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1. Configure Your Logix System Follow these steps to configure your Logix system to your needs Select Your CompactLogix Controller 1 Choose Edit gt Controller Properties The Controller Properties window opens 2 Select the General tab 3 Verify that the controller Type matches your system If not perform the following steps a Click Change Controller to select the controller type to match your actual hardware b Click OK 4 Modify the controller Name as appropriate 5 Click OK Publication IASIMP 0S011B EN P January 2009 53 Chapter 5 Motion Logix Integration Changing the Slot Number of the DeviceNet Module Optional If you are using a pre configured CompactLogix application file CIMLxx_xaxis_vO0O0x acd your Logix DeviceNet module is configured in slot 5 If this does not match your actual hardware configuration follow the steps in this section to change the assigned slot number 1 Scroll down to the bottom left of the RSLogix 5000 Explorer window and locate the I O Configuration folder 2 Double click the 1769 SDN scanner module 19 irena LS Configuration Fil Backplane CompactLogix System 3 Verify the Slot address for this module and change it if 4 1769 131 Generic necessary BM CompactiBus Local A 3 1769 SON B Scanner 4 Click OK to close the properties window Optional To add additional I O modules right click the P UG AOL MSC a CompactBus Loc
2. Publication I ASIMP QS011B EN P January 2009 31 Chapter 3 Plan System Layout Verify Your Basic Panel Layout The basic motion control panel layout is shown below Included is a three axis Ultra3000 drive system with Line Interface Module LIM PanelView Plus 600 terminal and CompactLogix controller with DeviceNet interface module Verify that your system matches this diagram If it does not match follow the instructions in Sample Information from Enclosure Files LLL DILL l fy a Line Filter optional RAH a COMET IMPORTANT CLEAN i ber an S LIM Module Ultra3000 Indexing Servo Drives with DeviceNet 230V AC shown CompactLogix Controller 1769 SDN DeviceNet Module Modifying Your Motion Panel Layout on page 33 PanelView Plus 600 Terminal HMI Through the door Disconnect Bulletin 800EP Push Buttons Optional Equipment Includes e Line Filter required for CE e PowerFlex 40 AC Drive e Ethernet Modem e Point I0 System e Safety Relay Enclosure 1219 x 609 x 304 mm 48 x 24 x 12 in The enclosure CAD drawings were designed using best practices techniques as shown in the system Design for Control of Electrical Noise Reference Manual publication GMC RMO001 Refer to this publication when making modifications to the basic motion control panel layout Refer to the Ultra3000 Digital Servo Drives Installation Manual publication 2098 IN003 for pan
3. Trademarks not belonging to Rockwell Automation are property of their respective companies Where to Start Follow the path below to complete your CompactLogix Indexing Motion application Chapter 1 CD Installation Chapter 2 Hardware Selection Chapter 4 Plan System Wiring Publication IASIMP QS011B EN P January 2009 Chapter 5 Motion Logix Chapter 6 Motion Factorylalk View Integration Chapter 7 Motion System Application Guide Where to Start Notes 4 Publication IASIMP Q8011B EN P January 2009 CD Installation Hardware Selection Plan System Layout Plan System Wiring Motion Logix Integration Publication IASIMP QS011B EN P January 2009 Table of Contents Preface IMMOCUCUON 24 65 46 45 0 0 459045 04508 264 ate ee bees 9 RegU red SOINA eeni e e eR E ER E ees 10 Conventions Used in This Manual 006 10 Additonal RESOUICES 2 2424444 58 28448 o0ERR3R4548 11 Chapter 1 AGO ING Move oh carte get ats See ney eens deren dn ee a 13 Folow TNES SEN sker 2 keke toh h Cea eee ese he ees 13 Install the Kinetix Accelerator Toolkit Program 14 Open the Kinetix Accelerator Toolkit Program 14 Chapter 2 BEE NOU DOON reii oases es beds Mia te wi hadi MSE Oe a ky Rae 17 NICON Ed ns athe ye phe oad ee wee ye es 17 Folow These Seaain eaea eea SG eke eG ord ae ak 18 Installing Motion Analyzer Software
4. 3 The FactoryTalk View Studio software compiles the J sists Creating runtime file project and runs it as if it were executing on the desired Graphics terminal Aarti g cma 4 Press x to end testing and shut down the application Publication IASIMP QS011B EN P January 2009 79 Chapter 6 Motion FactoryTalk View Integration Download Fonts to the Terminal Because PanelView Plus terminals do not include the Arial Bold font when shipped but the FactoryTalk View ME applications require this font it is necessary to download Arial Bold from your personal computer to the PanelView Plus terminal Follow these steps to download fonts to the PanelView Plus terminal 1 Apply power to the PanelView Plus terminal 2 Connect your Ethernet cable between your PanelView Plus terminal and personal computer 3 Choose Tools gt Transfer Utility The Transfer Utility window opens 4 Click to browse for the source font file pen der oe aiai h pi Diria rij bitin F pina agai teh F piu ell ha iier Bh ca i Ste cere hae k Goes A A cial lee i E eed te J aba by bhar ees D kian hi ae Ae lal l ELP Deters EE iT Bis a0 iy D Ethernet Moga Saket ft emang The Select File to Download window opens Sebari File te ren boc Look E Fonts z cf m Navigate to C WINDOWS Fonts Select True Type Font Files in the Files of type field Enter Arialbd ttf in the File name field Cl
5. Sa TOO_Main o Ca DewiceMetInputs E DeviceMetInputs POL_AXTS 01 3 POO_Contral PO2_AxIS_O2 HE P2_GenericMachine_AUTO 3 PO3_AxTS_O3 OS P2_GenericMachine_MANUAL Ca DeviceNetOutouts Oa POl 4x15 O1 Ca POO Control ELE Ca PO2 4Aa15 02 Lag PS GenericMachine_ AUTO Ca POS _AxTS O35 aq P2_ GenericMachine_ MANUAL E Ca DeviceWetOutputs Your application logic now uses PhaseManager and the S 88 state model Continue on with the steps below to change your operator interface screens Publication I ASIMP QS011B EN P January 2009 111 Appendix B PhaseManager for S 88 Users Making Changes to Operator Interface Screens Follow these steps to convert the FactoryTalk operator interface screen templates from a simple state machine to a version that uses PhaseManager and the S 88 state model Replace the Auto Screen Display 1 Open FactoryTalk View Studio and the Machine Edition application file that you selected in Chapter 6 2 In the application organizer expand Displays a IMME _2axis PVP7O0_StateMachinefr a System Project Settings amp Funtime Security Diagnostics List Setup Global Connections ee Startup 4 HMI Tags 3 Locate the 210_Control_AUTO display 4 Right click on it and select Rename 85210 Control AUT S210 Control AUTI Open S500_Servo_STAT Delete S600 Serva FAULI e S710_Trend_POS 1 Sr20_Trend WELO 5730_Trend_TORG Rename Dupli
6. 00005 19 Review Basic Panel Component Listings 25 Verify Base System Performance Specifications 26 select Add In Components na4034 4 nen Sh ERS ae Hoc 28 Chapter 3 Pere YoU DES pai mye hued wale Rt ee Oe eet 29 ae MOU INCE ug kat hace foes ta ee eee ee ee ee 29 Folow INESe ICDS 3 008 LDS aoa bebe aS EPR S 30 Load Basic System CAD Drawings 0 000 31 Verily Your Basic Panel Layout 244 4444sei4 e4654 hee 32 Modifying Your Motion Panel Layout 33 Downloading Other Allen Bradley CAD Drawings 34 Chapter 4 Deore 1 OU De IN i 4 oes oY eee eh Cee Ee a ees 35 WAG YOU NEC ete oe orth se el eh he ee ao 35 Folow THESE Steps aea a a aa a aa Ae els 36 Load Basic System CAD Diagrams n on aaaea 37 Route Cables for Your Motion Panel 0 39 Lay Out DeviceNet and Ethernet Cables 40 Chapter 5 BelOre VOU Be OUN erasi oreken eee hed ten eS ee ee 41 WARY OUN day trae ea hee atae oe eo ee eee ae 41 Folow NCSC SIC 0S 26 ae ah a ek ee ad etd God ge amp eS 42 Configure Your Servo Drives 2 4 4444 2005 d34teede bee 43 Configure Your Logix DeviceNet Module 46 Select Your Logix Application File 0 00045 52 Table of Contents Motion FactoryTalk View Integration Motion System Application Guide CompactLogix Base Program Overview Load and Open Logix Application File 52 Configure Your LOoix S Stemi 0
7. Downloading Other Allen Bradley CAD Drawings Follow these steps if you want to download other Allen Bradley product CAD drawings 1 Open your browser and go to http ab com e tools The Configuration and Selection Tools webpage opens 2 Enter the Catalog Number of the vonNeura Non H CONFIGURATION amp SELECTION TOOLS Selection Tools product gt Product Selection Rockwell Automation offers a powerful range of product selection and system configuration Ouwerwien tools to assist you to choose and apply our products There are tools available on line and for see see leas you to install on your personal computer so that you can quickly access information on our 3 Click Submit Ae oa products while in the office or on the go System Configuration Product Drawings Product Selection System Configuration Product Drawings Integrated architecture Tools Weer siepor Hen e Build Valtidate A Catalog Number Build Verify and Get Information and CAD Drawings for Products Resources To verify a catalog number acquire drawings and product information enter the Product Directory complete number including dashes below I a Product Certification Catalog e 298 05 CHO 10 DN gt C submit 5 Product Cross Reference a You can also browse our product directory for additional product information or to configure a part NOTE You must be logged in to correctly view US or Canadian dollar results Literature Library Th
8. Et 3 A515 01 AxisFautt A4 gt xi _07_MLMAF R Ch 0 ARIS eric Axis ER 3 Source B 0 2A4xIS_UT a ERROR De p Status Received from Drive Servo_Axis Status FautDisable 45 5 01 Status FautDisable gt Clear Axis Faults Servo_CMD Reset s xis _01_CMD Reset Publication IASIMP QS011B EN P January 2009 125 Appendix C Troubleshooting 5 Click on the AOI_MAFR instruction and press the F1 key for assistance with the error code fe Add On Instruction Definition AO _MAFR v1 0 General Parameters Local Tags scan Modes Change History Help Extended Description Test lssues the Fault Reset command to the Ultra 3000 drive ERROR CODES 12 Drive did not respond to Faultheset request in time Check communication to dive Verfy that cause of fault has been cleared 6 Follow the instructions shown for the associated ERROR CODE and execute the reset command from the HMI again Correct Aborted Resetting State Problem AutoCycle Stepindex Stops at 20 If the AutoCycle StepIndex stops at 20 the axes are not completing their initialization procedure which includes enabling each drive and commanding the axis to a starting position Perform the following steps to correct this condition 1 To find the source of this problem open the RO2_MachineMonitor routine in the POO_Control program Tasks EA TOO Main CS DeviceNetInputs 33 POO_Control Ej Frogram Tags Bi ROO MainDispatch R
9. CompactlLegix Indexing Motion plications wick Start CAD Drawings North Latin America Appticati qu Typical Bill of Material Enclosure CAD Files E Wiring Diagram CAD Drawings E Horthi Latin Ameri Controller Prearam Files Publication I ASIMP QS011B EN P January 2009 37 Chapter 4 Plan System Wiring 5 Use your CAD program to open these and other wiring diagram CAD files e CIMAT Lxx_xxx_1_POWER_DISTRIBUTION dweg e CIMAT Lxx_xxx_2_CONTROL_POWER dwe e CIMAT Lxx_xxx_3_LIM_DISTRIBUTION dwe e CIMAT_Lxx_xxx_4_DRIVE1_IO dwg e CIMAT Lxx_xxx_5_DRIVE2_IO dwg e CIMAT_Lxx_xxx_6_DRIVE3_IO dwg e CIMAT Lxx_xxx_7_NETWORK_CONNECTIONS dwg e CIMAT Lxx_xxx_8_PLC_IO dweg e CIMAT_Lxx_xxx_9_TERMINAL_DETAIL dwg e CIMAT_Lxx_xxx_10_CONNECTOR_DETAIL_CN1 dwe e CIMAT Lxx_xxx_11_CONNECTOR_DETAIL_CN2 dwe TIP The term CIMAT refers to the CompactLogix Indexing Motion Accelerator Toolkit 6 Identify additional wiring needs specific to your application 38 Publication I ASIMP QS011B EN P January 2009 Plan System Wiring Chapter 4 Route Cables for Your Motion Panel The base system enclosure diagrams for the three axis motion control panel including noise zones is shown below The enclosure CAD drawings are provided as examples of best practices techniques used to minimize electrical noise as covered in the System Design for Control of Electrical Noise Reference Manual publication GMC RMO01 The enclosure
10. HAxisO1_DataMoveDir fs DINT E DINTI8 Ais 01_DataMovevccel DINTIB E DINTIS E DINTIS E DINTIB Axis 01_DataJog ccel En DINTISI Ais 01_DataJogDecel DINTIS i DINTI8 w REALA Avis 0 DataDwel e TIMERNE Heee ooo e e TIMER IE Hais O1DatalntSEQ OOOO 0 DINT g DINTIA HAs 01DataStopSEQ oo o DINT m DINT FAs 01cm o UDT_Asis_CMD E AXIS_SERVO_DRIVE Avis 00 Status o UDT _Aris_Status Avis 00 M UDT_Mation_Instructions E UDT _Axis_Data EAs o0 cmo o UDT_Axis_CMD das e e AXIS_VIRTUAL 4 gt Monitor Tags A Edt Tags lal p E apy ove Up A UDT provides these advantages Cancel Apply Help e One tag contains all of the data related to a specific aspect of your system This keeps related data together and easy to locate regardless of its data type e Each individual piece of data member gets a descriptive name This automatically creates an initial level of documentation for your logic e You can use the data type to create multiple tags with the same data layout Publication IASIMP 0S011B EN P January 2009 103 Appendix A CompactLogix Base Program Overview Add On Instructions The real power and advantage of the CompactLogix Indexing Motion Accelerator Toolkit is the use of Add On Instructions in RSLogix 5000 software to simplify the way that motion is commanded to the Ultra3000 Indexing servo drives These Ad
11. If you are familiar with the full S 88 functionality of the Kinetix Accelerator Toolkit sample code note that the CompactLogix Indexing Motion Accelerator Toolkit provides a reduced set of functionality It does not use PhaseManager Main Machine Control P00 Control All machine control is initiated from the POO_Control program within the TOO_Main task The sequencing of the machine state Resetting Idle Running Stopping or Stopped is handled in routines in this main control program This is done based on user input from the HMI and machine conditions Main Machine Control Flow Tasks 4 To0_Main 3 DeviceNetInputs 2 POO_Contral A Program Tags Hi ROO_MainDispatch B ROL Powerllp B RO2_MachineMonitor Se 5 a u Control of Machine State H ROS_AxisEventLog Control of Axes B RO6_GUI_EventLog 2 poi_axts_o1 WA Program Tags A ROO Dispabch B RO1_PowerUP B RO2_AxisMonitor B RO3_EnableDissble_FaukReset B RO4_Initialize B ROS_Manual B R06_AutoMotion EB poz Axis o2 The R03_Commands_AUTO routine controls the automatic cycle of the machine and the R04 _ Commands MANUAL routine controls the manual functions of the servo axes 96 Publication I ASIMP QS011B EN P January 2009 CompactLogix Base Program Overview Appendix A Overall Program Flow 3 Tasks 2 A TOO_Main DeviceNetInputs Reads Status of Servo Drives 8 POO_Control Main Machine Control a
12. automapped to the DeviceNet scanner module in order starting at node address 01 Follow the steps in this section to enable communications to the axes of motion Open the DeviceNet lag Generator Follow these steps to open the DeviceNet Tag Generator 1 From the menu in RSLogix 5000 choose fs RSLogix 5000 Generic in CIML3x_Zaxis_v001 ACD 1769 131 Tools gt DeviceNet Tag Generator File Edit View Search Logic Communications EEAS Window Help alsia Pm Security eE Offline 0 No Forces Translate PLCS SLC No Edits ED d Export 9 ee ee as tion Direct Commands 2 Controller Tags asia 7 G Controler Fault Handler Monitor Equipment Phases Power Up Handler 4 23 Tasks Ei controlFLAsH al TOO_Main E Davina Tes gnar N E DeviceNetInputs m 5 2 Step 1 of the wizar d lt 1 RSLogix 5000 DeviceNet Tag Generator prompts you to locate rer the RSLogix 5000 file Select RSLogix 5000 Project that you are presentl Sai Select the project containing the DeviceNet scanner for which you want to using ese to eee 9000 generate tags This project is also where the tags will be saved rojec location of your Logix application file and sale M loki Overs gt EB double click it This selects the file and moves to the next step of the wizard Publication IASIMP QS011B EN P January 2009 55 Chapter 5 Motion Logix Integration 3 For wizar d Step 2 locate lt 1 R
13. 1769 Ethernet Port and then as File Edit View Communications Station DDE OPC Security expand the Backplane a EA g m iz K 12 Verify that you can browse to your Logix B See o Not Browsing controller If not repeat step 1 step 11 workstation ta Linx Gateways Ethernet as AB_ETH 1 Ethernet a oo IP Address 1769 L23E QBFC1 Ethernet Port 1769 L2 13 Minimize the RSLinx Classic application fff Backplane CompactLagix System checking for any errors window and return to the RSLogix 5000 See MOO 1769 L23E OBFC1 Cor project window W 01 1769 L23E QBFC1 Ethernet Port j 03 Local 1769 Bus Adapter Y41769 Save and Download Your Program After completing the Logix configuration you must download your program to the Logix controller Follow these steps to save and download your program 1 On the RSLogix 5000 toolbar click Verify Controller Ej i The system verifies your Logix controller program and displays errors warnings if any TIP If you receive warnings related to AXIS_Servo_Generic they are due to the Fault Event Log configuration and can be ignored 2 Choose File gt Save As to save the file 62 Publication IASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 3 Choose Communications gt Who Active The Who Active window opens A Who Active Iv Autobrowse 4 Browse to your Logix controller and click Set Project Path as Linx Gateways Ethern
14. Click Cancel after all available nodes have been identified You don t have to wait for it to search for nodes you don t have in your system 9 Your network should look similar to this 1769 S0N Ultra30 i Scanner Seno 230V Module 0 5K This reflects a single axis system Refer to the information in Additional Information for Single and Multi Axis Systems on page 50 for using additional axes and for more detailed information 10 Right click Ultra3000 and select Upload 7 an 1769 SDN from Device to upload existing parameters Scanner for the Ultra3000 servo drive Module i Chrl x Since there are over 1000 parameters in the He Cere drive this takes a while 00 Del 11 Repeat step 10 to upload parameters for all i Upload from Device additional Ultra3000 drives Download to Device 48 Publication I ASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 12 Double click the 1769 SDN scanner So te 1769 SDN Ultra3000i module to begin configuring the Scania Sena FIV DeviceNet module O 5kW Module 13 Click the Module tab and select Download if prompted This erases any settings in the scanner if it was ever previously used 14 Set the 1769 SDN scanner module settings at the bottom of the dialog box as appropriate for your system 15 Click Apply 16 Click the Scanlist tab 17 Automap all available devices into the scanner by using the gt gt butto
15. Kinetix Accelerator Toolkit CD provides CAD drawings in DXF format to assist in planning the layout of your system The drawings are designed to optimize panel space and to minimize electrical noise Follow these steps to locate the CAD files from the Kinetix Accelerator Toolkit CD 1 Open the Kinetix Accelerator Toolkit program From the Start menu choose Programs gt Rockwell Automation gt Simplification gt Kinetix Accelerator Toolkit 2 From the Toolkit menu choose DeviceNet Based Motion Applications gt Enclosure CAD Files DeviceNet Based Motion CompactLogix Indexing Motion Applications Quick Start Typical Bill of Material ik Enclosure CAD Files fm ar z Wiring Diagram CAD drawings North Latin America KAT Comman Info SERCOS Based Motion Applications 3 Use your CAD program to open these and other enclosure CAD files e CIMAT_L23_230_PANEL_LAYOUT dwg e CIMAT_L31_460_PANEL_LAYOUT dweg Address C Program Files R 4_Simplification KAT Files C DeviceNet Based Motion 3 Enclosure CAD Files 3 CIMAT_L23 230 PANEL LAY 4 CIMAT_L31_460_PANEL_LAY File and Folder Tasks ny Jg DWG File J DWG File 1 337 KB 1 337 KB i Make a new Folder 9 Publish this folder to the gt Enclosure CAD SS gme rmO01_ en p pdF web Drawings Summary pdf Adobe Acrobat 7 0 Document 2 Share this Folder Adobe Acrobat 7 0 Document 10 293 KB 4 Identify additional layout needs specific to your application
16. Logix Ethernet module has already been configured For additional information refer to the CompactLogix Controllers User Manual publication 1769 UM011 Follow these steps to configure Logix Communications 1 Apply power to your Logix chassis personal computer containing the DeviceNet interface module Open the RSLinx Classic software and choose Communications gt Configure Drivers The Configure Drivers window Configure Drivers Opens Available Driver Types Cl Ethernet devices Close i Help Choose the Ethernet Devices 3 a Conti d Dri driver from the pull down list ano Mame and Description Status Click Add New mp The Add New RSLinx Classic Ea Driver window opens Choose a name for the new driwer 15 characters maximum Cancel Name the new driver BETHI _ Cmca Click OK The Configure driver window opens Configure driver AB_ETH 1 Station Mapping Enter the IP address of your Logix Ethernet Station a iiis TS Add New Module 0 EACE BS Delete Publication IASIMP QS011B EN P January 2009 61 Chapter 5 Motion Logix Integration The IP address shown is an example Yours will be different TIP If your Logix Ethernet module is already configured the IP address is displayed on the module 8 Click OK 9 Click Close in the Configure Drivers window 10 Choose Communication gt RSWho The RSWho window opens RSLinx Classic Gateway RSWho 1 11 Expand the
17. and for you to install on your personal computer so that you can quickly access information on our products while in the office or on the go Product Selection System Configuration Product Drawings e Integrated Architecture Builder Configure an Automation System Motion Analyzer J Design a Motion Control System Motion Analyzer uses sophisticated optimization tools to maximize ratios inertia and mechanica Samaki eS for motion control applications More Inf e CenterONE Design a Low Voltage Motor Control Center e MCS Star Configure a Modular Motor Control System e Rail Builder Design DIN Rail Systems Products Industies amp Solutions Services amp Support INTEGRATED MOTION CONTROL Motion Software Related Links Download Motion Analyzer Updates Motion Analyzer Download Follow these instructions to download and install Motion Analyzer v4 4 1 and Motion Analyzer v4 4 Please download the following file M4 4 4 1 and MS 4 4 Software Installer 10 Dec 2007 exe 102MB Double check to launch and run the installer e Choose from the menu to install the latest version of Motion Analyzer and or Motion Selector 19 Chapter 2 Hardware Selection Install Motion Analyzer Software from the Kinetix Accelerator Toolkit CD Follow these steps to install Motion Analyzer software from the CD 1 From the Start menu choose Programs gt Rockwell Automation gt Simplification gt Ki
18. by choosing Start gt Programs gt Rockwell Software gt RSNetWorx gt DeviceNet Node Commissioning Tool 46 Publication I ASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 6 Click Browse to begin browsing to your DeviceNet module n Node Commissioning Hen Seting The network data tele should not be changed on an acinee network The mew nebek date rote well not lake effect unti power kiecpced 7 Select the appropriate RSLinx Classic Ww Autobr B node 38 not found driver and browse to your controller si Uae Ealan aaa i Aj Backplane CompactLogix Syster A Add Devke Type 8 00 CompactLogis Processor go Uitrs3000i Servo 230 0 i l 1769 L35E Ethernet Por J 03 Local 1769 Bus Adapter Aff 1769 Bus 1769 Bus J 00 Local 1769 Bus 4 H Ol 1769 16pt 240d i O2 1769 16pt 24d p G3 1769 50N Scanr ae Port DeviceNe gj 01 Ukrasoc 63 1769 50 8 Under Backplane expand the Local 1769 Bus Adapter and the 1769 Bus 63 1769 S0ON Scanner hioguie 9 Expand the 1769 SDN scanner module 10 Expand Port2 until you see the available DeviceNet nodes 11 Highlight Node 63 the DeviceNet module 12 Click OK not shown located at the top right of the window 13 Click Yes for any additional prompts 14 After the scanner s Module Settings appear change the Address to 00 and select the desired network Data rate New TT6S S0N Scanner Module Sette The network dat
19. ed Piia Sarva M MAAU Be nol Poent a ae J Oe Masretorae rge ibe capella te tle Drai Servo DANA Jogtwfi E E arate M aA CA Dae d C Ee ea i aanika DALAJ z Daa iii B Piss GU Eero 4a Pos ai ji Prag ae Tage AE Crip Rit PraF AE Socio ce PR Pie rebels Kaiia Sarg DATA beara am mis ir Da be tetera je i Diang Sea DAA beei ado OF Ce ioe 1 commands a jog instruction on each axis for the Running state of res AsO Dale une the automatic cycle x k t i O eieh i r birr ence bo Laki Cony aes bred ie Fi Prasat Seer H F I eee UE ee Gp J aul 1 Best I re A garg DATA ee ari i aiia j Cee Pao qi Cet ipo Dal Ts naoi Sapte D ia Bite Ol Ehia Per Sao Source A Beray DATA irian DP Eri Di Caa Arter as are i i This routine currently 4 You may also choose to place your automatic cycle code in a new program or routine You can even paste an existing program into the TOO_Main task or a routine into the POQO_Control program ec TOO Main H S DeviceNetInputs ee PO0_Contral qq o k T Place or create your application t Program Tags o a Er ROO MainDispatch code In a program or routine nere ROL PowerUp R02 _MachineMonitar RO3_Commands AUTO RO4 Commands MANUAL ROS_AxisEventLag a RO6_GUI_Eventlog FF cs PO1_AxIS_O1 H S PO2_AxIS_O2 Ca DeviceNebOutputs TIP Handshake the appropriate machine state tags Idle Running or Stopped for
20. example or machine condition tags from the GenericMachine_COND with your existing code as needed 102 Publication IASIMP QS011B EN P January 2009 CompactLogix Base Program Overview Appendix A User defined Data Types The pre configured Logix program uses pre configured user defined data types UDT These are structures that organize data status information and commands for machine process and equipment For example this pre configured UDT stores all the data for an axis including speeds accells decels direction and sequencers A tag structure is created for each axis based on this data type Axis Data UDT Example 5 Data Types User Defined UDT_AxisHistory_CTRL UDT_AxisHistory_DLM UDT_Axis_CMD UDT_Axis_Data UDT_Axis_Ho g UDT_Axis_St Name JUOT Avis Data UDT_Coord_h UDT_Machine Description UDT_Motion _ UDT_PhaseTir Members Name Datta Type Moved E E MoveSpd DINT 8 MoveAccel DINT 8 m MoveDecel DINT 8 Jogi DINT 8 A JogSpd DINT 8 JogAccel DINT 8 JogDecel DINT 8 Direction DINT 8 Offset REAL 4 E Dwell TIMER 16 JogTime TIMER 16 SEQ DINT amp RunSEQ DINT 4 StopSEG DINT CamCaleSEG DINT ca FE Scope G Generic Show Show All Name Data Type Eain M Ee UT Motion Instructions ae 01 bas A A Date
21. from the project run previously will be used instead The FactoryTalk View ME Station window returns Paget Bare ak Tia M palan 7 Verify that the pete eae CIMME_U3k_PVP1257000_v001 mer file Load Application a seas appears in the current application field Wn rz iF 8 Click Run Application Delete Leg Files Relat Aunning F5 Terminal Settings Fal 9 Verify the functionality of the application Refer to Chapter 7 for a basic understanding of how to run a general motion system application 84 Publication I ASIMP QS011B EN P January 2009 Chapter Motion System Application Guide In this chapter you are guided through the pre configured FactoryTalk View ME application that interfaces with the pre configured Logix program that controls your base motion system You will run your motion system in Manual mode and Auto mode and use the built in axis status and diagnostics Before You Begin e Complete your system hardware selection Refer to Chapter 2 e Complete your system layout Refer to Chapter 3 e Complete your system wiring Refer to Chapter 4 e Complete your Logix Integration procedures refer to Chapter 5 and download the Logix program to your controller e Complete your FactoryTalk View ME Integration procedures refer to Chapter 6 and download the FactoryTalk View program to your HMI To reduce the possibility of unpredictable motor response disconnect all loads from your mot
22. i CE Doit Double click Controller Tags Ob rca z POL aS g Pree an ag DOREA SET Cmr alim CIRE TIR Acu cote eich ial eii Kronna taps 3 tage J 2 Make sure the Monitor Tags tab is in front 3 Locate and expand the tag for each axis in your system You may have renamed them from their original AXIS_Ox name The third tag element in the list for each axis is the name SET_CountsPerUnit tag This is where the k constant is entered 4 If needed consult the documentation for your mechanical system components and your servo CieaiFautDielayMANLAL motor to calculate your k constant Enter the CONVEYOR vss number of encoder counts per desired user unit gt SMEA Command aan in the space provided All values entered in your Logix motion instructions will now be scaled by this value TELA ease note this scaling effect when entering your desired speeds positions and acceleration rates in your motion instructions 60 Publication I ASIMP 0S011B EN P January 2009 Motion Logix Integration Chapter 5 5 Repeat step 3 and step 4 for each additional axis TIP For a better understanding of the code provided in the sample file as well as the benefits of PhaseManager refer to Appendix A CompactLogix Base Program Overview on page 95 Configure Logix Communications This procedure assumes that your communication method to the Logix controller is using the Ethernet protocol It is also assumed that your
23. liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product Identifies information about practices or circumstances that can lead to personal injury or death property damage or ATTENTION l l l l l economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence THA avai Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures la ta a Allen Bradley CompactLogix Ultra3000 Kinetix PanelView RSNetWorx for DeviceNet RSLogix RSLogix 5000 FactoryTalk RSLinx RSLinx Enterprise RSLinx Classic TechConnect and Rockwell Automation are trademarks of Rockwell Automation Inc
24. run sequence in PO1_AXIS_00 RO6_AutoMotion routine E Poo Control WA Program Tags ents Equal i Move B ROO _MasnDrspatch Source A Axis 1 _Date RunSEO00 Scarce 1 fe RO1_PowerLp 0 B roe hoe Source Dest Asis 01 Data RunSEo o Eb mar o oo Joginidex Command E AC Ma Pot _avas_o1 Equal Jogindex Command A Program Tags Source A Servo DATA RunSEGi A LMAJ Servo MEMAAO R D _Dispabch cists 01 Cate RunsEOti sAxis 0i _ haa E ROI Power i aia aag By RO AxisMoritor Source B i CANIS Oi IB ROG_EnableDissble Fauithesst E RO4_Irdtialize Bl R S Manual Jg Ain ah rafale er ife A es E Direction Servo DATA Jogi Axis 01 Det togbel 1 a mE Speed Servo DATA Jogspdji zAyis_01_DetaJogspdi gt a Accel Servo DATA JogAccelll Axis 01 _Data Jog Acre 1 So e Deca Sevg DATA JogAccel Axis M Conte Jt Avocet t St ane PLA baa ERROR Source Des Servo DATA Rungciu Axis O01 Date RunSEcgo gt omena is in Process Sarno MAJO ee s ie 01 Ml MAJD P gt MON Equal ml E Source A Servo DATA Runds c o Source 100 Axi _01_ Dela RunSeo o gt 0 Dest Servo DATA RunS amp Q 0 Source B 10 z it 01 Date RunsEGU gt T In this case a Jog command is issued on AXIS_01 100 Publication IASIMP QS011B EN P January 2009 CompactLogix Base Program Overview Appendix A Add Your Application Code Follow these steps t
25. the indicator to release manual control Auto Control Machine Cycle Speed Stopping Aborted Release Manual Control J Next press and release the green button on the HMI to issue the reset command to the machine Wait for the command to execute during the Resetting state If the Machine Control graphic indicates the Aborted state go to Problems in the Aborted Resetting State below If it indicates the Idle state go to Problems in the Idle or Running State on page 129 Problems in the Aborted Resetting State The Aborted state indicates that the resetting actions failed to complete within the time allotted by the timer PhaseTimout Resetting Perform the following steps to correct this condition 1 2 Move to rung 7 of the ROZ_Commands_AUTO routine Verify that the value being moved into the preset for this timer is long enough for your machine to complete the tasks in the initialization routine The initialization routine found in the individual axis programs includes such things as moving each axis to the desired starting position If you suspect this is the problem increase the value and try the reset command again MACHINE STATE TIMEOUT WHEN DM BIT IS SET THE amp STOP COMMAND IS ISSUED FORCING THE RESET TO BE ABORTED Resetting State Autoly cle Resetting TON Move i Timer On Delay Source Timer PhaseTimout Resetting Preset S000 Dest PhaseTimout Resetting PRE ACCUM o S000 Publicati
26. the Servo_DATA RunSEQ 0 register PLACE YOUR AUTOMATIC CYCLE COMMANDS HERE IN PLACE OF THE JOG AS NEEDED Step Sequence Jog Command Uses Registers for Preset Speed 0 in Machine Running Drive ee ACT MAL gual Jog Command Uses Preset Speed Source 4 Servo _DATA RuntEG O AOLMAL Servo _MILMAAJ O lt 4 xi _01_ Data RunsEo o A4xi _07_MLMAAJ O ARIS Servo_Axis 24X15 01 gt Direction Servo _DATA JogDir 1 lt A4xie_01_ Data JogDir 1 0e Speed Servo _DATA JogSpd i s xis_01_Data JogSpd 1 j Accel Servo_DATA JogAccelli s xis_01_Data JogAccelli 50 e Decel Servo_DATA Jog4Accell s xis _01_Data JogAccelli j 50 e ERROR 0e If the value in the register is equal to 100 move on to the next axis program and repeat Step I If the value in the register is below 100 scroll down the rungs of this routine until you observe where the Servo_DATA RunSEQIO seems to have stopped In the example shown below the Servo_DATA RunSEQ 0 has stopped at 10 The rung that looks for the value is waiting on another bit before the register can move to 100 Here the Servo_MI MAJ O IP status bit is not active The cause of this might be the failure of the Publication IASIMP QS011B EN P January 2009 Troubleshooting Appendix C command associated with this status bit to execute Your application code may differ PLACE YOUR MACHINE CONDITIONS HERE IN ORDER TO VERIFY THAT THE MACHINE IS RUNNINGS Comma
27. to assist you in using its products At http www rockwellautomation com su 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 www rockwellautomation com su Installation Assistance If you experience a problem with a hardware module 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 module up and running United States 1 440 646 3434 Monday Friday 8 a m 5 p m EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell 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 it may need to be returned United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to c
28. view Eiai view lt iove Sune System View Not Completed EIN ETI 2000 KINETIX 6000 KINETIX 7000 AC Line EIN ETE 7000 Common Bus ULTRA 6000 1398 ULTRA PLUS Silvery 1398 ULTRA Silver PowerF lea Click Application Data Complete the system profile for your application TIP For motor drive performance specifications refer to the Kinetix Motion Control Selection Guide publication GMC SG001 For Motion Analyzer labs refer to the Motion Analyzer Training Folder on the Kinetix Accelerator Toolkit CD publication ASIMP SP004 For a copy of the CD contact your local Rockwell Automation distributor or sales representative Publication IASIMP QS011B EN P January 2009 Hardware Selection Chapter 2 Review Basic Panel Component Listings The tables in this section include servo drives and motors CompactLogix controller PanelView Plus terminal HMD and accessory components for 400 460V and 200 230V systems Review the basic component listings and compare with your specific application needs CompactLogix L31 400 460V Base System Used Components Gat No Description Hoffman 1 Enclosure and panel HxWxD approx Hoffman 1924 x 914 x 304 mm Paa i 1 2094 BL50S 460V 50 A LIM module Line Interface Module LIM 1 Input power 140U H RVM12R Through the door disconnect 2090 XXLF X330B 3 phase 30 A AC line filter Ultra3000 Servo ee ae 2098 DSD HVO030X DN 3 kW output indexing DeviceNet communication Dr
29. will attach to the servo drive Create new fia Of i Cancel Publication IASIMP QS011B EN P January 2009 43 Chapter 5 Motion Logix Integration 7 Double click the drive symbol in the On Line section to view its current settings You may wish to click Reset EEPROM to Factory Settings if you are not sure what parameters have been previously changed in the drive Verity that you removed the Enable input in the steps above The drive may enable and run if the Enable signal is present 8 Carefully use the pull down menu to select the proper Motor Model from the list ar ae feet 9 Expand the drive s Explorer window by clicking the sign next to the drive symbol Y Dipa Inputs 2 Digia Outputs EA Analog Oulputs Morsa En Oscioscope A F aut T GE Semiceinio 10 Double click the DeviceNet folder 11 Select Assembly Instance 9 for the I O Receive Parameter vae Select entry Node Address 63 12 Set the Poll Transmit Select to Assembly Wo RECEIVE SEIECT SASSEmbly INSTANCE Y Instance 12 Poll Transmit select Assembly Instance 12 LOSI y clic Transmit Select Assembly Instance 10 13 Verify that the COS Cyclic Transmit Select is set to Assembly Instance 10 These settings allow us to get the most data and diagnostics out of the drive 44 Publication I ASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 14 For the Logic Comman
30. 0_wO0T ad 6B CIMME_U3k_PYP700_v001 Window Fl EJ System Project Settings Ea Funtime Secunty Ze Double click Tags C Diagnostics List Setup Global Connections Startup The Tags editor window opens 74 Publication IASIMP QS011B EN P January 2009 Motion Factory Talk View Integration Chapter 6 3 Click the first empty row in the Tags editor Faas IMAI FAI GOTT window m Row 14 is used in this example Yours could be different 4 Enter SelectedAxisx in the Name field SelectedAxis5 is used in this example Yours could be different Ha Current TrendMin atue Position TrendMaxValue Position_ TrendMinValue SelectedAxia1 5 Select String from the pull down menu in the Tag a SelectedAxie2 SelectedAxigd rin Type field E SelectedAxisd String Analog 6 Select Memory in the Data Source Type field 7 Enter Axis x in the Initial Value field Axis 5 is used in this example Yours could be different This is the text that is displayed on the graphic display 8 Click Accept Leave default values for Description and Length as is 9 Repeat step 3 step 8 for each newly created parameter file for Axis 5 or greater 10 Click the Close button lt X gt in the Axis x Status parameter file window to close the window OG Axis 7 Statice ACME Uk PVP TOO vT Parameters Cire Edi te Parameter File Created 2005 00 28 annnn eee ee Parameter files are uted with graphic daipla
31. 0e g Turn Axis Servo Loop Gh Servo_CMD Enable lt A4xi _07 CMD Enable d Click on the AOI_MSO instruction and press the F1 key for assistance with the error code You may need to scroll down to find your error code fe Add On Instruction Definition AO _MSO v1 0 General Parameters Local Tags scan Modes Change History Help Extended Description Test ERROR CODES 05 Drive failed to respond to enable request in time Check for drive fault or missing drive enable input 11 Drive k Constant has not been set in axis structure Enter scaling in the asisname SE 7 CountPerUnit Itag 12 Drive did not respond to data write request in time Check communication to drive a 20 OrnveReady not reported from axisname Status word Check communication to dive Check for Drive a gt e Follow the instructions shown for the associated ERROR CODE and execute the reset command from the HMI again Publication I ASIMP QS011B EN P January 2009 127 Appendix C Troubleshooting 5 Move to rung 11 of the RO2_MachineMonitor routine in the POO_Control program and verify that all Axis_ 2n_Status Initialized status bits are active set For any drive that is not initialized follow these substeps a Expand the associated Pan_AXIS_nn program b Open the R0O4_Initialize routine for this axis Tasks SA TOO Main Cs DeviceNetInputs 23 POO_Contral 8 POL_AxTS_o1 Ej Program Tags FF ROO_Disp
32. 11B EN P January 2009 97 Appendix A CompactLogix Base Program Overview Automatic Machine Cycle Commands IDLE Command Axes fo Run logy RESETTING Reset Faults Enable Drives Command Axes to Start Position Reset COMPLETE STOPPING Abort ABORTING Command solu Command Axes to Stop Disable Drives Disable Drives Reset STOPPED ABORTED Command Key The diagram above shows the automatic cycle flow provided in the application template As the commands are issued Reset Start Stop or Abort by the user or the application logic the action items shown inside the Action States are issued from the POO Control routine to each of the Pxx_AXIS_xx programs The actual axis commands Fault Reset Enable Jog Stop etc exist in the routines of the Pxx_AXIS_xx programs and not in the POO_Control program Command Issued IF BAIS IS NOT OK ISSUE RESET COMMAND TO AXIS Sa TOO_Main Es DeviceMetInputs E8 POO_Control j Program Tags Ey ROO_MainDispatch B ROL PowerUp B Ro2_MachineMonitor me a EROS Commands AUTO H R04_Commands_MANUAL EB ROS_AxisEventLog H R06_GUI_EventLog Step Sequence Register for State 1 Axis is MOT Machine Faulted Gu Axis 01 _ Status oK 1 Clear Axis Faults A xie_01 CMD Reset Equal Source 4 AutoCycle Steplndex 0 10 Source B 98 Publication IASIMP QS011B EN P January 2009 CompactLog
33. 24 4 4 utd euce 4 ade d een 39 Using the DeviceNet Tag Generator onnaa aa aaa 55 COmMouie AS PODE eSa eoa eee oa aE 59 Configure Logix COMmunNications o oo aaa 61 Save and Download Your Program aaan aa aaa aa 62 Chapter 6 Before You Begin 0 0 0 0 cee eee eee 65 What YOUNG COS aase aa a eae ana ads Brae ak eh eet s 65 Follow These Steps 32055 sacar dsaden cee he eE 66 Select Your FactoryTalk View ME Application File 67 Load and Restore the FactoryTalk View ME Application 67 Configure Local Communications 0008 69 Configure Target Communications 004 71 AGMNS AXeS 10 Ine Proe tss oh eho wre yo oP ls t eee ae p2 Modifying Axis Na MES orice adie Gok de he ee oA ew TI Testi PrO a or a Oe Bap arin ee ee oe 19 Download Fonts to the Terminal nde lt ve hd eww es 80 Download the Project to a Terminal 81 Run the Project on a Terminal 2 sck oe Sek Ge eh em ahs 83 Chapter 7 Belo OU ye OM 53175 3a eagctcdria gu ade a BoA a eis a a ee 85 What E E E a aie y tate aie eed Meret he EE ET 85 Follow These Steps sno doce heh bee hh ore bene 86 Siam pWISDIAY swate 5 bade POR Rome ees oe Ee he RS 87 Use the Manual Control Display 0 4 88 Use the Auto Control Display ceeds oF be eb weed Hees 89 Wsethe Trend Displays 64 444 5 08 5004400064586 5 25444 91 Wise the Axis Status DIS play essnee teca ated we eset ee A 92 Wse the Fault Loo Displays 264 e978 eat e
34. Axis Select button The ON OFF and Faulted Non Faulted states are described in the tables below Faulted Non faulted OFF State Fault Indicators State Module Faults Status Indicators Axis Status Grey Drive Status Drive Faults 4 Press Axis Select Axis 1 to select another axis for status and fault viewing Refer to Change the Axis Selection on page 88 for axis selection operation 92 Publication IASIMP QS011B EN P January 2009 Motion System Application Guide Chapter 7 Use the Fault Log Display The Fault Log display lets you monitor and or log motion group module axis or drive fault events Follow these steps to monitor and or log fault events 1 Press Fault on the Application Navigation Bar The Fault Log display opens Fault Log Following Error Fault Select a system Fault category from the Fault window eft Axis Faults Excessive Velocity Error Drive Faults Motor Encoder Fault The green indicator confirms your Motor Speed Limit fault selection Motor Parameter Error Motor Overtemp Fault Monitor the Fault Indicators Motor Overspeed Fault right Home Search Failed Home Outside Limits In this example Axis Fault Fault Event gt gt a yN indicators are shown Red 1 7 1998 23 42 4 A indicators represent a faulted state F Grey indicators represent a X non faulted state Auto Trend Status Faults Manual Security The Logix controller stores the last 50 fault events
35. CompactLogix Indexing Motion Accelerator oolkit Quick Start Hardware Selection Plan System Layout Plan System Wiring Motion Logix Integration Motion FactoryTalk View Integration Motion System Application Guide Rockwell Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent
36. ED indicators are both green Some may be flashing If steps 8 or 9 fail refer to the Ultra3000 Digital Servo Drive Installation Manual publication 2098 IN003 for troubleshooting tables 10 Choose Communications gt Run Mode Publication IASIMP 0S011B EN P January 2009 63 Chapter 5 Notes 64 Motion Logix Integration Publication IASIMP Q8011B EN P January 2009 Chapter 6 Motion FactoryTalk View Integration In this chapter you configure your FactoryTalk View ME application file FactoryTalk View ME application files apa are included in the Kinetix Accelerator Toolkit You can choose e 1 2 or 3 axis pre configured FactoryTalk View ME application file for PanelView Plus 600 terminals e 2 axis generic base application file for a variety of PanelView Plus terminals After file selection you configure the communications add axes if needed test the project download the program and run the application Before You Begin e Complete the Kinetix Accelerator Toolkit CD installation Refer to Chapter 1 e Complete your system hardware selection Refer to Chapter 2 e Complete your system layout Refer to Chapter 3 e Complete your system wiring Refer to Chapter 4 e Complete your Logix Integration procedures Refer to Chapter 5 What You Need e Kinetix Accelerator Toolkit CD publication IASIMP SP004 e FactoryTalk View Studio software version 5 00 or later e RSLinx Enterprise softwa
37. EHA U3k PVP POO wii Parameiters Parameter File Created 200 MOETEN 2 AXIS 02 Parameter fet are uted with graphie displays bo ipecdy the tags diiplay uses at runtime You assign parameter files to displays in the Startup editor becomes and in the dialeg box fer configuring gots diaplay buttons and display lest selectars hvntax 2 AXIS_03 l Preplatement tagname Example i Tijs A COLOR 3 SelectedAxis2 273 on amy expressa in graphe would be replaced by the tag A COLDER J E E E ata Fs SS ss aS asa sa aS SS SSS Ss aS Ss SS SS Sasa aa ee a becomes ee ae i mT Loar lr ah en 3 SelectedAxis3 a wnttan Es anmple i if i T opic Shorncen for ESLing Emerprse communication I7 A XX Azn Selection Ex Azs 0 Azi 0A LIE HMI MemoryitringT ag Text iadicator for currently selected Axis Ex Awis 15 Axis 2 _ i SelectedAuis 7 Choose File gt Save 8 Repeat step 2 step 7 as necessary for your axis count 9 The pre configured application files include HMI tags for up to four axes If your axis count Is Then go to Four or less Edit Display Files on page 75 Five or more Add an HMI Tag on page 74 Add an HMI lag j In this section you create an HMI string tag for each parameter file for Axis 5 or greater created in Add the Parameter File Follow these steps to add an HMI tag to your FactoryTalk View ME application 1 Expand your application file in the Explorer ffa CIMME_USk_PVP70
38. IVE1_l0 dwg CIMAT_Lxx_xxx _5 DRIVE2_l0 dwg CIMAT_Lxx_xxx _6_DRIVE3_l0 dwg CIMAT_Lxx_xxx _7_NETWORK_CONNECTIONS dwg CIMAT_Lxx_xxx _8_PLC_l0 dwg CIMAT_Lxx_xxx __9_TERMINAL_DETAIL dwg CIMAT_Lxx_xxx __10_CONNECTOR_DETAIL_CN1 dwg CIMAT_Lxx_xxx __11_CONNECTOR_DETAIL_CN2 dwg Publication IASIMP QS011B EN P January 2009 Power Distribution Connection Diagram for 230V AC or 460V AC Systems 120V AC and 24V DC Power Distribution Line Interface Module Connections Ultra3000 1 0 Connections for CN1 Drive 1 Ultra3000 1 0 Connections for CN1 Drive 2 Ultra3000 1 0 Connections for CN1 Drive 3 DeviceNet Network Communication and Power Supply Connections 1769 1016 16 Point Sink Source 24V DC Input Wiring Diagram and 1769 0B16 16 Point Sourcing 24V DC Output Wiring Diagram Terminal Blocks within Enclosure Ultra3000 Drive 0 Connector Detail for 230V AC and 460V AC Drives Ultra3000 Drive Feedback Connector Detail 35 Chapter 4 Plan System Wiring e Ultra3000 Digital Servo Drive Installation Manual publication 2098 IN003 e Line Interface Module Installation Instructions publication 2094 IN005 e System Design for Control of Electrical Noise publication GMC RM001 e System Design for Control of Electrical Noise Video publication GMC SP004 e Documentation that came with your other Allen Bradley products Refer to the Literature Library http literature rockwellautomation com for access to publications Follow These Ste
39. N P January 2009 Chapter 1 CD Installation In this chapter you install the Kinetix Accelerator Toolkit program CD to your personal computer All of the necessary files are transferred to the personal computer for ease of use What You Need e The Kinetix Accelerator Toolkit CD publication IASIMP SP004 e Personal computer with an Intel Pentium II or greater microprocessor 128 MB of RAM for Windows NT Windows 2000 Windows 2003 Windows 2003 R2 or Windows XP 64 MB for Windows 98 operating systems 300 MB of available hard disk space Follow These Steps Complete the following steps to install the Kinetix Accelerator Toolkit program Install the Kinetix Accelerator Toolkit Program Open the Kinetix Accelerator Toolkit Program page 14 Publication IASIMP QS011B EN P January 2009 13 Chapter 1 CD Installation Install the Kinetix Accelerator Toolkit Program Follow these steps to download and install the Kinetix Accelerator Toolkit program from the CD 1 Place the Kinetix Accelerator Toolkit CD publication IASIMP SP004 in your CD tray 2 The installation program should run automatically If not browse to the CD and run the file setup exe 3 Follow the on screen instructions to complete the program installation Open the Kinetix Accelerator Toolkit Program Follow these steps to begin using the Kinetix Accelerator Toolkit program From the Start menu choose Programs gt Rockwell Autom
40. NUAL routine and verify that the ManualControl tag is latched If not make sure that your controller is in Run Mode verify that the HMI is communicating properly with the controller and verify that the automatic cycle is stopped MACHINE STATE NEEDS TO BE STOPPED OR ABORTED BEFORE MANUAL CONTROL OF AXES IS ALLOWED GUL ManualContralRequest FO4 O7E0 ManualContral RO4 O7TE1 ManualContral _ ___J ons EE L R04 O7E1 Manualcontrol Manualcontrol i a L Stop Command Autocycle Stop 116 Publication IASIMP QS011B EN P January 2009 Troubleshooting Appendix C 6 Issue the command that you feel is failing to execute such as the Jog Forward command on the HMI screen Press and hold this button while you perform step 7 step 8 including resulting steps Manual Control I Jog Forward _ i Awie 4 Se 7 Observe rung 2 of the RO4_Commands_MANUAL routine and carefully note what value is in the ManualCycle StepIndex register Main State Sequencer Register bangal control On i Move SO Lae Dest Manuallycle Stepindex J 4 8 Use the table below to determine where the cycle is stopping and what action to take next _ The current aaa If ManualCycle Steplndex Take this action 0 Stopped Go to Correct Manual Cycle Problem Reset Command Is Not Commanding Any Action 10 Resetting ae Correct Manual Cycle Problem ManualCycle Steplndex Stops at 10 20 Resetting oe Correct M
41. Net Modules in Logix5000 Control Systems User Manual publication DNET UM004 Drive faults and fault codes Network faults and fault codes Troubleshooting the Manual Cycle Follow these steps for assistance with problems experienced during use of the manual cycle of the CompactLogix program template Determine Where the Program Fails The first step in troubleshooting the code within application template is to determine where the program fails or stops The manual cycle is controlled by a state machine The current state of this state machine is indicated by the value in the controller tag ManualCycle StepIndex Perform the following steps to determine where the program is failing TIP You must be online with the CompactLogix controller in the Run Mode Your HMI also must be running in order to issue the commands to the controller Publication IASIMP QS011B EN P January 2009 115 Appendix C Troubleshooting 1 Expand the POO_Control program and open the RO4_Commands_MANUAL routine 3 Tasks Sa TOO_Main C3 DeviceNetInputs 33 POO Control Program Tags T ROO _MainDispatch ROL PowerUp RO MachineMonitor 3 Select the axis that are you are attempting to control Refer to Chapter 7 in this manual if you need assistance 4 Press Assume Manual Control on the HMI screen Manual Control Axis Select Absolute Assume Reference Maea eA Manual Control SELE 5 Observe rung 1 of the RO4_Commands_MA
42. OL PowerUp RO2_MachineMonitor ROS Commands AUTO RO4 Commands MANUAL 2 Observe the axis condition logic that begins at rung 8 All axes should show the Axis_nn_Status ConfigComplete status as active set Check the communications to any drive that is not configured 3 Move to rung 9 and verify that all Axis_2n_Status DCBusCharged status bits are active set Check the incoming power and fuses or disconnects to any drive that has no DC bus power 126 Publication IASIMP QS011B EN P January 2009 Troubleshooting Appendix C 4 Move to rung 11 and verify that all Axis_mn_Status Enabled status bits are active set For any drive that is not enabled perform these substeps a Expand the associated Pun_AXIS_nn program b Open the RO3_EnableDisable_FaultReset routine for this axis 3 Tasks Ga TOO Main Eg DeviceNetInputs E3 POO_Contral Pol AXTS_O1 Fj Program Tags FF ROO_Dispatch B ROL PowerUP RO _AxisMonitor RO3_EnableDisable FaultRes tialize B ROS Manual R06 AutoMotion c Move to rung 1 of this routine and note the value of the ERROR word shown on the AOL MSO instruction ENABLES THE AXIS 1 Turn Axis Servo Status Received Loop On from Drive Servo_ChMD Enable Servo_Axis Status DriveEnabled Motion Servo On AOI lt A4xie_07 CMD Enable A45I5_01 Status DriveEnabled AOL MSG ENABLE Drive AQLMSO Servo MMS EN sAxis_01_MlMS0 DN Axl Aj ER AXIS O1 gt amp ERROR
43. OUEST Stopped State Reset Command ManualContral Autolycle STOPPED SUL StartRequest Autocycle Reset GUI StartRequest E Aborted State Autocycle ABORTED 124 Publication IASIMP QS011B EN P January 2009 Troubleshooting Appendix C Correct Aborted Resetting State Problem AutoCycle Stepindex Stops at 10 If the AutoCycle StepIndex stops at 10 the Axis_1m_CMD Reset command is failing to clear the faults on the servo drive and the resetting state is not completing Perform the following steps to correct this condition 1 Observe the logic that begins at rung 10 of the RO3_Commands_AUTO routine 2 Scroll down through the subsequent rungs and identify which drive is not setting the Axis_ nn_Status OK bit and expand the associated Pnn_AXIS_nn program 3 Open the RO3_EnableDisable_FaultReset routine for this axis 3 Tasks Sa TOO Main cg DewiceMetInputs 33 POO_Contral Pol _AxIS_01 Fj Program Tags FF ROO_Dispatch B RO1_PowerUP i ROZ_AxisMonitor B ROS EnableDisable FaultReset B RO _Initialize B RoS_Manual i RO6_AutoMotion 4 Move to rung 3 of this routine and note the value of the ERROR word shown on the AOI MAFR instruction RECOVERS THE AXIS FROM THE SHUTDOWN STATE AND RESETS ANY FAULTS Clear Axis Faults Axis Fault Word Motion Axis Faut Servo_CMD Reset 32 Bit Reset 40 A4xi 01 CMD Reset EG AOL hMAFR Mot Equal RESET Drive Fault Source 4 Servo_Axis AxisF aul AOLMAFR Servo_MLMAFR
44. OWER SUPPLY L USER SUPPUED requires braided conduit OPTIONAL et SS a a et ee PANELVIEW PLUS 400 ULTRA3000 SERVO DRIVES COLOR TOUCHSCREEN Wy EHTERNET DRIVE 1 DRIVE 2 DRIVE 3 NODE 01 NODE 02 NODE 03 7 a a o ji D C3 1 2 2 COLOR TOUCHSCREEN Wi R5232 14850 P 1450 for equivalent PANELVIEW PLUS 400 40 Publication I ASIMP QS011B EN P January 2009 Chapter 5 Motion Logix Integration In this chapter you configure your servo drives your DeviceNet network and your RSLogix 5000 application file Logix application files acd are included in the Controller Program Files folder on the Kinetix Accelerator Toolkit CD You can choose a e 1 axis pre configured CompactLogix L2x file e 1 2 3 axis pre configured CompactLogix L3x file After file selection you configure the CompactLogix modules and drives add axes if needed and download the program Refer to Logix programming manuals for additional device configuration and programming requirements Before You Begin e Complete the Kinetix Accelerator Toolkit CD installation Refer to Chapter 1 e Complete your system hardware selection Refer to Chapter 2 e Complete your system layout Refer to Chapter 3 e Complete your system wiring Refer to Chapter 4 What You Need e Kinetix Accelerator Toolkit CD publication IASIM
45. P SP004 e RSLogix 5000 software version 17 0 or later e RSLinx Classic software version 2 54 or later e Logix application file CIMLxx_xaxis_vO00x acd Logix files are available on the Kinetix Accelerator Toolkit CD For a copy of the CD contact your local Rockwell Automation distributor or sales representative e Ultra3000 Digital Servo Drive Installation Manual publication 2098 IN003 e Ultra 3000 Digital Servo Drive with DeviceNet Reference Manual publication 2098 RM004 e DeviceNet Modules in Logix5000 Control Systems User Manual publication DNET UM004 Publication IASIMP QS011B EN P January 2009 41 Chapter 5 Motion Logix Integration Follow These Steps Complete the following steps to configure your CompactLogix Indexing Motion application Configure Your servo Drives page 43 Configure Your Logix DeviceNet Module page 46 select Your Logix Application File page 52 Load and Open Logix Application File page 52 Configure Your Logix System page 53 Configure Axis Properties page 59 Drives Start at DeviceNet node NM address 01 in order Using the DeviceNet Tag Generator Yes page 55 Configure Logix Communications page 61 save and Download Your Program page 62 42 Publication IASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 Configure Your Servo Drives Follow these steps to configure your Servo Drives Before applying power to the Ultra3000
46. Program Tags Ef ROO_MainDispatch B RO1_Powerlp Machine Initialization B RD2_MachineMonitor Machine and Axis Status g T af Control of Machine State a e Fault and Status Log 23 PoL_axis_o1 AXIS_01 Control Fy Program Tags BY ROO_Dispatch B R01_PowerUP Bi R02 _AxisMonitor _ Axis Status Bi R03_EnableDisable_FaultReset Drive State Control fi R04 Initialize Prepare Axis for Auto Cycle B R05_Manual Axis Jog and Homing Commands B RO6_AutoMotion Auto Cycle Axis Commands 03 PO2_AxIS_02 AXIS _ 02 Control E DeviceNetOutputs Iss ues Commands to Servo Drives The automatic cycle and the manual cycle are controlled by a state sequencer The sequencer has an index register for example AutoCycle StepIndex that can only be at one value at a time so the states of the machine are unique The sequencer changes states based on the commands and conditions of the machine In the POO_Control rung example below if the conditions not manual auto cycle idle state and user start request are met a machine start command is initiated Start Command Rung START REQUEST ManualControl AutoCycle IDLE GUI StartRequest Autocycle Start GUL StartRequest 2 me ml fmm i There is logic in the main machine control POO_Control program for the automatic cycle as well as manual machine control Publication IASIMP QS0
47. S00 Speed rp Speed jm Intermittent operating region Continuous operating region Drive operation with 400V ac rms input voltage Publication IASIMP QS011B EN P January 2009 27 Chapter 2 Hardware Selection Select Add In Components Follow these steps to add components to your base system 1 From the toolkit menu choose KAT Common Info gt Add In Application Packages _ KAT Common Info CompactLogix Quick Start pdf SERCOS Based Motion Applications i Required Program Software DeviceNet Based Motion Avoiding Enclosure Noise aano Add In Application Packages he Support Information 3 Help 2 Identify additional components listed in the Add In Application Packages folder that you would like to add to your system Address C Program Files R4_Simplification KAT Files4 KAT Common Tools 4 4dd In Application Packages Te i File and Folder Tasks A f Distributed 10 Folder P HMI Folder Z 9 Make a new Folder 2 Publish this Folder to the fe Web d Modem Folder Safety Folder G G ff Share this Folder To F c Servos r Standard Drives Folder Other Places ES Se Aa OAT eee ee Toela 3 If necessary identify additional components not listed in the Add In Application Packages folder Contact your local Allen Bradley representative for more information 28 Publication IASIMP QS011B EN P January 2009 Chapter 3 Plan System Layout In thi
48. SLogix 5000 DeviceNet Tag Generator E ed and double click the teh A DeviceNet scanner Select Scanner configured earlier in this en j Select the scanner for which you want to generate tags Scanners listed below Til Select RSLogix 5000 are those that were found in the selected RSLogix 5000 project chapter Froject Step 2 RASLog 5000 Project CIML3s_2axis_yO01 Select Scanner ee eee Module Name Parent Name Module Address Type Scanner Local 1769 50M6 m sre 4 For wizar d Step 3 locate lt 1 RSLogix 5000 DeviceNet Tag Generator and double click the rel DeviceNet configuration Select RSNetWorx Project file saved earlier in this EE 0 Select the RSNetvVorx project containing the network configuration for the h Til Select RSLogix S000 selected scanner The project is selected for you if it is specified in the C apter Project selected RSLogix S000 project Step 2 Scanner Scanner in ASLogis 5000 Project CIML3s 2asis_vO01 Ki Select Scanner Look in B5 Controller Program Files Folder 6 Ez Step 3 f AOs and UDTs m Select RSNetWorx 3416 Files Project 217 Files m DeviceNet dnt 5 For wizar d Step 4 locate lt 1 RSLogix 5000 DeviceNet Tag Generator E x and double click the rer e A DeviceNet scanner Select Scanner Node node en Select the node that corresponds to the scanner for which you want to wi Select RSLogix S000 generate tags The node is
49. _NO1_POL_O tag to the Commands tag of AXIS_01 Scanner NOI POL AMIS OT Status AMIS_O1 Status AB 2036 050_0054 DM_ D14C0 ScannerNOt POLO A5 01 Commands ASTS_O1 Commands AB_2036_05D0_0054_DN_O_EC24 If you have more than one servo drive repeat this process to alias the remaining nodes to the axis programming Be sure to alias the T input data to the Status tag and the O output data to the Commands tag for each device Publication IASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 Configure Axis Properties Follow these steps to configure the axes of motion Modify Axis Names The CompactLogix Indexing Motion application file CIMLxx_xaxis_v00x acd contains program code for up to three axes however you may want to rename the axes from AXIS_0Ox to something more meaningful for your application Providing useful names for these axes can aid in troubleshooting your machine Follow these steps to rename the generic axes in your RSLogix 5000 program to reflect your needs 1 In RSLogix 5000 software expand the Explorer window to gain access to the controller tags ee Cixi A 100_Main Double click Controller Tags Tae Cos ee 4 E POO _Comtrol Make sure the Edit Tags tab is in front angst Click AXIS_01 and enter a name that better describes the main function of this axis In this example AXIS_0O1 is renamed CONVEYOR Name Cd Name EAu
50. absolute multi tum Trunk cable round 50 m spool Connector kit for motor feedback Connector kit for control 1 0 signals PanelView Plus 600 24V DC serial comms Controller dual serial comms 512k memory 16 point 24V DC input module CompactLogix with Serial 16 point 24V DC sourcing output module Configuration Power supply 24V DC DeviceNet interface module RSLogix 5000 Mini Edition FactoryTalk View Studio Machine Edition Ultraware Software Publication IASIMP Q8011B EN P January 2009 Hardware Selection Chapter 2 CompactLogix L23E 200 230V Base System Used Components Cat No Description Hoffman 1 Enclosure and panel HxWxD approx Hoffman 1219 x 609 x 304 mm Rittal 48 x 24 x 12 in 1 2094 2094 AL50S 230V 50 A LIM module Line Interface Module gee _ 1 Input power 140U H RVM12R Through the door disconnect 2090 XXLF X330B 3 phase 30 A AC line filter Tu Servo rt 1 KW output indexing DeviceNet rive communication option 1 MP Series Low Inertia MPL A310P MK22AA 0 5 07 output with absolute multi tum 1 Motor Power Power 2090 XXNPMP 2090 XXNPMP 16503 3 m 9 8 ft MPL A310P MB Feedback 2090 XXNFMP a 3 m 9 8 ft MPL A310P 1 4 m 14 ft Ethernet crossover 1 Trunk cable round 50 m spool 1 Connector kit for motor feedback 1 Connector kit for control 1 0 signals 1 PanelView Plus 600 24V DC Ethernet comms Controller serial and Ethernet IP comms 512k CompactLogix with Serial 1769 L23E 0B1B memor
51. al icon and select New Module a E Date Types Bs Jala Sc oh User De 4 Ca Shrines eu On CE Predefine g ek modde 9 Trends 2 N0 Configur A Backolan fa 1765 an Propertias Alt Enter 5 3 176 SONIE Scanner Cress Refererce ONHE Changing Controller lag Names to Match Your Needs The CompactLogix Indexing Motion application file CIMLxx_xaxis_v00x acd provided in this toolkit uses generic names for many of the controller tags Providing useful names for these tags can aid in troubleshooting your machine Follow these steps to rename the generic tags in your RSLogix 5000 program to reflect your needs 1 In RSLogix 5000 software expand the Explorer window to gain access to the controller tags Taer rae GUI_Asst_O1_JogReREQ Gui m_e REO GUL Ase 0 Jog wdRED 2 Double click Controller Tags z COR r Cotro E p r Akts on Ee Dra 3 Make sure the Edit Tags tab is in front 4 Click the tag GenericMachine_COND and enter a name that better describes the main function of this machine 54 Publication IASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 In this example GenericMachine_COND is renamed SorterMachine_COND Te El GenericMachine_ COND GH Axis 11 InaFwelREN gt t SorterMachine COND rib dee FA Par IA a Using the DeviceNet Tag Generator You do NOT need to perform the steps in this section if the Ultra3000 drives were
52. anual Cycle Problem ManualCycle StepIndex Stops at 20 200 Running ko to Correct Manual Cycle Problem ManualCycle Steplndex Stops at 200 Correct Manual Cycle Problem Reset Command Is Not Commanding Any Action The reset command is not commanding any action Perform the following steps to correct this condition 1 Observe the logic on rung 5 of the RO4_Commands_MANUAL routine 2 Verify that one of the manual actions is being requested on this rung from the HMI Note that the ManualCycle STOPPED tag may not be active if the reset has been commanded Publication I ASIMP QS011B EN P January 2009 117 Appendix C Troubleshooting 3 If not make sure that your controller is in Run Mode and that the HMI is communicating properly with the controller MANUAL ACTION REG Stopped State Reset Command ManualControl ManualCycle STOPPED RO4_OTE4 GBUI_Axis_ 01 _JogFwodREQ ManualCycle Reset GUI_Axis_01_JogRevREG GUI_Axis_02 JogFywodREO GUI_Axis_ 02 JogRevREQ GUI_Axis_03_JogFywodREO GUI_Axis_ 03 _JogrRevREQ GUI_Axis_01_ReferenceREa GUI_Axis_02 ReterenceREo le i E T Correct Manual Cycle Problem ManualCycle Stepindex Stops at 10 If the ManualCycle StepIndex stops at 10 the Axis_nn_CMD Reset command is failing to clear the faults on the servo drive and the resetting state is not completing Perform the following steps to correct this condition 1 Observe the logic that begins at rung 14 of the RO4_Commands_MANUAL ro
53. atch ROL PowerUP ROZ AsisMonitor sahe FaultReset c Move to rung 4 of this routine and note the value of the ERROR word shown on the AOI MAM instruction d Click on the AOI_MAM instruction and press the F1 key for assistance with the error code You may need to scroll down to find your error code Add On Instruction Definition AO _MAM v1 0 Efx General Parameters Local Tags scan Modes Change History Help Extended Description Test ERROR CODES rr 05 Drive is not enabled Close the servo loop before you execute this instruction p 12 Drive did not respond to data write request in time Check communication to drive 20 DriveReady not reported from asisname Status word Check communication to dive Check for Drive Fault 123 Illegal Dynamic Change requested The dive did not reach the commanded SPEED at the programmed e Follow the instructions shown for the associated ERROR CODE and execute the reset command from the HMI again 128 Publication IASIMP QS011B EN P January 2009 Troubleshooting Appendix C Problems in the Idle or Running State e If the state machine makes it to the Idle state it will most likely go to the Running state as well Press the green button on the HMI one more time to move to the Running state e If the state machine graphic shows that it has moved to the Running state but the machine is not behaving as expected the problem probably is located in one or m
54. ation gt Simplification gt Kinetix Accelerator Toolkit fae Rockwell Automation faa Simplification if Kinetic Accelerator Tooke 0 Rockwell Software s Programs lt j A Documents b x p i oti a F T Setkings J Foe Search j x Di Help and Support wi 5 T 14 Publication IASIMP QS011B EN P January 2009 CD Installation Chapter 1 The Kinetix Accelerator Toolkit program starts LISTEN THINK SOLVE KINETIX ACCELERATOR TOOLKIT si d KAT Comman info p PERDOS kied Motion Apolications E j DeylicaHel Raed Matian iT ApHicatians Hele PUB BLAS hrs EBA Follow the steps in the remaining chapters of this manual to complete your system configuration Publication I ASIMP QS011B EN P January 2009 15 Chapter 1 CD Installation Notes 16 Publication IASIMP QS011B EN P January 2009 Chapter 2 Hardware Selection In this chapter you make your motion application hardware selection You can select from the basic motion control panels or use Motion Analyzer software to size your servo drive and motor The basic motion control panels can be modified with up to four axes a different PanelView Plus terminal and other optional equipment Before You Begin e Determine your base motion system input voltage 400 460V 200 230V e Verify that your computer meets the software requirements of Motion Analyzer software version 4 x e Comple
55. ation shuts down The PanelView Plus terminal returns to the ReView ME Station FactoryTalk View ME Station display Current application IMME_PVP1250_VO01 mer Lond Appiicuion Run Application Application Settings F2 F3 Terminal Settings jar Peia C Yes F4 F5 als Exit F8 94 Publication IASIMP QS011B EN P January 2009 Appendix A CompactLogix Base Program Overview The pre configured CompactLogix program is a Rockwell Automation solution that helps machine builders and end users streamline their motion control programming This application template provides a basis for using motion control understanding the principles of state programming and creating a consistent program structure The CompactLogix program template does the following e Incorporates a simple state machine sequencing programming e Provides a base structure making it easier to write use and manage the code for your machine or equipment e Streamlines the development of application programs e Can be optionally sequenced with PhaseManager for S 88 compatibility L3x only but PhaseManager is not required Basic Program Flow Main Machine Control POO_ Control Machine es Status Axis Equipment Control PO1_AXIS_O1 PO1_AXIS_02 Pxx_AXIS_xx Command Automatic Machine Cycle Diagram Machine Cycle D D Publication IASIMP QS011B EN P January 2009 95 Appendix A CompactLogix Base Program Overview
56. cate 5 From 210 Control AUTO To 210_ControlA4UTO_SM Cancel 6 Click OK 7 Locate the 210_Control_AUTO_PM display 112 Publication IASIMP QS011B EN P January 2009 PhaseManager for S 88 Users Appendix B 8 Right click on it and select Rename ere J S210_Control OPE 5500 Servo Si d Delete S00 Servo F pers BBG Renare Srz0_ Trend vi Duplicate S30 _Trend_T 9 Change the name of the display to 210_Control_AUTO From 210 Control AUTO PM To 210_Contro_AUTO Cancel 10 Click OK Your operator interface now displays the S 88 state model of PhaseManager on the Auto Control screen Auto Control PhaseManager You may now download your application logic to your CompactLogix controller and the operator interface screens to your HMI following the steps in Chapter 5 and Chapter 6 respectively Publication I ASIMP QS011B EN P January 2009 113 Appendix B PhaseManager for S 88 Users Notes 114 Publication IASIMP QS011B EN P January 2009 Appendix C Troubleshooting This appendix provides troubleshooting information for the logic provided in the application template only e Troubleshooting information for the manual cycle starts on this page e Troubleshooting information for the automatic cycle starts on page 122 For assistance with Refer to this manual Ultra3000 Digital Servo Drive Installation Manual publication 2098 IN003 Device
57. color Back style Pattern style W Border color Solid br None L Pattem color Shape E Highlight color Blink Rectangle Display settings Display Parameter file 200_Control_ MANU a Axis 2 Status CJ Top position Left position ae Tees The Component Browser window opens ee Component Browser 9 Select the new axis in this example Axis 3 n Status Select a componeri 10 Click OK 76 Publication IASIMP QS011B EN P January 2009 Motion Factory Talk View Integration Chapter 6 11 Return to the Goto Display Button Properties window and select the Label tab 12 Edit the text in the Caption field Goto Display Button Properties General Label Comin In this example Axis 2 becomes Axis 3 Fort ze fana x 3 Bz ip BB Capion cole Caption back style BB Caption back cole ees Tiana EF Transpaert I Caption bi rw M word weap imaga eal Image imaga back siyi o Transparent L image ooku Algnmert BB image back coder ree I image bird L pa ga imap aed 13 Click OK to close the Goto Display Button Properties window 14 Verify that Axis Selection now includes your new Auta Ealain axis Axis 3 in this example 15 Repeat step 1 step 14 for each new axis and each of the AxisSelect displays identified in step 1 Modifying Axis Names Your FactoryTalk View ME application file CIMME_U3k_PVP xxxx_v00x now contains program code for three axes Howev
58. d Mask click the down arrow to view the pull down list Change of State Mask C Define Position ae ale Risable Serial Cernininicatine 15 Check all the boxes all the way down to COSY CCH Aansiit Select Assembly instance 1U the bottom Use the scroll bar on the right M295 SommandMask ne cenone kih 1 Enable Behavior Deine Home to reach them all Change of State Mask Idle Fault Action Checking these boxes gives access to all the Comm Fault Action commands to the drive over the DeviceNet Fated Logic command network This eliminates the need for additional I O wiring drive configuration and PLC programming 16 Change the Enable Behavior selection to ee Both Enable Behavior i Change of State Mask lie Fault Acton Both This requires us to provide a 24V DC drive Comme Feit Artian Fall i Tern Pants enable input to the drive on terminal 31 of the CN1 connector but also allows us to command the drive to enable disable from the CompactLogix controller over the DeviceNet network 17 Optional You may choose to tune your servo axis at this point IMPORTANT To reduce the possibility of unpredictable motor response disconnect all loads from your motors until initial axis tuning is complete For tuning procedure refer to the Ultra3000 Digital Servo Drive Installation Manual publication 2098 IN003 18 Save your drive setup file Melitge tg 19 Click Yes to the prompt to copy the on line valu
59. d On Instructions look and program very similar to the integrated motion instructions for SERCOS motion systems so the learning curve for using them is minimized Add On Instruction for Axis Control AOL ha Jogdndex Command Motion Axis Jog Axis Servo Axis AOL MAJ Servo _MILMAJO H EN ARIS O1 gt Dh cAxis C1 MIMAJO Motion Control Servo_MLMAU O ARIS Servo Axis Dh 4s 01 Mi MAJO ER e455 01 gt Direction Servo DATA Jogbir 1 Direction Servo DATA JogDir 1 ER lt A4xis_01_ Data JogDir 1 IF eA4xie 01 Data JogDir 1 0e IF Speed Servo DATA JogSpd i Speed servo DATA JogSpa i lt A 01 Data JogSpdfi lt A4xi8 01 Data Jogspedl 5e je Speed Units Units per sec Accel Servo DATA Jog ccel Accel Rate Servo DATA JogAccell lt A4xis 01 Data JogAccell lt Axis 01 Data JogAccell 50 50 Decel Servo DATA JogAccelli Accel Units of Maximum 4 12 01 Data Jog amp ccelll Decel Rate servo DATA JogAccell 50 lt A4xi8 01 Data JogAccell ERROR 0e 50e Decel Units OT Maximum Add On Jog Instruction Logix Integrated Motion Instruction You can see that the Add On Instructions are very similar to the integrated motion instructions The ERROR word of the Add On Instruction aids in troubleshooting an axis Press F1 with the instruction highlighted in RSLogix 5000 software to instantly decode the error value This toolkit supports the following motion instructions when used with
60. d for three axis Ultra3000 drive system PanelView Plus 700 1000 CIMME_U3k_PVP700_1000_v00 OST EU D eee FactoryTalk View ME file for generic base application Can be PanelView Plus 1250 CIMME_ U3k_PVP1250_v00x apa configured for any Ultra3000 drive configuration and PanelView Plus terminal PanelView Plus 1500 CIMME_ U3k_PVP1500_v00x apa pain Load and Restore the FactoryTalk View ME Application Follow these steps to load and restore the FactoryTalk View ME application file from the Kinetix Accelerator Toolkit CD 1 Open the Kinetix Accelerator Toolkit program From the Start menu choose Programs gt Rockwell Automation gt Simplification gt Kinetix Accelerator Toolkit nan nfs 2 From the Toolkit menu choose DeviceNet Based Motion Applications gt HMI Application Files ERCIS Raed Agbon Applirmiora DericeHer Biad Maan Appaca tions Typical Mill of Material Enckedure CAD Files Wiring Hamran CAD Drawings Harlhilasin Bari Pecirolher Progra Files Hi Apaicarion File 3 Select the appropriate HMI directory based on the table above fe Ants Base HA Gl 2 dads Base HW 3 Ants Base HW iaar aini Patt 4 Double click your selected FactoryTalk View ME apa application file TIP If you are using any PanelView Plus terminal with any axis count select the generic base application file CIMME_PVPxxxx_v00x apa If you are using the PanelView Plus 600 terminal for a specific axis count up to thr
61. diagram provides designators that coordinate with the wiring diagrams illustrating where to route your power and I O cables Sample Information from Enclosure Files GL LIM Module Ultra3000 Digital Servo Drives 230V AC shown Noise Zone Legend CLEAN cs CLEAN wireway for noise sensitive device circuits CompactLogix Controller L23E shown DIRTY wireway for noise generating f device circuits Ee Refer to the Ultra3000 Digital Servo Drives Installation Manual publication 2098 IN003 for installation and wiring instructions specific to the Ultra3000 drives For other equipment shown in your CAD drawings refer to the installation instructions that came with those products Publication IASIMP 0S011B EN P January 2009 39 Chapter 4 Plan System Wiring Lay Out DeviceNet and Ethernet Cables A sample DeviceNet and Ethernet cable diagram is shown below The diagram provides designators that coordinate with the panel layout diagram indicating where to route your DeviceNet and Ethernet cables Sample Cable Diagram COMPACTLOGIX SYSTEM cM bra opie deat Q00RADESS 1769 131 1763 1016 1769 SDN 1769 PA2 1769 0616 at ECR PANELVIEW PLUS 600 Ca CA s A COLOR TOUCHSCREEN W EHTERNET n E a E as a ON A SHH i meo f q eT IL J i f dole Ca T l Il iF i fs a 3 N Ni a CTW LTT Co CT Lore T E a C3 D8 2 serial LISER SUPPLIED C3 1 SS 24V DC CLASS 2 P
62. display opens Manual Control When pressed Assume Manual Control toggles with Axis Select i Release Manual Control Jog Forward i Axis 1 L Ay Jog Reverse is EF Assume Homed Ta Status Nevelasesiieam Manual Control Q Actual Position and Actual Velocity 0 00 Jog Speed indicators are present to assist you Actual Velocity Actual Position in your initial axis setup or 0 00 zk 0 00 Application Navigation Bar fs a X it Shutdown Press Assume Manual Control to provide Jog Forward Jog Reverse and Define Home button manual control functionality Press Release Manual Control to disable Jog Forward Jog Reverse and Define Home button functionality and enable Auto Control Change the Axis Selection Follow these steps to select a specific axis and give it jog and home commands 1 Press Axis 2 Press Axis Select Axis 1 in the center of the Manual Control display The Axis Selection display opens Axis Selection The Axis Selection display closes ae nen returns Jog forward reverse or home Axis 2 from Manual Control display Publication IASIMP QS011B EN P January 2009 Motion System Application Guide Chapter 7 Use the Auto Control Display The Auto Control display lets you start stop hold and restart the motion system The state machine section provides the status of the current motion system phase state Press Auto on the Application Navigation Bar The Auto Control displa
63. e 77 The CIMME_U3k_PVPxxxx_v00x apa file has two pre configured axes for use In this section you will add additional axes to your Ultra3000 drive system and the project file All the displays in the project file are parameterized to facilitate quick editing and reuse throughout the application The following Axis Status display contains faults and status information that is common to all configured axes Axis1 Axis x Axis Status Display Axis Status Axis Status 3 DC Bus Charged Drive Ready Status Drive Enabled Status Axis Faults 3 Startup Commutation Done Drive Faults Positive Overtravel Drive Status Negative Overtravel Axis Select Fault Disable Status Axis 1 Servo Enabled Servo Faulted Network Fault i r F 1 1 1 Faults Add the Parameter File Follow these steps to add a parameter file to your FactoryTalk View ME application 1 72 Expand the FactoryTalk View ME Explorer window to gain access to A Sa Graphics Parameters Dipa a Global Objects The parameters list contains the pre configured axes within the ja Libeanies application Each parameter file is associated with a specific axis When opening the Axis Status display the tag information loads from the axis currently selected S Ase 1 Status Asis 2 Status Publication IASIMP QS011B EN P January 2009 2 Right click Axis x Status and select Duplicate The Save component name window opens Name the new parame
64. e Configuration Results dialog opens Selected Components Short Circuit Current Rating selected Components Catalog Number Product Description Supplementary Documents 2098 DSD 010 DN 4 DRIVE SANSA ULTRASOOO WDEVICENET INDEX Product Details and Certifications Drive Photo Total Price 4 Click DXF AutoCad Drawing 2 D 5 Download and save the file 34 Publication I ASIMP QS011B EN P January 2009 Chapter 4 Plan System Wiring In this chapter you plan the cable layout for your system components placed in Chapter 3 Use the CAD drawings supplied with the Kinetix Accelerator Toolkit CD to assist in the routing of wires and cables for your system components For a copy of the CD contact your Rockwell Automation distributor or sales representative Before You Begin e Complete the Kinetix Accelerator Toolkit CD installation Refer to Chapter 1 e Complete your system hardware selection Refer to Chapter 2 e Complete your system layout Refer to Chapter 3 What You Need e Kinetix Accelerator Toolkit CD publication IASIMP SP004 e CAD files typical of those included on the Kinetix Accelerator Toolkit CD CAD file name Description Base CompactLogix System Enclosure and 230V AC or 460V AC Drive Layout CIMAT_Lxx_xxx_PANEL_LAYOUT dwg and Diagram CIMAT_Lxx_xxx_1_POWER_DISTRIBUTION dwg CIMAT_Lxx_xxx _2_CONTROL_POWER dwg CIMAT_Lxx_xxx _3_LIM_DISTRIBUTION dwg CIMAT_Lxx_xxx __4 DR
65. e application the development computer is communicating to the CompactLogix L32E controller via Ethernet network Other CompactLogix controllers and communication networks can also be selected Follow these steps to configure local communications 1 Apply power to your CompactLogix controller 2 Connect your motion system communication network cable to your CompactLogix controller and personal computer 3 Open the FactoryTalk View Studio software The New Open Machine Edition A i Mew Open Machine Edition Application pplication window opens 4 Click the Existing tab 5 Select your FactoryTalk View ME OMME Tad US PYPED v0 application file ape fer eos Matthoure Cig 800x600 CIMME_ laxis U3k PVP600_v001 is used Objects 5 Screen Demo in this example Language Engish United States en US x 6 Click Open The FactoryTalk View Studio Machine Edition window opens 7 Expand RSLinx Enterprise in the Explorer a en Factorylalk View Studio Machine Editio window File View Application Tools Window Help a her aid G c E E kap 8 Double click Communications Setup Explorer CIMME_laxis_U3k_P P600_voo1 a3 Local fla COMME Tass _USk_PYPBOO 001 A CIMME_1axis_USk_PYPS00_v001 2 Sytem 0 HMI Tags 3 Graphics E Alarms L Information faq Logic and Contial CI Data Log Eszik Publication IASIMP QS011B EN P January 2009 69 Chapter 6 Motion FactoryTal
66. e tate should not be changed on an achive pawak The new nebaodk data rate val not take effect unti power is recycled 15 Click Apply Addess 00 Fes Data rate S00 kb 16 After you receive confirmation of the changes click Close Configure the DeviceNet Module 1 Open RSNetWorx for DeviceNet programming software using the Start menu or the desktop shortcut RSNetiiors For Devicehlet Publication IASIMP QS011B EN P January 2009 47 Chapter 5 Motion Logix Integration 2 When the software opens click the Online button to go online to your network File Edit View Wetwork Device Diagnostics Tools Help Te E 4 ma ee kel lls Ee 2 el oe 7 a a d ER E k Hl au 4 Z 1 o mE 1 si i DeviceNet RSNetWorx for DeviceNet 3 Browse to your controller MP Address 1789 L3SE Ethernet Port 1769 L3SE Eff Backplane CompactLogix System 4 00 CompactLogix Processor 1769 LS5E A WE l 1769 LS5E Ethernet Port j 03 Local 1769 Bus Adapter VAI7EO A ff 1769 Bus 1769 Bus J 00 Local 1769 Bus Adapter VALTE 01 1769 16pt 24 de Sink Source I O02 1769 L pk 24Vde Source Outp 03 1769 SON Scanner Module 17 Port wef Sa 4 Under Backplane expand the Local 1769 Bus Adapter and the 1769 Bus 5 Under the 1769 SDN highlight Port2 6 Click OK to go online cel __ 7 Click OK again to begin searching for all available network nodes 8
67. e yee ee hosts ea 93 Use the Security Display 2tcsamceasiar hake hataniaea ea 94 Shut Down Application aoaaa aaea a a 94 Appendix A Basic PrOCram HOW 5 t 0 44h atcyete Ve Oe ee Rae E oes oe 95 Main Machine Control POO Control 04 96 Axis Equipment Control sassa ssassn anaana 100 Add Your Application Code weer keene AAs at bs 101 Wiserdetined Data Wy pes 42 errie hae oN eee ee eee 103 Add On INsSiUCiONS 3524244442 64442594 4644408508005 104 PASC ManaCel s 2 5 48 5b a 2 Pah eE eRe es 105 Publication IASIMP Q8011B EN P January 2009 PhaseManager for S 88 Users Troubleshooting Publication IASIMP QS011B EN P January 2009 Table of Contents Appendix B Making Changes to the Program Template 107 Making Changes to Operator Interface Screens 112 Appendix C Troubleshooting the Manual Cycle 0 4 115 Troubleshooting the Automatic Cycle 4 122 Table of Contents Notes 8 Publication I ASIMP QS011B EN P January 2009 Introduction Publication IASIMP QS011B EN P January 2009 Preface This quick start provides examples of using a CompactLogix controller to connect to multiple devices servo drives motors and HMI over the Ethernet IP network in a CompactLogix Indexing Motion application These examples were designed to get devices installed and communicating with each other in the simplest way possible The programming involved is
68. ee axes select one of the pre configured files for axis count CIMME_xaxis_PVP600_ vO0x apa Publication IASIMP QS011B EN P January 2009 67 Chapter 6 Motion FactoryTalk View Integration The Application Manager window opens oiean Marcel 5 Select Restore the FactoryTalk View Machine 5725 the app csion achive to westot OOOO BRE S6 HMI Appboabon Fiet Foden CIMME lear Usk PYPROO v00 ami Edition application E Restore the FactoyT ak View Machine Editon application gt e Herons the Factory ak View Mache Edition sppcehon and Factop Tak Loca 6 Click Next Dnectoey Another Application Manager window opens MWihitinttay oclecting Restore the Factorylalk View Machine Edition application and FactoryTalk Local Directory will cause the local security settings on your personal computer to substitute for the security setting from the pre configured application In this example the E APR CIMME_laxis_U3k_PVP600_v001 apa file Patiala is selected Yours could be different Enter a name foe the new application CIMME_tanis_U3k_PYPEDO_vO01 7 Click Finish After file restoration is complete the application closes Back Cancel Hep 68 Publication IASIMP QS011B EN P January 2009 Motion Factory Talk View Integration Chapter 6 Configure Local Communications The Local tab in Communications Setup reflects the view of the topology from the RSLinx Enterprise server on the development computer In this exampl
69. el layout Instructions specific to the Ultra3000 drives 32 Publication IASIMP QS011B EN P January 2009 Plan System Layout Chapter 3 Modifying Your Motion Panel Layout Follow the steps in this section if you do not use the basic motion control panel as is and want to modify your motion panel layout 1 From the basic motion control panel CAD drawing remove the equipment you do not need for your application Open the CAD drawings of optional equipment you would like to add to your system From the Toolkit menu choose KAT Common Info gt Add In Application Packages ail ee 5 KAT Common Info CompactLogix Quick Start pdf SERCOS Based Motion Applications Required Program Software pian asta Based Motion Avoiding Enclosure Noise H aiui Add In Application Packages j pee Support Information Copy and paste objects from the optional equipment CAD drawings to the basic motion control panel drawing Select other hardware as needed Refer to Downloading Other Allen Bradley CAD Drawings on page 34 Refer to the Literature Library http literature rockwellautomation com for access to publications Determine if your duty cycle and selected components require additional cooling Refer to Enclosure Selection in the Ultra3000 Digital Servo Drive Installation Manual publication 2098 IN003 for an enclosure sizing example Publication IASIMP 0S011B EN P January 2009 33 Chapter 3 Plan System Layout
70. er you may want to rename the axes from AXIS_01 AXIS_02 and AXIS_03 to something more meaningful for your application like Conveyor for example Publication IASIMP QS011B EN P January 2009 71 Chapter 6 Motion FactoryTalk View Integration Fdit Axis Shortcuts Follow these steps to rename the axes in your Factory falk View ME program if you changed the names of the axes in your CompactLogix application file In this example AXIS_O1 is renamed CONVEYOR and GenericMachine_COND is renamed SorterMachine_COND to match the changes in our Logix application in Chapter 5 Motion Logix Integration 1 In FactoryTalk View ME software expand the Explorer window to gain access to Parameters If needed refer to Add the Parameter File on page 72 to see how that was done 2 Double click the Axis 1 Status file E Graphics Displays HA Global Objects l Libraries 2 AX4I5_091 faa Images E Parameters 3 SelectedAxis 3 SelectedAxis Asis 1 Status Axis 2 Statue 4 GenericMachine_COND 4 SorterMachine_COND PhaseM onitor 3 Rename the 2 and the 4 shortcut to match the axis and machine names used in your RSLogix 5000 program file 1 CLX 2 CONVEYOR lt oo a 4 Repeat step 2 step 3 for each axis to rename the shortcuts Edit Axis Display Names Follow these steps to provide meaningful names to the axes as they are displayed on the operator interface Yo
71. erall Usefulness 1 2 3 How can we make this publication more useful for you E ng Can we add more information to help you Completeness All necessary information procedure step illustration feature is provided eae example guideline other explanation definition Technical Accuracy 1 2 lt 2 Can we be more accurate All provided information iS correct text illustration Clarity 1 B How can we make things clearer All provided information is easy to understand Other Comments You can add additional comments on the back of this form Your Name Your Title Function Would you like us to contact you regarding your comments Location Phone ____No there is no need to contact me Yes please call me ____ Yes please email me at Yes please contact me via Return this form to Rockwell Automation Technical Communications 1 Allen Bradley Dr Mayfield Heights OH 44124 9705 Fax 440 646 3525 Email RADocumentComments ra rockwell com Publication IASIMP QS011B EN P January 2009 PLEASE FASTEN HERE DO NOT STAPLE Other Comments PLEASE FOLD HERE BUSINESS REPLY MAIL FIRST CLASS MAIL PERMIT NO 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE Rockwell Automation 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES PLEASE REMOVE Rockwell Automation Support www rockwellautomation com Rockwell Automation provides technical information on the Web
72. es from the drive Publication IASIMP QS011B EN P January 2009 45 Chapter 5 Motion Logix Integration 20 Exit Ultraware IMPORTANT Repeat all steps in this section for additional Ultra3000 servo drives Configure Your Logix DeviceNet Module Follow these steps to configure your Logix DeviceNet module Commission an Out of Box DeviceNet Module eTe his section is for commissioning an out of box DeviceNet scanner module You do not need to perform the steps in this section if your scanner is already configured 1 Be sure that all of your CompactLogix controller modules processor I O modules scanner and power supplies are properly seated on the DIN rail and that the bus interconnect is properly slid over to the previous module and seated 2 Apply power to the CompactLogix power supply and wait for the components to power up 3 Connect your workstation to the CompactLogix controller e If you are using a serial connection make sure that you have connected the 1756 CP3 or similar cable between your workstation and one of the 9 pin serial ports on the controller e If you are using an Ethernet connection make sure that you have connected a twisted pair cable between your workstation and the controller s RJ45 connection 4 Create a communication driver in RSLinx Classic software If needed refer to the CompactLogix System Quick Start Manual publication IASIMP QS001 5 Open the DeviceNet Node Commissioning Tool
73. et E ABLETH 1 Ethernet Upload i IP Address 1769 L23E QBFC1 Ethernet Port 1769 L29E QBFC1 5 Verify that the key switch on your Gif Backplane CompactLogix System ek BAEO 1769 L23E OBFC1 CompactLogix Processor 1769 L23 controller module is in the REM i 01 1769 L23E QBFC1 Ethernet Port Update Firmware remote position i 03 Local 1769 Bus Adapter YA1769 A Close Help 6 Click Download Path AB ETH 140IP Address Backplane Set Project Path Path in Project lt none gt The Download window opens Download T Download offline project Generic to the controller 7 To send the program to the Logix Mame no name gt controller click Download Type 1769 L23E QBFC1 CompactLog5s23E QBFC1 Path AB_ETH 1410 88 89 276 ackplane O Seral Number COOBOSD8 Security No Protection Connected Controller amp DANGER Unexpected hazardous motion of machinery may occur Some devices maintain independent configuration settings that are not loaded to the device during the download of the controller Verity these devices drives network devices 3rd party products have been properly loaded before placing the controller into run mode Failure to load proper configuration could result in misaligned data and unexpected equipment operation Cancel Help 8 Verify that the three Logix DeviceNet module indicators are green Some may be flashing 9 Verify that the Ultra3000 servo drive L
74. for each axis A fault event is triggered by any non fault to fault transition for any given axis The 50 faults are stored on a first in first out basis The indicators displayed correspond to the selected axis Press the up down arrows to the left of the selected axis to change the axis Press the up down arrows to the right of the selected axis to change the fault event Fault events number 0 49 When the fault event number changes the fault event date time and indicators also change Publication IASIMP 0S011B EN P January 2009 93 Chapter 7 Motion System Application Guide Use the Security Display The security feature of FactoryTalk View ME lets you limit privileges to the individuals that use the FactoryTalk View ME application Refer to FactoryTalk View Machine Edition User s Guide Volume 1 publication VIEWME UM004 for more information The security display adds login and logout functions to the application User names and passwords have not been setup in the FactoryTalk View ME application files but using FactoryTalk ViewStudio software you can edit the base application files to add user names and passwords for your specific needs 1 Press Security on the Application Navigation Bar The Current User window opens Current User DEFAULT 2 Press Login EE Shut Down Application To shut down the application press Shutdown Application on the Application Navigation Bar The FactoryTalk View ME applic
75. ick Open jatana nbo True Tyre Dacron riota TrueType 1 sel aT Tre type jacmel Tras Type OAC iann prn Tru Tye AO AC arbor Sartre ake Tene Type AB Ar errata Blea Trot Typa aaran Bhite TrueType djaga amond Dake Tre Type daraman Ragi True Tyre iO arial TrueType Darig did True Type 1 cial Black fake TrueType 2 vial Bold TrueType Arial Feld Bake iraa Fie pama Sa nee Fim of pape Fearne Aappibehiors Fikes r niaan ime ama Djana Bake inet ype arial moncapeced fold f Tj ra moncepeced for i Ww Arial Homid GF Arial Narrows Tre f ype DjA hiro Bodi Trust CO Arial harori Bete take Gj Ara Narrow Rade True GF Aviad Lirsooede MS TinueT dj AmoPro Bedd Trua Ty Ff AmoPro Boldaption Ti O arnePro BokiDeepley Tr jaron boita Tre Dimba Publication IASIMP QS011B EN P January 2009 The Transfer Utility window returns 9 Expand the Ethernet Ethernet driver 10 Select your PanelView Plus terminal 11 Click Download The font transfers to the terminal B amter iiy Cui Fiadh He Motion FactoryTalk View Integration Chapter 6 ee aT healed V nen cue yor oo er r aA Aa ATEa incite a gobs ra e ber in pon Soper if Ou nae oe Fa Congu E eee lechai i unde beer pou Sopa fee ad fe ba able ia dar t kee TkT da ee Ej Erina Crete o A ral Reipa lt da Diei hersi Download the Project to a Terminal Follow these s
76. icon cursor is positioned on object or selection Click right mouse button once Assumes cursor is positioned on object or selection Right click the Fieldbus Networks icon Click and hold the left mouse button on an object move the cursor to where you want to move the object and release the mouse button Drag and drop the desired block into the Strategy window Click to highlight a specific option Select H1 1 from the list Check the Do not show this dialog again Click to activate deactivate a checkbox checkbox Choose Programs gt Rockwell Automation gt Simplification gt Kinetix Accelerator Toolkit shows nested menu selections as menu name followed by menu Note The path sequences given in this manual are for a typical system installation If your system was installed in a different directory use the appropriate path choice Click the to the left of a given item folder to show its contents In the H1 1 window expand the FFLD Publication IASIMP Q8011B EN P January 2009 Additional Resources Resource http www ab com http rockwellautomation com knowledgebase http www rockwellautomation com components connected Publication I ASIMP QS011B EN P January 2009 Preface Description Provides access to the Allen Bradley website Provides access to self service support Provides access to the Connected Components website 11 Preface Notes 12 Publication IASIMP QS011B E
77. in Og DewiceMetInputs POO_Control 33 Pol _AKIS_01 A Program Tags FF ROO_Dispatch E R01 PowerUP Ej ROZ _AxisMonitor Ej ROS EnableDisable FaultReset Ej RO4 Initialize ROS_ Manual 3 ROG AutoMotian 2 Move to rung 2 of this routine and note the value of the ERROR word shown on the AOI_MAJ instruction JOG FORWARD COMMAND WITH ASSOCIATED JOG STOP COMMAND Jog Forward Jog Reverse Command i In Jog Command Uses Direction Direction Process Preset Speed 0 in Servo_CMD JogFyvyv gt Servo_CMD JogRR EW Servo _Mi MAJ1 IF Drive sAxis 01 CMD Joga D gt lt Axis _01_CMD JogRtEWw gt sAxis 01 wil MAJ1 P gt ADO MAJ Ee Jog Command Uses Preset Speed AOL MAJ servo MMA sAxis 01 MLMAJ AXIS Servo_Axis 24x15 01 gt Direction 0 Speed Servo _ DATA JogSpadlt s xis_01_Data JogSpdj0 10 e Accel Servo _DATA JogAccell s xis_01_Data JogAccell0 50 e 3 Click on the AOI_MAJ instruction and press the F1 key for assistance with the error code You may need to scroll down to find your error code fe Add On Instruction Definition AQI MAJ v1 0 General Parameters Local Tags Scar Modes Change History Help Extended Description Test ERROR CODES 05 Drive is not enabled Close the servo loop before you execute this instruction 12 Drive did not respond to data write request in time Check communication to drive 20 OrnveReady not reported from axisname Status word Chec
78. ine_ AUTO PM eduled Programs Phases J_Contral_5M GEEA PZ_ GenericMachine MANUAL_PM _ 8 In the Project Explorer right click on the POO_Control_PM program and select Properties 9 Change the name to POO_Control and press OK 10 Similarly rename the PZ_GenericMachine_AUTO_PM phase to PZ_GenericMachine_AUTO 11 Also rename the PZ_GenericMachine_MANUAL_PM phase to PZ_GenericMachine_MANUAL Before After E E Tasks 43 Tasks Sal Too Main Sal TOO_Main Og DeviceMetInputs i DeviceNetInputs 3 POL_AXTS 01 E POL_ANIS O11 3 Po2_AxIS_o2 E POZ_AXTS 02 L PZ_GenericMachine_AUTO_PM PZ_GenericMachine_AUTO ay P2 GenericMachine_ MANUAL PM f se PS GenericMachine_ MANUAL 110 Publication IASIMP QS011B EN P January 2009 PhaseManager for S 88 Users Appendix B Reschedule Programs in 00_Main 1 Right click on TOO_Main and select Properties 2 Click the Program Phase Schedule tab fe Task Properties TO0_Main General Conhigurats Unscheduled Scheduled Deviceh etl nputs POO Control P2_GenericMachine_AUTO t F2 GenencMachine_ MANUAL POI Axis 01 Move PO2_Ax15_ 02 POS AxIS 03 DeviceNetOutouts 3 In the Scheduled list select an item that is out of order and use the Move selector buttons until the list looks like the one in the After list in step 5 below 4 Click OK 5 Verify your program scheduling as shown below Before After Tasks Tasks Sa TOO_Main
79. ive System option 3 MP Series Low Inertia MPL B310P MK22AA 0 77 kW output with absolute multi turn feedback 3 3 m 9 8 ft MPL B310P ere 3 m 9 8 ft MPL B310P Trunk cable round 50 m spool 3 Connector kit for motor feedback 3 Connector kit for control 1 0 signals 1 PanelView Plus 600 24V DC serial comms Controller dual serial comms 512k memory 1769 1016 16 point 24V DC input module 1 l CompactLogix with Serial 1769 0B16 16 point 24V DC sourcing output module Logix controller Confi onfiguration 1769 PB2 Power supply 24V DC 1769 SDN DeviceNet interface module 1769 ECR End cap 1 Controller Programming 9324 RLD200ENE RSLogix 5000 Mini Edition 1 software HMI Programming 9701 VWSTMENE Factorylalk View Studio Machine Edition 1 Drive Configuration 2098 UWCPRG Ultraware Software Publication IASIMP QS011B EN P January 2009 23 Chapter 2 Hardware Se lection CompactLogix L31 200 230V Base System 24 1 oO oO Enclosure and pane Input power Ultra3000 Servo Drive Cables Connector kit Connector kit Logix controller Hoffman HxWxD approx Hoffman o 1219 x 609 x 304 mm Rittal 48 x 24 x 12 in 2094 AL50S 230V 50 A LIM module Line Interface Module LIM 140U H RVM12R Through the door disconnect 2090 XXLF X330B 3 phase 30 A AC line filter 2098 DSD 010X DN 1 kW output indexing DeviceNet communication option MP Series Low Inertia MPL A310P MK22AA 0 3 KY output with
80. ix Base Program Overview Appendix A Action Taken Ga TOO_Main E DeviceletInputs 5 ER POO Control ER Po _AKIs_01 Program Tags EA ROO_Dispatch ROL PowerLP ad ROZ _AxisMonitor ROS EnableDisable FaultReset RO4_ Initialize B ROS_Manual RO6_AutoMotion z E mam MTO oa RECOVERS THE AXIS FROM THE SHUTDOWN STATE AND RESETS ANY FAULTS Clear Axis Fauts Axis Fault Word Motion Axis Faut Servo_CMD Reset 32 Bit Reset ADI lt 4xi 01 CMD Reset EG AOL hAFR Mot Equal RESET Drive Fault Source 4 Servo_Axis AxisFautt AOLMAFR Servo_MLMAFR F EN sAnS_01 AxisFault sAxis _01_MLMAFR DM3 D AXIS Servo Axis ER 1 Source B o sAn 01 gt ERROR 0e Status Received from Drive Servo_Axis Status FautDisable A45I5 01 Status FautDisable Clear Axis Faults Servo_CMD Reset A4xi _017_ CMD Reset Should any of these command action states fail to complete the application template issues an abort command which stops the running cycle and disables the servo drives Publication IASIMP 0S011B EN P January 2009 99 Appendix A CompactLogix Base Program Overview Axis Equipment Control The individual axis actions are controlled based on the machine state Any of the states will issue commands that will initiate actions programmed within routines in the individual axis programs In the rungs of code below within the Auto Running phase state logic a sequence word is set to a value of 1 to initiate a
81. k View Integration The Communications Setup window Communication Setup RNA LocaliCIMME taxis_U3k_pyP 6o0_vo a BS opens at Cope irom Design 1o Fier 9 Click the Design Local tab l W P Adi tss Ethernet Bridge 17694 326 Etherre 10 Select the CLX device shortcut 11 Expand the RSLinx Enterprise tree to offing Tag File gain access to your CompactLogix controller 12 Select your CompactLogix controller LOK Cancel erty Het 0 1769 L32E is used in this example The slot number is 0 Yours could be different RSLinx Enterprise will autobrowse to the controller if the controller is available on the network If RSLinx Enterprise fails to find your controller refer to CompactLogix System Quick Start manual publication IASIMP QS001 13 In the Device Shortcuts section click Apply TIP If you select the device shortcut CLX the 1769 L32E CompactLogix controller is highlighted This indicates that the shortcut is correctly mapped to the controller and communication exists between the controller and your application on the development computer 70 Publication IASIMP QS011B EN P January 2009 Motion Factory Talk View Integration Chapter 6 Configure Target Communications The Target tab displays the offline configuration from the perspective of the device that is running the application and comprises the topology that is loaded into the PanelView Plus terminal In this example application the Pa
82. k communication to dive Check for Drive Fault 23 legal Dynamic Change requested The drive did not reach the commanded SPEED at the programmed Publication I ASIMP QS011B EN P January 2009 121 Appendix C Troubleshooting 4 Follow the instructions shown for the associated ERROR CODE and execute the manual command from the HMI again Troubleshooting the Automatic Cycle Follow these steps for assistance with problems experienced during use of the automatic cycle of the CompactLogix program template Determine Where the Program Fails The first step in troubleshooting the code within application template is to determine where the program fails or stops The automatic cycle is controlled by a state machine The current state of this state machine is indicated by the value in the controller tag AutoCycle StepIndex TIP You must be online with the CompactLogix controller in the Run Mode Your HMI also must be running in order to issue the commands to the controller 1 Expand the POO_Control program and open the RO3_ Commands_AUTO routine 3 Tasks TOO Main Og DeviceNetInputs POO Control Fj Program Tags i ROO MainDispatch B Ro1_PowerUp ak eceania B E Cone MANLIAL H ROS AxisEventlag R06 GUI Eventlog Security Shutdown 122 Publication IASIMP QS011B EN P January 2009 3 Troubleshooting Appendix C Verify that the Release Manual Control message is not being displayed If it is press
83. lView Plus terminal 11 Click OK Transfer Uibtity Droerdeae Tigr Fie Pm Died f 2 Deli AA an Motion FactoryTalk View Integration Lipa Compare f WARINRHE kiai 2 goin or mode human an pour apn i PO pead ig aptat the Combqunsion ance breer beii a wade uBio pou pple po ears Cee aik ce phai ocean Chapter 6 E E Rire z E TrA feckpiane 12 Click Fxit to close the Transfer Utility window 13 Choose File gt Close to close the application Run the Project on a Terminal Transfer Utility 1 The download has completed successfully Follow these steps to run your project on the PanelView Plus terminal 1 Zs Publication IASIMP 0S011B EN P January 2009 Apply power to the PanelView Plus terminal Connect your motion system communication network cable to your PanelView Plus terminal and personal computer The FactoryTalk View ME Station window opens Click Load Application faniorylak Thaw ML ation Terminal Settings Fal 83 Chapter 6 Motion FactoryTalk View Integration The Load Application window opens a C External Storage 1 4 Scroll through the list of application files by External storage 2 using the up down arrows and select the mer dii file you intend to run CIMME_U3k_PVP1257000_v001 mer is used in this example 5 Click Load The Replace Communications window opens 6 Click Yes If you click No the communications settings
84. m Notice that no custom data mapping is required of the data Even though the words of data overlap and multiple drives share the same word boundary this is handled by the Logix application code provided on the toolkit with no manual action required TIP The limiting factor for how many drives can be used is based on the module s available memory 90 words for the 1769 SDN scanner module and how much data your devices are configured to require 2 75 words here This example would mathematically lead to answer of about 30 drives but the network performance would have to be considered before using 30 drives Be sure to close RSNetWorx for DeviceNet software before proceeding Publication IASIMP QS011B EN P January 2009 51 Chapter 5 Motion Logix Integration Select Your Logix Application File Choose the correct file for your system Logix Platform Logix File Name Description CompactLogix L2x file pre configured for single axis Ultra3000 CompactLogix L2x CIML2x_1axis_v00x acd rer rive system CompactLogix L3x file pre configured for single axis Ultra3000 CIML3x_laxis_v00x acd drive system CompactLogix L3x file pre configured for two axis Ultra3000 CompactLogix Lax File for Axis oii ay 2axis vOOxacd rive system Count CompactLogix L3x file pre configured for three axis Ultra3000 CIML3x_3axis_v00x acd dn rive system Load and Open Logix Application File Follow these steps to load and open the Logix applica
85. n This allows the controller to connect to the devices and control the servo drives 18 Verify that the DeviceNet scanner is in IDLE mode and not in RUN mode 19 Click OK and click Yes to confirm downloading these changes to the scanner 20 Save your work 21 Exit RSNetworx for DeviceNet software Publication IASIMP QS011B EN P January 2009 49 Chapter 5 Motion Logix Integration Additional Information for Single and Multi Axis Systems The following information about DeviceNet is for reference only No action is required However if you do map additional axes be sure to close RSNetWorx for DeviceNet software before proceeding Additional axes drives can be automapped as shown in step 17 into the DeviceNet module s Scanlist Available Devices Scanist ii 01 Ulvs3000 Servo 230 gt i 02 Ulra3000 Servo 230 Gereral Module Scankst Input Output ADR Summary The Input tabs look similar but contain more data 41 769 5D0N Scanner Module E i 41769 5DN Scanner Module 4 by i onr j y Oper Menem Deos simdwae 0 PEE single Axis System Double Axis System 50 Publication IASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 The Output tabs also look similar but contain more data 1 769 S0N Scanner Module lt 769 SDM Scanner Module s Ml ernony Depciehe wno TTT CA e oO TRETT Single Axis System Double Axis Syste
86. nd is In Process Servo_hilMAJ O IP al sAxis 01 _wl MAJ 0 FP Equal Move Source 4 Servo_DATA RuntEG O Source 100 A4xi _01_Data RunsEQ o 10 Dest Servo _DATA RunseEo o Source B 10 lt A4xi _01_Data RunsEo o 10 Correct Idle Running State Problem AutoCycle Step ndex Stops at 200 If the AutoCycle StepIndex stops at 200 the problem is not in the sample code provided in the application template Perform the following steps to correct this condition 1 Review the application code that you added for your specific machine in Appendix A of this document 2 Contact Rockwell Automation technical support for additional assistance Publication I ASIMP QS011B EN P January 2009 131 Appendix C Troubleshooting Notes 132 Publication IASIMP QS011B EN P January 2009 How Are We Doing Your comments on our technical publications will help us serve you better in the future Thank you for taking the time to provide us feedback You can complete this form and mail or fax it back to us or email us at RADocumentComments ra rockwell com Pub Title Type CompactLogix Indexing Motion Accelerator Toolkit Cat No 1769 Series 1734 Series Pub No IASIMP QS011B EN P Pub Date January 2009 Part NO XXXXX 2711P K10C4D1 January 2009 _ 22B V2P3N 104 2OAB4PZA3AYNNNNN Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Ov
87. nelView Plus terminal communicates to the same CompactLogix L32E controller via Ethernet Follow these steps to configure target communications 1 Click the Design Local tab in the Sati Communication Setup RNA SLocal CIMME_1axis_U3k_PvP600_vo E ER Communication Setup window Ex 7 Copy from Design to Funtime 2 Click Copy from Design to Runtime D PAP Addresa Echacnet Erdos Ort ee Ethene Ej CompactLogix System CompactLogix System 4 e Of 0 176 LS2E A Genai gt Maret Gaina Mok Browsing This RSLinx Enterprise message RSLinx Enterprise window opens The Runtime Target configuration and shortcut definitions wil be replaced with a copy of the Design Local configuration and shortcut definitions Do you want to continue 3 Click Yes 4 Click the Runtime Target tab and expand the RSLinx Enterprise tree 5 Verify that your controller and Ackles Ethernet Bridge 17694 326 Etherre Al shortcut name are both highlighted arpa isaac This indicates that communication is established In this example 1769 L32E is the controller and CLX is the shortcut 6 Click OK Publication IASIMP QS011B EN P January 2009 71 Chapter 6 Motion FactoryTalk View Integration Adding Axes to the Project e you have selected a pre configured application with a specific axis count and it fits your application needs skip this section and go to Modifying Axis Names beginning on pag
88. netix Windows XP Professional Accelerator Toolkit Programs fag Rockwell Automation fa Simplification F Kinetix Accelerator Toolkit h fm Rockwell Software y i Fe Documents y E Settings k pa Search r Help and Support W Run D Shut Down start E The Kinetix Accelerator Toolkit program starts 2 From the toolkit menu choose KAT Common Info gt Required Program Software KAT Common Info CompactLosix Quick Start A meres r SERCOS Based Motion Applications Required Program Software F E DeviceNet Based Motion Avoiding Enclosure Noise i Applications Eea Add In Application Packages TE Help lt Support Information rA opor information EN 3 Open the 2 Motion Analyzer folder 20 File and Falder Taske O a iss TI Make a new folder 4 Publish this Folder to the 2 Ai 4 Logix DeviceNet Tag Web 3 RSNetWorx For DeviceNet Generator Tool E Share this Folder Other Places E Publication IASIMP QS011B EN P January 2009 Hardware Selection Chapter 2 4 Double click MotionAnalyzer 4 x exe Address C C Program Files R 4_Simplification K amp T Files 4 KAT Common Toolsi Required Software Motion Analyzer Motion Analyzerd 5 exe Ba Setup exe aE eee i orporatlont File and Folder Tasks a Make a new Folder Ee Publish this Folder to the Web bef Share this Folder 5 Follow the on screen instructio
89. not complex and offers easy solutions to verify that devices are communicating properly To assist in the design and installation of your CompactLogix Indexing Motion system application files and other information are provided on the Kinetix Accelerator Toolkit CD publication IASIMP SP004 The CD provides CAD drawings for panel layout and wiring base Logix control programs FactoryTalk View HMD application files and more For a copy of the CD contact your local Rockwell Automation distributor or sales representative With these tools and the built in best practices design the system designer is free to focus on the design of machine control and not on design overhead tasks To download the program files CAD files and other selected CompactLogix Indexing Motion Accelerator Toolkit information refer to the Rockwell Automation Integrated Architecture Tools website http www ab com go iatools Before using this quick start and the contents of the Kinetix Accelerator Toolkit CD read the Terms and Conditions READ ME pdf on the CD The beginning of each chapter contains the following information Read these sections carefully before beginning work in each chapter e Before You Begin This section lists the steps that must be completed and decisions that must be made before starting that chapter The chapters in this quick start do not have to be completed in the order in which they appear but this section define
90. ns to complete the program installation Open Motion Analyzer Software Follow these steps to run the Motion Analyzer software 1 From the Start menu choose Programs gt Rockwell Automation gt Motion Analyzer gt Motion Analyzer fa Programs an Rockwell Automation in Simplification gt an Rockwell Software J Motion Analyzer E Motion Analyzer k Documents j y e Motion Selector x Settings H Search b Help and Support Run A Giie vase Shut Down sa Windows XP Professional The starting selection window opens fw Application Motion Analyzer EEX File Edit File Edit Analysis Database C Database Options Toolbars Spe leat seas Help m a ia System View Ee ani View lt PAN Power Supply Acc De Glen la wie peti System View Mot Completed Product Family QEN z C Axis Mame A i APPLICATION DATA am n pe ee ee es i START HERE Click here to enter the application data Add new Axis Publication I ASIMP QS011B EN P January 2009 21 Chapter 2 Hardware Selection 2 3 4 22 Use the Product Family drop down menu to select Ultra3000 Kinetix 6000 is the default selection Application Motion Analyzer File Edit Analysis Database Options Toolbars Application Templates Help ey a Bi wW sh System
91. nstall Motion Analyzer software from the Web or install Motion Analyzer software from the Kinetix Accelerator Toolkit CD publication IASIMP SP004 Download Motion Analyzer Software From the Web Follow these steps to download and install Motion Analyzer software 1 Open your Web browser and go to http ab com e tools The Configuration and Selection Tools webpage opens Select Motion Analyzer from the System Configuration tab Click Download Configuration amp Selection Tools gt Product Selection Overview Get the Product Selection Toobox System Configuration Product Drawings Integrated Architecture Tools Get Support Now Resources Product Directory Product Certification Product Cross Reference Literature Library The Motion Analyzer webpage opens Click the Motion Analyzer software download link and follow the instructions provided Use Motion Analyzer software to size your motor drive combinations Publication IASIMP 0S011B EN P January 2009 About Us News amp Events Allen Bradley Integrated Motion Control Overview Encoders Motion Controllers Motion Software Servo Drives Serva Motors Actuators Motion Applications CONFIGURATION amp SELECTION TOOLS Rockwell Automation offers a powerful range of product selection and system configuration tools to assist you to choose and apply our products There are tools available on line
92. o add application code to each of your Pxx_AXIS_xx programs 1 In RSLogix 5000 software expand the Explorer window to gain access to Tasks Refer to Main Machine Control P00_Control on page 96 to see how that is done 2 Modify rung 4 of the RO4_Initialize routine to move your axes to their required starting positions OR Poo Contro oe H eE RE i pim a e i he h d Poa 4 hientlinden Conard Ar ar Source A Servo DATA iniSEG AD HAH Servo MMAM _ HEN y ROL Poveri cacy Ot ete ing She Aca OI MAMI ROT Fachiri a ANE Tag Ai Dh ROG Connais ATO Source B 37 JAKS M gt ROM Commands MANLIAL Mowe_Type i ER J RoS _ As ventLog DATA Otteetiiny z Pya Sav Mis B R0e_Gul_Evertiog a Ja 2 P0 Aasi een gY Progam Tags T ee PL patih edie l Data Mie Spelt Pe AOL Poel ie AboH Servo DATA Hirys cc i Fakhi aiis Ot Daa Moretocajije i Dene Serve DATA recrei zfn75 04 Daa Moredcceg il i ERROR i Publication IASIMP QS011B EN P January 2009 101 Appendix A CompactLogix Base Program Overview 3 Replace rungs 2 and 3 of the RO6_AutoMotion routine with code that signifies your axes are ready for the Running state of your automatic cycle These rungs can also be replaced with an MOV instruction that simply increments each Servo_DATA RunSEQI O0 register to a value of 100 which signifies that the axis is ready for the automatic cycle a Dei A a AA COR p ema m Fragan Tape Fou
93. omplete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure 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 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 IASIMP QS011B EN P January 2009 Copyright 2009 Rockwell Automation Inc All rights reserved Printed in the U S A
94. on Cancel Apply Help 3 Click OK 108 Publication IASIMP QS011B EN P January 2009 PhaseManager for S 88 Users Appendix B 4 Drag the POO_Control_SM program to the Unscheduled Programs folder Tasks Sa TOO Main i DeviceNetInputs Og P oe TA nit F ol_5 M Bll 4 Re FS Unscheduled Programs Phases 3 POO_Control_PM P GenericMachine_AUTO PM ae P2_ GenericMachine_ MANUAL PM 5 Drag the POO_Control_PM program to the TOO_Main task folder 3 Tasks Sa TOO_Main Ca DgviceMetInputs 3 PA AXTS 01 3 MBA AXIS 02 3 PRB AXIS 03 E og D iceMetOukputs 2E Unscduled Programs Phases ee APOO Control PM 3 POO_Control_sM E PZ_GenericMachine_AUTO_PM ae Pz_GenericMachine _MAMNUAL_PM 6 Drag the PZ_GenericMachine_AUTO_PM Phase to the TOO_Main task folder Tasks Sa TOO_Main Oa Da iceMetInputs 3 PEA AXIS 01 S MEBAYTS 02 3 pg AXIS 03 Oa Da iceNetOutputs 3 Pi Control PM 26 Unschiduled Programs Phases Oa Pi Control 5M Giger GenericMachine AUTO PM P2_GenericMachine_MANUAL_PM Publication I ASIMP QS011B EN P January 2009 109 Appendix B PhaseManager for S 88 Users 7 Drag the PZ_GenericMachine_LMANUAL_PM Phase to the TOO_Main task folder 3 Tasks Se TOO Main C3 DeviceWetInputs O8 AM ANTS 01 8 AXIS 02 08 ABB AXIS 03 i WicehetOutputs C3 Oo Control PM Lar GenericMach
95. on I ASIMP QS011B EN P January 2009 123 Appendix C Troubleshooting 4 If this is not the problem move to rung 9 of the RO3_Commands_AUTO routine and carefully note what value is in the AutoCycle StepIndex register as you press the green reset button again on the HMI RESET COMMAND ISSUED Main State Main State Sequencer Register Reset Command Sequencer Register Autolycle Reset oy Move SOurce 10 Dest Autolycle Steplndex oO Main State Reset Command sequencer Register Autocycle Reset 5 Use the table below to determine where the cycle is stopping and what action to take next If AutoCycle StepIndex Take this action Go to 0 stopped Correct Aborted Resetting State Problem Reset Command Is Not Commanding Any Action Go to 10 Resetting Correct Aborted Resetting State Problem AutoCycle Step ndex Stops at 10 Go to 20 Resetting Correct Aborted Resetting State Problem AutoCycle Stepindex Stops at 20 Correct Aborted Resetting State Problem Reset Command Is Not Commanding Any Action The reset command is not commanding any action Perform the following steps to correct this condition 1 Observe the logic on rung 1 of the RO3Z_Commands_AUTO routine 2 Verify that the start request is coming from the HMI 3 If not make sure that your controller is in Run Mode and the HMI is communicating properly with the controller THE FOLLOWING RUNGS CONTROL THE MACHINE VI4 THE STATE MACHINE AUTO SCREEN IM THE Hh BE
96. ore of the axis programs Perform the following steps to correct this condition 1 Open the RO3_Commands_AUTO routine and move to rung 9 2 Carefully note what value is in the AutoCycle StepIndex register RESET COMMAND ISSUED Main State Main State Sequencer Register Reset Command Sequencer Register AutoCycle Reset ov Mave SOUrCe 10 Dest AutoCycle Steplndex 0 Main State Reset command Sequencer Register Autocycle Reset 3 Use the table below to determine where the cycle is stopping and what action to take next If AutoCycle Steplndex Take this action 110 Running ko to Correct Idle Running State Problem AutoCycle Step Index Stops at 110 200 Running Go to Correct Idle Running State Problem AutoCycle StepIndex Stops at 200 Publication I ASIMP QS011B EN P January 2009 129 Appendix C Troubleshooting Correct Idle Running State Problem AutoCycle Step ndex Stops at 110 If the AutoCycle StepIndex stops at 110 one or more of the axes failed to complete the automatic cycle running procedure Perform the following steps to correct this condition 1 130 For each of the axes expand each of the Pyn_AXIS_nn program and open the Sa TOO_Main Ca DewiceMetInputs 3 POO_Contral 33 PO1_AxTS O41 Ei Frogram Tags FF ROO_Dispatch H RO1_PowerUP RO2_AxisMonitor ROS EnableDisable FaultReset RO4 Initialize FOS Manual R06 AutoMotion Move to rung 2 of this routine and note the value of
97. ors until initial axis tuning is complete For tuning procedure refer to the Ultra3000 Digital Servo Drive AN Installation Manual publication 2098 IN003 What You Need e Kinetix Accelerator Toolkit CD publication IASIMP SP004 For a copy of the CD contact your local Rockwell Automation distributor or sales representative e Hardware installation and wiring complete with power applied e Logix application file CIMLxx_xaxis_v00x acd downloaded to CompactLogix controller Controller is set to run e FactoryTalk View ME runtime application file TMME_PVPxxxx_v00x mer downloaded to the PanelView Plus terminal Run Application activated on terminal e Ultra3000 Digital Servo Drive Installation Manual publication 2098 IN003 Publication IASIMP QS011B EN P January 2009 85 Chapter 7 Motion System Application Guide Follow These Steps Complete the following display overview steps to run the pre configured application and gain an understanding the general motion system operation Use the Manual Control Display page 88 Use the Auto Control Display page 89 Use the Trend Display page 91 Use the Axis Status Display page 92 Use the Fault Log Display page 93 Use the Security Display page 94 Use the Security Display page 94 shut Down Application page 94 86 Publication I ASIMP QS011B EN P January 2009 Motion System Application Guide Chapter 7 Startup Display With power applied
98. program in that it runs in a task and has a set of routines and tags It differs from a program in that the equipment phase uses a state model and does one activity of your machine or equipment such as auto or manual Refer to the PhaseManager User Manual publication LOGIX UMO001 and the Kinetix Accelerator Toolkit Quick Start Guide publication IASIMP QS002 publication for more information about PhaseManager Publication I ASIMP QS011B EN P January 2009 105 Appendix A CompactLogix Base Program Overview Notes 106 Publication IASIMP QS011B EN P January 2009 Appendix B PhaseManager for S 88 Users The pre configured CompactLogix program template is driven by a simple state machine as shown in Appendix A If your system must comply to ISA 88 S 88 Rockwell Automation offers PhaseManager as an embedded state machine controller that runs in the firmware of the CompactLogix controller The CompactLogix program template already includes the code necessary to convert your system from the state machine version to a version that is driven by PhaseManager Follow the steps in this section to convert your program template and your operator interface screens from the simple state machine version to a version that uses PhaseManager and the S 88 state model shown below Auto Control Auto Control Machine Cycle PhaseManager Simple State Machine 5 88 Machine with PhaseManager Making Changes to the Program Template Follo
99. ps Complete the following steps to plan the installation and wiring of your system components within the enclosure Load Basic System CAD Diagrams Route Cables for Your Motion Panel Lay Out DeviceNet and Ethernet Cables page 40 36 Publication I ASIMP QS011B EN P January 2009 Plan System Wiring Chapter 4 Load Basic System CAD Diagrams The Kinetix Accelerator Toolkit CD publication IASIMP SP004 provides CAD diagrams in DWG format to assist in planning your system wiring The diagrams are designed to optimize panel space and to minimize electrical noise Follow these steps to locate the CAD files for the Kinetix Accelerator Toolkit CD 1 Open the Kinetix Accelerator Toolkit program From the Start menu choose Programs gt Rockwell Automation gt Simplification gt Kinetix Accelerator Toolkit 2 From the toolkit menu choose DeviceNet Based ESE Motion Applications gt Enclosure CAD Files ee a aa t DeviteNel fated Moitan Bm CompactLogix indexing Mation f Applications Quick Start Typical Sif of Material a 3 Use your CAD program to open these and other Ll Enclosure CAD Files fh a enclosure CAD files Wiring Diagram CAD Oraeings HorthLatin America Pearreallar Panra Felos e CIMAT_L23_230_PANEL_LAYOUT dwg e CIMAT_L31_460_PANEL_LAYOUT dwg 4 From the Toolkit menu choose DeviceNet KAT Commen infa Based Motion Applications gt Wiring Diagram ei h a l etaa feviceMet Based Motion
100. r safety purposes Your motion system should also have an emergency AN start stop control circuit Adjust the Speed Follow these steps to adjust the relative speed of your motion system 1 Press Speed The numeric keypad opens Pl 2 Enter a new speed value from the keypad EEA 3 Press the Enter button The keypad closes and motor speed is updated with the new value Enter button 90 Publication IASIMP QS011B EN P January 2009 Use the Trend Display Motion System Application Guide Chapter 7 The Trend display lets you view current actual velocity and actual position trends of your motion system axes over time Follow these steps to view torque feedback actual velocity and actual position trends 1 Press Trend on the Application Navigation Bar S X The trend selector display opens 2 Select your trend of choice The trend display opens The Command Actual Velocity trend shown operates similarly to the other trend displays Security Shutdown 3 Press Axis 1 to view trends of other axes Refer to Change the Axis Selection on page 88 The Axis Selection display opens and lets you change the axis trend to view as shown in the Manual Control section In this example two axes are trended but based on your axis configuration other axes can also be viewed 4 Press Y Scale Min or Max to change values The numeric keypad opens Refer to Adjust the Speed on page 90 to
101. re version 2 54 or later e FactoryTalk View ME application files CIMME_xaxis_U3k_PVP600_v00x apa FactoryTalk View ME files are available on the Kinetix Accelerator Toolkit CD For a copy of the CD contact your local Rockwell Automation distributor or sales representative Publication IASIMP QS011B EN P January 2009 65 Chapter 6 Motion FactoryTalk View Integration Follow These Steps Complete the following steps to configure your FactoryTalk View ME Indexing Motion application Select Your Factory Talk View ME Application File page 67 Load and Restore the Factory Talk View ME Application page 67 Configure Local Communications page 69 Configure Target Communications page 1 Adding Axes to the Project page 2 Test the Project page 9 Download Fonts to the Terminal page 80 Download the Project to a Terminal page 81 Run the Project on a Terminal page 83 66 Publication I ASIMP QS011B EN P January 2009 Motion Factory Talk View Integration Chapter 6 Select Your FactoryTalk View ME Application File PanelView Terminal FactoryTalk View ME File Name Description CIMME_taxis_U3k_PVP600_v00x apa PanelView Plus 600 terminal pre configured for single axis Ultra3000 drive system PanelView Plus 600 CIMME_2axis_U3k_PVP600_v00x apa PanelView Plus 600 terminal pre configured for two axis Ultra3000 drive system CIMME_3axis_U3k_PVP600_v00x apa PanelView Plus 600 terminal pre configure
102. rning that tags were created but close the DeviceNet Tag Generator tool and return to your RSLogix 5000 project The program logic that was created can be found in the amp tass Tasks folder of the project TEE To as LS Dev PENS 3 pa I E DeviceNet outputs iceMetInputs Do not make any changes to these programs or logic as your DeviceNet nodes may quit responding Link the New lags to the DeviceNet Drives These steps link the tags created by the tool to the axes programmed in the logic 1 Z Double click Controller Tags in the controller Explorer window to open the tag editor Controller Generic A ka Controller Tags Conkrohes Faulk Handler Power Lp Handler J E Tasks EE TOO_Main At the bottom of the editor window that GUI_ManualFositionDISP opens click the Edit Tags tab to enable if Munnon aes Eift Tags al editing Publication IASIMP QS011B EN P January 2009 57 Chapter 5 Motion Logix Integration 3 FAASJE Scroll to the bottomof the AB_2098_DSD_O0S _DN_ _D14CC Ulrra3000i Servo AB_2098_DSD_O05 _DN_O_EC24 Ultra3000i Serve tag editor and locate the tags created by the Tag Generator tool The name of the tags will start with the name you gave the DeviceNet scanner Scanner in our case 58 TIP e The Nxx indicates the DeviceNet node address assigned to each component e The T or O indicates
103. s chapter you layout the system components selected in Chapter 2 Use the CAD drawings supplied on the Kinetix Accelerator Toolkit CD publication IASIMP SP004 to add or remove components to and from the basic motion control panel system For a copy of the CD contact your local Rockwell Automation distributor or sales representative Before You Begin e Complete the Kinetix Accelerator Toolkit CD installation Refer to Chapter 1 e Complete your system hardware selection Refer to Chapter 2 What You Need e Kinetix Accelerator Toolkit CD publication IASIMP SP004 e System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 e System Design for Control of Electrical Noise Video publication GMC SP004 e Ultra3000 Digital Servo Drive Installation Manual publication 2098 IN003 e Ultra3000 Digital Servo Drive with DeviceNet Reference Manual publication 2098 RM004 Publication IASIMP QS011B EN P January 2009 29 Chapter 3 Plan System Layout Follow These Steps Complete the following steps to plan your system layout within the enclosure Load Basic System CAD Drawings page 31 Yes Use No Basic Motion Control Panel as is Verify Your Basic Panel Modifying Your Layout Motion Panel Layout page 32 page 33 Downloading Other Allen Bradley CAD Drawings page 34 30 Publication I ASIMP QS011B EN P January 2009 Plan System Layout Chapter 3 Load Basic System CAD Drawings The
104. s the minimum amount of preparation required before completing the current chapter e What You Need This section lists the tools that are required to complete the steps in the current chapter This includes but is not limited to hardware and software e Follow These Steps This illustrates the steps in the current chapter and identifies which steps are required to complete the examples using specific networks Preface i To complete this quick start the following software is required equired oormware p q 8 q Rockwell Automation Software Minimum Version RSLogix 5000 Mini Edition 9324 RLD200ENE 17 FactoryTalk View Studio for Machine Edition Includes RSLinx Enterprise and 9701 VWSTMENE 5 00 RSLinx Classic Ultraware Drive Configuration Software for the Ultra3000 5000 OAE Ves RSNetWorx for DeviceNet 9357 DNETL3 8 00 02 RSLogix 5000 DeviceNet Tag Generator Tool Provided on Toolkit CD Build 87 Download from http ab com e tools Kinetix Accelerator Toolkit CD ASIMP SP004 Motion Analyzer Motion Selector CD 4 x Conventions Used in This This manual uses the following conventions Convention click double click right click drag and drop Select check uncheck expand Example Click left mouse button once assumes cursor is positioned on Click Browse object or selection Click button to initiate action Click left mouse button twice in quick succession Assumes n l i Double click the H1
105. selected for you if it is specified in the selected Project RSLogix 5000 project Nodes listed below are those that were found in the selected RSNetVVorx project a Step 2 Scanner Scanner in ASNetWwors Project DeviceNet Select Scanner Node RSNetWormDeviceName 222222 1769 50N Scanner Module Step 3 mi Select ESMNetors Project Step 4 Select Scanner Node 6 For wizar d Step 2 click lt 1 RSLogix 5000 DeviceNet Tag Generator Generate Tags to finalize help j the process Generate Tags stent Press the button below to generate and save the scanner tags in the RSLogix MM Select RSLogix 5000 O00 project Project Step 2 Scanner Scanner at Node 00 in ASLogis 5000 Project CIMLSs_2asxis_vO01 Mi Select Scanner Results bee M L 56 Publication IASIMP QS011B EN P January 2009 de Motion Logix Integration Chapter 5 Click Yes to the pr ompt RSLogix 5000 DeviceNet Tag Generator about inserting tags and Program tags and logic to be inserted into selected ASLogis 5000 project C 40 Accelerator T oolkits CompactLog Indexing Motion Accelerator Toolkits Controller Ogic Program Files Folder 16 Files CIML3x_2axis_vO001 ACD AN 4 existing tags will be modified resulting in new data types and loss of previous tag values AN Existing logic in DeviceNetlnputs and DeviceNetOutputs programs will be destroyed and recreated Continue There may be a wa
106. servo drive you must set the node addresses for the DeviceNet network If you have already applied power to the drive you must cycle power after changing the network settings 1 Use the rotary switches on the front of the Ultra3000 servo drive Qabeled MSD and LSD to set the desired DeviceNet node address Keep the addresses below 7 use 01 06 if possible TIP Keeping the addresses below 7 allows you to use RSNetWorx for DeviceNet the DeviceNet configuration software in demo mode Demo mode does not require the software to be purchased but limits functionality to addresses under 7 Contact your Rockwell Automation representative if addresses above 00 06 are required Each DeviceNet device must have a unique address To set your address to 01 set the MSD most significant digit to 0 and the least LSD least significant digit to 1 Notice the line that runs down one side of the rotary switch indicating your choice 2 Make sure that the drive is not enabled terminal 31 on the CN1 connector and apply power to the drive at this point 3 Connect the serial programming cable catalog number 2090 UXPC D09xx between your workstation and the Ultra3000 servo drive 4 Open Ultraware programming software using the Start menu or the desktop shortcut Ta Ultraware 5 Select Create new file Ulir eara 6 Click OK Likme gues a ae ie tp iore off line dota Do p as ei Deen iLi Fike UIO Foie T gen eag Lie Ultraware
107. t Issues the Fault Reset command to the Ultra S000 drive ERRUR CODES 12 Drive did not respond to Faultheset request in time Check communication to dive Verity that cause of fault has been cleared 6 Follow the instructions shown for the associated ERROR CODE and execute the manual command from the HMI again Correct Manual Cycle Problem ManualCycle Stepindex Stops at 20 If the ManualCycle StepIndex stops at 20 the Axis_ 7m_CMD Enable command is failing to enable the servo drive and the resetting state is not completing Perform the following steps to correct this condition 1 Observe the logic that begins at rung 14 of the RO4_Commands_MANUAL routine 2 Scroll down through the subsequent rungs and identify which drive is not setting the Axis_vnn_Status Enabled bit and expand the associated Pnn_AXIS_nn program Publication I ASIMP QS011B EN P January 2009 119 Appendix C Troubleshooting 3 Open the RO3_EnableDisable_FaultReset routine for this axis Ga TOO_Main E3 DeviceNetInputs 3 POO Control PO1_AxTS_o1 Fj Program Tags FF ROO_Dispatch R01 PowerllP Ej ROZ _AxisMonitor Ej RO3_EnableDisable FaultReset j RO4 Initialize ROS Manual E R06 Automation 4 Move to rung 1 of this routine and note the value of the ERROR word shown on the AOI_MSO instruction ENABLES THE AXIS 1 Turn Axis Servo Status Received Loop On from Drive Servo_CMD Enable Servo Axis Status DriveEnabled Mo
108. te the Kinetix Accelerator Toolkit CD installation Refer to Chapter 1 What You Need e Kinetix Accelerator Toolkit CD publication IASIMP SP004 For a copy of the CD contact your local Rockwell Automation distributor or sales representative e Personal computer with Internet access for downloading software e Motion Analyzer software version 4 x is available from the Kinetix Accelerator Toolkit CD publication IASIMP SP004 http ab com e tools e Kinetix Motion Control Selection Guide publication GMC SG001 Publication IASIMP QS011B EN P January 2009 17 Chapter 2 Hardware Selection Follow These Steps Complete the following steps to select your motion system hardware Start with Yes No Basic Motion Control Panels Review Basic Panel Installing Motion Component Listings Analyzer Software page 23 page 19 230V or 460V Input voltage 230V 460V Verify Base System Verify Base System Performance Performance Specifications 230V Specifications 460V Further verity or change motion selections Yes Installing Motion Analyzer Software page 19 select Add In Components page 28 18 Publication IASIMP QS011B EN P January 2009 Hardware Selection Chapter 2 Installing Motion Analyzer Software Motion Analyzer software is a comprehensive motion control tool with application analysis software used for sizing your application You can download and i
109. teps to download your FactoryTalk View Studio project 1 Choose Application gt Create Runtime Application The Create Runtime Application window opens For Save as type select Runtime 5 0 Application mer For Filename enter a file name for the application CIMME_U3k_PVP1250_v001 mer is used in this example 4 Click Save Publication IASIMP 0S011B EN P January 2009 My Compater T Hy Hehank Places i Factorylalk View Studio Machine Edition Fle View ERIC am Took Window Help Gal o d F Test Application Fis rame COMME US PYP T1250 Ni Fiure 5 0 Application mer Corwermon o develbomert apin Never alow comession Ceewerson protected by paseo Save ot hyper Help l 81 Chapter 6 Motion FactoryTalk View Integration 5 Click the File Transfer Utility button on the tool bar 2 Factorylalk View Studio Machine Edition The Transfer Utility window opens 6 Click to browse for the ppe P runtime file inches a gots configure mode buthon in poa appky fl prea eej Be ie Pa Cea oe Pale ee irci a chute bution nm your appia i pou esa be bee saith toy iha it chime fg Biata Ehana 7 Select CIMME_U3k_PVP1250_v001 mer S loct File to Danwnload 8 Click Open Save oo bpp ey rast Cancel 82 Publication IASIMP QS011B EN P January 2009 9 Browse for your PanelView 10 Select Download Plus terminal The file transfers to the Pane
110. ter file In this example there are two existing pre configured axes We are duplicating and renaming the Axis 1 Status parameter file The new name is Axis 3 Status Yours could be different Click OK Double click the Axis 3 Status parameter file created in step 3 The Axis x Status CIMME U3k PVPxxxx_v00x Parameters window opens Motion FactoryTalk View Integration Parameters I Alarms oo EL Alarm Set Remove Information Rename GA Iritcematic Component name as 3 Status In each parameter file there are three references to specific tags or partial strings The before a number indicates a parameterized tag The before any text indicates that line is a comment Parameter 1 contains the shortcut name CLX in this example This should match the shortcut name used in step 10 on page 70 Parameter 2 represents the specific axis from which you will be requesting data Chapter 6 Parameter 3 is a string memory tag that exists in the tag database editor A new tag must be created each time a new axis is created so that the displays are updated correctly rotten l pre configured application files have four SelectedAxisx memory tags created for them Publication IASIMP 0S011B EN P January 2009 New tags must be created for axis counts of five or more 73 Chapter 6 Motion FactoryTalk View Integration 6 Edit parameters 2 and 3 In this example Aadi 2 Stabs
111. the Ultra3000 Indexing servo drive on DeviceNet e Get System Value AOI_GSV e Motion Axis Fault Reset AOL MAFR Bree panrnstanlh i LIF LASCFUCCIONS GJ aor asy EJ 4O1_MAFR EJ 401_MaH GJ AOL MAJ GJ ACI MAM ADIL MAS J AOIL MSF ADIL MSO e Motion Axis Home AOI_MAH e Motion Axis Jog AOI_MAJ e Motion Axis Move AOL MAM e Motion Axis Stop AOI_MAS it it i i e Motion Servo Off AOL MSF e Motion Servo On AOL MSO 104 Publication IASIMP QS011B EN P January 2009 CompactLogix Base Program Overview Appendix A PhaseManager PhaseManager integrates equipment phases into your controller logic An equipment phase makes it easier to write use and manage the code for your machine or equipment PhaseManager is not required for using this toolkit If your system IS required to meet the ISA 88 Machinery Standard you can easily alter the sample logic application files provided with this toolkit to use PhaseManager By default the phases are placed in the Unscheduled Programs and Phases folder of the project and are not being used Refer to Appendix B of this manual for assistance with changing from the state machine logic to one controlled by PhaseManager The Logix program template contains two equipment phases e PZ GenericMachine AUTO_PM Controls the machine when in auto mode e PZ GenericMachine MANUAL PM Controls the machine when in manual mode An equipment phase is similar to a
112. tion Servo On AOI lt 4 ie 07 CMD Enable A4xI5 01 Status DriveEnabled AOLMSa ENABLE Drive AQLMSO Servo_MLMSO EN sAxis 01 MiLMSG gt DN AZ ER AXI5_ 01 gt ERROR oe Turn Axis Servo Loop On Servo_CMD Enable lt 4 ie 07 CMD Enable 5 Click on the AOI_MSO instruction and press the F1 key for assistance with the error code You may need to scroll down to find your error code fe Add On Instruction Definition AO _MSO v1 0 General Parameters Local Tage Scan Modes Change History Help Extended Description Test ERROR CODES 105 Drive failed to respond to enable request in time Check for drive fault or missing drive enable input 11 Drive k Constant has not been set in asis structure Enter scaling in the asisname SE 7 CountPerUnit Itag 12 Drive did not respond to data write request in time Check communication to drive J20 DriveReady not reported from axisname Status word Check communication to dive Check for Drive 6 Follow the instructions shown for the associated ERROR CODE and execute the manual command from the HMI again 120 Publication IASIMP QS011B EN P January 2009 Troubleshooting Appendix C Correct Manual Cycle Problem ManualCycle Stepindex Stops at 200 If the ManualCycle StepIndex stops at 200 the Jog or Define Home command is failing to execute 1 Open the RO5_Manual routine for the failed axis 3 Tasks al TOO_Ma
113. tion file from the Kinetix Accelerator Toolkit CD 1 Open the Kinetix Accelerator Toolkit program From the Start menu choose Programs gt Rockwell Automation gt Simplification gt Kinetix Accelerator Toolkit 2 From the Toolkit menu choose DeviceNet Based Em eae T Motion Applications gt Controller Program Files aariin ree A a E Ppp ical Bij of Barer Lectin CAD Fibes a Airing Amm CAF h reing u Merch Lia Arania Coeucdicr Program Fis pa m wieka Fii ca Haj appia Flies m Wil Laogte Mia O h le ee gt hi 3 Choose between the V16 and V17 duchess O Cr Program Fles RA_simolficstion COT Flles C DeviceNet Based Motion Controller Program les Wi7 Fies CompactLogix Indexing Files folders errs o No ER SEER me lee yonn aco based on your current version of 9 Haka new leide p RSLogix 5000 software anh plata GE CMSs Arer vi AT 7 Propel Other Pieces 4 Double click your selected Logix acd application file TIP If your Logix platform is a CompactLogix L2x select the L2x application file CIML2x_1axis_v00x acd If your Logix platform is a CompactLogix L3x select one of the pre configured files for axis count CIML3x_xaxis_v00x acd 52 Publication IASIMP QS011B EN P January 2009 Motion Logix Integration Chapter 5 The RSLogix 5000 software launches and a aco irig z your application file opens ra BE yen Sawa Lage geiena waj a ae e al ee E E an an
114. to your CompactLogix Indexing Motion system and the Logix controller and PanelView Plus terminal in Run mode the Auto Control startup display automatically opens on your PanelView Plus terminal eT the Auto Control display is not visible or errors are reported on either the CompactLogix controller or PanelView Plus terminal refer to previous chapters to check system wiring and configuration settings Auto Control Machine Cycle Start Button Stop Button aie WS be Qs X Navigation Bar E Auto Trend Status Manual Security Shutdown The Auto Control display provides general system status and state machine functions You see this display at startup and whenever the Auto button is pressed from the Application Navigation Bar The Application Navigation Bar at the bottom of all displays lets you select any application display At startup the system machine state should be Stopped indicated by the green Stopped indicator If the system is not stopped press the Stop button ATTENTION ATTENTION Before running any of the Auto Control state machine functions run the Manual Control functions beginning on page 88 Publication IASIMP QS011B EN P January 2009 87 Chapter 7 Motion System Application Guide Use the Manual Control Display Follow these steps to home and jog the selected axis using the Manual Control display 1 be 3 Press Manual on the Application Navigation Bar The Manual Control
115. toCycle FlAutoCycle mesm CONVEYOR There are additional tags associated with each axis With the Controller Tag dialog box still open choose Search gt Replace i RSLogix 5000 Generic in CIML3x_ axis_v0 File Edit View PEs Logic Communications T iS feet Fid Ctrl F alsk a i Replace x Ctrl H ABS i GoTo Ctrl bl Caen b Rename all tags with Axis_01 with your new axis name Replace in lags Click Replace All When the process has completed click Close Publication IASIMP QS011B EN P January 2009 59 Chapter 5 Motion Logix Integration 9 Repeat step 4 step 8 for each additional axis The result might look like this Mame Name E E AutoCucle E AutoCycle CONVEYDR EL Conveyor cE Axis 01 _EMD Ei Conveyor CMD E Asis O1 Data Conveyor_Data Anis O01 Ml Conveyor MI E Avis O1 Status Conveyor Status Set the Axis k Constant The CompactLogix Indexing Motion application file CIMLxx_xaxis_v00x acd allows you to program all motion instructions in user units inches or degrees for example instead of encoder counts You will need to set the conversion factor or k constant from user units to encoder counts to allow the drive to be commanded properly Follow these steps to set the k constant for each axis in your RSLogix 5000 program 1 In RSLogix 5000 software expand the Explorer window to gain access to the controller tags R TOC Han
116. u will change the Initial Value field for the HMI tags In this example Axis 1 is renamed Conveyor 1 In FactoryTalk View ME software expand the Explorer window to gain access to HMI tags If needed refer to Add an HMI Tag on page 74 to see how that was done 2 Rename the Initial Value field to match the axis name used in your RSLogix 5000 program file Data Source Sy System Typa s Project Settings amp Funlime Secumy Diagnostics Let Setup 7 Global Connections Current TrendMin alue Current TrendMin alue Postion TrendiMaxValue Position TrendMinvalue SelectedAxis 1 Position TrendMaxValue Position TrendMinValue 78 Publication IASIMP QS011B EN P January 2009 Motion Factory Talk View Integration Chapter 6 3 Repeat step 2 for each SelectedAxisx HMI tag Test the Project FactoryTalk View Studio lets you create and test individual displays or the entire project so that you can navigate and test all the functionality before downloading your project to a terminal eee To test run the project all communications must be configured first Follow these steps to test your FactoryTalk View Studio project 1 Choose Application gt Test Application fi Factory Talk View Studio Machine Edition File View Poig w Tools Window Help Create Runtime Application A 2 If prompted to save changes click Yes 2 Save changes to Main Screen gfx J m cme
117. utine 2 Scroll down through the subsequent rungs and identify which drive is not setting the Axis_ mn_Status OK bit and expand the associated Pyn_AXIS_nn program 3 Open the RO3_EnableDisable_FaultReset routine for this axis A TOO Main eg DewiceMetInputs 33 POO_Contral 53 PO1_AxTS O41 i Program Tags FF ROO_Dispatch B RO1_PowerUP B RO2_AxisMonitor B RO3_EnableDisable FaultReset B RO _Initialize i ROS_Manual Bj RO6_AutoMotion 118 Publication IASIMP QS011B EN P January 2009 Troubleshooting Appendix C 4 Move to rung 3 of this routine and note the value of the ERROR word shown on the AOI MAFR instruction RECOVERS THE AXIS FROM THE SHUTDOWN STATE AND RESETS ANY FAULTS Clear Axis Faults Axis Fault Word Motion Axis Fault Servo_CMD Reset 32 Bit Reset 40 4xi 01 CMD Reset EG AOL hMAFR Mot Equal RESET Drive Fault Source 4 Servo_Axis AxisFautt AOL_LMAFR Servo_MLMAFR EN 3 A515 01 AxisF auts sAxis _01_MLMAFR Bip AHI roel j ER 0 T Source B AKI O1 gt J ERROR ge gt wr Status Received from Drive Servo_Axis Status FautDisable 4515 01 Status FautDisable Clear Axis Faults Servo_ChMD Reset s xis _01_CMD Reset 5 Click on the AOI_MAFR instruction and press the F1 key for assistance with the error code fe Add On Instruction Definition AO _MAFR v1 0 General Parameters Local Tags scan Modes Change History Help Extended Description Tes
118. view the keypad 5 Enter a new value and press Enter Command Actual nd Thursda pi March 09 2006 ES p O Shutdown Auto Trend Status Fault Log Manual Application The keypad closes and the Y Scale Min or Max is updated with the new value Publication IASIMP QS011B EN P January 2009 91 Chapter 7 Motion System Application Guide Use the Axis Status Display The Axis Status display shows general motion axis and drive status and faults Follow these steps to view status and fault indicators and to select the axis 1 Press Status on the Application Navigation Bar The Axis Status display opens 2 Select a system Status or Fault category from the axis Cleft Axis Status window Axis Status 3 DC Bus Charged Drive Enabled Status Brake Active Status Axis Faults 3 Axis Homed Status The green indicator confirms your Drive Status status faults selection 3 Monitor the status or fault Drive Faults inia At iais indicators right side and below 3 Axis In Position Axis Select In this example Axis Status Axis 1 Status Indicators indicators are shown Servo Enabled Servo Faulted and Servo Enabled Servo Faulted Network Fault Network Fault status indicators are r or always present es res O Y Auto Trend Status Faults Manual Security Axis Status Drive Status Axis Faults and Drive Faults indicators show the corresponding status faults of the axis displayed on the
119. w these steps to convert the CompactLogix program template from a simple state machine to a version that uses PhaseManager Modify Your Controller lags 1 Open the Logix application file that you selected in Chapter 5 2 Double click on Controller Tags in the controller organizer You will need to delete two controller tags f Coobeole aryr ji _y entroler Faulk Handler Power Up Handler Publication ASIMP OS011B EN P January 2009 107 Appendix B PhaseManager for S 88 Users 3 Select the Edits Tags tab and scroll down to the tags shown below PowerllP_TMA P2_GenencMachine_AUTO F2_GenerncMachne_ AUTO PM PZ GenericMachine_ MANUAL P4 GenenchMachine MANUAL PM 4 Monitor Tag amp AEditTags f 4 Click on the box to the left of PZ_GenericMachine_Auto then right click and select Delete F PowerlIP_TMA CB Pe GenencMachine_4SUTO PZ Genenchachine AUTO PM P24_GenenchMachine_MANUAL P4_GenencMachine_MANUAL PM 5 Similarly click on the box to the left of PZ_GenericMachine_Manual then right click and select Delete Replace the State Machine Program 1 In the Project Explorer right click on the POO_Control program and select Properties 2 Tasks ata g PO2_AXIS_02 g POS_AXIS_03 3 DeviceNetQutputs 2 Change the name to POO_Control_SM fa Program Properties POO_Control General Configuration Monitor Hame POO Control SM Descripti
120. whether the data is an Input or an Output in reference to the DeviceNet scanner module e Scanner Inputs are the status coming back from the DeviceNet components e Scanner Outputs are the commands being issued to the DeviceNet components You will need to associate tere Wenencmacnine lt gt raste oe Seanner_NO1_POL_ AB_2098_DSD_O05 _DN_ _D14Cc these tags to the existing axis i Scanne Nm POLO AB_2098_DSD_O05X_DN_O_EC24 logic provided in the Logix 2 application file In the Alias For column next to the Scanner_NO1_POL_I tag click inside the box to enable the tag browser Scanner_NO1_POL_ CW AB_2098_DSD_OO5X_ Scanner_NO1_POL_O AB_2098_DSD_OO5 _ Monitor Tags AEdit Tags Open the tag browser by clicking the arrow 2 The axes of motion provided Jima Drame Bescrintion A in the RSLogix 5000 sample file Es UDT Axis U 3 2 a AB 24096 DS Commands lesued to Drive are named AXIS_O1 AB 20965 DS Status Received trom Drive CAXIS_02 for the 2 axis J TT CountsPerunit EINT Encoder CountsMotor Revolution version and so on Expand the AMmame axta ni stat AXIS_01 entry and locate the Status tag Double click it to select it and close the tag browser This links the Status of the Ultra3000 drive at DeviceNet node 01 to the AXIS_01 programming logic and controller tag in the RSLogix 5000 sample file Similarly alias the scanner
121. xx are also available for Ultra3000 drives Motor end connector kits are available for motor power feedback and brake cables Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for catalog numbers ttt Cable length xx is in meters 400 460V System Performance Specifications Max System System System Peak System Peak Continuous Continuous Motor Speed Stall Current Stall Torque sacl Nemiineb Ultra3000 460V Drives PM A O pk Nem ine Ib MPL B310P 5000 24 15804 71 361 32 n 200 230V System Performance Specifications Max System System System Peak System Peak Continuous Continuous Motor Speed Stall Current Stall Torque Ultra3000 230V Drives p Stall Current Stall Torque 0 pk Nem line tb PM A O pk Nem ine Ib MPL A310P 5000 485 158014 14 J381 32 0 73 2098 DSD 010X DN 26 Publication IASIMP QS011B EN P January 2009 Hardware Selection Chapter 2 Ultra3000 Drives MP Series Low Inertia Motor Curves 7098 2ee HV030 and MPL B310P 2098 sox HV030 and MPL BS20P Torque 4 0 Torque Torque 80 Torque N m as Ib in N m aif ilb in 3 0 6 0 29 5 0 a i LO TT RN 1 5 3 0 ie 26 5 1 0 20 0 5 1 0 i 0 0 1000 2000 3000 4000 5000 0 i000 2000 3000 a000 s000 Speed rp speed ipm 2098 00010 and MPL A310F 2098 00010 and MPL A310P 35 4 Torque a iii Torque Torque Torque N m ilb in iN m ilb in 3 0 25 5 26 5 0 1000 2000 3000 0 1000 2000 3000 go
122. y 16 DC in 16 DC out 24V DC power Configuration supply 1769 SDN DeviceNet interface module 1 Controller Programming 9324 RLD200ENE RSLogix 5000 Mini Edition 1 software HMI Programming 9701 VWSTMENE Factorylalk View Studio Machine Edition 1 Drive Configuration 2098 UWCPRG Ultraware Software Cables Logix controller Publication IASIMP QS011B EN P January 2009 25 Chapter 2 Hardware Selection Verify Base System Performance Specifications This section provides system combination information for the Ultra3000 drives when matched with MP Series low inertia motors Included are motor power feedback and brake cable catalog numbers system performance specifications and torque speed curves Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for additional motor drive performance specifications Refer to the following table to determine the appropriate cables needed for your Ultra3000 drive and motor combination Ultra3000 Servo Drive Motor Type Motor Power Cable Motor Feedback Cable Motor Brake Cable 2098 DSD HV030X DN MPL B310P 2090 XXNEMF S xx 1 2 2090 XXNPMF 16Sxx 2090 UXNBMP 18Sxx 2098 DSD 010X DN MPL A310P ee gi eselulot Use connector kit catalog number 2090 UXBB D15M or panel mounted breakout components on drive end Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for catalog numbers 2 Premolded drive end feedback cables catalog number 2090 UXNFBMP S
123. y opens Auto Control Machine Cycle Start Button Stop Button SIMO RA AI X Navigation Bar Auto Trend Status Faults Manual Security Shutdown Application Start and Run State Actions Follow these steps to start your motion system and proceed to Run state if Then The Release Manual Control button is flashing Manual control was not released Go to step 1 The green Stopped state moves to Resetting and then to Idle Your system is ready to start Go to step 2 1 Press Release Manual Control to release manual control Pressing Start will cause the system to jog h Do not press Start if motion will cause personal injury or damage to equipment Publication IASIMP QS011B EN P January 2009 89 Chapter 7 Motion System Application Guide 2 Press Start The green Stopped state moves to Resetting and then to Aborted The system failed to reset Go to step 3 Mea eal Stopped state moves to Resetting and your e aA 3 Check for power to drives verify that you have provided a Drive Enable input to each of the drives and try the Start command again Refer to the Troubleshooting section on page 115 for additional assistance 4 Press Start again Stop State Actions To stop your motion system press Stop The state moves green from Running to Stopping and then to Stop The Start and Stop buttons on your PanelView Plus terminal display do not replace a hardwired start stop control circuit fo
124. ys to tperedd y the tage display Edit Display Files Follow these steps to edit the display files 1 Return to the Explorer window and expand the Displays S4 Graphics editor far Displays E ALARM In this example these are the displays that are visible DIAGNOSTICS INFORMATION Yours could be different S050 Poollp SECURITY SO70_PopUp_TREND E S100_AnisSelect_ManualCortral E 5100_ArsSelect STATUS All displays containing the text Axisselect require updating for each new parameter file created in Add the Parameter File on page 2 2 Double click the 100_AxisSelect_ManualControl display or the first AxisSelect display in the list of displays Publication IASIMP QS011B EN P January 2009 75 Chapter 6 Motion FactoryTalk View Integration The Axis Selection display dialog box opens 3 Right click the last axis shown Axis 2 for this example Axis Selection 4 Select Copy 5 Right click under Axis 2 or the last axis shown and select Paste 6 Click the pasted axis new Axis 2 in this example drag and drop the axis in line beneath the others 7 Right click the new axis and select Properties Axis Selection New Axis The Goto Display Button Properties window opens 8 Click to browse for the parameter file Goto Display Button Properties General Label Common Appearance Border style Border width Be Border uses back color L Back

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