another SSV instruction RSLogix 5000 SSV and GSV Instructions SSY SV Get System Value Class Name Axis Instance Name AXIS SD Gantryx Set System Value Class Name Axis Instance Name AXIS SD GantryX Attribute Name ActualPosition Dest actual_position 0 Attribute Name AccelerationLimitPositive Source accel limit T Comparing Control Settings Parameters GML Software RSLogix 5000 Software Parameter Parameter Type Class Name Value Dest State Attribute Name Tag Dest Publication 1394 TD004A EN P January 2008 98 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 Input Show Input Status Output The Input Show Input Status and Output function blocks and the Bit Control instructions let you program the drive to control program flow with a dedicated configured or miscellaneous input They are also used for turning on a general purpose SLC RIO AxisLink or Flex I O discrete output GML Input Block configured Input Configured Type C Wait for Input ON Wait for Input OFF If Input TIP A marker state dedicated input as used in GML software is not available in RSLogix 5000 software GML Input Block dedicated Input Dedicated Axis axaso X Input Marker State OK Cancel Apply Help 1394 Drive Conversions 99 This is th
162. the ServoActionStatus bit is set The ServoActionStatus bit can be used as part of the interlocking before a move occurs ER is the Error bit The ER bit is set to indicate that the instruction detected an error RSLogix 5000 Code Example Using Interlocking Before MAM Instruction Executes 1394 Drive Conversions 77 Control Options Axis Setup The Control Options dialog in GML software determines how the 1394 GMC system module is configured These are the available options e Communication network interfaces e Application options for running the program e Number of servo axes on the system module e Operator interface port e Flex I O e Smart Power for shunt and dc common bus e SLC and Turbo I O data e AxisLink node addresses In this example the 1394 GMC Turbo system module is setup to use AxisLink and the SLC interface GML Commander Control Options S File Edit view Configure Module Diagram Tools Window Help a e jo n Axis Use Control Type IMC S Class 1394 1394 Twbo CODE Version 39 zi Intertaces Application Uptions Jd Zj Run Program Power up Downoad Servo Iv SLC x Update Rate H2 V Mk Ekendedivitnk Dana Diesen e Data I DH 485 Low Line Voltage 200 Volts Mulikop ej Setups Password SET Newt gt Cancel Help RSLogix 5000 software uses the Controller Organizer to setup the specific processor used
163. the Coordinated System Time Master the Motion Group with up to 32 axes per group and finally the I O Configuration including the SERCOS network and the Kinetix 6000 IAM and AM modules in that network Publication 1394 TD004A EN P January 2008 78 1394 Drive Conversions RSLogix 5000 Controller Organizer Controller Generic A Controller Tags LI Controller Fauk Handler C Power Up Handler Cy Tasks Main 0 Main PO1 AXIS Conveyor PO2 AXIS GertryX axis 04 AXIS Ganbryz AXIS GantryZRot P06 AXIS AccumulatorRot 7 AXIS AccumulstorSiide OB 20 UserInterface LI Unscheduled Programs Phases amp Motion Groups C MobonGroup gt AXIS FB Conveyor AXIS SD AccumulatorRotate gt AXIS SD AccumulstorSiide gt AXIS SD Conweyor 105 AXIS SD Gankryx D gt AXIS SO Gantry lt 453 MO Configuration 1755 Backplane 1756 A10 0 1756463 Generic 2 1756 e Ethernet 9 1756 ENET ener 1794 4ENT A IO 9 0 1794 1816 Inpu 1 1794 0816 4 Ou 9 3 1756 Mi6sE Mi6 Bs SERCOS Network 1 2094 BC01 M01 5 1 JAM 2 2094 801 SA2 AM 3 2094 5 AM 4 2094 BMO1 5 4 AM 5 2094 EMOI SAS_AM 6 2094 BMD1 SA6 AM 7 2094 8M01 SA7_AM 8 2094 BM0 SAB_AM 4 1756 18160 Inputs 5 1756 06160 Outputs GarkryY Axis Virtual w
164. the accessing of the other software to transfer data bits to start and stop a process from the HMI terminal or to send position data from the motion controller back to the programmable controller for example In this instance the use of the SLC backplane and 1394 GMC Turbo system module provided dedicated I O from the SLC RSLogix 500 software to and from the GML motion programming software Publication 1394 TD004A EN P January 2008 64 1394 Drive Conversions An accumulator machine using motion control uses the following GML code to manually override an automatic condition with the use of an external switch HMI terminal input This external input is written through RSLogix 500 code SLC and then through data transfer using the 1394 GMC Turbo system module The input can jog the accumulator slide forward or reverse In this rung of the RSLogix 500 program you can determine if the axis should be in manual or automatic mode RSLogix 500 Code Showing 1 0 Handshaking in GML Software Move JOG commands from Panelview to Upper 1394 Automatic Mode Enabled B130 3t Jog B Forward Lower 1394 JOG B Fwd B130 E ae Publication 1394 TD004A EN P January 2008 16 1394 SJT Jor c Forward Lower 1394 Jog C Fwd 04 CM 1394 SJT Jog C Backward Lower 1394 Jog C Bck B130 o4 f C RN 18 1394 SJT The code in rung 0002 indicates that if SLC input B13 0 15 Automatic Mode Enabled bit is off the
165. the output connection of the Feedback Off Axis1 block back to the input connection of the Cycle Start PB block and the entire sequence repeats on the next off to on transition of the Cycle Start PB block GML Feedback Block Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 145 RSLogix 5000 software duplicates these steps by using two MSF instructions After each instruction the Axis0 ServoActionStatus and Axis1 ServoActionStatus bits are examined to make sure that the feedback for the axis is disabled before moving on to the next step For the sequence to loop back and restart on the next off to on transition of the Cycle Start PB the last rung has a 0 placed in the Cut to Length Sequence step which returns the state logic to the first step in the sequence RSLogix 5000 Code Example MSF Instruction Used to Disable Axis 0 and Axis 1 Servo Loops Equal Source Cut to Length Sequence 0 Source B 90 Qu Equal Source Cut to Length Sequence 0 Source B 95 Qu Equal Source Cut to Length Sequence 0 Source B 100 Equal Source Cut to Length Sequence 0 Source 105 Equal Source Cut to Length Sequence 0 Source B 110 Motion Servo Off Axis Motion Control Axis0 ServoActionStatus Motion Servo Off Axis Motion Control Axis1 ServoActionStatus ISF Axis 0 Feedback Off Move Source Dest Cut to Length Sequence 0 Move Source 100 Dest Cut to Length S
166. tic Output Processing To Reduce Task Overhead Inhibit Task 1394 Drive Conversions 117 A watch point also lets you execute specific application code when a motion axis reaches a specific location However a watch point is a software based position that serves as the trigger for the event RSLogix 5000 Watch Point Event LI LI Posto k E Watch Point Se SSS m Event Scan Synched to position Watch Control Block and Motion Axis Registration MAR Instruction Publication 1394 TD004A EN P January 2008 118 1394 Drive Conversions Publication 1394 TD004A EN P January 2008 Comparing Watch Control Parameters RSLogix 5000 Software Parameter MAR Axis Axis GML Software Parameter Off to on transition Trigger condition positive edge On to off transition Trigger condition negative edge Either transition N A Use window Windowed registration Minimum position Min Position Maximum position Max Position Auto rearm input N A Wait for completion N A The Watch Control function block does not require you to designate which input you are using for registration Each 1394 axis module has a dedicated 5V dc registration input and 24V dc registration input on the 1394 system module However you can only use one of them for each axis Each Kinetix 6000 drive module has two dedicated 24V dc registration inputs for each axis You can use the On Watch block w
167. ting BSP2 230 460V input voltage 200 W Bulletin Number Kinetix 6000 Slot Filler Module Catalog Numbers 2094 Power Rail Filler Bulletin Number Kinetix 6000 Power Rail Catalog Numbers 2094 PRS x Module Capacity 1 IAM and no additional modules 2 AM and up to 1 additional module 3 and up to 2 additional modules 4 IAM and up to additional modules 5 AM and up to 4 additional modules 6 IAM and up to 5 additional modules 7 AM and up 6 additional modules 8 IAM and up to 7 additional modules Power Rail PRS Power Rail Slim available in 1 2 3 4 5 6 7 and 8 axis capacity Bulletin Number Publication 1394 TDO04A EN P January 2008 18 1394 Drive Conversions Mounting Dimension These drawings illustrate the mounting differences between the 1394 drive systems and the Kinetix 6000 drive systems with Bulletin 2094 1394x SJT22 x System Modules 67 2 7 1394x SJT05 x and 1394x SJT10 x System Modules Differences 1394 Multi axis System Dimensions 421 16 8 15 15 50 50 Dimensions
168. tion Control System Installation Manual publication 1394 IN002 Information for mounting and wiring the 1394 SERCOS servo drive 394 SERCOS interface Multi axis Motion Control System Integration Manual publication 1394 IN024 Information for configuring troubleshooting and setup with RSLogix 5000 software for the 1394 SERCOS servo drive 394 Digital AC Multi axis Motion Control System User Manual publication 1394 5 0 Information for mounting wiring setup applying power and troubleshooting the 1394 GMC GMC Turbo and Analog drive systems publication 1394 DU005 1394 Digital AC Multi axis Motion Control System Document Update New or updated information to use in conjunction with the 1394 user manual publication 1394 5 0 Kinetix Motion Control Selection Guide publication GMC SG001 A description and specifications for the 2094 family including motors and motor accessories Motion Analyzer CD publication PST SG003 Drive and motor sizing with application analysis software Fiber optic Cable Installation and Handling Instructions publication 2090 INO10 Information for proper handling installing testing and troubleshooting fiber optic cables System Design for Control of Electrical Noise Reference Manual publication GMC RM001 EMC Noise Management DVD publication GMC SP004 Information examples and techniques designed to minimize system failures caused by electrical noi
169. to Length Sequence 0 Publication 1394 TD004A EN P January 2008 142 1394 Drive Conversions The next two blocks in the GML diagram bring both axes to a controlled stop using a user configurable deceleration rate By checking the Continue Jog at last Master Speed box on the Disable Gear function block the Disable Gear function block does not stop 0 If the box is checked the Disable Gear function block stops AxisO at the maximum deceleration rate of the axis GML Stop Motion Block x Stop Motion TT Avis umm Stop Motion Stop Motion Stop Motion Stop Motion RSLogix 5000 software stops both axes using two MAS instructions with the Stop Type parameter set to Jog With the Change Decel parameter set to Yes the Decel Rate Parameter and the Decel Units determine the deceleration rate of the axis RSLogix 5000 Code Example MAS Instruction Used to Stop Jog Function QU AS Equal Motion Axis Stop EN Source A Cut to Length Sequence Axis Axis gs 0 Motion Control Stop AxisO Source B 75 Stop Type Jog IP5 Change Decel Yes Decel Rate 50 Decel Units of Maximum E Stop Axis0 DN Move Source 80 Dest Cut to Length Sequence QU AS Equal Motion Axis Stop EN Source Cut to Length Sequence Axis Axis1 zz 0 Motion Control Stop Axis1 ER Source B 80 Stop Type Jog IP 3 Change Decel Yes PC Decel Rate 50 Decel Units
170. tor kits When using Bulletin 326AB or 1326AS resolver based motors use 2090 K6CK D15MF low profile connector kits Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 37 Power Specifications Attribute Rated AC input voltage Kinetix 6000 drive modules Power Specifications for 1394 Drives 1394 System Module Power Specifications Value This section provides power specifications for the 1394 and 1394x SJTO5 1 2 324 528V ac 50 60 Hz 3 phase 1394x SJT10 1 2 324 528V ac 50 60 Hz 3 phase 1394x SJT22 1 324 528V ac 50 60 Hz 3 phase AC input current 6 5A 13 0A 28 6 A Peak inrush current 2 3 4 and Bj 975 A 1300 A 697 A 1 us ud m Line loss ride through 20 ms 20 ms 20 ms Nominal bus output voltage 530 680V dc 530 680V dc 530 680V dc Continuous power output 4 5 kW 8 10 kW 17 22 kW Peak power output 28 kW 28 kW 136 kW Efficiency 99 99 98 Weight series A and B 11 kg 24 25 Ib 11 kg 24 25 Ib 12 7 kg 28 0 Ib Weight series C and D 10 68 kg 23 5 Ib 10 68 kg 23 5 Ib 12 9 kg 28 5 Ib Continuous current output Age 7 36A 14 73 338A Intermittent current output Age 15 0 A 29 46 A 200 A m 220 pF 330 pF 660 pF 220 uF 345 pF 660 pF Inductance 1000 uH 750 500 uH Internal shunt resistor 200 W continuous 40 000 W peak two second maxim
171. u can use the On Watch block with the Watch Control block for a position event and either handle program flow after the event occurs or halt the program flow as it waits for the event to occur The Wait for Tripped function lets the Watch block be used to pause the existing motion task not the other tasks and wait for the event to occur Either function could be used but not both for the same event The MAW motion instruction in RSLogix 5000 software does not provide the capability of pausing the ladder scan and if in a continuous task is not a prioritized task Use an Event task for a MAW instruction for optimum application usage GML software is a sequential based programming language Since RSLogix 5000 software is a IMPORTANT CP scan based language the performance or execution of watch registration event is not immediate instead it is based on the Motion Group Coarse Update Rate CUR A general rule of thumb is to expect execution no longer than 2x the CUR In most instances of machine performance this is not noticeable Publication 1394 TD004A EN P January 2008 RSLogix 5000 New Task Event for Motion Axis Watch Name Axis 1 Watch OK Description Help Type Event Trigger Axis Watch Tag AsiswWatch 1 event Execute Task If No Event Occurs Within ms Priority 10 H Lower Number Yields Higher Priority Watchdog 500 000 ms v Disable Automa
172. ui Motor Power Cable Clamp Cee jJ series C axis modules only 1394x AM xx xx Axis Module Bottom View catalog number 1394C AMO3 is shown Motor Brake and Thermal Connections Although the physical size of the 1394 AM50 xx and 1394 AM75 xx TIP i modules may be larger the location of the connectors is the same Publication 1394 TD004A EN P January 2008 28 1394 Drive Conversions This drawing illustrates the motor power wiring connections for the Kinetix 6000 IAM and AM modules Also shown is the Safe off SO connector This feature is not offered on the 1394 drive systems Refer to the Kinetix Safe off Feature Safety Reference Manual publication GMC RMO002 for more information Kinetix 6000 Drive Modules Integrated Axis Module Top View catalog number 2094 BC01 MP5 is shown CTRL2 m CTRL 1 9 Gv EZ I CONT EN a NO CONT EN Safe off J S0 Connector n Cable Shield Clamp p BBISSTEZL lt lt M Axis Module Top View catalog number 2094 BMP5 is shown Safe off SO Connector Cable Shield Clamp
173. ule axis 0 BC 6 module axis 1 MBR Publication 1394 TD004A EN P January 2008 36 1394 Drive Conversions Converting 1394 SERCOS High resolution Feedback to Kinetix 6000 Drive 1394 System MPL Bxxx M S or Signal Kinetix 6000 MPL Bxxx M S or Signal Module Connector 1326AB Bxxx M2L S2L Motors MF Connector 1326AB Bxxx M2L S2L Motors 1 Sine differential input SINE gt MF 1 Sine differential input SINE 2 Sine differential input SINE MF 2 Sine differential input SINE 3 Cosine differential input COS gt MF 3 Cosine differential input COS 4 Cosine differential input COS gt 4 Cosine differential input COS 5 Common ECOM gt MF 6 Common ECOMM 6 Encoder power 9V EPWR 9VM gt 7 Encoder power 9 EPWR 9VM 8 Hiperface data channel DATA MF 5 Hiperface data channel 9 Hiperface data channel DATA MF 10 Hiperface data channel DATA 12 Motor thermal switch input TS gt MF 11 Motor thermal switch 1 TS 13 Motor thermal switch input TS Internal to cable N A COMMON f When using these high resolution feedback motors use 2090 K6CK D15M low profile connector kits Converting 1394 SERCOS Resolver Feedback to Kinetix 6000 Drive
174. um on time No internal shunt resistor 2 5 1 The standard GMC and GMC Turbo system modules are identical except that the GMC Turbo catalog number 1394x SJTx T offers a SLC backplane interface and 64K of memory with a 32 bit processor while the standard GMC catalog number 1394x SJT xx C offers 32K of program memory with 16 bit processor without the SLC interface The standard GMC catalog number 1394C SJTxx L is functionally the same as catalog number 1394x SJTxx C except it only supports one axis and provides two auxiliary encoder inputs 5 and 10 kW series C and D system modules and all 22 kW system modules are limited to four contactor cycles per minute 5 and 10 kW series A and B system modules are limited to an average of four contactor cycles per hour Where L Inductance C Capacitance Peak inrush current for _ line voltage x 1 1 x 421 5 and 10 kW systems Series A and B al Peak inrush current for 22 kW all series and 5 and 10 kW series C and D systems is limited by an internal 80 ohm resistor 8 A peak inrush current for all series C and D system modules will experience no more than a 40 A peak loss less 1 ms Lsystem Csystem 4 Caxes The Peak Power Output rating for 5 and 10 kW series A and B is based on the thermal limits of the modules The Peak Power Output rating for 22 kW all Series and 5 and 10 kW series C and D is based on a current limit of 10596 of two ti
175. ump to a subroutine in the program The Add On Instruction AOD in RSLogix 5000 software is used to create your own subroutine for instructions For example it is possible to create an AOI routine for fault reset enabling and homing an axis This eliminates having to create the ladder code but it can make troubleshooting the program a bit more difficult The RSLogix 5000 software rung below is used with an AOI instruction When Chk Battery is requested the rung executes the AOI instruction which checks the TL Series motor with high resolution feedback backup battery that maintains absolute position Either the battery is low minimum level completely discharged or not connected properly RSLogix 5000 Code Example AOI Instruction TL Battery Status TLBS JE Publication 1394 TD004A EN P January 2008 TL Battery Status TLBS Axis 1 BatteryCHK Sts EN Par BatteryStatusMSG Axis 1 BattChkMSG Sts DN5 Sts BatteryNotConnected 1394 Drive Conversions 105 Build Table Configure CAM and Time Lock CAM GML software uses the Build Table Configure CAM and Time Lock CAM function blocks to perform a Time Master to slave position type function RSLogix 5000 software uses the MCCP and MATC instructions to build a variable or standard Time based Cam that performs the same function GML Build Table Configure Cam Time Lock CAM Blocks Table Slave Profile F Type CAM Table Slnesds 2150 E
176. ure to make sure that the watch is active before incrementing to the next rung RSLogix 5000 Code Example MAW Instruction for Axis 0 EQU MAN H Equal Motion Arm Watch HEN Source A Cut to Length Sequence Axis AxisO zz 0 Motion Control Axis 0 Watch Positiont HXER2 Source B 45 Trigger Condition Forward lt 2 Position 10 PC Axis0 WatchEventArmedStatus Axis O Watch Posttion1 IP MOV JE JE Move Source Dest Cut to Length Sequence 0 Once the watch is active the pause on the GML diagram is duplicated by monitoring the PC bit from the motion instruction and the Axis0 WatchEventStatus status bit from the axis tag structure When these bits turn on AxisO has reached the desired position moving in the correct direction as configured in the motion instruction The next step in the sequence is initiated by moving a 55 into the sequence step variable RSLogix 5000 Code Example Monitors Event to Complete EQU Axis_0_Watch_Postioni PC MOV Equal JE 4 Move Source Cut to Lenath Sequence Source 55 Source B 50 Dest Cut to Length Sequence 0 L Publication 1394 TD004A EN P January 2008 1394 Drive Conversions 137 Upon completing the watch position GML function block the next step in the sequence is to gear Axis1 to 0 In the this example function block 0 is the master axis and 1 is the slav
177. wn e DPI SCANport Connector Axis 1 Auxiliary Feedback Connector m Axis 0 Auxiliary Feedback Connector ii Axis 2 Motor Feedback Connector in four axis system or Axis 3 Auxiliary Feedback Connector in two axis system p 0 Axis 3 Motor Feedback Connector in four axis system or Axis 2 Auxiliary Feedback Connector in three axis system Axis 1 Motor Feedback Connector Axis 0 Motor Feedback Connector Feedback Cable Clamps Cable Clamp Grounding Bracket 1 1 1 1 1 i 1 2 lt gt 02 Pb wa CMS CD D Cc SS lt Gn gt CEH CD lt t Cc 06 This example illustrates the I O and feedback wiring connectors for Analog system modules Publication 1394 TD004A EN P January 2008 1394 Analog System Modules 1394x SJTxx A Analog System Modules Front View catalog number 1394 SJT22 A is shown Input Wiring Board Analog System Module Bottom View 1394x SJTxx A 1 CI catalog number 1394 SJT22 A is shown AQBO Axis 0 AQB Encoder Feedback Output AQB1 Axis 1 Encoder Feedback Output AQB2 Axis 2 AQB Encoder Feedback Output AQB3 Axis 3 AQB Encoder Feedback Output OJOJOIOIO O i
178. x x and axis modules catalog numbers 1394C AMxx and 1394C AMxx IH include features not available on series A and B modules catalog numbers 1394 SJTxx x and 1394 AMxx System Module Features Features Series C and D Series A and B Connector plug in input power termination Yes No Cable Clamp strain relief shield bond Yes No EMI filter 24V input power registration Yes No Smart Power Soft Start power monitor Yes 22 kW systems only Axis Module Features Features Series C Series A and B Cable Clamp strain relief shield bond Yes No EMI filter motor brake and thermal circuit Yes No Publication 1394 TD004A EN P January 2008 16 1394 Drive Conversions To determine the series designator check the series field on the Allen Bradley label attached to your system axis and shunt modules The series designator is located as shown in the example below Allen Bradley Label Shunt Module Example ALLEN BRADLEY SA BULLETIN 1394 300W SHUNT MODULE ICAT PART BER INPUT DC INPUT AC FOR FUSE REPLACEMENT USE Series Field BUSSMAN CAT NO FOR USE WITH 1394 SJT22 X SYSTEM MODULE Series Catalog Numbers for 1394 Drive Modules 1394 Modules Module Functionality Series D Series C Series A and B Analog 1394C SJTxx A 1394 SJTxx A GMC 1394C SJTxx C 1394 SJTxx C System modules GMC Turbo iis 1394C SJTxx T 1394 SJ
179. z Piocedure Contiaued 7 AH Motion Axis Home Wait for completon Axis Axis E T Synctworize wit next Home Axis Motion Control Home Axis You can review the configuration of the homing procedure in GML software by clicking the Configure Axis Use AXISx the axis whose homing configuration you wish to review GML Configure Options 2 File Edit view Configure Module Diagram Tools Window Help ERES a amp orksER mmm Publication 1394 TD004A EN P January 2008 92 1394 Drive Conversions GML Configure Axis Use Homing Tab E MotoDive Faut gin Hookups Dynamc Genel Units Feedback Positonirg Homing Oveitravel em INCH Procedure acive Limit Swtoh Open Use Direction Active Positive x Homing Speed f IINCH S cond Reun Speed IINCH S econd Assembly Far custom z Turns Rarae 25 RSLogix 5000 Axis Properties Homing Tab Axis Properties AXIS SD AccumulatorSlide General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FautActons Tag Mode e EN Offset bo mm Sequence SwitchMarker 7 Limit Switch Normally Open Closed Active Home Sequence Group Direction Forward Bi directional Torque Level antinuous Torque

1394 Drive Conversions Technical Data

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