Home

Follow These Steps

1. COMPACTLOGIX SYSTEM OPTIONAL ETHERNET MODEM 9300 RADESG 1768 ENBT 1768 L43 1769 OB16 1764 PA4 1768 MO4SE 1769 1Q32 1769 ECR 3 PANELVIEW PLUS 600 L COLOR TOUCHSCREEN W EHTERNET R O l pown C o a c 222555252258 L aae e Bg889229 8958 ae ooo io O a h _ Jd ol c E o P TX RX U C3 D5 1 ETHERNET eae C3 1 USER SUPPLIED DIALUP A j 2090 SCEP0 9 PSTN requires braided conduit See EE a eae ae ear ee i SERCOS FIBER OPTIC RING PANELVIEW PLUS 400 COLOR TOUCHSCREEN W EHTERNET 2090 SCEPO 1 2090 SCEPO 1 HE PANELVIEW PLUS 400 COLOR TOUCHSCREEN W RS232 Ama AXIS 0 AXIS 1 NODE 01 NODE 03 KINETIX 4 AXIS MOTION Publication IASIMP QS018C EN P February 2010 AXIS 2 NODE 04 AXIS 3 NODE 05 33 Chapter 3 Notes 34 Plan System Wiring Publication IASIMP OS018C EN P February 2010 Chapter 4 Motion Logix Integration In this chapter you will learn to configure your RSLogix 5000 application file Logix application files acd are included in the Controller Program Files folder on the Kinetix Accelerator Toolkit DVD Use the processes in this chapter to configure the Logix and drive modules add axes if needed and download the program Refer to Logix programming manu
2. E UDT_AXES Sts Sule aa aE UDT_AXIS_5ts Clear Axis Faults Mf UDT_AXIS_Sts_HMI ut UDT_ Commands db ei an E UDT_Commands_Additior Copy Ctrl C Hi UDT_Constants E Paste Cerley aE UDT_EM Conditions Delete Del MA UDT_EMConditions_Addit gi UDT_LocalTags_CAM_Ba Motion Direct Commands Mf UDT_LocalTags_Jog_Basi i Cross Reference ctrl E ut UDT Recipe Unit _Examp Lodi DIT D EM Markar Print i ARIS _SER VYO_DR Properties Alt Enter Desrrintinmn 4 Chapter 4 Motion Logix Integration Controller Power_Programming_CLx_ 4_00 a 5 Repeat steps 2 and 3 for each So ol xi 4 E3 Controller Fault Handler axis that you want to rename 0S Power Up Handler General Motion Planner Units Drive Motor Motor Feedback Aus Feedback Conversion H S Tasks Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag MainTask E c3 UNO1_ExampleUnit Name MOS AxissD_ Convevo H E OPO1_Automatic H E OPO2_Manual H E EMOO_VirtualMaster Description H E EMO2_PCamBasic H E EMO3_PCamBasic Unscheduled Programs Phases H S Motion Groups 5S axes Type Base oo EMOO_Axis _Master Data Type AxIS_SERVO_DRIVE w gt EMO2_AxisSD_PCamBasic Scope fa Power_Programming_CLX_V 4_00 gt EMO3_AxisSD_PCamBasic C3 Ungrouped Axes 9 Add On Instructions 4 Data Types SB User Defined E UDT_AXES_Sts A UDT_AXIS_Sts Mf UDT_AXIS_Sts_HMI it Ei UDT_Co
3. Mode Selector Section The template has two predefined modes Automatic and Manual It is possible to change between the two modes Use the Up Down buttons to scroll through the mode list Use the Enter button to choose a mode Up Down Buttons pv A Enter Button o gt a If you try to change mode in a state that does not allow a mode change you will be notified Chapter 6 PackML State Machine section by a red bar with the text Requested Mode Change Not Allowed The figure shows a request for Automatic mode while the state machine is in Execute state in Manual mode State Machine Section In the state machine an active state is indicated with a green background In the figure below the Stopped state is active The AOI controlling the state machine can be configured to use all 17 states of the PackML V3 0 State Machine however the template only utilizes some of Automatic Mode uses these states Aborting Aborted Clearing Stopping Stopped Resetting Starting and Execute Publication I ASIMP QS018C EN P February 2010 them 83 Chapter 6 Motion System Application Guide Manual Mode uses these states Aborting Aborted Clearing Stopping Stopped Resetting and Execute Manual Mode EM Manual Jog In Manual mode the template allows each individual axis to be jogged Follow these steps to jog the selected axis using the EM Manual Jog display 1
4. D1 Noise Zone Legend CLEAN C2 CLEAN wireway for noise sensitive device circuits CompactLogix 12 e 7 R Controller PENGA Le 2 DIRTY wireway for noise generating device circuits MWritieltae Refer to your servo drive user manual for installation and wiring instructions specific to that drive family For other equipment shown in your CAD drawings refer to the installation instructions that came with those products 30 Publication IASIMP QS018C EN P February 2010 Plan System Wiring Chapter 3 Laying Out Power and I O Cables This diagram is an example of routing power and I O cables including the noise zones The diagram provides designators that coordinate with the enclosure diagram indicating where to route your power and I O cables To locate the noise zones in your enclosure D1 D2 C1 C2 for example refer to the diagram on page 30 Sample Information from Wiring Diagram Files Example 1 KINETIX 6000 LINE INTERFACE MODULE LIM D3 24 2094 BL75S A80VAC 3 PHASE CUSTOMER SUPPLIED f i GRN YEL X AWG LOAD OUTPUT The heavy diagonal ig lines identify which wires are included in the noise zone iii E STOP gt J 110 PWR1 PBO1 210_COM1 3 1O_PWR1 CONTROL VAC 410_COM1 D4 2 3 1 5 10_PWR1 610_COM1 7 COIL_E1 8 COIL_E2 9 ALRM_M 10 SHIELD 11 ALRM_B 12 ALRM_COM 13 CONSTAT_11 24VDC I O OUTPUT POWER 1
5. A UDT provides these advantages 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 ach 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 Add On Instructions AOls The pre configured Logix project uses pre configured add on instructions AOI These are objects that allow the programmer to associate logic and data in a common construct that may be reused throughout the project 110 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A For example this pre configured AOI executes the basic state control of a servo axis including fault reset enable disable and pre configured home This instruction may be reused for every axis in the application and the homing may be disabled in favor of more complex home sequences 43 Axis_ObjectSD_A0T 2 Parameters and Local Tags E ERI Logic Prescan a Axis Servo Drive Object Add On InstructionPe AOlLservoObject Out Axis SD Axis1T An AOI provides these advantages xis_ObjectSD_A0 Axis _ObjectSD_A0l EMO2_AxishD PCamBasic Cmd_Enable Inp_ Commands Enable UNO1 Commands Enable oe Inp_ Commands Disable lt UNO1 Commands Dizable gt
6. D5 1 6 7 CUST_24V 8 0T 9 CUST_COM 10 CUST_24V 11 OT 12 CUST_COM 13 REG_24V C3 1 2 14 REG1 r REGISTRATION INPUT 15 REG_COM 16 REG_24V 17 REG2 18 REG_COM The heavy diagonal 2 lines identify which 3 wires are included in 5 the noise zone 5 23 DACO 24 DAC_COM 25 DAC1 26 DAC_COM SEE INTERCONNECT DRAWING C1 9 FOR FIBER OPTIC CONNECTIONS 1 32 The D3 1 5 designator specifies that the motor power and brake cables route from the drive to wireway D3 then D1 and finally D5 as illustrated on page 30 MOTOR POWER CABLE AXIS 1 sapere SERVO MOTOR WT FEEDBACK CBL MTR1 PWR MOTOR FEEDBACK CABLE 2090 XXXX XXX CBL MTR1 FB VAF The C2 1 3 designator specifies that the motor feedback cable routes from the drive to wireway C2 then C1 and finally C3 as illustrated on page 30 Publication IASIMP QS018C EN P February 2010 Plan System Wiring Chapter 3 Laying Out SERCOS and Ethernet Cables This diagram is an example of wiring SERCOS and Ethernet cables including the noise zones The diagram provides designators that coordinate with the panel diagram indicating where to route your SERCOS and Ethernet cables Sample Information from Wiring Diagram Files Example 3
7. 1756 164 1756 164 LOGHSSE B 3 1756 IB16D A 1756 IB16D A DCIN DIAG 0 17 56 L 63 is used in this example 4 1756 MO8SE 8 Axis SERCOS interface 1 5 1756 OB1615 4 1756 OB1615 4 SCHEDULED OUTPUTS gt Mode Online Not Browsing Offline Tag File D Modular Programming Power Programming PP 08 Update PowerProgramming_CL _ 4_00 Dra Browse Cancel Verify Help lf the controller is available on the network RSLinx Enterprise software will autobrowse to it If RSLinx Enterprise software fails to display your controller refer to http www rockwellautomation com solutions integratedarchitecture resources4 html and click Factory Talk View Machine Edition Quick Start Videos 12 Select your Logix controller Communication Setup RNA SLocal PowerProgramming_V4_00_Core RSLinx Enterprise DER x e Device Shortcuts Design Local Runtime Target 0 1756 L63 is used in this example The slot ene seh 7 number is 0 your slot number might be different Ls ee 5 EtherNet Ethernet 192 168 1 6 1756 ENBT A 1756 ENBT A Reset Configuration 13 Click Add in the Device Shortcut window ereere 6446 E 3 1756 IB16D A 1756 IB16D A DCIN DIAG i 4 1756 M085E 8 Axis SERCOS interface 1 T 5 1756 OB1615 4 1756 OB1615 4 SCHEDULED OUTPUTS i 192 168 1 9 Panelview Plus CE 1000 Panelview_Plus CE v lt gt Mode Offline Cancel Verify Help 14 Enter a unit as the device shortcut n
8. 5 gt Axis Properties EMO2_AxisSD_PCambBasic iol x Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Position Units Average Velocity Timebase 0 25 Seconds Axis Properties EMO2_AxisSD_PCamBasic 15 x Taq Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions General Motion Planner Urita DriveMotor Motor Feedback Aux Feedback Drive Counts 1 0 Degree Conversion Constant 2000 0 Based on 720000 Counts Motor Aew 20000 Drive Counts Unwind F20000 Based on 720000 CountsMotor Aew Positioning Mode Position Uriaird Cancel Apply Help Publication IASIMP QS018C EN P February 2010 Motion Logix Integration Chapter 4 Configure Logix Communications This procedure assumes that you use the Ethernet protocol to communicate between your computer and the Logix controller and that your Logix Ethernet module has already been configured For additional information on configuring Logix communications see the ControlLogix Controllers User Manual publication 1756 UM001 Follow these steps to configure Logix Communications 1 Open the RSLinx Classic software and select Configure Drivers in the Communications menu The Configure Drivers window Configure Drivers opens aike tinier Types Ethernet devices
9. Impol Acatirs aves gt CMO Aisy tas ce oni EMG ESD i oa O aa aao r Sapi Gih HHE add on Instruchons my Pastis be fe Acs Mastery AOI Delate Bel w UB avis ohyerr Soar BHE Pdh StateModal verfy Data Types Cross Fel enerrce ChE E gh Uber tained Drees Loge Coe Accent Pending Pregam Feira CA Module tefined Saree Pesniki Prip ai Eads S HO Configuration Ter Accepted Program Cote EE o Biceps 1 Uinhrsh Gearrephed Program Eris Eo 0 PEELS Pow SA A 07s nase fosei Accepted Frigg am Edis Ejas ERCEG Nebr PAER ia rerem Faas 3 Click Export 9 Add On Inekruchions Go Gg Aeh Mrtev aor BHE A ObpeetS0_acl Be Pak Saeed ACT E Gaba Types HEE Lnertefined w Stings E g aidin Chef ineeed a CR Predefined CE Module Delined Teer E o Configuration EHE FSS Eshpae 756 407 Ba 11 TSE AA Prea Peonraeerinn CIX 1 Import an Ax s Equipment Module Program Dakig 9 his D simei er LS J My Ceerepuiies Hilig SU ML Fie L Prae Pragranveng 40 In the following example you will duplicate the program file EM02_PCamBasic and create EM03_PCamBasic Follow these steps to duplicate an axis equipment module program and create another 1 Right click MainTask and select Import Program 2 Select the folder where you exported the Axis program file select file EM02_PCamBasic and then click Import Publication I ASIMP QS018C EN P February 2010 Controller Tage C
10. Motion Analyzer Motion Protile Export In this chapter you create a PCam Position Cam profile by using Motion Analyzer software and exporting the PCam data to your Logix program Motion Analyzer is a comprehensive motion control software tool with application analysis used for sizing your application Motion Analyzer software version 4 6 or later creates a move profile while sizing your servo application and includes a Profile Editor that is capable of exporting Motion Moves and Complex Motion Move profiles to your RSLogix 5000 program This chapter does not cover the sizing of your motion application by using Motion Analyzer software only the export of the profile to your RSLogix 5000 program To download Motion Analyzer software refer to Get Motion Analyzer Software on page 14 Before You Begin e Complete your system hardware selection Refer to Chapter 1 e Install Motion Analyzer software version 4 6 or later on your hard drive e Complete your Logix Integration procedures Refer to Chapter 4 What You Need e Kinetix Accelerator Toolkit DVD publication ASIMP SP004 For a copy of the DVD contact your local Rockwell Automation distributor or sales representative e Motion Analyzer software version 4 6 or later e RSLogix 5000 software version 17 0 or later e Logix application file PowerProgramming_CLX_V4_00_Core acd Logix files are available on the Kinetix Accelerator Toolkit DVD Publication IASIMP QS01
11. kapui Coriri TPAD Configure Program Properties go pone mi Name EMO Pasian BA Mainen peaiai Create J a i Helasroes rrii be ngurimi as a A me configured in the Aelrinnces hodas g Addin instnectorie anit S Dalal yen Final blame EMES Prine nai Pouperbars EE Erorawarings irarri Pewa Programang 4 0 x Echoridein fiGioentak T npa Pent ite Assigned Routines Maser Ei Marfina F seal crea eiee J AA one Fd Fina Hane ai EMU3_PCamitarie Pangeres Tags BA ouies E Adamo ENOL joer Ste a la A Tap FRAN Anse Masher Add On isinai ZA yet CH E Dale Types Uze Erling EMOR AoD PCan ar fe Erorahaa gt Han Futing Feita Corrinne Ube Eim urdi Ust Eao UMI Feces Configure Tg Meferences x resin Fi Replace Wilh Ema Fleplace Dieci Up Down Cian Firda H I apal Hane E Fna D Derapion M diy For T Gate Tepe generated Automatically however the associated module and Motor Catalog Number still have to be assigned to the new axis Repeat steps 1 7 for each axis program file that you want to add ag Tasks g r MainTask ee E8 UNO _ExampleLnit H E OPO Automatic H E OPO2_Manual aj 3 EMOO_VirtualMaster gi aed EMO2_PCamBasic feo Ej Program Tags fe Ey MainRoutine Ee CMOO_ ServodxisObject ae CMO1_ServoaxisJog ae H cMo2_PCamStart ib H CMO4_PreumaticControl setae H S20_Initial
12. 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 Rockwell Automation provides technical information on the Web to assist you in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem 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 8am 5pm 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 faci
13. WINDOWS Fonts hy Recent Documents 6 Select True Type Font Files in the Files of 3 type field Desktop T In the File name field enter Arialbd ttf My Documents 8 Click Open Pi My Computer z May Network Places The Transfer Utility window returns 3 Transfer Utility Download Source file 9 Expand the Ethernet Ethernet driver CAwNDOWSFons aabdty iC Download as aiad 10 Select your PanelView Plus terminal Destination storage type 11 Click Download The font transfers to the terminal Select destination terminal 6 1789 417 Backplane EtherNet Ethernet Mode Select Not Browsing Publication IASIMP QS018C EN P February 2010 a Abadi MT Condensed Extra Bold E barcod39 Abadi MT Condensed Light E Algerian a Almanac MT la Arial a Arial Black Arial Black Italic la Arial Bold l Arial Bold Italic 0 Arial Italic 0 Arial Narrow la Arial Marrow Bold la Arial Narrow Bold Italic a Arial Marrow Italic E Arial Rounded MT Bold lt a us File name arialbd ttf a Baskerville Old Face ao d w Batang amp BatangChe amp Gungsuh amp E Bauhaus 93 E Beesknees ITC Ot Bell MT Ot Bell MT Bold St Bell MT Italic Bernard MT Condensed a Bodoni Book 2 Bon Apetit MT la Book Antiqua 0 Book Antiqua Bold a Book Antiqua Bold Italic l Book Antiqua Italic Fi
14. 2 From the Available Driver Types drop down Menu select the Ethernet Devices driver and then click Add New gt Configured Drivers Name and Description Status The Add New RSLinx Classic Driver window opens Add New RSLinx Classic Driver Choose a name for the new driver 15 characters maximum 3 Name the new driver and then click 8_ETH1 OZ 2O00 OK The Configure driver window opens Configure driver AB_ETH 1 Station Mapping 4 Enter the IP address of your Logix Ethernet Station Host Name Add New Module and then click OK i E j moo Delete B3 I Note The IP address shown is an example Your IP address will be different TIP If your Logix Ethernet module is already configured the IP address is displayed on the module 5 Click Close in the Configure Drivers window 6 In the Communication menu select RSWho Publication IASIMP QS018C EN P February 2010 53 Chapter 4 Motion Logix Integration The RSWho window opens ES RSWho 1 W Autobrowee TRAT I Ej workstation USMCM6187 g Linx Gateways Ethernet g ABLETH 1 Ethernet Z E 10 91 36 82 1756 EMBT A 1756 ENBT A Backplane 1756 A10 4 Expand the 1756 ENBT module until your controller is visible Verify that you can browse to your Logix r 01 1756 L63 LOGIM5S5S63 Generic controller 05 1756 MOSSE amp Axis SERCOS interface 06 1756 ENBT A OF 1P56 OF VIA 1756
15. Data Type Size 77 byte s a T E MpE MM The number of this Equipment Module number of asis in this Equipment Module Publication ASIMP OS018C EN P February 2010 Logix Base Program Overview Appendix A 4 Expand Tasks MainTask OPO1_Automatic 5 Edit the proper state routine to add the function 6 Tasks i MainTask i a OB UNO1_ExampleUnit 2 OPO1_Automatic E A Program Tags Ea PreState B 501_ResetCommands E B ST_Aborting B ST_Clearing Ei ST_Execute B ST_Resetting HB s SSPE SU RS CERURS UAE ES i B 5 UNO1 Commands Home UNO1 EMConditions_ALL HomeDone UNO1 Commands Home GR opoz OB emo OB Emoz UNO1 Commands AddCtrl NewFunction UNO1 Commands AddCtrl NewFunction Semka snaa aie i fay g tame ee e bey eo tg Pfc Be gd UNO1 Commands AddCtrl New Function 4 UNO1 Commands PrepareExecution 6 Expand Tasks MainTask EM02_PCamBasic and edit the MainRoutine to add the EM condition status and a JSR for the new CM function 1 OPO2_Manual 1 EMO0_VirtualMaster 1 EMO2_PCamBasic A Program Tags B CMO0_Servoa H CMO1_ServoAxisJo H cmo2_PCamStart E SUNO1 Commands Home gt AOl ServoObject Sts _HomeDone EMO2_ Conditions HomeD EN 44 E ees sct Inp_commands AddCtr Mew Function Out _EMConditions Addsts Mew Functionl UNDT Commands AddCtril NewFunction PutSxisStatusHereForFunction EMO2 Conditions Addats NewFunctionD 15 Ss _10 9 T i
16. Description Disable States for Different Modes Mode Names Acceptable States to Transition Between Modes Enable Remote Commands PackML Abort Command PackML Clear Command PackML Hold Command Commanded Mode PackML Reset Command PackML Start Command PackML State Complete Command PackML Stop Command PackML Suspend Command PackML Unhold Command PackML Unsuspend Command Enable Input System defined parameter Enable Output System defined parameter Mode Remote Command Interface Mote Remote Command Change Request State Remote Command Interface State Remote Command Change Request State Machine status is Aborted 129 Appendix A Logix Base Program Overview Sts_Aborting Sts_ Clearing Sts_ Complete Sts_Completing Sts_EnabledStates Sts_Execute Sts_Held Sts_ Holding Sts_ldle Sts_ModeChangeNotAllowed Sts_ModeCurrent Sts_ModeCurrentName Sts_Resetting Sts_Starting Sts_StateCurrent Sts_StateCurrentName Sts_StateCurrentName Sts_ Stopped Sts_ Stopping Sts_ Suspended Sts_ Suspending Sts_UnHolding Sts_UnSuspending 130 State Machine status is Aborting State Machine status is Clearing State Machine status is Complete State Machine status is Completing Currently Disabled States 0 State Machine status is Execute State Machine status is Held State Machine status is Holding State Machine status is Idle Mode Change Request Was Denied Current Mod
17. Hew Module a Name the module Type 2094 4C09 MO2 Kinetix BODO 230VAC IAM Bk PS 154 Cont 304 Peak EMO 3 Axis SD_Co nveyo r Vendor Allen Bradley b Set the Node address in the software oS to match the node setting on the drive For more information about setting the node address for the drive see the a Kinetix 6000 User Manual publication E cie E 2094 UM001 Revision l 5 Electronic Keying Compatible Keping gt c Select an Electronic Keying option Select Disable Keying if unsure Use the guidelines in the following table to determine which Electronic Keying option to select If you are unsure which option to select select Disable Keying Electronic Keying Selection Guidelines Choose Compatible Keying if you require the major version of RSLogix 5000 software to match your Compatible motion module s major firmware revision Bae Choose Exact Keying if you require the major and minor version of RSLogix 5000 software to match your motion module s major firmware revision Disable Choose Disable Keying if you are unsure d Check Open Module Properties box Click OK Publication IASIMP QS018C EN P February 2010 49 Chapter 4 Motion Logix Integration The Module Properties window opens 6 Select the Associated Axes tab 7 Assign EM02_AxisSD_Conveyor to the node address E Module Properties SERCOS 7094 4C09 M02 1 1 General Connection ssociated Axes Power
18. Local Communications 00006 60 Configure Runtime Target Communications 06 63 racine PMSA the PIO prenre 4g bea det he eo kee deals 64 Using Multiple Languages in the Project iv ivasuwereius eoe 71 Test TEP HOC s a xanand othe anewart e aaa A a iand k qoute bb senscess 71 Download Fonts to the Terminal 0 0 0 0 cee cee ee ee v2 Download the Project to a Vetminal sidiie ence dgeh aides eyeies 74 Runthe Project on a Temmindl eed ck cui ee tsa wide ehh at A 76 Chapter 6 Delore VOU De tintt lt ive crea hehe er tees eee res 79 What You Need 5 4 3 eine jie e ee e ation ed ooh ate seals ated Bed tne 79 Polow These SIC points ta hand at eee Le baa ea eee hes 80 Usethe Power UpDispiay sit oh2s ride i Set tan ee oes 81 Creche Dipa COU ern eee eee ee een eer em are ae ere eee 82 Machine State Model Display seuctc cse oe exeseeeoheee ees eeg te 83 Manual Mode EM Manual Jog 2 00 oc 54w awe 40a he ane 84 Automa VIO i 8 sion cs BaD A ded is eee oie teehee ea dee 85 Use the BM Status DBP erreta 4 18 dated EEE ea a Reh Geass 87 Use the Command Condition Display 0 00005 88 Use the EM Configuration Display oox2s4255 395 46 oreeveges ines 89 Shut D owmTApPpHCAUON essre ce ated pa ea wee ae 90 Chapter 7 Pere TONDE Waa hut aha eng uae eee eee GN 91 What YoU Need sre reame n a a 403 eugene 6a ees Pee a dae Sorters 91 Follow Lhes Ste sith t cane outts oo cae edges egheeedes dee 92 Create a
19. Module Info EMO2 AxicsD PCamb asic H Node 129 lt none gt mi Se oe Statue Offline Cancel Apply Help B Module Properties SERCOS 2094 ACO9 M02 17 1 General Connection Associated Aves Power Module Info Bus Regulator Catalog Humber none Status Offline For more information refer to the Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 8 Click OK 9 Repeat steps 2 7 for each drive module 50 Publication ASIMP OS018C EN P February 2010 Motion Logix Integration Chapter 4 Configure Axis Properties Follow these steps to configure axis properties 1 Right click the second physical axis that ts EM03_AxisSD_Conveyor in the Explorer window of the Axes Motion Group and then select Properties Note EMOO_AxisV_Master is a virtual axis and EM02_AxisSD_PCamBasic is the first physical axis The Axis Properties window opens 5 gt Axis Properties EMO2_AxisSD_PCambBasic E 43 Motion Groups DE Axes ll EMOD Axisv Master lif EMO2_AxisSD_PCamBasic o 62 M03_ AvisSD PCamBasic iin Ungrouped Axes Goto Module H 2 Add On Instructions H E Data Types Monitor Axis Tag DER User Defined a o e UDT AXES Sts BELAAI E UDT_AxIS_Sts Clear Axis Faults fl UDT ARIS Sts HMI M UDT Commands b Cut Ctrl A UDT_Commands_Additior BA Copy Ctrl C i UDT Constants E Faste Ctrl y off UDT_EMConditions Delete Del E UDT _EMCond
20. Navigate to the EM Maintenance display by pressing EM i m Fault and Status Message PEA Maintenance on the Application Navigation Bar Stopped State RESET mee EM pig nation pee pare oly acy 2 To make sure the machine is in Manual mode and Execute Saanu state press Start in Manual mode The state transitions from Stopped to Resetting and then to Execute and the servo system will be enabled and all V A axes will have feedback on A Ready For Mode Change Request 85 Machine EM EM Motion Bie aca Hane y State Model Diagnostics Config Diagnostics Use Use 3 Open the EM Manual Jog popup by pressing EM Manual Jog 4 Scroll up down in the list select the EM and key in the axis number that must be jogged Now use the Jog and Jog to jog in either direction Before running jog on an axis make sure that it is configured correctly Refer to Motion Logix Integration on page 35 for details 84 Publication IASIMP QS018C EN P February 2010 Motion System Application Guide Chapter 6 Automatic Mode Navigate to any display where the action buttons are present m Fault and Status Message PPOR for example the Machine State Model display Use the Mode Stopped Stare Selector to put the machine in Automatic mode This can RESET only be done if it is in Stopped state so The Automatic mode lets you start stop and reset the motion HOLD system STOP Resetting Starting and
21. When Cmd_Disable is successfully executed the Sts_DisableDone bit will be set care Aata OT CPAs Ciner bean Asis tele ae A Boe er ed et T JE J 4 Mabon Serve i CEM cor Cad may OL Ta Bion Doria bal Cammy TE Concer Dieii era TA Sih ee e A Ss esr eee a Eas Da PE VE Publication IASIMP QS018C EN P February 2010 123 Appendix A Logix Base Program Overview Cmd_FaultReset and Sts_FaultResetDone When the command Cmd_FaultReset is set all Err bits of the AOI are unlatched and the axis will be reset with a MASR instruction Axis Shutdown Reset When Cmd_FaultReset is successfully executed the Sts_ FaultResetDone bit will be set AXIS SHUTDOWN RESET SFAULT RESET RESET ANY INTERNAL FAULTS Cmd_FautReset ASR Motion Axis Shutdown Reset EM Axis Out Axis SD Dh Motion Control Mi ShutdownReset ER Err MSOFauk Err_MAHF aut _ U Err PosOvertravel Err NegOvertravel h Err_FeedbackFauk Err_General Err GuardFauk Err_OverloadF aut ri Err_TemperatureFauk Err_PositionError AULT RESET DONE HANDSHAKE TOM FaultReset_delay DN Ste_FautResetDone Timer On Delay Timer FautReset_ delay Preset 500 Accum 0 Ml_ShutdownReset DM Sts_ER Ml_ShutdownReset ER Cmd_FautReset Sts_FautResetDone Cmd Home Sts_Homed and Sts_HomedDone When the command Cmd_Home is set a home sequence is initiated if the axis is co
22. contact your local Rockwell Automation distributor or sales representative 16 Publication IASIMP QS018C EN P February 2010 Hardware Selection Chapter 1 Reviewing Basic Panel Component Listings These tables include servo drives and motors CompactLogix controller Panel View Plus terminal HMD and accessoty components for 400 460V and 200 230V systems Review the basic component listings and compare with your specific application needs Select the 400 460V Base System 1219 x 609 x 304 mm nial 1 2094 BL508 460V 50 A Line Interface Module LIM 1 Input power 140U H RVM12R Through the door disconnect AC Line Filter 2090 XXLF X330B 3 phase 30 A 7094 PAS slot slim 1 Enclosure and panel HxWxD approx te Integrated Axis Module Brno_ NAND 15 kW converter and 10 3 A rms inverter output HE a IAM So ees safe off feature 1 Drive system Axis Module AM 2094 BM01 S 6 1 A rms inverter output safe off feature Axis Module AM 2094 BMP5 S 2 8 A rms inverter output safe off feature MPL B330P MK22AA 1 8 kW output with absolute multi turn feedback 1 Motors MP Series Low Inertia MPL B320P MK22AA 1 4 kW output with absolute multi turn feedback MPL B1520U VJ42AA 0 27 kW output with absolute multi turn feedback 2090 XXNPMP 16S03 3 m 9 8 ft MPL B320P and MPL B330P 2 2 2 2090 XXNPMF 16803 3 m 9 8 ft MPL B1520U 2 2090 XXNFMP S03 3 m 9 8 ft MPL B320P and MPL B330P Motor Feedback 2 Cables 2090
23. that are defined This template has two modes defined Automatic and Manual Each mode has an operation program OPO1_Automatic and OPO02_ Manual where the execution of the states is carried out Publication I ASIMP QS018C EN P February 2010 127 Appendix A Logix Base Program Overview This AOL is called in the routine UPO1_PackML where the current mode is also controlled The graphic below illustrates this principle mi MainTask ackML_StateModel_ AO 3 UNOL ExarnpleUnit PackML StatemModel_ 4G UNO1_MachineStateModel_ Al s Cfg_ModeTransitions Cfg_ModeTransitions Program Tags Cfgy_DisableStates Cfy_DisableStates Cig_Modenames Cfg_Modenames ER MainRoutine Cmd_Mode 1 CMO1_OperationLocal bine eset 0 a a Cmd_ Start De CMO2_ConditionsModules Cmd_Stop ne a oe Cmd _Hold 0e SRO1_ Initialize Cmd _UnHold fea i cmd Suspend De SRZ Processorstatus ond ei se UPOL PackML Se cmd Abort 0e TFE ee cmd Clear ge Ca OPO1 Automatic Cmd_StateComplete 0e Sts_StateturrentMame Sts StateCurrenthame Program Tags Sts_ModeturrentName Sts_ModeturrentMame Bi PreState Sts_ModeChangeNot Allowed 3 501_ResebCommands ST_Aborting ST_Clearing ST_ Execute 3 S I rps n es Get Sytten Vake ST Resetting Source amp UNO _MechieSteteMocel_AOi ear et n n n as 3 a ea ST_starting a 5 D ST Stopping 3 OF02_Manual ta A Program Tags etree A ooann ER Prestate mains 501_ResebCommands ST_Abo
24. Chapter 1 Accessing Motion Analyzer Software from Kinetix Accelerator Toolkit Follow these steps to access Motion Analyzer and Motion Selector software from the Kinetix Accelerator Toolkit 1 Zs 3 4 5 Choose Start gt Programs gt Rockwell Automation gt Simplification gt Kinetix Accelerator Toolkit to open the Kinetix Accelerator Toolkit software Click Use The KAT Development Tools peer KINETIX ACCELERATOR TOOLKIT Kinetix Accelerator Toolkit KAT for SERCOS Browse to the Motion Analyzer folder Open the Motion Analyzer folder FoMetWorn for DeviceNet Logic Devicehet Tag Generabor Tool fi fat wee Pioi feck bee 7 pHi eh O mi kr O CFom Pies A anpii rei aA CA Caman Toal Sequined boheme j Fior Araye Double click ma46 ms451installer exe The installer prepares the files Publication I ASIMP QS018C EN P February 2010 F O CFraye Ses Aelia iret iA EAT Conram Toii eared Sofbesre Motion Anarete Araza Pinder Poker hare E T fie anal Foider Take A M Seam ha tae biy cree tes faida JJ Cory than faliar gp T Aan wb A Japart at Maken Araria irota iim ar Hermio Word TEED i IAHI Apki HRDO E Fies The contents of thes package we berg eetracted 5 Moign Anahoer Training Podcier D 2 einer wee for Dra L J Loge Drie Tag Generator Tool DS A PA Rares Marri Pinasa mat vide the Inctaltiteeld Winard eetra
25. Cmd_Abort Cmd_FaultReset Cmd_Run Cmd_Stop Enableln Par_AutoAbortDecel Par_AutoAccel Par_AutoDecel Par_Autospeed Par_Position_ForPositonedStop EnableOut ERR_InstructionFault Sts_ AbortDone Sts_ Err Sts_StopDone 114 Type AXIS VIRTUAL Description Axis to control 0 Cmd_Abort will make an immediate stop 1 Cmd_Abort will make a positioned stop 0 Cmd_Stop have other dependencies 1 Cmd_Stop will make an immediate stop Axis is considered stopped if below this value Command to abort Command to reset faults Command to run Command to stop Enable Input System defined parameter Deceleration value for immediate stop Acceleration value for normal conditions Deceleration value for normal conditions Speed value for normal conditions Position value for positioned stop Enable Output System detined parameter Used if any of the motion instructions fault Abort is successfully executed Used if the axis faults or if any of the motion instructions fault Stop is successfully executed Publication IASIMP OS018C EN P February 2010 Logix Base Program Overview Appendix A Prescan The Prescan routine executes after the primary Logic routine executes in Prescan mode It will initialize tag values to a known or predefined state prior to execution of the AOI When an add on instruction executes in Prescan mode any required parameters have their data passed e Values are passed to Input parameters from t
26. DWG Files or DXF Files folder Folders x DWG Fies 9 4 KAT Common Tools A DDF Files E O AA Sequencer Based SERCOS Use your CAD program to open these and other enclosure 1 Quick Start 2 Bill OF Material CAD files E O 4 AutoCAD Electrical CAD O DW Files O DXF Files e KAT_230_23_ PANEL_LAYOUT e KAT_230_24 ENCLOSURE_LAYOUT e KAT _CAD_DRAWING_SUMMARY pdf Use your CAD program to open these and other wiring diagram CAD files e KAT_230_1_POWER_DISTRIBUTION e KAT_230_25 NETWORK_CONNECTIONS Identify additional wiring needs specific to your application Publication IASIMP QS018C EN P February 2010 29 Chapter 3 Plan System Wiring Routing Cables for Your Integrated Motion Panel This system enclosure diagram is an example of the four axis motion control panel including noise zones 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 RM001 The enclosure diagram provides designators that coordinate with the wiring diagrams illustrating where to route your power and I O cables Sample Information from Enclosure Files Example ALLL LLL AY LLL LLL ALLL LIM Module C1 Line Filter optional eT L Kinetix 6000 iii a E Four axis Drive System 460V is shown
27. Enterprise RSLinx Classic SoftLogix TechConnect and Rockwell Automation ate trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Where to Start Follow the path below to complete your Kinetix Integrated Motion application Chapter 1 Hardware Selection Chapter 4 _ Chapter5 Logix Integration Motion Factory Talk View IntegrationLogix Integration Chapter 2 system Layout Chapter 6 Motion System Application Guide Chapter 3 system Wiring Chapter 7 Profile Editor Motion Analyzer Motion File View Settings Help Profile Export Lae ge ee Advanced Segments i Index Equal End Slope Index simple index move EN segment to your profile Index Index Equal Publication IASIMP QS018C EN P February 2010 Where to Start Notes 4 Publication IASIMP OS018C EN P February 2010 Preface Hardware Selection Plan System Layout Plan System Wiring Motion Logix Inte
28. Factory Talk 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 PowerProgramming V4_00_Core apa file is selected Your file name could be different AA Application Manager Enter a name for the new application 6 Click Finish After file restoration is complete the application closes A Cancel Hep Configure Design Local Communications The Design Local tab in Communications Setup reflects the view of the topology from the RSLinx Enterprise server on the development computer In this example application the development computer is communicating to the ControlLogix L63 controller via Ethernet network Other Logix controllers can also be selected 60 Publication IASIMP QS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 Follow these steps to configure local communications 1 Apply power to your Logix controller 2 Connect your motion system communication network cable to your Logix controller and personal computer 3 Open the FactoryTalk View Studio software The New Open Machine Edition Application window 3ST opens New Existing Application Mame es Baggage 6402480 4 Click the Existing tab Baggage AS00600 BizBikes_ME Malthouse Clas 640x480 Malthouse Clos 800x600 i ba ualtiL ef Yo 5 Select your FactoryTalk View ME ap
29. Major Revision 1 module Click OK The Device Properties dialog box opens Type the IP address of the ControlLogix controller Click OK Return to the Communications Setup window Local tab and expand IP Address 1756 ENBT A Right click 1756 A17 B 1756 A17 B and choose Add Device Yours could be different The Add Device Selection dialog box opens Expand Logix Processors to gain access to the 1756 L63 controller Select Major Revision 15 or later Click OK Etter Net iP Deviceg i BY Eson Enbe pise i75 PhET A E CotreL cape 0 Eie i Peer 17534 AENI Diere iaie Leone j L Ter TG Cod rea 4 761 NET EM BA Lee Ey bolog SD Etherfeet iP ing LTOR CRD 17 88 CN20N Urking Device E B Freee Pthertette Meccan i i He Device Properties General Name 1756 ENBT A Address Enter IP Address Local Target RSLinx Enterprise 3 1789 417 Backplane El ar EtherNet Ethernet j Add Device Delete Show All Devices Stop Browsing Properties Wad Device Selection Avelable Devices Toe LijA 1756 L1 A LOGIKSS50 1756 LS3 4 1756 L53 4 LOGIX5553 I756 L55 A 1756 L55 4 LOGIKS5555 1756 L60M0I35E 1756 L60M0J5E LOGHSS60MOZSE MO I756 L61 1756 681 LOGIX5561 Lf S L62 1756 L62 LOGI S5562 Ho L7S56L63 1756 L63 LoGIXS5563 1756 L63 1756 L63 LOGINSS63 Major Revision 1 1756 L63 1756 163 LOI x5563 Major Revision 10 17560 163 1756 163 LOA Sa03 Major Revisio
30. OF6V1 a XXxExX 08 1756 IF61 4 1756 IF61 4 444444 Minimize the RSLinx application window and return to your RSLogix 5000 project window Save and Download Your Program 00 1756 0616074 1756 OB16D 4 DOUT DIAG 0z 1756 IB16D 4 1756 IB160 4 OCIN DIAG 03 1756 L55 4 LOGIXSSSS 1756 L55 4 1756 M13 4 LOGIMSS55 04 1756 OB16D 4 1756 O6816D 4 DCOUT DIAG 09 1756 MO24E Z Axis Gnalog Encoder Servo 17 56M024E TRA node 7 found After completing the Logix configuration you must download your program to the Logix controller Follow these steps to save and download your program 1 54 On the RSLogix 5000 toolbar click the Verify Controller button mg The system verifies your Logix controller program and displays errors and warnings On the File menu select Save As to save the file In the Communications menu select Who Active The Who Active window opens k ape gr W Autobrowse Browse to your Logix controller and a E Gene oe click Set Proj ect Path ae Linx Gateways Ethernet AB _ETH 1 Ethernet A 10 91 36 82 1756 ENBT 4 1756 ENBT 4 H E Backplane 1756 410 4 Verity that the key switch on your 00 1756 081 6D 4 1756 O616D 4 DCOUT DIAG controller module is in the REM eae tobe LOGI aee3 Gere 02 1756 IB16D A 1756 IB16D A DCIN DIAG remote position and then click Ml 03 1756 L55 4 LOGIXSS55 1756 L55 A 1756 M13 A LOGINS555 04 1756 OB16D 4 1756 OB16D A DCOLIT DIAG D ownload H 05 1
31. Setup RNA SLocal PowerProgramming V 4_00_ Core RSLinx Enterprise DEK RSLinx Enterprise tree Ee Design LoGl _Runtine Target P _Remove Apply Reset Configuration Ca 1789 A17 Backplane 5 EtherNet Ethernet 5 Verify that your shortcut name and controller are fJ 192 168 1 6 I7S6 ENBT A 1756 ENBTJA both highlighted EL 0 1756163 1756163 LOGRE O J J 3 1756 IB16D 4 1756 IB16D 4 DCIN DIAG I 4 1756 MO8SE 8 Axis SERCOS interface 1 This indicates that communication is established oe cas 192 168 1 9 Panelview Plus CE 1000 Panelview Plus CE lt gt Mode Offline In this example Unit is the shortcut and 1756 L63 is the controller Offline Tag File D Modular Programming Power Programming PP 08 Update PowerProgramming_CLx_ 4 _00_Dra Browse Press Apply button to assign selected path to this shortcut 6 Click OK Cancel Verify Help Publication IASIMP QS018C EN P February 2010 63 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration Adding EMs to the Project The template only has one EM defined If that fits your application needs skip this section and go to Test the Project on page 71 The PowerProgramming_V4_00_Core apa file has one pre configured virtual axis EMO0 and one servo axis EM02 for use In this section you can add an additional EM that is axis to your Kinetix 6000 or Kinetix 2000 drive system and to the project file Numbering
32. USMEQRRPODGLS1 H 1789 417 Backplane Alas EtherNet Ethernet Mode Seleck Browse cycled Ethernet 10 Click OK when prompted Prancter Unity x 11 Click Exit to close the Transfer Utility window 12 From the File menu select Close to close the application The download has completed successfully Run the Project on a Terminal Follow these steps to run your project on the Panel View Plus terminal 1 Apply power to the PanelView Plus terminal 2 Connect your motion system communication network cable to your PanelView Plus terminal and 76 personal computer Publication ASIMP OS018C EN P February 2010 The FactoryTalk View ME Station window opens 3 Click Load Application The Load Application window opens Motion FactoryTalk View IntegrationLogix Integration Chapter 5 RSView ME Station Current application Load Application F1 Se Terminal Settings Exit F8 4 Scroll through the list of application files by using the up down arrows and select the mer file you intend to run PowerProgramming V4_00_Core mer is used in this example 5 Click Load The Replace Communications window opens 6 Click Yes If you click No the communications settings from the project run previously will be used instead Publication IASIMP QS018C EN P February 2010 Replace Communications e Internal Storage Goume i Fa
33. XXNFMF S03 3 m 9 8 ft MPL B1520U 2 2090 SCEP3 0 3 0 m 9 8 ft SERCOS fiber optic 3 2090 SCEPO 1 0 1 m 5 1 in 1 2711P CBL EX04 Ethernet CAT5 crossover cable 4 3 m 14 ft 4 Feedback 2090 K6CK D15M Low profile connector kit for motor feedback 1 PanelView Plus 2711P T6C20D PanelView Plus 600 24V de ethernet comms 1768 L43 Controller 1768 MO04SE SERCOS module 1768 ENBT Ethernet module CompactLogix with i 1 Logix controller EtherNet IP Configuration 1764 PA4 Power supply 1769 1032 32 point 24V dc input module 1769 0B16 16 point 24V dc sourcing output module 1769 ECR End cap Publication IASIMP QS018C EN P February 2010 17 Motor Power Chapter 1 Hardware Selection Select the 200 230V Base System 1 Enclosure and panel HxWxD approx Description 1219 x 609 x 304 mm ihc 1 2094 AL50S 230V 50 A Line Interface Module LIM Input power 140U H RVM12R Through the door disconnect AC Line Filter 2090 XXLF X330B 3 phase 30 A 7094 PRS4 slot slim Integrated Axis Module 6 kW converter and 10 6 A rms inverter output 2034 AC09 M02 S safe off feature Axis Module AM 2094 AM01 S 6 0 A rms inverter output safe off feature Kinetix 2000 1 Multi axis Servo Hi ie Axis Module 2093 AC05 MP2 3 kW converter and 2 0 A rms inverter output Drive System Axis Module AM 2093 AMP1 1 0 A rms inverter output MPL A320P MK22AA_ 1 3 kW output with absolute multi turn feedback 1 Motors MP Series Low Inertia MPL A2
34. _Recipe EM03 H UNO1_Recipe EM03 Manual_Jog SEC CEE EP REE Eira i UNO _Recipe EM03 General ne UNO1_Recipe EMO3 Cam_Pars UNO1_Recipe EMO03 Cam_Pars No_Of Cam_Points eae tala O e e e e oa e e H UN01_Recipe EM03 Cam_Pars Cam CAM I Monitor Tags A Edit Tags 14 For tag UNO1_Recipe EM03 Cam_Pars No_Of_Cam_Points enter the value noted in the previous step Modify Axis Names Your ControlLogix application file Power_Programming CLX_V4_00_Core acd now contains program code for at least two axes However you may want to rename the axes from EM02_AxisSD_PCamBasic and EM03_AxisSD_PCamBasic to something more meaningful for your application for example Conveyor Follow these steps to rename the axes in your RSLogix 5000 program In this example EM03_AxisSD_PCamBasic is renamed EM03_AxisSD_Conveyor 1 In RSLogix 5000 software expand the Explorer window to gain access to Motion Groups and then Axes Right click servo drive axis EM03_AxisSD_PCamBasic and then select Properties Select the Tag tab and rename EM03_AxisSD_PCamBasic to EMD03_AxisSD_Conveyot Click Apply or OK Publication IASIMP QS018C EN P February 2010 E Motion Groups Bag Axes RS EMOO_AxisY _Master _ A EMO2_AxisSD_PCamBasic Meee ESCO AxissD PCamBasic i Ba Ungrouped Axes Goto Module a Add On Instructions a E Data Types Monitor 4xis Tag Sie User Defined
35. and installation of your Kinetix Integrated Motion system application files and other information is provided on the Kinetix Accelerator Toolkit DVD publication LASIMP SP004 The DVD provides CAD drawings for panel layout and wiring base Logix control programs FactorylTalk View HMI application files and more For a copy of the DVD 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 their machine control and not on design overhead tasks You can also download these same supporting files from the Rockwell Automation Integrated Architecture Tools website http www ab com go iatools on the Beyond Getting Started tab Before using this quick Start and the contents of the Kinetix Accelerator Toolkit DVD read the Terms and Conditions READ ME pdf on the DVD 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 defines 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
36. assign parameter files to displays in the Startup editor EMO03 if the same naming l and in the dialog box for configuring goto display buttons and display list selectors I Syntax convention 1S used I freplacement tagname Example 23 A_COLOR 23 in any expression in a graphic would be replaced by the tag A_COLOR lAxis Configuration I iS vwntax Example I I Topic Shortcut for R Linxz Enterprise Communication l f2 Axris_XX Axis Selection Ex Axis_O1 Axis_02 143 HMI_MemonString ag Text indicator for currently selected Axis Ex Axis 17 Axis 2 1 CLX 2 AXIS_02 3 SelectedAxis Publication ASIMP OS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 In this example e 05 Unit Program EM02_PCamBasic Axis1 becomes 05 Unit Program EM03_Conveyor Axis1 e 06 EM02 becomes 06 EM03 e 07 Unit Program EM02_CAM_Type10_1 becomes 07 Unit Program EM03_CAM_Type10_1 e 10 Unit Program EMO02_PCamBasic becomes 10 Unit Program EM03_Conveyor 9 From the File menu select Save 10 Repeat steps 3 9 as necessary for your axis count The pre configured application files include HMI tags for up to 30 axes The following table indicates how to add HMIs If your axis count Is Then go to 30 or less Edit Display Files on page 68 31 or more Add an HMI Tag on page 67 Add an HMI Tag In this section you c
37. ay E ee 28 Load Basie System CAD Diderams ic tose taeda Pada ee os 29 Routing Cables for Your Integrated Motion Panel 30 Laying Out Power and I O Cables s 0 sledyednstaeeneen ease 45 31 Laying Out SERCOS and Ethernet Cables 33 Chapter 4 Bollore r OM BEO re ana E a a N EE eae 35 W par YOUN cedieron eaa a An SG oat ba ears See 35 Folow ENCE SEPS ireren dreds dak e aea EA 36 Select Your Logix Application File sb ovetn aheded weadadwes ea 57 Load and Open the Logix Application File 0 37 Configure Your Logix Controller 24 cakes esis bones eee see 38 Configure Your Logix SERCOS Module 39 Add Logix Program Code for Additional Axes 0 40 Configure Your Kinetix Drive Modules to the Additional Axes 48 Contoure ARIS Properties teesi eaa Gb asad EE a a 51 5 Table of Contents Motion FactoryTalk View IntegrationLogix Integration Motion System Application Guide Motion Analyzer Motion Profile Export Logix Base Program Overview Configure Logix Gommunications sieve dass rurun rrene 53 Save and Download Your Program deci cnuses eeradene eben 54 Chapter 5 Bee OUND GON AE E EAE EA E E E 57 What Yon Need ere aerea oes eae eee Gwe wig woe 57 OOM TNC S o Ep ne pee canes cena A E 58 Select Your FactoryTalk View ME Application File 59 Load and Restore the FactoryTalk View ME Application 59 Configure Design
38. configuration of Cfe_ModeTransistions See Cfg ModeTransitions Configure Mode Transitions on page 132 Here it is defined if the individual states allow a change If Cmd_Mode is set and the active state does not allow it the Sts_ModeChangeNotAllowed status bit will be set Cmd_Reset If Cmd_Reset command reset is set a reset command is initiated According to PackML this command is used in either Complete or Stopped state to initiate a Resetting state For a more intuitive mechanism the template uses this command slightly differently and will only allow this in Aborted It will transition from Aborted to Clearing and is handled as a fault reset Inp_RemoteXxX Input Remote control of mode and state commands is possible Cfg RemoteCmdEnable Configure Remote Commands on page 135 explains configuration of this option Remote Mode Inp_RemoteModeCmd DINT Mode Remote Command Interface Inp_RemoteModeCmdChangeRequest BOOL Mote Remote Command Change Request The local equivalent to Inp_RemoteModeCmd is Cmd_Mode and its behavior is similar See Cmd Mode on page 136 Inp_RemoteModeCmdChangeRequest is used to request a mode change remote There is no local equivalent to it Remote State Inp_RemoteStateCmd DINT State Remote Command Interface Inp_RemoteStateCmdChangeRequest BOOL State Remote Command Change Request 136 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A The local equiv
39. emp Race race emi Tama vine mE Cancol Fa Do you want to replace the terminal s current communication configuration with the applications communication configuration No F8 11 Chapter 5 The FactorylTalk View ME Station window returns 7 Verify that the Motion FactoryTalk View IntegrationLogix Integration 9 78 PowerProgramming V4_00_Core mer file appears in the Current application field Click Run Application Verify the functionality of the application Refer to Chapter 6 for a basic understanding of how to run a general motion system application es oe ese re Pe meg FO Geram Fij ra a Hap j pl Ten freer la tina FY Tr L rea Publication ASIMP OS018C EN P February 2010 Chapter 6 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 Automatic mode and use the built in axis status and diagnostics Before You Begin e Complete your system hardware selection Refer to Chapter 1 e Complete your system layout Refer to Chapter 2 e Complete your system wiring Refer to Chapter 3 e Complete your Logix Integration procedures refer to Chapter 4 and download the Logix program to your controller e Complete your FactoryTalk View ME Integration proc
40. is a group containing a polygon and a goto display button The polygon will change color if a fault is present and the goto display button will open the EM status display 3 Copy the group EM02_Group and use the property panel to rename the group to EM03_Group 4 Change the animation of the group from 22 Selected to 23 Selected Right click on the group and press hot keys Ctrl R SSSSSSSSSSSSSSSSSSSSSSSSSS SSSSSSSSSSSSSSSSSSSSSSSS T 5 13 2009 7 18 16 PM ef DITTO burce Enablec d SSSSSSSSSSSSSSSSSSSSSSS Mode SSSSSSSSSSSSSSSSSSSSSSS State q EM 00 EM 01 EM 02 EM 03 Diag Screen Diag Screen Diag Screen Diag Screen 5 13 2009 7 19 00 PM SSS Ren Object Explorer SS NavButtons H Background_Cormplete Je EMO Group m EM 03 GotoDisplayButtonS 1 Diag Screen Polygorid EMO2 Group a m Ez EMO1 Group H EMOO Group 5 13 2009 7 23 37 Remote Control So Property Panel 5555555555555551 3 SSeS ES 5555555555555551 EMOS Group Multiple Selection GotoDisplayB PolygonS Properties Connections EM 03 NavButtons C All Properties ad saber i ca Include Grouped Objects z EMO02_Group GroupHeight 66 EMO1_Group GroupLeft 469 EMOO_Group GroupTop 76 Groupy isible Groupidth 88 Tag Substitution Search for 23 ai 29 Faulted 23 Selectedi 1 Replace with The tag substitution display o
41. oe Cmd_FautReset Inp_ Commands FautReset UM01 Commands Fautheset oe Inf Commands Home UND1 Commands Home gt oe Inp_ Commands Abort UMO1 Commands Abort oe Inp_ Commands Stop UNO1 Commands Stop oe Cmd_Disable Cmd_Home cmd Abort cmd Stop Inp_ Motion Group AMEE Ste_EnableDone Ste_DisableDone Ste _FauttResetDone Ste_HomeDone Ste_AbortDone Ste_StopDoane Ste AxisOk E Ste_NoMotion Ste_Homed E e Repetitive logic may be entered once and reused multiple times throughout the project e Alterations to the logic are immediately applied to all instances in the project e Security may be applied to restrict access to the logic and tag definition Publication IASIMP QS018C EN P February 2010 111 Appendix A Logix Base Program Overview General The template makes use of these add on instructions AOD e Axis MasterV_AOI page 113 e Axis ObjectSD AOI page 120 e PackML StateModel AOI page 127 The prefixes below are common to all the AOIs Tags for the AOI have the following meanings e Out_ Real time output data driven from the AOI process Generally used to designate a connection to a real output point a control device or to data sent to other calculation processes e Cfg_ Generally used to designate a value used in configuring how the process within the AOI functions This is only occasionally changed It can be entered from
42. of EMs does not have to be subsequent so that EM numbers can be given by function to support standardization FT View will automatically adapt if a module is not present 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 from Axislto Axis X Axis Status Display Firat ktk Pi oT Fault and Status Message oer wee Siopped State ENMo2 Serve Enable Serwo Faute SERCO Fau EM Fault Axie Statues Bus Ready Status Drive Enable Status Motion Status Servo Action Status Shutdown Status Drive Status inhibit Status Module Faults Config Update In Process Absalute Reference Statue Drive Faults COMMAND POSTION ngs 0 000 ACTUAL POSITION Urs 0 000 DEM DEM iro Mache Era chi Ei faction Beck State Model Diagnostics Mairtenance Condig Diagnostics sy ee To add a new EM the following steps are needed 1 Add duplicate a parameter file for an EM and change its placeholder names 2 Verify that the parameter file for the unit UnitO1_Para contains the new EM member 3 Duplicate and edit an EM diagnostic display file to make a new goto button Change animation labels parameter files and gotodisplay name 4 Duplicate and edit an EM configuration display Add configuration parameters tags 5 Make a new goto button on the EM configuration page Change
43. publication IASIMP SP004 e CAD files typical of those included on the Kinetix Accelerator Toolkit DVD KAT_230_2_ POWER_DISTRIBUTION dwe KAT_230_3_230v_POWER dwe KAT_230_4_120v_POWER dwg KAT_230_5_LIM_DISTRIBUTION dwe KAT_230_6_SAFETY_RELAY dwe KAT_230_7_24V_CONTROL_POWER dwe KAT_230_8 DRIVE1_IO dwe KAT_230_9_DRIVE1_ENCODER dwe KAT_230_10_DRIVE2_IO dwe KAT_230_11_DRIVE2_ENCODER dwe KAT_230_12_DRIVE3_IO dwe KAT_230_13_DRIVE3_ENCODER dweg Publication IASIMP QS018C EN P February 2010 KAT_230_1_POWER_DISTRIBUTION dwe KAT_230_14_DRIVE4_IO dwe KAT_230_15_DRIVE4_ENCODER dwe KAT_230_16_DRIVE5_IO dwe KAT_230_17_SPARE dwe KAT_230_18_SPARE dwe KAT_230_19_PLC_INPUT dwe KAT_230_20_PLC_OUTPUT dwe KAT_230_21_POINT_IO dwg KAT_230_22_ POINT _IO dwg KAT_230_23_ PANEL_LAYOUT dwe KAT_230_24 ENCLOSURE_LAYOUT dwg KAT_230_25_ NETWORK_CONNECTIONS dw KAT_CAD_DRAWING_SUMMARY pdf 27 Chapter 3 Plan System Wiring e Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UM001 e Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 e Kinetix 7000 High Power Servo Drive User Manual publication 2099 UM001 e Line Interface Module Installation Instructions publication 2094 IN005 e System Design for Control of Electrical Noise publication GMC RMO001 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 Li
44. 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 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 ELIE A A A A Allen Bradley CompactLogix ControlLogix Kinetix PanelView PanelView Plus RSLogix RSLogix 5000 RSTrainer FactoryTalk View FactoryTalk View Machine Edition ME FactoryTalk View ME Station FactoryTalk View Studio FactoryTalk View ME Integrated Motion Logix5000 RSLinx RSLinx
45. the HMI or as part of a recipe e Cmd_ Generally used to as a command input either from the operator via the HMI or from the program e Par_ Parameters are variables that are received from an external source such as a batch or a recipe management system that can be internal or external to the program e Sts_ Status of the process within the AOI instruction o Err_ If the Sts_Er bit is on the Err_ parameter will indicate which actual error is occurring within the process This can be either a bit level or value level indication Value based annunciating of the error allows for a large quantity of errors to be supported within a single indicator However this approach requires that errors be annunciated one at a time Bit level erroring can support multiple errors simultaneously but can require a large number of indicators to support all error states e Inp_ Real time input data used to drive the process of an AOI Generally used to designate a connection either to a real input point a control device or to data recetved from other calculation processes 112 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A Axis MasterV_AOl Overview The Axis_MasterV Add On Instruction will perform Reset Jog and StopAtPosition and will show the status of a virtual master axis Al for Virtual Master Axis for use wih Powe Axis Mastery ADI Out Axis Axis Par_AutoSpeed Cmd_Run C
46. 0 drive system 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 DVD 1 Copy the Kinetix Accelerator Toolkit DVD to yout personal computer hard drive 2 Open the HMI Application Files folder Publication I ASIMP QS018C EN P February 2010 m li Aecelaratar Tinik r KINETIX ACCELERATOR TOOLKIT LISTEN THINK SOLVE Kinetix Accelerator Toolkit KAT for SERCOS interface Based or DeviceNet Based Motion Control lntreduction to Accelerator Toolkits Terms and Gon ition i bure i putine tasks that add to overhead costs KAT Version Changes and Updates Lae The KAT Development Tools Be re ee can include en re EDS tet ering anane sign time resulting in fas er time to market Lise irg ported reducing control 1 velopment time by as mu die as Basic pre configured logic can get you up and running quickly Leveraging the HMI screen templates can help you reduce YJO state 4 gM highly modular and han eim Gevigned for rapid areas i specifica ty taikared Tor DEME perking Other KAT Optiges E Fmchronined Motion Options betiectable by Application Type Ketwork and Progracrening Style indering Motion Gotiorn gt fh SERCOS intectace hated EB Synchronized Motion E KAT options Cottons Sequencer Style Devinewet Based Option Synchrenited Motion B S
47. 3 e Complete your Logix Integration procedures Refer to Chapter 4 What You Need e Kinetix Accelerator Toolkit DVD publication IASIMP SP004 e FactoryTalk View Studio software version 5 00 or later e RSLinx Enterprise software version 2 50 or later e FactoryTalk View ME application files PP application file Factory Talk View ME files are available on the Kinetix Accelerator Toolkit DVD For a copy of the DVD contact your local Rockwell Automation distributor or sales representative Publication I ASIMP QS018C EN P February 2010 57 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration Follow These Steps Complete the following steps to configure your FactoryTalk View ME Integrated Motion application Load and Restore the Factorylalk View ME Application page 59 Configure Design Local Communications page 60 Configure Runtime Target Communications page 63 Test the Project page 1 Download Fonts to the Terminal page 2 Download the Project to a Terminal page 4 Run the Project on a Terminal page 6 58 Publication IASIMP QS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 Select Your FactoryTalk View ME Application File PanelView Terminal FactoryTalk View ME File Name Description PanelView Plus 700 1000 PowerProgramming_V4_00_Core apa PanelView Plus 700 1000 terminal pre configured for one axis Kinetix 600
48. 30P VJ42AA 0 86 kW output with absolute multi turn feedback MPL A1530U VJ42AA 0 39 kW output with absolute multi turn feedback 1 2090 XXNPMP 16S03 3 m 9 8 ft MPL A320P Motor Power 3 2090 XXNPMF 16S03 3 m 9 8 ft MPL A1530U and MPL A230P 1 2090 XXNFMP S03 3 m 9 8 ft MPL A320P Motor Feedback 3 T 2090 XXNFMF S03 3 m 9 8 ft MPL A1530U and MPL A230P ables 2 2090 SCEPO 1 0 1 m 5 1 in 1 SERCOS fiber optic 2090 SCEP1 0 1 0 m 3 2 ft 2090 SCEP3 0 3 0 m 9 8 ft 1 Ethernet 2711P CBL EX04 Ethernet CAT5 crossover cable 4 3 m 14 ft 2 2090 K6CK D15M Low profile kit for Kinetix 6000 motor feedback Connector kit Feedback 2 2090 K2CK D15M Low profile kit for Kinetix 2000 motor feedback 1 PanelView Plus 2711P T6C20D PanelView Plus 600 24V dc ethernet comms 1768 L43 Controller 1768 M04S SERCOS module 1768 ENBT Ethernet module CompactLogix with 1 Logix controller EtherNet IP Configuration 1764 PA4 Power supply 1769 1032 32 point 24V dc input module 1769 0B16 16 point 24V dc sourcing output module 1769 ECR End cap 1 T RSLogix 5000 9342 RLD300ENE Application program software oftware 1 Factorylalk View ME 9701 VWMRO30AENE HMI visualization software Kinetix 6000 1 Multi axis Servo Drive System AM 18 Publication ASIMP QS018C EN P February 2010 Hardware Selection Chapter 1 Select System Components Follow these steps to select an entire system or add components to your base s
49. 4 CONSTAT_21 15 CONSTAT_31 16 CONSTAT_53 17 CONSTAT_12 18 CONSTAT_22 19 CONSTAT_32 20 CONSTAT_54 21 SHIELD AUXILIARY 230VAC PE GND BAR LAAK KAA KAAKAA AAAA DOD OOO Publication IASIMP QS018C EN P February 2010 10_PWR2 1 I10_COM2 2 I10_PWR2 3 10_COM2 4 1O_PWR2 5 I10_COM2 6 AUX2_L1 1 AUX2_L2 2 AUX1_L2 4 CBLO1 WIRE GAUGE GRN YEL 4C xAWG BRAIDED SHIELD SS Se eS l D4 H LINE FILTER l 0801LF001 2ND STAGE 30A LF OPTION D4 2 3 24VDC POWER RUNGS D4 24VDC POWER TO AXIS MODULES 230VAC POWER RUNGS D4 230VAC RESISTIVE BRAKE MODULE 31 Chapter 3 Plan System Wiring Sample Information from Wiring Diagram Files Example 2 AXIS 01 KINETIX 6000 INTEGRATED AXIS MODULE IAM D 3 AB 14 AWG 4C xAWG BRAIDED SHIELD 2094 BC02 M02 S CBL02 0611 CED 1 0611 CED 1 1 s 7 LY WHT BLU 06 11 D3 i N 0616 CED 2 0616 CED 2 aa j i D i l r q PE SERCOS GROUND ADDRESS JUMPER SWITCHES Kao K lt o gt NOTE BOLT STEEL BRAID ON RIGHT SIDE OF THE POWER 1c cD D4 2 3 GROUND JUMPER P14 TO P13 FOR GROUNDED P12 TO P13 FOR UNGROUNDED 1 0 IOD gt 1 cust_24v K_ 0 0 13 08 0 0 13 08 AXIS 1 ENABLE 22 28 2 ENABLE _ D3 1 5 PLC OUTPUT 24COM NI rly 22 28 3 CUST_COM 4 CUST_24V 5 HOME 6 CUST_COM MOTOR BRAKE CABLE 2090 XXXX XXX lt gt CBL MTR1 BC
50. 46 6 420E 21 132646 5 420E M2 132646 B 4208 52 1500A a Aa a4 51 Chapter 4 Motion Logix Integration 7 From the Loop Configuration drop down menu choose Position Servo TIP Motor Lataiog MUMber Change Catalog r Drive Counts Motor Few Calculate Loop Configuration Fosition Servo Drive Resolution IY Drive Enable Input Checking re se prot ir 1 Drive Enable Input Checking when checked means a hard drive enable input signal is required When unchecked the requirement Is removed 8 Select the Motor Feedback tab and verify the Feedback Type shown is appropriate for your hardware configuration 9 Select the Units tab and edit default values as appropriate for your application 10 Select the Conversion tab and edit default values as appropriate for your application 11 Click OK 12 Repeat steps 1 11 for each axis module For more information on configuring axes refer to the Motion Modules in Loegtx5000 Control Systems User Manual publication LOGIX UMO002 52 5 gt Axis Properties EMO2_AxisSD_PCambBasic 10 x Tag Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limite Offset Fault Actions General Motion Planner Urita Drive Motor Motor Feedback Feedback Type SAM hi Cycles per Rey k Interpolation Factor 2048 Feedback Resolution 20971 Fa Feedback Counts per Rev
51. 756 M085E 6 Axis SERCOS interface 06 1756 EMBT A OF 1756 OF6V1 4 1756 OF 61 4 HAARA 08 1756 IF614 1756 IF614 444444 09 1756 MO24E Z Axis Gnalog Encoder Servo 1756M024E Path AB_ETH 1410 91 36 82 Backplane 1 Path in Project lt none gt Upload Download Update Firmware Close Help Set Project Path D Publication ASIMP OS018C EN P February 2010 Motion Logix Integration Chapter 4 gs Who Active i Autobrowse ear Workstation LISMCM618 E Line Gateways Ethernet sete 2 AB_LETH 1 Ethernet Upload 10 91 36 82 1756 ENBT A 1756 ENBT A Backplane 1756 410 4 Be a pees pee pcm COUT DIAG a 2 7 SINSSE3 Update Firmware 0z 1756 EREDITA 1756 EILER DIN DIAG Pines E an 1756 L55 4 LOGIASSS5 1756 L55 4 1756 M13 4 LOGIKS555 a5 Sea ede 25s ema eed Re ee r The Download window opens Download 6 Click Download to send the program to Download offline project Genenc to the controller the Logix controller Connected Controller Mame Generic 7 Verify that the three Logix SERCOS Type 1756 L63 4 ControlLogix5563 Controller P Path AB_ETH 1410 91 36 8246 ackplane 1 module indicators are steady green Serial Number 00221FD5 Security No Protection 7 The controller i in Remote Run mode The mode will be changed to 8 Verify that the Kinetix drive amp Remote Program prior to download seven segment indicator has reached
52. 8C EN P February 2010 91 Chapter 7 Motion Analyzer Motion Profile Export Follow These Steps Complete the following steps to create a Motion Axis Move MAM instruction and export it to your RSLogix 5000 program Create a PCam Position Cam Motion Profile Copy Position Cam Profile to RSLogix 5000 Program page 97 Create a PCam Position Cam Motion Profile Follow these steps to create a motion profile example by using Motion Analyzer software 1 Open your Motion Analyzer software The System View dialog box opens ES Application1 Motion Analyzer Bele gy Hd g la wW sha System view Janis View A Axis Ho 1 Axis Hame A E TH Ga li a se zi a il ag APPLICATION DATA G START HERE Click here to enter the application data 2 From the Product Family pull down menu choose your servo drive product family Kinetix 6000 product family is used in this example 3 Click APPLICATION DATA 92 Publication IASIMP QS018C EN P February 2010 Motion Analyzer Motion Profile Export Chapter 7 The Axis Data dialog box opens _Axis Data Axis Name A x Axis Setup x Cycle Profile t Mechanism t Transmission Stages Selection Load type Linear i Rotary Application Templ Press Roll Feed Allen Bradley Integrated g Allen Bradley Integ Go Linear Actuator Linear Stage 4 Click Rotary Actuator type C User Defined Actuator 5 Click the
53. AN DANGER All active servo axes will be turned off prior to download phase 4 A DANGER This controller is the Coordinated System Time master Servo aves in synchronized controllers in this chassis or other chassis using SyachLink will be turned oft If steps 6 or 8 fail refer to the Kinetix 6000 Multi axis Servo Drives User Cancel Heb Manual publication 2094 UM001 for troubleshooting tables 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 Kinetix 6000 Multi axis servo Drives User Manual publication 2094 UM001 Publication I ASIMP QS018C EN P February 2010 55 Chapter 4 Notes 56 Motion Logix Integration Publication IASIMP OS018C EN P February 2010 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration Use the processes in this chapter to configure your FactoryTalk View ME application file FactoryTalk View ME application files apa are included in the HMI Application Files folder on the Kinetix Accelerator Toolkit DVD This chapter also contains instructions for configuring communications adding axes testing the project downloading the program and running the application Before You Begin e Complete your system hardware selection Refer to Chapter 1 e Complete your system layout Refer to Chapter 2 e Complete your system wiring Refer to Chapter
54. C EN P February 2010 Logix Base Program Overview Appendix A PackML_StateModel_AOI The PackML_StateModel Add On Instruction controls the use of the state machine defined by PackML Overview PackML StateModel Al PackML_ StateModel 40 UNO MachinestateModel AOl Sts Clearing Cig ModeTransitians Cig ModeTransitians Sts Stoppec Cig Disablestates Cig Disablestates Sts Starting Cig ModeNames Cig Modehames Sts Idle 1 Cmd Mode 1 Sts Suspended 1 Cmd Reset 0e Sts Execute Cmd Start 0e Sts Stopping cmd Stop 0e Sts Aborting Cmd Hold 0e Sts Aborted Cmd _UnHald 0e Sts Holding cmd Suspend 0e Sts Held Cmd UnSuspend 0e Sts UnHoldinig Cmd Abort 0e Sts Suspending cmd Clear 0e Ste UnSuspending Cmd State Complete 0e Sts Resetting Sts State CurrentWame Sts StateCurrentWame Sts Completing ts_ModeCurrentWame ts_ModeCurrentlame Sts Complete Sts ModeChangebotAlloyed The AOI consists of Parameters and Local Tags and a routine for Logic and Prescan PackML_StateModel_Aol Parameters and Local Tags Logic Prescan These configuration tags need to be configured for the AOI to work correctly e Cfg ModeNames See Cfg ModeNames Configure Mode Names e Cfg_ModeTransitions See Cfg ModeTransitions Configure Mode Transitions e Cfg DisableStates See Cfg_DisableStates Configure Disabling of States The AOI is used to call states in the modes operations
55. Config display 5 13 2009 00 10 PM m Fault and Status Message a umberngernnn PRETA Aborted State EM 00 EM 02 Config Config 2 Press EM 02 Config P A OEM OEM ae See PN Siaa aa Se aly ae The Configuration display for EM02 opens 5 19 2009 8 00 39 PM m Fault and Status Message Kianna ionini PEPEE Aborted State Use this screen for EM recipe data Zero Speed Tolerance 1 00 Units s Jog Speed 0 50 of Max Jog Accel 0 00 of Max 3 Change any of the settings that need to be changed by cre Jog Jerk 0 00 of Time pressing on its associated text and then key the new value into the numeric input display Go Back Publication IASIMP QS018C EN P February 2010 89 Chapter 6 Motion System Application Guide Shut Down Application To shut down the application follow these steps 1 Navigate to the Main Menu using the Home button 2 Press Shutdown Application The PanelView Plus terminal returns to the FactoryTalk View ME Station display 90 Shutdown Terminal RESET HOLD STOP SPEED A 85 Machine h State Model Diagnostics Pren Per meg PIO Geram i aad dpp saam Fij Irea eai PA im dippi m mg pgi Fault and Status Message Main Menu EM Maintenance tea rea M Config Motion Diagnostics 5 13 2009 7 46 17 PM Automatic Mode Stopped State OEM OEM Future Future Use Use Publication ASIMP OS018C EN P February 2010 Chapter
56. Cycle Profile tab Axis Data Axis Name A Product Family KINETIX 6000 x Axis Setup Cycle Profile y Mechanism t Transmission Stages Selection Click Edit Profile button to modify define Cycle Profile Edit Profile ie Profile data 6 Click Edit Profile The Profile Editor window opens Settings Help Segment Plot Move Distance Move Time Dwell Time Velocity rpm Index type a Automatic s Automatic X 0 6 Time sec 7 Click More Options The Profile Editor displays additional tools for editing your motion profile 8 Click Delete to clear the default index Se move profile File View Settings Help Publication IASIMP QS018C EN P February 2010 93 Chapter 7 Motion Analyzer Motion Profile Export 9 From the Add pull down menu choose Index Basie Seuments E Inde EA soni Index simple index move segment to your profile kodea Cade Cec Advanced Segments A MAM Hide Advanced Segments The Index Profile parameters window appears 2 ee ey 10 From the Settings menu choose CAM pe 5 Profle Exitor Setup to define Master and Slave Units File view b Save Layout 94 Publication IASIMP QS018C EN P February 2010 Motion Analyzer Motion Profile Export Chapter 7 11 Type the master and slave units Select Position Based Profile P CAM CAM Set Up 360 MU Enter Mas
57. Display Power Programming utilizes a Command Condition interface between the unit and equipment modules Follow these steps to see the command or condition 1 Navigate to the EM Maintenance display Siasia m Fault and Status Message Manual Mode opped State 4 ode Sele amfa Command ure ure ure ure 2 Press Command Condition Interface RESET ern mimi conan faase Aare Fee Mate ee gt HOLD STOP V A SPEED A Ready For Mode Change Request iii Ti lie EM i EM EM _Motion A Pent Yy e Mode iagnostics Maintenance Config Diagnostics Us Use 88 Publication IASIMP QS018C EN P February 2010 Motion System Application Guide Chapter 6 The Command Condition display opens ene m Fault and Status Message oe mage Aborted State The picture here shows that the machine condition is Command Condition Enable Enable Done faulted Disable Disable Done Prepare Execution Prepare Execution Done Start Execution Start Execution Done Abort Aborting Done Stop Stopping Done Fault Reset Fault Reset Done Home Home Done Activate Jog Activate Jog Done l Jog Positive Jog Positive Done Jog Negative Jog Negative Done J Faulted Go Back Use the EM Configuration Display Normally each equipment module needs to be configured for example for max acceleration and speed This is done on the EM configuration display for each individual EM Follow these steps to use the EM Configuration Display 1 Navigate to the EM
58. EMOG_Axes_Sts EMO6 Conditions Edt CAM Data Type k EMO _Axes_Sts 66 te Cross Reference for UNOL _Redpe EMOZ Cam Pars Cam Cbrl E EMO Conditions Filter on CAM EMOB Aves Sts 1 H EMOS Conditions Ecg Ctrl G H EMDI Axes Sts wis EMO3_Conditions je HEMIO Axes Sts BM Foor EMID_Conditions 7 HUNDI UND Machines tatehodeL ADI UNO Recipe UNOIRecipe Recine Number Cut Ctr UNOt_iecipe EMOD Ba copy Ctrl C UNOI_Recipe EMO2 pate eeu UNOI_Recipe EMO2General UNO1_Recipe E M02 Manual lo UNM Recipe EM02 Cam_Pars Delete be UNO1_Recipe EMO2 Cam Pa Find All UNOL Recipe EM02 Cam_Pars Cam UNO1_Recipe EMO2 Cam_Pat Paste Pass Through The Cam Editor dialog box opens W Cam Editor UNO1_Recipe EM02 Cam_Pars Cam Av l sls 8 3 ajala BER Slave Position Position Veloce Accelerator Jerk EzE Feer ass me ionas SOS 98 Publication IASIMP QS018C EN P February 2010 Motion Analyzer Motion Profile Export Chapter 7 6 Mark all points in the Cam table Cubic AC Ai a Cubic 5 50 000 19 506 Cubic 6 0 Zt ha URIS 7 700 40 404 Linear 6 s00 53 Cubic a 300 i Linear O 22 a Cubic Cubic 4 Cubic 5 Cubic 7 Cubic Cubic Cubic Linear gt End Slope 00 Acceleration Jerk mmer 0 006297 0 001483 _ Cancel App Help 7 Right click the Cam Table and choose E Cam Editor UMO1_Rec
59. Execute State Actions a e eR m i EM EM EM Motion pem y Stat Model Diagnostics Maintenance Config Diagnostics pra el To start your motion system and proceed to Execute state press Start Pressing Start will cause the system to move Do not press Start if motion will cause personal injury or damage to equipment Prior to entering Execute state the machine will enter a Resetting state where it will enable home prepare for execution and continue to the Starting state where it will start execution The state green moves from Stopped to Resetting Starting and then to the Execute state and the motion system axes begin operating according to the Logix program Stopping State Actions To stop your motion system press Stop The machine will stop all motion and disable all axes The state green moves from Resetting Starting or Execute to Stopping and then to Stopped The Start and Stop buttons on your PanelView Plus terminal display do not replace a hardwired Start stop control circuit for safety purposes Your motion system should also have an emergency AN start stop control circuit Publication IASIMP QS018C EN P February 2010 85 Chapter 6 Motion System Application Guide Aborting and Clearing State Actions If the unit has faulted for example with an emergency stop or a servo drive fault the state machine will make a transition to the Aborting state where all axes will be disabled When Abort
60. IASIMP QS018C EN P February 2010 Hardware Selection Chapter 1 Install Kinetix Accelerator Toolkit from DVD Insert the Kinetix Accelerator Toolkit DVD in your personal computer and follow these steps to install the Kinetix Accelerator Toolkit from the DVD an Kinetic docelemaior lected Soe riip E3 The Crei icce Toute cunei nol rehaled on pau oongaim tagd ou log ig roial tion punt bore he PFD fe Binetix Accelerator Jao Bj Rockwell Automation wtekcomen be the eel hoot afer foe Parolin Acopbenater Telia The brat he Ginaed eel tial Gitte biim atir Timed i pou oot qit Ha S Bineiic Aorceleanaior lap Bd fix Rockwell Automation Seth reall tall late Beeekeraten e a Peeks Vie iret ba i roti ckch Hest Ta mahal to a dieerd bolde click Ercega and idioci ancien irida Despina F iier Cogan rA hopies arns z Wiri Aorelenaior lacked baii hie Wond J fhe insti Srcpkerater Toobi ill be updated and nee anpkesnons ane A documenta rallies acided Fron toe to toe Tha sl be done throughs toed culled Currant Propia piir Tha toed ib ineidlite subsea ab part af Phe riti Rocekee ater Tracie wephallahen ands Geaigreed in aioa ah check for end moiy pm shen i oe dneadable hack tet pour coe buber i ert up Th pale all tiiat be started For PA ahan is eta a ritasi Aiba the metalation a freed krep aign ete ell ba achd Pheap Eak Hs ima ta PRRD par ipy D K
61. Ino Commands PrepareExecution Axi PostionCamStatus Out_EhtConditions PrepareExecutiont UNO1 Commands PrepareExecution EMO2_AxisiD PCamBasic PositionCam tatus EMO2_ Conditions PrepareExecutionD 16 p IMM Publication IASIMP QS018C EN P February 2010 107 Appendix A Logix Base Program Overview 7 Add a new data type called UDT_LocalTags_xxxx_Basic which is used for elements such as motion instruction control tags one shot tags and other tags required to execute the function d Data Hopes 5i rA User Defined Mf UDT_AXES_Sts Mf UDT_AXIS_Sts Mf UDT_AXIS_Sts_HMI bay UDT_Cormmands vie UDT_ Commands _AdditionalContral Mf UDT_Constants bang UDT_EMConditions ee UDT_EM Conditions _AdditionalStatus bang UDT LocalTags CAM_Basic see UDT LocalTags_Jog_ Basic oe UGT LocalTags NewFunction Basic see UDT_ Recipe _Unit_Exarmple Mf UDT_R_EM_Master Mf UDT_R_EM_PCamBasic sae UDT_R_Master_General bac UDT_R_Master_Jog se Ki UDT_R_PCamBasic CAM Basic see UDT_R_PCamBasic_General bas UDT_R_PCamBasic_Jog bane UDT_UNConditions bac UET_UNHMI Input iA UIT Unit tS ot Hi Data Type UDT_Locallags_ NewFunction_Basic Mame UDT _Localt age NewFunction_Basic Description fe Members Data Type Size 20 byte s Name o Dae oS SS Ste m Ml_MewFuncton MOTION INSTRUCTION ONS NewFunction BOOL Move Up Mave Dann OF Cancel Help 8 Add a new data type called UDT_R_PCamBasic_xxxx which contains el
62. Literature Library http wwwziterature rockwellautomation com for access to publications 6 Determine if the combination of your duty cycle and selected components require additional cooling For enclosure sizing example refer to your servo drive user manual Publication I ASIMP QS018C EN P February 2010 25 Chapter 2 Plan System Layout Download Other Allen Bradley CAD Drawings Follow these steps to download other Allen Bradley product CAD drawings 1 Open your Web browser and go to http www rockwellautomation com en e tools The Configuration and Selection Tools webpage Configuration amp CONFIGURATION amp SELECTION TOOLS Selection Tools opens gt Product Selection Rockwell Automation offers a powerful range of product selection and system Overview configuration tools to assist you to choose and apply our products There are tools Product Selection is the Enn available on line 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 default tab System Configuration Product Drawings Product Selection System Configuration Product Drawings Integrated architecture 2 Type the Catalog Number a Get Support Now Build Validate A Catalog Number Build Verify and Get Information and of the product CAD Drawings for Products Resources To verify a catalog number acquire drawings and product information Product Dire
63. OT Commands na bt MA UOT Commands Addit SCOpE fa Power_Programn gt Show Show All i ofl E UOT constants same EIEE else a ee one Mf UIDT_EMConditions ee TE EMO1 Conditions 0 E EM02 Axes Sts A VIEIDT A EMOZ Axes Sts Status BT A EMO2_Axes Sts Status No Motion 1 BOOL UDT_E ia UDT_EMConditions_Ad eae eis Cants il EUP Lata Lori ang 3 Ey UDT_LocalTags_CAM_ parameters for this et UOT LocalTags_Jog_6 amis bo Use offi UDT_Recipe _Unit_Exai Description o E UDT_R_EM_Master C EMO2 Axes Sts Status Homed 1 BO0L A E aie Ee HEMO Axes Sts Status DriveResolution 720000 DINT iv 2 Se Wena cies GLEMO2_Axes_ Sts Status Unwind 720000 DINT R UDT_R_PCamBasic CA enber n s MOZ Anes Sts Status Physical_Unwind 360 0 REAL fee Fi UDT_R_PCamBasic_Ge i ie Mz Aves Sts Status ConversionConstant 2000 0 REAL E UDT_R_PCamBasic_to Name _ Data Type EEMO Axes StsHM 0o es W UOT _UNConditions Eh Status UDT_Aesi5_sts aS MOZ Axes Sts HMI Motor APh me e H UDI i mia ochain PURE te MO2 Axes Sts HMI Product Speed oll UOU m POOL E MO2 Axes Sts HMl Units_ Speed 0 0 REAL m piel ELEMO2 AxisSD_PCamBasic Pac TAXIS S acu Bane E EMO2_ Conditions a URT E E Er a Meni EMO3 Axes Sts UDT_A in ConversianConstant REAL M e 3 Sein T E HMI UDT_AxIS_Sts HMI LELE Monitor Tags A Edt Tage a qa Z e a 25
64. PCam Position Cam Motion Profile 92 Copy Position Cam Profile to RSLogix 5000 Program 97 Appendix A Pasie Proctan HlOwWi css cesueitngt Rete eee hee ee ee 101 PackML 3 0 State Model Integration 543 24 ay os os tase eels 102 Main Machine Control UNO1_ExampleUnit 104 A EGuipment C ON O eein pada hone te ose an Sine ot 105 User defined Data Types UD Tsh yi ae ta coded ent ereta essa 110 Add On Instructions AOS 4934 2 345 62 gee BOHR PETE eee aS ES 110 Publication IASIMP QS018C EN P Febuary 2010 FactoryTalk View ME Communications Setup Rockwell Automation Training Services Publication IASIMP QS018C EN P Febuary 2010 Table of Contents Appendix B Configure Local Communications 0 0 0 cece ee ee eee 145 Appendix C Avala ole Liane ite Oak edd se ee Cae E 149 Table of Contents Notes 8 Publication ASIMP QS018C EN P Febuary 2010 Introduction Publication IASIMP QS018C EN P February 2010 Preface This quick start provides examples of using a Logix controller to connect to multiple devices servo drives motors and HMI over the EtherNet IP network in a Kinetix Integrated Motion application These examples were designed to get devices installed and communicating with each other in the simplest way possible The programming involved is not complex and offers easy solutions to verify that devices are communicating properly To assist in the design
65. PackML 3 0 based Programming Allen Bradley Quick Start asc 143371 EEE babel ib el WPF yi eo a eet eeer p UNV ak eet EEE _ m 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 www 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 liability is assumed by Rockwell Automation Inc with
66. Robot480x640 W001 Mer BiibemoRobot_Robotics_ 1 1_001_ 56301 mer BibemoRobot_vOO1 mer I DIS0109C_RA mer I PowerProg_Packaging Y4 _0_D3158 1 mer BiPowerProg_v4_00_FaultHandler_ 1 1 mer SEPP y4 _00_FaultHandler_D1 1_sbjl mer hy Recent Documents hy Network Places PowerProgramming 44 00 Core me Runtime 5 0 Application mer Conversion to development application File name Save as type f Always allow conversion C Never allow conversion C Conversion protected by password a s RSView Studio Machine Edition File View Application Tools Window Help FFERR Publication IASIMP QS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 6 Click to browse for the SF rancler Unity runtime file Download Upload ee Source file Exit gt Download as i i Destination storage type g WARNING Internal Storage Include a goto configure mode button in your application if you need to access the configuration mode screens Include a shutdown button in your application if you want to be able to shut it down 1789 417 Backplane gs EtherNet Ethernet Mode Select Not Browsing 7 Select Select File to Download PowerProgramming V4_00_Core mer Peer unis em and then click Open Ie G dl PF PowerProgramming w4 OO Core mer RSview ME Station File e IPP Y4 _00_FaultHandler_D11_sbji mer RSview ME Sta
67. SpeedMirrar 0 0 Ad Motion Axis Jog EM Axis Dt Axis W Motion Control Ml_Rundog Dh Direction 0 ER Speed Par_AutoSpeed age F Speed Units Units per sec More gt co Motion Change Dynamics EM Axis Dt Axis vo Motion Control MiChangeJog Dh Motion Type Jog Change Speed Yes ER Speed Par_AutoSpeed 0 0 e More ory Mave Source Par_AutoSpeed 0 0 Dest SpeedMirror 0 0 Ste_RunDone ES OO N 116 Publication ASIMP OS018C EN P February 2010 Logix Base Program Overview Appendix A Cmd_Abort Sts_AbortDone and Cmd_Stop Sts_StopDone The axis can be stopped in two ways either immediately or at a defined position Stop immediately The axis will stop immediately if e Cmd_Abortt is set and the use of the command is configured e Cmd_Stop is set and there is no motion on the axis e Cmd_Stop is set and the axis is configured to do an immediate stop e Cmd_Stop or Cmd_Abott is set and the Stop at defined position instruction faults Cfg_StopWithImmediateStop Behavior 0 The axis does not execute the command 1 The axis executes the command Cmd_Abort Cfg _AbortvvithPosittionedStop AS Motion Axis Stop Axis Out Axis vo Motion Control Mi_Stop Auto Stop Type All Cmd_Stop Sts_MoMotion Cmd_Stop Cig _StopVvithimmediateStop J ore gt Cmd_Stop Ml_Move2StopLocation ER Cmd_Abort Stop at defined position If the axis is jogging and Cmd_Run tra
68. Status Display page 87 Use the Command Condition Display page 88 Use the EM Configuration Display page 89 shut Down Application page 90 Publication ASIMP OS018C EN P February 2010 Motion System Application Guide Chapter 6 Use the PowerUp Display With power applied to your Kinetix Integrated Motion system and the Logix controller and PanelView Plus terminal in Run mode the PowerUp display automatically opens on your PanelView Plus terminal e7 f the PowerUp display is not visible or errors are reported on either the Logix controller or PanelView Plus terminal refer to previous chapters to check system wiring and configuration settings amore Rockwell Automation Power Programming for Packaging press to continue The PowerUp display is meant to display your design You can change this display to include items such as your company logo machine name picture of machine Press anywhere on the screen to continue Publication IASIMP QS018C EN P February 2010 81 Chapter 6 Motion System Application Guide General Display Layout The general layout of the displays can be divided into four sections e Navigation bar Navigation buttons to go to various displays e Action bar Reset Start Hold Stop and ramp speed up down The buttons will be unavailable if the actual state of the state machine does not allow the action e Status bar Fault and Status Message and mode specific infor
69. VD publication ASIMP SP004 For a copy of the DVD contact your local Rockwell Automation distributor or sales representative e Personal computer e Internet access for downloading software optional especially for software updates e Motion Analyzer software version 4 6 available from the Kinetix Accelerator Toolkit DVD publication L ASIMP SP004 http www rockwellautomation com en e tools installed in this chapter e Kinetix Motion Control Selection Guide publication GMC SG001 Publication IASIMP QS018C EN P February 2010 11 Chapter 1 Hardware Selection Follow These Steps Complete the following steps to select your motion system hardware No Use Motion Selector and Motion Analyzer software with information in Select system Components to select entire system page 19 12 Install Kinetix Accelerato Toolkit from DVD page 13 page 14 page 16 Get Motion Analyzer software Install and Run Motion Analyzer software Start with Basic Motion Control panels Yes 230V select the 200 230V Base System 460V Select the 400 460V Base System page 1 230V or 460V input voltage Do you wish to further verify or change your motion selections Yes Use Motion Selector and Motion Analyzer software and information in Select Go to Chapter 2 Plan System Layout System Components to add to your system page 19 Publication
70. ableStates Cfg_DizableStates Ste _ Starting Cfg_ModeNames Cfg_ModeNames Ste_Idle Cmd_Mode 1e Ste_ Suspended Cmd_Reset 0e Sta _Execute Cmd_ Start 0e Ste_ Stopping Cmd_ Stop 0e Sta Aborting Cmd _Hold 0e Sta Aborted Cmd_UnHold 0e Sta_Holding Cmd_ Suspend 0e Sta_Held 5 Cmd_UnSuspend 0e Ste _UnHolding Cmd_ Abort 0e Ste_ Suspending Cmd_Clear e Ste_UnSuspending Cmd_ State Complete 0e Sta_Fesetting Sts _StateturrentMame Sts _StateturrentMame Sta Completing Ste_ModeCurrenthame Ste_ModecCurrenthame Ste_ Complete Ste_ModeChangeNot Alloyed NABLE AUTOMATIC PROGRAM QU EnableAutomaticONs SSY Equal ONS Set System Value Source A UNO1_MachineStateModel_AOl Sts_ModeCurrent Class Name PROGRAM 1 Instance Name OPO1_ Automatic Source B 1 Attribute Name DisableFlag Source Constants PRG_ENABLE_PROGRAM 0 NABLE MANUAL PROGRAM QU EnableManualONs SSY Equal ONS Set System Value Source A UNO1_MachineStateModel_AOl Sts_ModeCurrent Class Name PROGRAM 1 Instance Name OP02_Manual Source B 3 Attribute Name DisableFlag Source Constants PRG_ENABLE_PROGRAM 0 EQ DisableAutomaticONs SSY Not Equal ONS Set System Value Source A UNO1_MachineStateModel_AOl Sts_ModeCurrent Class Name PROGRAM 1 Instance Name OPO1_Automatic Source B 1 Attribute Name DisableFlag Source Constants PRG_DISABLE_PROGRAM 1 SABLE MANUAL PROGRAM EQ DisableManualONS SSY Not Equal ONS Set System Value So
71. alent to Inp_RemoteStateCmd is Cmd_XX the individual commands and the behavior is similar See Cmd_xx Commands on page 135 The remote word is a DINT where the individual bits will correspond to a specific command Inp_RemoteStateCmdChangeRequest is used to request a state change remote There is no local equivalent to it Sts_XX Status The AOI produces status for states and modes Status indicators for states The AOI will produce an output status for each individual state Only one of them can be set at any time as it is the actual state of the state machine Sts_Aborted Sts_Completing Sts_Idle Sts_Stopping Sts_Aborting Sts_Execute Sts_ Resetting Sts_ Suspended Sts_ Clearing Sts_Held Sts_ Starting Sts_ Suspending Sts_ Complete Sts_ Holding Sts_ Stopped sts_UnHolding Sts_UnSuspending sts_EnabledStates Currently Disabled States 0 Sts_StateCurrent Current State ID sts_StateCurrentName Current State Name sts_StateCurrentName Current State Name Status indicators for modes Sts_ModeChangeNotAllowed BOOL Le ail Request Was Sts_ ModeCurrent DINT Current Mode ID Sts _ModeCurrentName STRING Current Mode Name Publication I ASIMP QS018C EN P February 2010 137 Appendix A Logix Base Program Overview States Descriptions The PackML state machine consists of 17 states The description and intention of each is listed below State Name Description STOPPED State Type Wait Down The machine is powered and stationar
72. als for additional device configuration and programming Requirements Before You Begin e Complete your system hardware selection Refer to Chapter 1 e Complete your system layout Refer to Chapter 2 e Complete your system wiring Refer to Chapter 3 What You Need e Kinetix Accelerator Toolkit DVD publication IASIMP SP004 e RSLogix 5000 software version 17 0 or later e RSLinx Classic software version 2 54 or later e Logix application file Power_Programming_CLX_V4_00_Core acd The Logix file is available on the Kinetix Accelerator Toolkit DVD For a copy of this DVD contact your local Rockwell Automation distributor or sales representative e Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 e Motion Modules in Logix5000 Control Systems User Manual publication LOGIX UM002 e ControlLogixControllers User Manual publication 1756 UM001 Publication IASIMP QS018C EN P February 2010 35 Chapter 4 Motion Logix Integration Follow These Steps Complete the following steps to configure your Logix Integrated Motion application select Your Logix Application File page 3 Load and Open Logix Application File page 3 Configure Your Logix Controller page 38 Configure Your Logix SERCOS Module page 39 Add Logix Program Code for Additional Axes page 40 Configure Your Kinetix Drive Modules to the Additional Axes page 48 Configure Axis Properties page 91 Configure Log
73. ame in the nile ication Setup RNA Local PowerP ing_V4_00_Core RSLinx Enterpri fc fel Device Shortcut window ETL Eee ELM Pc IE REL RE REDE OATB AAE recone eI Device Shortcuts Design Local Runtime Target ramae Cr D Reset Configuration c 95 Unit is used in this example E 1769 817 Backolane gs EtherNet Ethernet 192 168 1 6 1756 ENBT 4 1756 ENBT 4 6 1756 417 B6 1756 417 6 A o 1756 L63 1756 L63 LOGIX5563 1 1756 L64 1756 L64 LOGIX5564 3 1756 IB16D 4 1756 IB16D 4 DCIN DIAG 4 1756 MO85E 8 Axis SERCOS interface 1 5 1756 OB1615 4 1756 OB1615 4 SCHEDULED OUTPUTS 192 168 1 9 Panelview Plus CE 1000 Panelview_Plus CE vi lt gt Mode Offline i 15 In the D evice Shor tcut window click Apply Offline Tag File D Modular Programming Power Programming PP 08 Update PowerProgramming_CL _ 4 _00_Dra Browse Press Apply button to assign selected path to this shortcut Cancel Verify Help TIP If you select the device shortcut Unit the 1756 L63 ControlLogix controller is highlighted This indicates that the shortcut is correctly mapped to the controller and communication exists between your application on the development computer and the controller 62 Publication IASIMP QS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 Configure Runtime Target Communications The Runtime Target tab displays the offline con
74. animation labels parameter files and gotodisplay names 64 Publication IASIMP QS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 Add a Parameter File Follow these steps to add a parameter file to your FactoryTalk View ME application 1 Expand the FactoryTalk View ME Explorer window to gain access to LE Parameters EM_01_Para Parameters EM_02_Para PhaseMonitor Double click UnitO1_Para and change the following parameter 10 Unit Program UNO01_ExampleUnit to 10 Unit Program UNO1_Labeler and save the change The parameters list contains the pre configured axes within the application Each parameter file is associated with a specific EM Equipment Module When opening the Axis Status display the tag information loads from the EM currently selected Right click EM_02_Para status and select Duplicate La ee EM_0 E EM_0 Open Z Phase Delete Z Rotar Remove Local Me Rename ay Alarms Duplicate 1 Change the Component name from 02 to 03 Save x Component name In the pictured example there is one existing pre configured axis Foe Copy paste and rename the EM_02_Para parameter file The new name is EM_03_Para the new name of your renamed parameter file could be different OF Cancel Click OK Double click the EM_03_Para status parameter file created in E Parameters 2 EM_01_Para step 5 if EM_02_Para eee gt Ka Z PhaseMoni
75. are to install Motion Analyzer and Motion Selector software follow the steps in either of these sections Accessing Motion Analyzer Software on the Web below o Accessing Motion Analyzer Software from Kinetix Accelerator Toolkit on page 15 Accessing Motion Analyzer Software on the Web Follow these steps to access Motion Analyzer and Motion Selector software from the Web 1 Open your Web browser and go to http www rockwellautomation com en e tools The Configuration and Selection Tools webpage Slaves CONFIGURATION amp SELECTION TOOLS Selection Tools opens gt Product Selection Rockwell Automation offers a powerful range of product selection and system Overview configuration tools to assist you to choose and apply our products There are tools ss the POSS available on line and for you to install on your personal computer so that you can quickly 2 Click the System D access information on our products while in the office or on the go System Configuration Configuration tab Product Drawings Product Selectidn System Configuration product Drawings Integrated Architecture Tools 3 Click Motion Analyzer Get Support Now e Integrated Architecture Builder Configure an Automation System e Motion Analyzer Design a Motion Control System Resources Motion Analyzer uses sophisticated optimization tools to maximize ratios inertia and mechanice proatives for motion control applications Download Order 4 Cl
76. atus Drive Faults Drive Faults COMMAND POSITION Units COMMAND POSITION Units 0 000 0 000 ACTUAL POSITION Units ACTUAL POSITION Units 0 000 0 000 Go Machine EM EM EM Motion Psi Eege Go Machine EM EM EM Motion Pac Bie Back State Model Diagnostics Maintenance Config Diagnostics Gas as Back State Model Diagnostics Maintenance Config Diagnostics mit ae system in Aborted State system in Execute State 3 Select a system status or fault category from the left pane You can press either the text or its corresponding button The selected object is indicated by a dark grey background and italic text The figures above show the Axis Status Publication IASIMP QS018C EN P February 2010 87 Chapter 6 Motion System Application Guide 4 Monitor the status or fault indicators In this example Axis Status indicators are shown Servo Enabled Servo Faulted SERCOS Fault and EM Fault status indicators are always present Motion Status and Module Faults indicators represent general system status fault conditions Axis Status Drive Status and Drive Faults indicators show the corresponding status faults of the axis displayed on the Axis Select button The ON and OFF and Faulted and Non Faulted states are described in the tables below Faulted Non Faulted OFF State Fault Indicators State Module Faults Status Indicators Axis Status Drive Status Grey Motion Status Grey Drive Faults Use the Command Condition
77. borted state This AOI provides only a simple scheme of mode management such that a transition is allowed from the current mode to any other mode at any state that is configured for both the current and destination modes There may be applications that will require that modes be separated into subsets that will allow modes within the subset to transition at a specific state but prohibit modes in separate subsets to transition at the same State For example modes A B C and D all have the Execute bit set in the Cfg_ModeTransitions array The desire is for A and B to be able to transition in the Execute state and C and D to be able to transition in the Execute state however A and C A and D B and C and B and D are not able to transition in the Execute state There is no provision for this type of transition configuration built into the AOL so it would be necessary to write logic outside of the AOI to enforce the rules in this example Cfg_DisableStates Configure Disabling of States The template is very flexible and allows you to use only the states that are needed for a particular mode The states that are not used will be jumped in the program and will not be visible on the state machine overview on the HMI application Certain states and state combinations are mandatory for any operation and these are Mandatory states AOI will reset the disable bits for these states automatically Stopped Execute Aborted Mandatory S
78. cart Here Gulch Start angg Faci v1 0 oynchronined Motion Phe i Maruger Style ME Ce Material AutoCAD Blectrical CAD Centralier Program Files Rockwell OG bim Miret oe Automation 59 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration 3 Double click your Pe TEITTE ee C Program FilesiRA_Simplification Kinetixifiles AB ISA 586 Based Motion 6 selected Factory Talk View ME apa File Edit View Favorites Tools Help application file Ta yp a gt a A Search IE Folders Address CiProgram Files R4 Simplification Kinetix Files 46 154 558 Based Motiong HMI Applicatior 4 Select A PowerProgramming_ 4_00_Core apa PowerProgramming _ File and Folder Tasks 2 V4_00_Core apa oJ Make a new folder ee Publish this Folder to the Web af Share this folder The Application ep Application Manager Manager window Opens Specity the application archive to restore c shehyjeld Desktop PP vid Draft PP Ya Power Progamming v4 00 Core apa 5 Click to select Restore the Factory Talk View Machine Restore the FactoryT alk View Machine Edition application Edition application button and then click Next m a Factor T alk View Machine Edition application and FactomtT alk Local Another Application Manager window opens cowl Hb Mirttiettae oclecting Restore the FactoryTalk Machine Edition application and
79. cipe EMO2 Cam_Pars Cam O x ziv l slslsl alalal Ba em Slave Position a bw el of nn Soe a 10 0 300 4 20 0 qL 4 i H pi a 3 130 0 1 40 0 i y h 50 000 20 Ma ae TTS EIEE ei ee TA ca 6 160 0 as J mi 7 70 o 100 ha A a ee rN eb k Master 50 100 150 200 250 300 350 ez 4 4 100 aai 2 0 i z ne oo 4 gt EndSlope oo Master Position Velocity Acceleration Jerk eat ae Cancel 370 833 501 667 foo foo joo ee ete Help Apply Zi 9 Select either OK or Cancel to close the Cam Editor 10 Repeat steps 5 through 7 to configure the Cam profile for UNO1_Recipe EM03 Cam_Pars Cam 11 Select all rows of the Cam table and press Ctrl V to paste the Cam table from the clipboard into the newly configured Cam profile 12 Select OK to close the Cam Editor 46 Publication ASIMP OS018C EN P February 2010 Motion Logix Integration Chapter 4 13 Note the value stored in tag UNO1_Recipe EM02 Cam_Pars No_Of_Cam_Points In this example the value is 20 UNO1_Recipe fee SETS UNO1_Recipe Recipe_Number GF DINT UN01_Recipe EM00 e UDT_ EUNDI _Recipe EM02 Pur H UNO1_Recipe EM02 General RIE EUNDI _Recipe EM02 Manual_Jog 2 2 UDT_ _E UNO1_Recipe EM02 Cam_Pars UNO1_Recipe EM02 Cam_Pars No_Of _Cam_Points th i s UNO1_Recipe EMO2 Cam_Pars Cam EUNDI
80. ck the new Logix SERCOS module that you just created and select New Module 48 Publication ASIMP OS018C EN P February 2010 Motion Logix Integration Chapter 4 5 The Select Module window opens EVENE Modul escini TE Select your Drive Module as appropriate for mg E sonpkon Wendor our hardware conficuration and then click 1394C SITOS D 1394 460 AC SERCOS System Module SkW PS Allen Bradley y a gt 1394C 5JT10 0 1394 460V AC SERCOS System Module 10kw PS Allen Bradley OK 13942 5 22 0 1394 46040 SERCOS System Module 22kW PS Allen Bradley 2094 4C005 MO1 Kinetix 6000 230V4C IAM 3k PS 94 Cont 174 Peak Allen Bradley H 2094 4005 MPS Kinetix 6000 230V4C IAM Ske PS 54 Cont 104 Peak Allen Bradley The New Mo dule win dow opens 2094 4009 Moz Kinetix 6000 250VAC TAM bk PS 154 Cont 304 Peak Allen Bradley p 2094 40 16 M03 Kinetix 6000 230V4C IAM 15kW FS 244 Cont 49A P Allen Bradley 2094 4 32 h05 Kinetix 6000 230V4C IAM 23kW PS 49 4 Cont 984 P Allen Bradley 2094 4M01 Kinetix 6000 250V4C AM 94 Cont 174 Peak Allen Bradley 2094 4M02 Kinetix 6000 230V4C 4M 154 Cont 304 Peak Allen Bradley 2094 AM03 Kinetix 6000 230V4C 4M 244 Cont 494 Peak Allen Bradley n 2094 AM05 Kinetix 6000 230 4C 4M 494 Cont 954 Peak Allen Bradley 5 HE Find Add Favorite 5 By Category By Vendor Favorites omea He gt my Describe the new module
81. component SOOO PowerLlpScreen SO01_Mainklenu S003 PackML 5102 EM 02 5103 EM 03 5200 EM Confiauratian 996 BlankScreen Click OK Cancel Heb Return to the Goto Display Button Properties window and select the Label tab Edit the text in the Caption field Go to the Label pane and change the text to EM 03 Diag Screen Goto Display Button Properties General Label Common r Caption In this example EM 03 Diag Screen becomes EM 03 EM 4 Diag Screen Diag Screen Click OK Insert Variable The Goto Display Button Properties window closes Publication ASIMP OS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 12 Verify that EM Diagnostic now includes your new EM EMO3 in this example 5 13 2009 7 27 45 PM ontrol Source E SSSSSSSSSSSSSSSSSSSSSSSSSS m SSSSSSSSSSSSSSSSSSSSSSSS sssssssssssssssssssssss Mode SSSSSSSSSSSSSSSSSSSSSSS State EM 00 EM 01 EM 02 EM 03 EM 04 Diag Screen Diag Screen Diag Sereen Diag Screen Diag Screen 13 Duplicate the display S202_EM02_Configuration and rename it to S2xx_EMxx_Configuration where xx is the EM number For example EM03 will give S203_EM03_Configuration EM10 will give 210_EM10_Configuration and so on 14 The EM configuration display is called from S200_EM_Configuration and has buttons for four predefined EMs EM00 EMO03 Each button is controlled with visibility so only EM
82. ctory enter the complete number including dashes below 3 Click Submit Product Certification Catalog nui poremos D C Product Cross Reference You can also browse our product directory for additional product information or to configure a part NOTE You must be logged in to correctly wiew Canadian dollar results Literature Library The Configuration Results dialog opens Selected Compone hort Circuit Current Rating T Plan View Drawings Catalog Number AutoCAD DWG a ae Adobe PDF Windows Metafile 2094 BMO1 S ABMCCS570 DWG ABMCC570 DXF ABMCC570 PDF ABMCC570 WMF 3 View Dimension Drawings Catalog Number AutocAD DWG DXF Adobe PDF Windows Metafile 2094 BM01 S ABMCCS 71 DWG ABMCCS71 DXF ABMCCS71 PDF ABMCCS71 WMF 4 Click the Drawings tab 5 Click a file to download 26 Publication IASIMP QS018C EN P February 2010 Chapter 3 Plan System Wiring In this chapter you plan the cable layout for your system components placed in Chapter 2 Use the CAD drawings supplied on the Kinetix Accelerator Toolkit DVD to assist in the routing of wires and cables for your system components For a copy of the DVD contact your Rockwell Automation distributor or sales representative Before You Begin e Complete your system hardware selection Refer to Chapter 1 e Complete your system layout refer to Chapter 2 What You Need e Kinetix Accelerator Toolkit DVD
83. cts the fies needed to Petal MA 4 6 and M5 4 51 Software botade on pou commuter Da may tae a how moments 15 Chapter 1 Hardware Selection Install and Run Motion Analyzer Software 1 Install both Motion Analyzer and Motion Rockwell Automation Selector software following the on screen instructions for each EA Maton Cantal System Analysis and Configuration Software Installer 2 If this dialog box appears click OK Self Registration Error The Following Files did not self register or unregister L CAWINDOWS system32 5HDOC YW DLL Error accessing the OLE registry To continue click OK otherwise click Cancel 3 When done click Exit Rockwell Automation 4 Choose Start gt Programs gt Rockwell A Automation gt Motion Analyzer gt Motion Analyzer to start the application Motion Contre System Analysis and Configuration The System View dialog box opens T e otin Analyrer fie tde Ane Cotebese Gotere Too foobes Ack N Cd Sia AN as faye tare Wieew 5 From the Product Family pull down menu choose your servo drive family 6 Click APPLICATION DATA 7 Enter the data for your motion 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 DVD publication IASIMP SP004 For a copy of the DVD
84. d power up or cycling the processor to Run mode 120 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A Farameters and Local lags Only a few of the tags in the table below are visible on the AOI itself and most of the other tags can be referenced via the backing tag outside the AOI Local Tags can only be referenced inside the AOI and are not discussed here Below is a table with all tags that can be referenced outside the AOI Configuration Cfg_AbortEnabled Input BOOL 1 CMD_Abort will execute MAS instruction 0 No stop instruction executed Cfg_AbortRamp REAL Ramp for MAS instruction in aborting Cfg_ HMIFPDisplay DINT Internal tag used by the fault handling on the HMI Configuration Cfg_HomeEnabled Input BOOL 1 CMD_Home will execute MAH instruction 0 No home instruction executed Configuration Cfg_StopEnabled Input BOOL 1 CMD_Stop will execute MAS instruction 0 No stop instruction executed Cfg_StopRamp Input REAL Ramp for MAS instruction in stopping Configuration 1 Virtual master is used Will wait for Ino_MasterNoMotion before executing MAS 0 Will not wait Zero speed Tolerance Window in units sec for Cfg_ZeroSpeedTolerance REAL Sts NoMotion Stops the Axis with AbortRamp Waits for eanan pu ee Ino_MasterNoMotion if CfgUseVirtualMaster 1 Cmd_Disable Input BOOL Disables the Axis Cmd_Enable Input BOOL Enables the Axis Cmd_FaultReset BOOL Fault R
85. d the Explorer window to gain access to Tasks and Data Types Publication I ASIMP QS018C EN P February 2010 105 Appendix A Logix Base Program Overview 2 Modify the UDTs UDT_Commands_AdditionalControl and UDT_EMConditions_AdditionalStatus by adding the BOOL elements for the function to supply a command and a done status Ea Data Types HpppT EPA 3 Click OK 106 User Defined UDT AXES Sts UDT_AXIS Sts i UET_AXIS_5ts_HMI i UDT_ Commands i UDT Commands _AdditionalControl i UDT_ Constants i UDT_EMConditions UDT_EMConditions_AdditionalStatus i UCT _LocalTags CAM Basic i UDT_LocalTags Jog Basic UDT Recipe Unit_Example i UDT_R_EM_ Master i UDT_R_EM_PCamBasic i UDT_R_Master_General EA UDT_R_Master_Jog i UDT_R_PCamBasic CAM Basic i UOT_R_PCamBasic eneral UDT_R_PCamBasic_Jog i UDT_UNConditions i UDT_UNHMI_ Input Al UDT Unit Hi Data Type UDT_Commands_AdditionalControl E o x Name UDT _Commands_AdditionalControl Description E embers Data Type Size 77 byte s Ware Date w Eg StatE secution_UneCycleSelected BOOL a StartE xecution_ Manually heels elected BOOL Decimal E E Esecution_MachineSpeed uto REAL Float E w Abort_with_PositionedStop Decimal og top_with_ImmediateStop BOOL Decimal i fg EM No DINT Decimal c Decimal Ale t Move dp ove Down Cancel Apply Help Name UDT_EMConditions_AdditionalStatus Description Members
86. dMaxValue Analog 12 Velocity TrendMin alue Analog j lt gt This is the text that is displayed on the graphic display EM30 is used in this example Yours could be different Click Accept Leave default values for Description and Length as they are Repeat steps 3 8 for each newly created parameter file 6 EM30 or greater 10 Click the Close button lt X gt in the Axis x Status parameter file window to close the window Edit Display Files Follow these steps to edit the display files 1 Return to the Explorer window and expand the Displays editor 68 In this example the displays shown here are visible Yours could be different Duplicate the display SIO2_EM_02 and rename it to Sixx_EM_xx Egri Displays 5100_4visSelect_ ManualControl S100 _AsisSelect STATUS 102_AsisSelect FAULTLOG 120 _AsisSelect_ Position TREND 5120_AxisSelect_ Torque TREND 9120_AvisSelect Velocity TREND where xx is the EM number for example EM03 will give 103_EM_03 EM10 will give 110_EM_10 and so on The Axis Selection display screen opens Publication ASIMP OS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 The EM status display is called from S100_EM_Dhiagnostics and has buttons for four EMs predefined as EM00 to EM03 Each button is controlled with visibility so only EMs defined in the PAC program will be shown Each button
87. e ID Current Mode Name State Machine status is Resetting State Machine status is Starting Current State ID Current State Name Current State Name State Machine status is Stopped State Machine status is Stopping State Machine status is Suspended State Machine status is Suspending State Machine status is UnHolding State Machine status is UnSuspending Publication IASIMP OS018C EN P February 2010 Logix Base Program Overview Appendix A Cfg_ModeNames Configure Mode Names The state machine can operate in various modes Up to 31 different modes can be used array index 1 31 Array number 0 zero is reserved and cannot be used The template has two predefined modes Automatic and Manual Additional modes can easily be added Cig_MadeNames f 2 STRING Z21 Cig ModeNames 7 Cig odeN ames 1 automatic Cfg ModeNames 2 e Cig_ModeMamez 3 Manual Cig _Mode ames 4 Cig_ModeNames 5 i l Cig Mode ames 6 i Cig_ModeN ames Cig_ModeN ames 8 i i Cig ModeNames3 IE Ctg_ModeNames 1 0 Position O Count 10 of 82 Errors gt Cig ModeNames 11 EN f String Browser Cfg_ModeNames 2 Clo_ModeNames 12 he Chg_ModeNames 13 S SL poets La ceca pm E EE ackML_StateModel_ Al PackML_ StateModel_ 40 UNO MachineStateModel Al Ste_ Clearing Cfg_ModeTransitions Cfg_ModeTransitions Ste _ Stopped aa Cfg_Diz
88. e all states of the PackML state machine are shown The active state is indicated with a green background In the figure below the Execute state is active Only states that are not disabled will be shown See Cfg_DisableStates Configure Disabling of States on page 133 for configuration In this template Automatic Mode will only show Aborting Aborted Clearing Stopping Stopped Resetting Starting and Execute state Mode Selector It is possible to change between the different modes that have been configured See Cfg ModeNames Configure Mode Names on page 131 for configuration The template has two different modes Automatic 142 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A and Manual If you try to change mode in a state that does not allow a mode change you will be notified by a red bar with the text Requested Mode Change Not Allowed This figure shows a request for Manual mode while the state machine is in Execute state Mode Select atir Publication IASIMP QS018C EN P February 2010 143 Appendix A Logix Base Program Overview Notes 144 Publication IASIMP QS018C EN P February 2010 Appendix B FactoryTalk View ME Communications Setup This appendix shows you how to configure local communications for your Logix controller from Factory Talk View Studio software This procedure is necessary only if your controller is not available on the n
89. e transition command is initiated Start Phase Command Rung E E Tasks 5 85 MainTask E 3 UNO1_ExampleUnit A Program Tags MainRoutine IB cm01_OperationLocal B cmo2_ConditionsModules E SRO1_Initialize E SRO2_ProcessorStatus B upo1_PackML 3 OPO1_Automatic UNO1_MachineStateModel_AOLSts_Idle Start_Command_Issued UNODI MachineStateModel AOL md Start ss ES 104 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A Axis Equipment Control The axis control is consolidated in the EMxx programs The individual axis equipment actions are requested based on the unit operation state Structures for operating commands and conditions have been defined as a common interface to provide easy integration of additional equipment modules These structures may be altered or amended to fit your application needs in order to provide independent control or additional functionality of equipment In the rungs of code below within the Execute state logic for OPO1_Automatic a member of the commands structure Inp Commands PrepareExecution is set to initiate position cam synchronization of the physical axis to the virtual master axis Eee Tasks AGS MainTask i 8 UNOL _ExampleLnit Fs _Resetting UNO Commands Enable HES OFO1_Automatic 1 es F i p Program Tags a PreState FS_Resetting Se B 501 ResebCommands B 5T_Aborting H ST_Clearing jen B ST _Execube en ad ST_Reset
90. ecuting or in the EXECUTE state Execute refers RUN to the mode in which the machine is in If the machine is in the Clean Out mode then execute refers to the action of cleaning the machine STOPPING State Type Acting RUNOUT This state executes the logic which brings the machine to a controlled and safe stop State Type Acting The ABORTED state can be entered at any time in response to the Abort command or on the occurrence of a ABORTING machine fault The aborting logic will bring the machine to a rapid controlled safe stop Operation of the Emergency Stop will cause the machine to be tripped by its safety system It will also provide a signal to initiate the ABORTING State State Type Wait ABORTED This state maintains machine status information relevant to the Abort condition The Stop command will force transition to the Stopped state 138 Publication IASIMP OS018C EN P February 2010 HOLDING HELD UNHOLDING COMPLETING COMPLETE RESETTING CLEARING States Transitions Logix Base Program Overview Appendix A State Type Acting When the machine is in the EXECUTE state the Hold command can be used to start HOLDING logic which brings the machine to a controlled stop or to a state which represents HELD for the particular machine mode State Type Wait The HELD state is typically be used by the operator to hold the machine s operation temporarily while material blockages are cleared or to stop throughput wh
91. ed to get to next state which ever the next state from the diagram is Execute Stop Abort Suspend Hold State Complete If the next mandatory state is not available the command will be ignored For example in execute if the state Complete is disabled and the signal State Complete SC is set the statemachine will stay in State Execute and ignore the signal Special case of Stopped Resetting Idle Starting Following the above rules the behavior is the following Enabled States Stopped Resetting Idle Starting Execute pee Cn E sw o o O e Enabled States Stopped Idle Starting Execute a E sw ee 140 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Enabled States Stopped Resetting Starting Execute Enabled States Stopped Resetting Idle Execute swa pee Rowing a Swreng e Enabled States Stopped Starting Execute se ee Enabled States Stopped Starting Execute se ee Enabled States Stopped Resetting Idle Execute swa Me eS Swine e Enabled States Stopped Execute Appendix A Not all states are configured in this template but the AOI supports it See Cfo_DisableStates Configure Disabling of States on page 133 for configuration Publication IASIMP QS018C EN P February 2010 141 Appendix A Logix Base Program Overview HMI PackML State Machine The AOI comes with a face plate wher
92. edures refer to Chapter 5 and download the Factory Talk View program to your HMI 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 Kinetix servo drive user AN manual for your system listed in What You Need on page 79 What You Need e Kinetix Accelerator Toolkit DVD publication LASIMP SP004 For a copy of the DVD contact your local Rockwell Automation distributor or sales representative e Hardware installation and wiring complete with power applied e Motion Logix application file PowerProgramming CLX_V4_00_Core ACD downloaded to ControlLogix or CompactLogix controller Controller is set to run e FactoryTalk View ME runtime application file PowerProgramming CLX_V4_00_Core mer downloaded to the PanelView Plus terminal Run Application activated on terminal e Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UMO001 e Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 e Kinetix 7000 High Power Servo Drive User Manual publication 2099 UM001 Publication IASIMP QS018C EN P February 2010 79 Chapter 6 Follow These Steps Motion System Application Guide Complete the following display overview steps to run the pre configured application and gain an understanding of the general motion system operation 80 Use the PowerUp Display page 81 Use the EM
93. ements for any parameter information required for the function Add an element to UDT_R_EM_PCamBasic for this new 108 function 2 Data Types ci r User Defined olf UDT_AXES_Sts MA UDT_AXIS_ Sts MA UDT_AXIS_Sts_HMI pi UDT _Commands see UET Commands AdditionalContral W UDT_constants Bi UDT_EMConditions see UDT_EM Conditions _AdditionalStatus Bi UOT LocalTags CAM Basic seen UDT_LocalTags_Jog_Basic fon UDT_LocalTags_NewFunction_Basic seen UDT Recipe _Unit_Exarmple Mf UDT_R_EM_Master Mf UDT_R_EM_PCamBasic z UDT_R_Master_General Bi UDT_R_Master_Jog fn Ki UDT_R_PCamBasic CAM _ Basic seen UDT_R_PCamBasic_General pi UDT_R_PCamBasic_Jog seen 44 UDT_R_PCamBasic_MewFunction Bi UDT_UNConditions Bi UDT_UNHMI_ Input ff UDT Unit EE BA Data Type UDT_R_EM_PCamBasic lol x Name LoTR E M_FCamBazic Description Members Data Type Size 4 bytes e a Ty a aan BE Gereral UOT A PCamBasic General RE Manual Jog UDOT R_PCamBasic_Jog T E Cam_Fars UDT_R_FCamE asic OSM Basic E H NewFunction Pars UOT AR PCamBasic NewFunction gE S a he Data Type UDT_R_PCamBasic_NewFunction E ioj xj Mame UDT_R_PCam asic _NewFunction Description Members Data Type Size 16 byte s ea a T a Fest rots Accel REAL Float Bul OE Decel REAL Float of maximum a EE Hove Up Mave Bann Ea Cancel Apply Help i Publication IASIMP QS018C EN P February 2010 Logix Base Program Ove
94. erview Appendix A No motion is when none of the motion planner inputs such as gears jogs or CAMs are active and the axis speed is less than the level configured in Cfg_ZeroSpeedTolerance ABS Absolute Value Source Out Axis Vv Averagevelocty 77 Dest Average elocity 0 0 Er Less Than or Eql 4 B Source 4 Average elocity 0 0 Source B Cfg_ZeroSpeedTolerance 0 0 EQ Ste_MoMotion Mask Equal Source Out_Axis Vv MotionStatus 7 Mask B5407 Compare The motion planner inputs are masked with the MotionStatus Motion planner input set this way 65407 dec 1111 1111 0111 1111 bin Bit Description 00 AccelStatus 01 DecelStatus 02 Movestatus 03 Jogstatus 04 Gearingstatus 05 HomingStatus 06 Stoppingstatus 07 AxisHomedstatus 08 PositionCamstatus 09 TimeCamStatus 10 PositionCamPendingstatus 11 TimeCamPendingStatus 12 GearingLockStatus 13 PositionCamLockStatus MasterOffsetMoveStatus CoordinatedMotionStatus Publication IASIMP QS018C EN P February 2010 119 Appendix A Logix Base Program Overview Axis ObjectSD_AOI Overview The Axis Servo Drive Object Add On Instruction performs Enable Disable Fault Reset Home Stop Abort Diagnostics and Status functions of a physical axis Axis ObjectSo Aol Axis Servo Drive Object Add On InstructionPe Axis ObjectSD Aol AOL Servoobjectl Sts_ER Out Axis SD Axis EMO AxisSD PCamBasic Sts EnableDone Inp_ Motion S
95. eset Cmd_Home BOOL Home the Axis if Cfg_HomeEnabled 1 Cfg_UseVirtualMaster Input BOOL Cmd_Stop Input Stops the Axis if Cfg_StopEnabled 1 Enableln Input Enable Input System defined parameter EnableOut Output Enable Output System defined parameter Err_FeedbackFault Output Any Feedback Fault including Aux Feedback Err_General Output Any General Fault Publication I ASIMP QS018C EN P February 2010 121 Appendix A Err_GuardFault Err_InstructionFault Err_MAHFault Err_MSOFault Err_NegOvertravel Err_OverloadFault Err_PositionError Err_PosOvertravel Err_TemperatureFault Ino_MasterNoMotion Inp_MotionGroup Out_Axis_SD Sts_AbortDone sts_AbsoluteReferencestatus Sts_AxisOk Sts_DisableDone Sts_EnableDone Sts_ER Sts_FaultResetDone Sts_Homed Sts_ HomeDone Sts _NoMotion Sts_StopDone 122 Logix Base Program Overview Any Guard Fault Safety Fault Any instruction within the AOI faulted MAH instruction Fault MSO instruction Fault Any negative Overtravel Fault Any Overload Voltage Fault Position Error window exceeded Any positive Overtravel Fault Any Temperature Fault Indicates no motion of master when master is at standstill Status of motion group Axis to control Condition Aborting Done Absolute Feedback device shows Reference Ok Status Display Axis ready to enable Condition Disable Done Condition Enable Done Any fault occurred on this Axis Condition Fault Reset Done The Axis has bee
96. etwork When finished with the local communications setup use the same steps for manual configuration of target communications or use the copy function to configure target communications as shown on page 63 Configure Local Communications Follow these steps to configure local communications 1 Click the Local tab in the Communication Setup dialog box 2 Right click Ethernet Ethernet and choose Add Device mJ Communication Setup RNA SLocal IMME_2axis_PVP1250_v001 RSLinx Enterprise m f Add a device shortcut that specifies two communication paths Click Local to specify one path on this computer for application development and testing Click Target to specify a second path for use by the target device Device Shortcut evice Shortcuts Ee Target El RSLinx Enterprise E 1799 417 Backplane Dina E EAA Snes ane wean Add Device Delete Delete Children Show All Devices Start Browsing Properties Mode Online Not Browsing Offline Tag File Brose __ 4s mos m Cancel Help The Add Device Selection window opens Publication I ASIMP QS018C EN P February 2010 145 Appendix B Factory Talk View ME Communications Setup 3 Expand the EtherNetIP Devices tree to gain access to Add Device Selection the 1756 ENBT A module Aovndlable Denes 10 11 12 146 In this example 1756 ENBT A is the Ethernet module Yours could be different Expand 1756 ENBT A and select the 1756 ENBT A
97. figuration 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 PanelView Plus terminal communicates to the same ControlLogix L63 controller via Ethernet Follow these steps to configure Runtime Target communications 1 In the Communication Setup window select the a Communication Setup RNA Local PowerProgramming 4_00_Core RSLinx Enterprise EPOR Design Local tab retin aries Design Local T Bpnime Target Unit 5 RSLinx Enterprise ROCKWELL 62FE81 A amp 1789 417 Backplane 2 Click Copy from Design to Runtime By EtherNet Ethernet f 192 168 1 6 1756 ENBT A 1756 ENBT A E 1756 A17 8 1756 A17 6 f 0 1756 163 1756 L63 LOGIX5563 1 1756 L64 1756 L64 LOGIXS564 3 1756 IB16D A 1756 IB16D A DCIN DIAG 4 1756 MO8SE 8 Axis SERCOS interface 1 5 1756 OB1615 A 1756 OB1615 4 SCHEDULED OUTPUTS An RSLinx Enterprise message window opens gt Mode Online Not Browsing Offline Tag File D Modular Programming Power Programming PP 08 Update PowerProgramming_CL _ 4 _00_Dra Browse 3 Click Yes RSLinx Enterprise The Runtime Target configuration and shortcut definitions will be replaced With a copy of the Design Local configuration and shortcut definitions Do vou want to continue a a 4 Select the Runtime Target tab and expand the a Communication
98. g Quick Start Cat No 1769 Series 1734 Series Pub No IASIMP QS018B EN P Pub Date August 2009 Part NO XXXXX 2711P K10C4D1 SE 22B V2P3N104 20AB4P2A3AYNNNNN Please complete the sections below Where applicable rank the feature 1 needs improvement 2 satisfactory and 3 outstanding Overall 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 soda example guideline other explanation definition Technical Accuracy 1 2 3 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 Hts OH 44124 9705 Fax 440 646 3525 Email RADocumentComments ra rockwell com Publication CIG C0521D EN P July 2007 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
99. gration Publication IASIMP QS018C EN P Febuary 2010 Table of Contents Important User InienmatiOng ci vei nina te eee ee bee es 2 Where to CAP Ets aape aa a tes e lee ais ie n EA 3 Odu Oneri aa dceod AAS be a deus EM dome ee S008 RS ethene ected 9 Reged SOR WAL ta g 2 24 Recah Ohta 346 6 Sow Hakata oa e sole 10 Conventions Used in This Vandal 2 evesadatiiek oa ce aaneen Sek ad 10 Chapter 1 Booe OnB T sc tuseioievesss eee base eee ses 11 Whar Youn Necd cars Sash th ose atten ht ete tind ert is een Goa aye ne Sees 11 Folow ENGSE SLEDS eret eerie haute ee be nartets eae sh 28 oa 12 Install Kinetix Accelerator Toolkit from DVD 00 0 13 Get Motion Analyzer SOWA oare eyed E a occa beeen 14 Install and Run Motion Analyzer Software 0 0 0 0 0008 16 Reviewing Basic Panel Component Listings 006 17 Select Dy Ste COMPONE oea 2s wt oe oa die St seo oak Soleo wees 19 Chapter 2 Botore VOW Boo li serce weed da a eaae ta ee E eaaa 21 MOEN CE aaa EE E E E AA a 21 OMG L NESE Ole Osis dete nts e e e E bers 22 Load Basic System CAD Drawings ci cosines eeteri secs Paes 23 Ventyine Your Basie Panel Layouts si wan purren h 24 Modify Your Motion Panel Layout 0 00202 25 Download Other Allen Bradley CAD Drawings 26 Chapter 3 Pelor You DEON airea Yond 500s atb aca E toh eRe eke Boe ane 27 Wiat Our Needs As chan eo eee SORES SES ROGER eee eS 24 Folow Liese tepi ayaa aa me Ode oe ew oe
100. heir arguments in the instruction call e Values are passed from Output parameters to their arguments defined in the instruction call These values are passed even when the rung condition is false Cmd_FaultReset and Sts_FaulthesetDone When the command Cmd_FaultReset is set all Err bits of the AOI are unlatched and the axis will be reset with a MASR instruction Axis Shutdown Reset When Cmd_FaultReset is successfully executed the Sts_ FaultResetDone bit will be set AXIS SHUTDOWN RESET FAULT RESET RESET ANY INTERNAL FAULTS Cmd_FautReset ASR Motion Axis Shutdown Reset EN Axis Out Axis Dh Motion Control Mi ShutdownReset ER ERR _InstructionF aut Ml_RunJog ER Ml_ChangeJog ER MI_Move2StopLocation ER AULT RESET DONE HANDSHAKE Ml_ShutdownReset DM Sts_Err TOM Timer On Delay Timer FautReset_delay Preset 0 CCUM o FautReset_delay DM Ste _FautResetDone Ml_ShutdownReset ER Cmd_FautReset Ste _FautResetDone Publication I ASIMP QS018C EN P February 2010 115 Appendix A Logix Base Program Overview Cmd_Run and Sts_RunDone When Cmd_Run is set the axis will start to jog at the predefined speed given by the tag Par_AutoSpeed Speed can be changed at any time When Cmd_Run is successfully executed the Sts_ RunDone bit will be set JOG COMMAND Cmd_Run Cmd_Run Out Axis w JogStatus Era Mot Equal Source 4 Par_AutoSpeed 0 0 Source B
101. ick Download Product Directory Product Certification More Int Product Cross Reference Literature Library e CenterONE Design a Low Voltage Motor Control Center The Motion Software e MCS Star Configure a Modular Motor Control System webpage opens e Rail Builder Design DIN Rail Systems 5 Click the Motion Analyzer Motion Analyzer Software for Integrated Motion Control from Allen Bradley Microsoft Internet Explorer TBS e File Edit View Favorites Tools Help download link D 7 x E A Search 5 Favorites E2 7 Sa X Address http www ab com motionfsoftware analyzer _download html i vi Go 6 Click Run Rockwell Google Search 2 Automation worldwide Sign In Become a About Us News amp Events Products Services amp Support Industies amp Solutions The installer prepares the files amp Allen Bradley INTEGRATED MOTION CONTROL Motion Software Related Links oe ated Download Motion otion Control Analyzer Updates Motion Analyzer Download Overview Follow these instructions to download and install Motion Anal Encoders e Please download the following Motion Controllers 204MB Motion Software e Double click to launch and run the installer Servo Drives e Choose from the menu to install the latest version of Motion Analyzer Servo Motors Done a Local intranet 14 Publication IASIMP QS018C EN P February 2010 Hardware Selection
102. ile a downstream problem is resolved State Type Acting UNHOLDING prepares the machine to re enter the EXECUTE state The UNHOLDING state is typically a response to an operator command to resume EXECUTE state State Type Acting This state is typically an automatic response from the EXECUTE state Normal operation has run to completion that is processing of material at the infeed will stop State Type Wait The machine has finished the COMPLETING state and is now waiting for a STOP command that will cause a transition to the STOPPED state State Type Acting This element is the result of a RESET command from the STOPPED state RESETTING will typically cause a machine to sound a horn and place the machine in a state where components are energized awaiting a START command State Type Acting The procedural element has received a command to clear faults that may have occurred when ABORTING and are present in the ABORTED state before proceeding to a STOPPED state The state transition signal is linked to the wait state If the wait state is not enabled the state transition will be ignored This means the statemachine does not wait for this signal but automatically moves to the next state State Transition Required to get to next state which ever the next state from the diagram is Clearing State Complete Abort Publication I ASIMP QS018C EN P February 2010 139 Appendix A Logix Base Program Overview State Transition Requir
103. inetik Accelerator Toobdi rutsing CA AL Quack State eee eel 10 ep od Cacai AAE dccelewator Techs Rockwell Automation benoit teed Wika Coepdecte The breast arad haa macah rehalied Creis Acosar Tk bok frech bho Hi miri Publication IASIMP QS018C EN P February 2010 p Current x Program Update Utility or C t l ws Curren on your Computer and are able fo be updated By Current R Product Configuraton Components D R Onr Accoterstor Toont p Current x Program Update Utility The P ssina programa or Components here eeatadle Updates f FE Product Corfiguraton Components F R nri Accelerator Tooke 9 7846 Total Site of selected updates 8 784 0 Current wi use the internet to get your updates Currem Program Update Utility The fothowtng programs oF Components have aretudle WR Product ConGguratoe Components WR Kinets Accelerator Tooke Current Program Update Utility The fidigwing program of crooner updates hare finished I W Product Corfguraton Components D R nri Accelerator Toont 378468 Total Site of selected updates 8 784 0 Oaet Fie Total Cick Finish io em You may need to look for this in your taskbar b m mr eee ee r 4 srewu 13 Chapter 1 Hardware Selection Get Motion Analyzer Software Motion Analyzer is a comprehensive motion control software tool with application analysis used for sizing your motor drive combinations To prep
104. ing is done it will transition to Aborted The state moves from Resetting to Starting Execute Stopping Stopped Aborting and then to Aborted In this picture EMO02 is faulted indicated with a red border and the machine is in the Aborted state Note also that only the Reset button is visible since it is the only valid action when the machine is aborted To recover from Aborted press Reset This will initiate the Clearing state where faults will be reset When all faults are reset it will transition to Stopped state The state green moves from Aborted to Clearing and then to Stopped Adjust the Speed Fault and Status Message EM 02 Conveyor Diag Screen f g Diag Screen HOLD chine EM EM M Yy State Model Diagnostics Maintenance Config Motion Diagnostics To adjust the relative speed of your motion system use the speed selector This is found in the action bar located on the lower left side on displays with main control Use the ramp up down buttons to change speed The minimum speed is 10 and the maximum is 100 86 5 13 2009 7 58 23 PM Automatic Mode Aborted State OEM Future Us SPEED A B5 Y OEM Future Use Publication IASIMP QS018C EN P February 2010 Motion System Application Guide Chapter 6 Use the EM Status Display The EM Status display lets you view drive status and faults as well as general motion and axis both when the system is in aborted sta
105. ing modes such as automatic or manual 102 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A A state model divides the operating cycle of your equipment into a series of states Each state is an instant or snapshot in time in the operation of the equipment and indicates a defined set of machine conditions that are currently set You define the processing activities that the equipment executes during each state in response to requests such as clear start and stop You don t need to use all the states for your equipment Use only the states that you need PhaseManager State Model e Your equipment can go from any state in the box to the stopping or aborting state e Acting states green Starting Resetting Stopping Clearing Aborting represent the things your equipment does at a given time e Waiting states gold Stopped Aborted represent the condition of your equipment when it is in between acting states With a state model you define the behavior of your equipment and put it into a brief functional specification In this way you show what happens and when it happens In this example OPO1_Automatic uses the following states State Model Behavior For this state Ask Stopped What happens when turn on power Resetting How does the equipment get ready to run Starting What does the equipment do to start making product Execute What does the equipment do to make the pr
106. ipe EM02 Cam_Pars Cam Paste INS Corl L ctrl Colts Cirle Undo trl s Chrl k Linear a End Slope Hope jU Masher Acceleration 605 0 0 Publication IASIMP QS018C EN P February 2010 99 Chapter 7 Motion Analyzer Motion Profile Export 8 Click Apply to accept the W Cam Editor UNO1_Recipe EM0 Cam_Pars Cam changes z ziv ol sl l iz alala Slave Position 0 0 00 Cubic 1 i200 300 Linear 2 240 0 2700 Cubic 3 3800 360 0 Linear The PCam Profile has now been changed to your Index Profile from Motion Analyzer and is ready for execution x Bee o eee ete cca a EXUDE When starting the application the Equipment Module EM02_PcamBasic will use the newly configured Cam from Motion Analyzer 100 Publication IASIMP QS018C EN P February 2010 Appendix A Logix Base Program Overview The pre configured Logix 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 Logix program template e incorporates ISA 88 programming methodology e integrates the PackML 3 0 state model into your controller logic e provides a base structure making it easier to write use and manage the code for your machine or equipment e provide
107. is especially true of Rockwell Automation computer based training courses SEEE Gur computer based training courses provide engaging interactive features that Training Workstations enhance your learning experience gt Instructor led Training Interactive and integrated exercises Standard Training Onsite Training Tailored Training Animated and descriptive technical explanations Interactive software simulations Knowledge past tests ControlLogix Certificate i Assessment Services ControlLogix amp RSLogix 5000 Software gt Savings Program Youcher Account e FSTrainer for ControlLogix Fundamentals Voucher Balance e RS Trainer for RSLogix 5000 Software Project Configuration Tracking Toal e RSTrainer for RSLogix 5000 Software Offline Programming e RS Trainer for RSLogix 5000 Software Online Monitoring Case studies e RSTrainer for RSLogix 5000 Software Mation e RSTrainer for RSLogix 5000 Software Bundle Literature Publication I ASIMP QS018C EN P February 2010 149 Appendix C Rockwell Automation Training Services Notes 150 Publication ASIMP QS018C EN P February 2010 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 PackML 3 0 based Programmin
108. itions Addit td UDT_LocalTags_CAM_Bas Motion Direct Commands Mi UDT _LocalTags_Jog_Basi E UDT _Recipe_Unit_Examp SAA nT O FM Mackor Cross Reference ctrl E Print i Properties Alt Enter Reecrintion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions Tag General Motion Planner 2 Select the Drive Motor tab Motor Catalog Number MPL a310P M Amplifier Catalog Number 2994 4C09 MO2 Drive Motor Motor Feedback AuxFeedback Conversion ae Change Catalog 3 Loop Configuration Position Geren Using the pull down menu set the Kinetix drive Amplifier Catalog Real Time xis Information To find the amplifier catalog number Attribute 1 refer to the amplifier name plate Attribute 2 4 Click Change Catalog The Change Catalog Number window opens 5 To find your motor catalog enter Number or scroll down For motor catalog number refer to the motor name plate 6 Click OK Publication IASIMP QS018C EN P February 2010 Drive Resolution 720000 Drive Counts 7 Motor Rew Calculate W Drive Enable Input Checking Number IY Drive Enable Input Fault Torque Feedback Position Error Cancel Apply Help Change Catalog Number x Catalog Number krones lt none gt Cancel 132645 6 4106 21 132646 6 4106 2 132646 6410G 52 Help 132646 5 410 21 132646 6 410J W2 132646 6 4101 52 1326
109. ix Communications page 53 save and Download Your Program page o4 36 Publication IASIMP QS018C EN P February 2010 Motion Logix Integration Chapter 4 Select Your Logix Application File Logix Platform Logix File Name Description Flee em Power_Programming_CLX Logix file for generic base applications Can be configured for any Kinetix 6000 TI _V4_00_Core acd power rail configuration and CompactLogix ControlLogix or SoftLogic controller Load and Open the Logix Application File Follow these steps to load and open the Logix application file from the Kinetix Accelerator Toolkit DVD 1 Copy the Kinetix Accelerator Toolkit DVD to your personal computer hard drive 2 Open the Controller Program Files folder KINETIX ACCELERATOR TOOLKIT LISTEN THINK SOLVE Kinetix Accelerator Toolkit KAT for SERCOS interface Based or DeviceNet Based Motion Control lntrediuctian to Accelerator Teclkits Terms and Conditions asy to use tools and templates on this DVD you can rome de lo rity the ie tt features of your KAT Version Changes and Updates ach noton the routine tasks that addito overhead costs EES lopment Took Bene fits an ine lude Greatly reduced engineering and design time resulting in faster time to market Users have reported reducing control development time by as much as 50 Basic pre configured logic can get you up and running quickly Leveraging the HMI screen templates can help y
110. izeData EMO3_PCamBasic Ry Program Tags eo EA MainR outine Beste H M00 _Servo xisObject fiee H CMO1 _ Servo xisJog ae B CMo2_PCamsStart ib a CMO4_PreumaticControl a H 520 tnitializeData Publication ASIMP OS018C EN P February 2010 Motion Logix Integration Chapter 4 Add EM03 to Sample Recipe UDT In the following example you will duplicate the recipe tag EM02 and create the recipe EM03 Follow these steps to duplicate the recipe tag for EM02 and add EM03 to sample Unit recipe UDT UDT_Recipe_Unit_Example duplicate the recipe tag 1 Expand the Data Types tree 2 Expand the User Defined tree EI Add On Instructions Ea Data Types Ce User Defined H E Add On Defined H E Predefined At Module Defined E Trends mast Fe 3 Double click UDT_Recipe_Unit_Example 6 E EMOO_VirtualMaster E EMO2_PCamBasic OB EMOS_PCamBasic sf Unscheduled Programs Phases E Motion Groups OL Axes a Ungrouped Axes H E Add On Instructions Data Types SB User Defined i UDT_AXES_Sts MA UDT_AXIS_Sts MA UDT_AXIS_Sts_HMI MA UDT Commands io UDT_ Commands _AdditionalContral elma UOT Constants W UDT_EMConditions Sf tl UDT_EMConditions_AdditionalStatus Mf UDT_LocalTags_CAM_Basic Sf tl UDT_LocalTags_Jog_Basic UDT Recipe Unit Exarnple H UDT_R_EM_Master Mf UDT_R_EM_PCamBasic Sf tl UDT_R_Master_General W UDT_R_Master_Jog Sf tl UDT_R_PCamBasic CAM Basic sees E UDT_R_PCamBa
111. les of type Tiie ype Font Files tte tte Runtime Application Files mer True Type Font Files tth tte All Files Upload Compare Internal Storage z A RSLinx Enterprise CARBCNSSANDHUOS m 10 85 128 186 Versaview CE 1000H YersaView CE 10 91 36 82 1768 ENBT A 1768 ENBT A WARNING Include a goto configure mode button in your application if you need to access the configuration mode screens Include a shutdown button in your application if you want to be able to shut it down 73 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration Download the Project to a Terminal Follow these steps to download your FactoryTalk View Studio project 1 Select Create Runtime Application in the Application menu The Create Runtime Application window opens 2 Select Runtime 5 0 Application mer for Save as type 3 Enter a file name for the application PowerProgramming V4 _00_Core mer is used in this example 4 Click Save 5 From the toolbar click the File Transfer Utility button The Transfer Utility window opens 74 ra RSView Studio Machine Edition File View Application Tools Window Help art Li a 2 Test Application Create Runtime Application Application Properties E e ee manah foe HUHI te wii Create Runtime Application Save ir i Runtime ka A I artDependent_vOO1 061 12008 mer Bi Demo
112. lity 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 complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 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 ASIMP QS018C EN P February 2010 Supersedes Publication IASIMP OS018A EN P June 2009 Copyright 2009 Rockwell Automation Inc All rights reserved Printed in the U S A
113. mation e Space for machine specific items for example a picture of the machine with indicators The Home button is located in the upper left corner which makes it possible to return to the Main Menu from every display The only exception is on the Main Menu display which is where the Home button on other displays takes you On the Main Menu display instead of a Home button there is a Shutdown Terminal button that will terminate the application and put the panel into configuration mode Refer to Shut Down Application on page 90 for details about the Shutdown Terminal function 82 Home Button 5 13 2009 7 46 37 PM St atus A ic Mod Somers Bar m Fault and Status Message Machine Specific Section HOLD STOP SPEED A Ready For Mode Change Request 85 r OEM OEM i Vv State Model Taso anata ore ree ea ee ornate lt N d V g at 0 n a Bar Action Bar 5 13 2009 7 46 Shutdown Terminal RESET Fault and Status Message ae Stopped Shutdown Terminal Button HOLD Main Menu STOP SPEED A i A OEM i v D aa Na Pe Diagnostics TOR je Publication IASIMP QS018C EN P February 2010 Machine State Model Display The Machine State Model display consists of two sections a PackML State Machine section and a Mode Selector section Motion System Application Guide Mode Selector section 5 13 2009 7 46 37 PM d Status Message ditommatic Mods Stopped State
114. md_FautReset Inp_ Commands FautReset Cmd_Stop Cmd_Abort xis_Master _AOl AOL ServoObject Ste _FauthesetDone EMOO_Axis _Master Sts_StopDone Auto Speed 306 0 Ste_AbortDone Runt 0e Ste_RunDone lt UNO1 Commands FautReset oe Inp_ Commands Stop lt UNO1 Commands Stop oe Inp_ Commands Abort lt UNO1 Commands Abort oe Sts_Err Sta _MoMotion The AOI consists of Parameters and Local Tags and a routine for Logic and Prescan Axis Mastery ACT Parameters and Local Tags EKI Logic Prescan These configuration tags need to be configured for the AOI to work correctly e Cfe_AbortWithPositionedStop e Cfg StopWithImmediateStop e Cfg ZeroSpeedTolerance Publication IASIMP QS018C EN P February 2010 See Cmd_Abort Sts_AbortDone and Cmd_Stop Sts_StopDone on page 117 See Cmd_Abort Sts_AbortDone and Cmd_Stop Sts_StopDone on page 117 See Sts_NoMotion on page 119 113 Appendix A Logix Base Program Overview Parameters and Local lags Only a few of the tags in the table below are visible on the AOI itself and most of the other tags can be referenced via the backing tag outside the AOI Local Tags can only be referenced inside the AOI and are not discussed here Below is a table with all tags that can be referenced outside the AOI Name Out_Axis_V Cfg_AbortWithPositionedStop Cfg_StopWithlmmediateStop Cfg_ZeroSpeedTolerance
115. mmands_AdditionalControl MA LISAT Canckank m Modify Unit Name Follow these steps to rename the unit in RSLogix 5000 In this example UNO1_ExampleUnit is renamed UNO1_ Labeler 1 In RSLogix 5000 software expand the Explorer window to gain access to Tasks and then MainTask 2 Right click program UN0O1_ExampleUnit and then select Properties 5 Rename UNO 1 _ExampleUnit ga Controller Power Programming CL v4 00 lg Controller Tags fe Pro P ties UNO1_E leUnit ie i Program Properties _ExampleUnit to UNO1_ Labeler mB Controller Fault Handler fe Power Up Handler General Configuration Monitor B E Tasks H E UNOL ExampleUnit HER OPOL Automatic Description Unit Program fo OPO2_Manual H E EMOO_VirtualMaster H E EMOZ_PCamBasic LO EMOS_PCamBasic a Unscheduled Programs Phases a Motion Groups fa Add On Instructions fa Data Types oof Trends E E 1 0 Configuration Cancel Anny Help 1756 Backplane 1756 417 4 Click Apply or OK ae ss Name UNOIlabelef SSCS Configure Your Kinetix Drive Modules to the Additional Axes 1 Follow these steps if you want to manually configure your Kinetix drive modules Note Remember that in the previous examples you exported and imported EMO02_PCamBasic and renamed it from EM02 to EM03 and then from EM03_AxisSD_PCamBasic to EM03_AxisS_Conveyor when you did this the appropriate axis was automatically created 2 Right cli
116. ms Phases Ti Dut_Pusher Valve BOOL Aa Motion Groups ie ae ee H E AXES 3 Select the Edit Tags tab at the bottom of the Program Tags window Monitor Tage Edit Tags j RSLogizx 5000 project saved Complete 0 error s 4 Replace UN0O1_Recipe EM02 with UN0O1_Recipe EM03 Scope EREM03_PCamBas Show Show All o Name ins For Base Tag Data Type i O L FAOLServolbiett tis ObjectSD_ADL imi EMO3_AxisSD_PCamBasio C AxIS_SERVO_DRIVE 1m EMOD Axisv_Master C AxIS_VIRTUAL ial UDT_LocalTags_CAM_Basic m Cfg EM_Pars Cam_Pars UNDI Recipe EM UDT_A_PCamBasic_CAM_Basic Cfg_EM_Pars UNO Recipe EMO2 C UNO1 Recipe EM UOT REM _PCamBasic ii Cig EM_Pars Manual_Jog UNDI _Recipe EM O FEM Axis Sts HMI1 EMO3 Axes Sts HMI C EMO3 Aves Sts UDT ARIS Sts HMI EM Anis Stet EMO3 Axes Sts Status C EMOS Axes Sts UDT AXIS Sts EMis Executing rs Boo m H EM Master Sts Anis EMOO Axes Sts Status C EMOO Axes Ste UDT AXIS Sts H Inp Commands UNO1 Cormmands C UNO1 Commands C UBT Commands fia oa UDT_Local ags Jog Bai pal EMO3_Conditions C IDT_EMConditions Out Pusher Valve el o al 44 Publication ASIMP OS018C EN P February 2010 Copy Cam Profile to New EM Motion Logix Integration Chapter 4 1 In RSLogix 5000 software expand the Explorer window to gain access to the Controller Folder 2 Expand the Controller Folder and select Cont
117. n 11 L50163 1756 163 LOmIxSS63 Major Revision 12 1756 163 1756 163 LOGis5503 Major Revision 13 1756 163 1756 163 LOGIx5563 Major Revision 14 TEJET PRAIA TOBA Maine Devicinn 15 Cancel Hep Publication ASIMP OS018C EN P February 2010 13 14 15 16 17 18 FactoryTalk View ME Communications Setup Appendix B The Device Properties dialog box opens Set the L63 controller address to 1 slot number of the chassis Device Pro perties General Click OK 1756 L63 LOGIMS64 Address 1 D Return to the Communication Setup window Select CLX in the Device Shortcuts a Communication Setup RNA SLocal IMME_PVP1250_VOO1 RSLinx Enterprise la window a Add a device shortcut that species two communication paths Click Local to specify one path on this computer for appheabory development and testing Click Target to specily a second path for use by the target device 1 Device Shortouts Select 0 1756 L63 the ControlLogix Jevice Shortcuts Local Taget controller E Sling Enterprise E 17s2 Al7 Backplane gg EtherNet Ethernet Click Apply in the Device Shortcuts C10 10 10 10 1756 ENET B 1756 ENET B E PS6 A17 E 1756 0178 pane il 0 1756 163 1756 163 LOGIA5563 Online Not Browsing Click OK If you select the device shortcut CLX the 1756 L63 ControlLogix process is highlighted This indicates that the shortcut is correctly mapped to the c
118. n homed Condition Home Done AverageVelocity within ZeroSpeedTolerance and no MotionStatus set Condition Stopping Done Publication IASIMP OS018C EN P February 2010 Logix Base Program Overview Appendix A Prescan The Prescan routine executes after the primary Logic routine executes in Prescan mode It will initialize tag values to a known or predefined state prior to execution of the AOI When an add on instruction executes in Prescan mode any required parameters have their data passed e Values are passed to input parameters from their arguments in the instruction call e Values are passed from output parameters to their arguments defined in the instruction call These values are passed even when the rung condition is false Cmd_Enable and Sts_EnableDone When the command Cmd_Enable is set it is checked to see if the axis is ready to execute the MSO instruction feedback on When Cmd_Enable is successfully executed the Sts_EnableDone bit will be set MABLE AXIS CLOSE SERYOLOGP Cmd_Enable Out Axis SD ServoActionStatus Out_Axis SD DriveEnableStatus Sts_ER SO Motion Serva On Axis Ot Axis SD Motion Control wll_Enable Ml_Enable ER Err_ MSOF aut Out Axis SD ServoActionStatus Out_Axis_SD DriveEnableStatus Ste_EnableDone Cmd_Disable and Sts_DisableDone When the command Cmd_Disable is set it is checked to see if the axis is ready to execute the MSF instruction feedback off
119. nfigured to do a home To configure the axis to home the Cfg_HomeEnabled bit must be set Cfg_HomeEnabled Behavior 0 Home instruction is not executed 1 CMD_Home will execute MAH instruction When Cmd_Home is successfully executed the Sts_Homed and Sts_HomeDone bits will be set 124 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A Cmd_Abort Sts_AbortDone and Cmd_Stop Sts_StopDone The two commands Cmd_Abort and Cmd_Stop initiate a stop of the axis AS Motion Axis Stop Axis Ot Axis SD Motion Control Mi_Stop Auto Stop Type All Inp_MasterNMoMotion ony Cmd_Abort Cig _AbortEnabled Move Source Cfg_AbortRamp 100 0 Dest DecelRate 0 0 Cfg_UseVirtualMaster More Cmd_Stop Cfg_StopEnabled ov Source Cfg_StopRamp 20 0 Dest DecelRate 0 0 If configured to do so the command Cmd_Abort or Cmd_Stop will set a deceleration rate used by the MAS instruction axis stop Cfg_AbortEnabled Cfg_StopEnabled Behavior 0 The axis does not execute the command The axis executes the command 1 The axis can wait for the virtual master to be completely stopped before the MAS instruction is executed If Cfo_UseVirtualMaster is set abort will wait for Inp_MasterNoMotion before execution of the instruction If not it will be executed immediately Inp_MasterMoMotion Cfg_UseVirtualMaster i Cfg_UseVirtualMa
120. nsitions to false or if Cmd_Abort is set the axis will stop at a defined position the latter only if configured to do so Cfg_AbortWithPositionedStop Behavior 0 The axis does not execute the command 1 The axis executes the command Publication IASIMP QS018C EN P February 2010 117 Appendix A Logix Base Program Overview MITIATE STOP TO CERTAIN STOP POSITION Cmd_Run Out Axis W JogStatus Motion Axis Move Axis Dt Axis W Cmd_Abort Cfg Abort vithPosittionedStop Motion Control Mi_Move2StopLocation Move Type C_RotaryPositive 3e Position FPar_Position_ForPositonedstop 0 0 e Speed Par_AutoSpeed 0 0 e Speed Units Units per sec hore Sts_AbortDone and Sts_StopDone When Sts_NoMotion of the axis is detected and either a Cmd_Abort or Cmd_Stop command 1s set either the Sts_AbortDone or Sts_StopDone status bit as appropriate is set Ste_MoMotion Cmd_Abort Ste_AbortDone Cmd_Stop Ste_StopDone Err_InstructionFault If any of the motion instructions fault the ERR_InstructionFault bit is set Ml_RunJog ER ERR _InstructionF aut Ml_ChangeJog ER MI_Move2StopLocation ER Sts_ Err If the axis faults or if any of the motion instructions fault ERR_InstructionFault the Sts_Err bit is set Em Sts_Err Mot Equal Source 4 Out Axis Vv AxisFautt T Source B 0 ERR _InstructionF aut 118 Publication IASIMP QS018C EN P February 2010 Sts_NoMotion Logix Base Program Ov
121. ntroller Properties window opens In the Controller Properties window select the General Vendor Alen Bradley tab Set the following Controller Properties Controller Properties Power_Programming_CLX_ 4_00 ojx Advanced SFC Execution File Redundancy Nonvolatile Memory Memory General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time Type 1756 L63 Controll ogix5563 Controller C iee cone D Revision 17 2 Description i a Click Change Controller to select the controller type to Chassis Type 1756 417 17 Slot ControlLogix Chassis p match your actual hardware b Modify the controller Name as appropriate c Select the Logix Chassis Type This step is not required for CompactLogix setup Cancel aw Hee d Select the Logix controller Slot The left most slot 0 Click OK Publication IASIMP QS018C EN P February 2010 Motion Logix Integration Chapter 4 Configure Your Logix SERCOS Module Follow these steps to configure your Logix module 1 In the Explorer window right click I O Configuration and then select New Module The Select Module window opens gt Serie E S 1756 Backpla P NewModule y Fa 1 1756 LA Expand the Motion category and select 1756 MxxSE 1768 M04SE or f y 1784 PM16SE as appropriate for your actual hardware configuration Click OK The New Module window opens Your new module appears
122. oduct Clearing How does the equipment reset faults or failures Stopping What happens during a normal shutdown Aborting How does the equipment shut down if a fault or failure happens Aborted How can tell if the equipment is safely shut down Publication I ASIMP QS018C EN P February 2010 103 Appendix A Logix Base Program Overview Main Machine Control UN01_ExampleUnit The unit control UNO1_ExampleUnit program within the Main Task provides a single point for machine conditions and operator requests and all machine control is initiated there The transitions of operating modes and operation states are controlled in this program using the PackML_StateModel_AOI explained above The transitions are done based on user input from the HMI and machine conditions Main Machine Control Flow al Tasks El 1D MainTask Ee amp UNO1 Exarnnpleltnit E Program Tags me oo MainRoutine es H CMO1_OperationLocal B CMoe oS SLL Mad T Prarain Tags i Ei Prestate fee 501_ResetCommands E ST_Aborting fee 5T_Clearing bee ST_Execute fee B ST_Resetting sE ST_Starting af BL ST Stopping H sE OPO2_Manual H E3 EMO0_VirtualMaster PCamBasic Fo Program Tags dees EA MainRioutine EB CMO0_ServoAxisObject po CMO1_ServodxisJog EB CMo2_PCamsStart ah H CMO4_PreumaticContr In the UNO1_ExampleUnit rung example below if the conditions auto idle state and user start command are met a start stat
123. on GMC RM001 Refer to this publication when making modifications to the basic motion control panel layout Refer to your servo drive user manual for panel layout instructions specific to that drive family Publication ASIMP OS018C EN P February 2010 Plan System Layout Chapter 2 Modify Your Motion Panel Layout Follow these steps to modify your motion panel layout 1 Remove equipment from the basic motion control panel CAD drawing you do not need for your application 2 Install the Kinetix Accelerator Toolkit software and click Use the KAT Development Tools 3 Browse to the Product Information folders LISTEN THINK SOLVE BRAN T utara Ketel Rietum to Main Menu m ld Selecting the Right KAT Option air Quick Starts Help aa Required Software Common Info for KAT Applications EMC Noise Management r Fhase Manager Basic KAT Option A A E eee Simple Sequencer Based Control Product Information Support Information Distributed 10 HMI P Modem Other KAT Options y k Safety Selectable by Application Type Network and Programming Style x Servos Kinetix yyy Ee Servos Ultra3000 Standard Drives lo oy 4 Copy and paste objects from the optional equipment CAD drawings to the basic motion control panel drawing 5 Select other hardware as needed Refer to Download Other Allen Bradley CAD Drawings on page 26 Refer to the
124. one press Enter gt x lt from the keyboard to end testing and shut down the application Download Fonts to the Terminal Because PanelView Plus terminals do not include the Arial Bold font when shipped and 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 Select Transfer Utility from the Tools pull down menu 72 Publication IASIMP QS018C EN P February 2010 Motion FactoryTalk View IntegrationLogix Integration Chapter 5 The Transfer Utility window opens 3 Transfer Utility Download 4 Click to browse for the source font fi le Source file Destination storage type Select destination terminal 1789 417 Backplane ay EtherNet Ethernet Mode Select Not Browsing Upload Compare Internal Storage v A M Download as WARNING Include a goto configure mode button in your application if you need to access the configuration mode screens Include a shutdown button in your application if you want to be able to shut it down Exit RSLinx Enterprise CARBCNSSANDHUOS The Select File to Download window Select File to Download opens 5 Navigate to C
125. ons may be altered but disabling an acting state will result in the loss of those procedural steps This could adversely affect the operation of this mode and it may be necessary to move the logic from the disabled state to a state that is still enabled i e Disabling the Clearing state of the Automatic Operation will result in not being able to clear faults on the Unit It will be necessary to move that logic to another state such as Resetting Cfg_RemoteCmdEnable Configure Remote Commands The AOI can be controlled via remote commands outside the unit machine such as with a line control cell control Cfg_RemoteCmdEnable Behavior 0 Remote command control is disabled 1 Remote command control is enabled Cmd_xx Commands The AOI makes use of the following commands that will request a state or mode change Cmd_Mode Cmd_Suspend Cmd_Reset Cmd_UnSuspend Cmd_Start Cmd_Abort Cmd_Stop Cmd_Clear Cmd_Hold Cmd_StateComplete Cmd_UnHold Publication I ASIMP QS018C EN P February 2010 135 Appendix A Logix Base Program Overview All commands but two Cmd_Mode and Cmd_Reset have the same behavior If Cmd_xx is set the respective command is initiated if the actual state allows this command According to PackML the route in the state machine is dictated by the arrows See HMI PackML State Machine on page 142 for state diagram Cmd_Mode Cmd_Mode command mode will request a mode change and will only be accepted according to the
126. ontroller and communication exists between your application on the development computer and the controller Publication I ASIMP QS018C EN P February 2010 147 Appendix B Factory Talk View ME Communications Setup Notes 148 Publication ASIMP QS018C EN P February 2010 Appendix C Rockwell Automation Training Services Available Training Contact your Allen Bradley distributor or local Rockwell Automation sales office or visit the Rockwell Automation Training Services website for a complete list of training opportunities The following types of training are available e Computer based and Web based training that you complete at your own pace e Job aids and training workstations e Instructor led training through our standard open enrollment or on site at your facility and tailored to suit your needs RSTrainer for RSLogix Software Motion course 9393 RSTLX5KMOT is available from the Rockwell Automation Training Services website at http www rockwellautomation com services training gt Self paced Training gt Computer based Training gt ControlLogix amp RSLogix 5000 Software Rockwell Automation terse About Us News amp Events Products Services amp Support Industies amp Solutions PPS Serene TRAINING SERVICES Overview Computer Based Training gt Self Paced Training Hands on training with real world examples is the key to learning and retention Computer based Training Z P Y g a TE This
127. ontroller Faudt Harder C Pewee Lips Hanefier H E Tasks Sh Masi Tad E g ee ns fH GUI Automatic fe OR opoz Hansal fp OR Emid _virtundbisster pe Lo emoe Pamias EI Urecheuduled Programe J Phases o ES Motion Grogs a anes EMO fis Maier EMO Aian Peamisi E Ungrouped ances EHEN Add On Iretruckions F Ag Aris Mery ADI E ois _ Ob AH EE 1756 Backplane 1756 41 Pa A PA eer rreran Cx i a 3 Tasks Fa 8 UNOL r Mew Program H aOR OPDI IE New Equipment Phase H E opoz H E Emo BOB Emo isn 8 Unschedt tS Motion Group 2 Si a Axes a Add On Instr H 8 Axis Mas UE Axis_Oby 72 Parke ini Syren Pe F Import Program Import Equipment Phase uk Thrl Copy ctrl E Paste Etri Delete Del Cross Reference ctrl E Properties Emo Pome sie Lot Piles HOG ML Tet PLE Fier conning E aHan at Alt Enter 41 Chapter 4 3 4 5 42 Motion Logix Integration Change the Final Name to EM03_PCamBasic Note The Operation will change to Create Under Import Content select Tags Select Find Replace and replace all instances of EM02 with EMO03 After you have completed Step 5 click OK Expand the EM03_PCamBasic axis program file that you just created and verify that the routines in EM03_PCamBasic match the routines in EMO2 PCamBasic Note The new axis EMO03_AxisSD_ PCamBasic will be Ele ref BIB ne Foul Wn Fra Hane
128. opens 2 Expand the Controller Tags and double click 6 a controler Power Programming A 4 4 00 RO6_MotionProgram O Controller Fault Handler Ce Controller Tags 5 Power Up Handler Tasks 3 Expand the tag g UNOI_Recipe 4a _UDT_Recipa_Uni_ Example UNOI_Recpe Aecipe_Number 0 DINT UNO1_Recipe EM02 Cam_Pars UNCI_RecipeEMOD UDT_ALEM Master _ UNDI Recipe EM02 Pt JUDTALEM PCambase UNO Recipe EMO General UDT_A_FCami asic Gen UNO1_Recipe EMO2 Manual Jog UDT_F_PCamBasic_ Jog 12 UDT_A_PeanBas CAM UNO1_ Recipe EMO2 Cam_Pars Nio_Of_Cam_Paints 4 DINT UNO1_Recipe EMO Cam_Pars Cam CAM I00 TIP The PCam Data for EM02_PCamBasic is stored in the UNO1_Recipe structure and is accessible for modification and verification Publication IASIMP QS018C EN P February 2010 97 Chapter 7 Motion Analyzer Motion Profile Export 4 Enter the number of Cam Points of your Index Profile into UN0O1_Recipe EM02 Cam_Pars No_of_Cam_Points set to 4 in the example shown above 5 Right click Un01_Recipe EM02 Cam_Pars Cam and select Configure UNO1_Recipe EM02 Cam_Pars Cam n p romm EMO3_Conditions UDT_EMConditions EMO4_Axes Sts A New Tag bre E EMOA Conditions E EMOS Akas Sts EMOS Conditions Edk UNDI Recipe EMOZ Cam _Pars Cam Edt UNDI Recipe EMO Cam_ Pars Cam Properties Alt Erter
129. ou reduce 3 Double click the Logix acd application file i C Program Files RA_Simplification Kinetix Files AB ISA S88 Based Motion 5 Controller Progr KE File Edit View Favorites Tools Help a ey Batt eg a 1a Search ar Folders Ek Address C C Program Files R 4_ Simplification Kinetix Files46 154 568 Based Motioni5 Controller Program Files w 50 CW PowerProgramming CLY 4 00 Core ACD File and Folder Tasks Make a new Folder 4 Publish this Folder to the Web E Share this Folder Other Places Publication IASIMP QS018C EN P February 2010 37 Chapter 4 Motion Logix Integration The RSLogix 5000 software launches and your application file opens Configure Your Logix Controller Follow these steps to configure your Logix controller 1 2 38 No Forces I Redundancy fe RSLogix 5000 Power_Programming_CLX_ 4_00 in PowerProgramming_CL _ 4_00_ Core File Edit View Search Logic Communications Tools Window Help Offline m E Path al ETH 14192 168 1 11 Back al Hl Emei H je Favorites AddOn Safety Ho Edits bE Power Up Handler 5 i a Tasks 5i r MainTask H E UNO1 ExampleUnit OB OPo1_Automatic LO opoz Manual cg E EMO0_VirtualMaster o HEA EMO2_PCamBasic fee PS Unscheduled Programs Phases Apply power to your Logix chassis or computer containing the SERCOS interface module Select Controller Properties in the Edit menu The Co
130. pens 25 Faulted 25 Selected 1 if Confirm replacements EMO4 Group True BI f Shared Properties a cows Heb 5 In the Search for field type the placeholder to be substituted In the Replace with field type the new placeholder number in this example substitute 22 with 23 Click Replace and Replace All and OK to submit the change Publication IASIMP QS018C EN P February 2010 69 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration 10 11 70 The placeholder xx can be found in the parameter file Unit01_Para that has 30 predefined EMs EM00 to EM29 e 20 corresponds to EMO0 e 21 corresponds to EMO1 e 49 corresponds to EM29 Now use the object explorer to edit the GotoDisplay button In Display settings click the button and browse for the newly created display and corresponding parameter file The Component Browser window opens for either of the two Goto Display Button Properties General Label Common Appearance Border style Border width Raised fi V Border uses back color Back color Back style Pattern style erea Solid None C Pattern color E Highlight color Shape i s Blink Rectangle ka gt Display settings Display Farameter file 5104_EM_04 EM_04_Para m Top position Left position Choose 103_EM_03 as the display to go to and EM_03_Para as the corresponding parameter file x Select a
131. plication file Objects 5 Screen Demo Objects 640x480 Objects S000600 PowerProgramming V4_00_Core is used in this Pon eaea a Ocar example Language English United States en US 6 Click Open Open Cancel The FactoryTalk View Studio Machine Edition window opens 7 Expand RSLinx Enterprise in the Explorer window FactoryTalk View Studio Machine Edition File View Application Tools Window Help 8 Double click Communications Setup ibd S DO ae Fi eS Explorer l a Local ROCKM4ELL 62FE81 El fa PowerProgramming_Y 4_ 00 Core i H ia PowerProgramming_ 4_O0_Core System The Communications Setup window opens Communication Setup System Application Communications 9 In the Communication Setup window select the Design Local tab Publication IASIMP QS018C EN P February 2010 61 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration 10 Select the CLX device shortcut and then click Communication Setup RNA SLocal PowerProgramming_V4_00_Core RSLinx Enterprise EES Re move m Device Shortcuts Design Local Runtime Target add CRemove Y Apply Copy from Design to Runtime RSLinx Enterprise ROCK WELL 62FE61 amp 1789 417 Backplane 11 Expand the RSLinx Enterprise tree to gain access By EtherNet Ethernet f 192 168 1 6 1756 ENBT A 1756 ENBT A 8 i 0 1756 L63 1756 L63 LOGIX5563 to your Logix controller
132. pter 2 The Kinetix Accelerator Toolkit DVD provides CAD drawings in DWG and 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 load the CAD files from the Kinetix Accelerator Toolkit DVD 1 If you have not already done so follow the instructions in Install Kinetix Accelerator Toolkit from DVD on page 13 to install the Kinetix Accelerator Toolkit DVD and Motion Analyzer and Motion Selector software on your personal computer Choose Start gt Programs gt Rockwell Automation gt Simplification gt Kinetix Accelerator Toolkit and click Use The KAT Development Tools Browse to the AutoCAD Electrical CAD folders LISTEN T KI Wye PSR ee i E Bris HAT Option T EAT aplici p i This option provides imple Sequegccer Based Comic pimple sym hranire min control and introduces new dariari te Ailopin S000 Soon programming withiut applicabborn wih bore gee HITES Click hee for more information on the avaible Bill Cf Material Double click the DWG Files or DXF Files folder Use your CAD program to open these and other enclosure CAD files e KAT _230_23_PANEL_LAYOUT dweg e KAT_230_24_ENCLOSURE_LAYOUT dweg e KAT_CAD_DRAWING_SUMMARY pdf Identify additional layout needs specific to your application Publication I ASIMP QS018C EN P February 2010 Sten
133. r to where you want to move the object and release the Drag and drop the desired block into the strategy window mouse button Click to highlight a menu item or list choice In the Edit menu select Controller Properties Click to select a checkbox option Check the Open Module Properties box eas menu selections as menu name followed by menu Click File gt Page Setup gt Ontions Click the to the left of a given item folder to show its contents Expand the Motion category Used when you can type from the keyboard or choose from a list Enter the catalog number of the product Used when the only option is to type from the keyboard Type the catalog number of the product Press a specific button on the PanelView terminal or other Press EM Manual Jog component with touch screen technology Publication ASIMP OS018C EN P February 2010 Chapter 1 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 You can modify the basic motion control panels 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 version 4 6 What You Need e Kinetix Accelerator Toolkit D
134. reate an HMI string tag for each parameter file 6 Axis 30 Status or greater that you created in Add a Parameter File section Follow these steps to add an HMI tag to your FactoryTalk View ME application 1 Inthe Explorer window expand your fly IMME_1 axis_PVPE00_v002 oe IMME_lasis_PVP600_v002 application file System Project Settings Ea User Accounts Diagnostics List Setup Global Connections Startup HMI Tags Gre Publication IASIMP QS018C EN P February 2010 67 Chapter 5 2 Double click Tags The Tags editor window opens Click the first empty row in the Tags editor window Row 41 is used in this example Yours could be different Type EMxx in the Name field EM30 is used in this example Yours could be different Select String from the pull down menu in the Tag Type field Select Memory in the Data Source Type field Enter EMxx in the Initial Value field Motion FactoryTalk View IntegrationLogix Integration Type Description i Length 82 Data Source Type C Device Memory Initial Value Retentive Sas 1 Axis Fault Type_ Visibility Analog 2 Axis_ Status Type_Visibility Analog a 3 Position_TrendMaxValue Analog C system 4 Position TrendMinValue Analog 5 SelectedAxis1 String 6 SelectedAxis2 String 7 SelectedAxis3 String 8 SelectedAxis4 String 9 Torque_TrendMaxValue Analog 10 Torque_TrendMin alue Analog 11 elocity Tren
135. roaup AXBS Cmd_ Enable Inp Commands Enable Sts DisableDone lt UNO1 Commands Enable 0e Sts FautResetDone Cmd_ Disable Inp Commands Disable UN01 Commands Disable Sts_ HomeDone je Cmd Fautheset Inp Commands Fautheset Sts_ AbortDone lt UNO1 Commands Fautheset 0e Sts StopDone cmd Hone Inp Commands Home UN01 Commands Home gt Sta Axistk E je cmd _ Abort Inp Commands Abort Sts_ Nohotion lt UNO1 Commands Abort 0e Sts Horned Cmd_ stop Inp Commands Stop UN01 Commands top gt je The AOI consists of Parameters and Local Tags and a routine for Logic and Prescan Axis _ObjectSD_AOT Parameters and Local Tags EKI Logic Prescan These configuration tags need to be configured for the AOI to work correctly e Cfg UseVirtualMaster See Cmd_Abort Sts_ AbortDone and Cmd_Stop Sts_StopDone on page 125 e Cfg StopEnabled See Cmd_Abort Sts_AbortDone and Cmd Stop Sts_StopDone on page 125 e Cfg HomeEnabled See Cmd Home Sts Homed and Sts HomedDone on page 124 e Cfg AbortEnabled See Cmd Abort Sts_AbortDone and Cmd Stop Sts_StopDone on page 125 Note When using RSLogix5000 V16 the value of these tags with a Cfg_ prefix may be reset to 0 This may affect expected execution To avoid this write logic into the S20_InitializeData routine of the program for any Equipment Module EM that uses this AOI to control the axis state to set the values of these tags This routine is only executed on downloa
136. roller Tags 3 Right click Controller Tags and then select Monitor Tags The Controller Tags database editor will open in the window in which you are working Offline J F RUN TE No Forces gt A h E No Edits al m 140 f Redundancy 00 D f 9 Controller Power_Programming_CL _ 4_00 7 E Controller Fa Power Up H 24 Tasks New Tag Ctrl Monitor Tags ED MainTask Edit Tags fe 8 UNO1_Ex verify HES OPOL_At Export Tags Eg OPO2_Me H E EMOO_Vir Print gt rh OR pans oe 4 Scroll down to the UNO1_Recipe tag and expand it 5 Scroll down to the UNO1_Recipe EM02 tag and expand it 6 Scroll down to the UNO1_Recipe EM02 Cam_Pars tag and expand it jaa UNO1_MachineStateModel_AOI FPackML_StateModel_A0I ue Ea EFUN Recipe foo a UDT_Recine_Unit_ Example act UNO1_Recipe Recipe_Number UNO1_Recipe EMOO UNO1_Recipe EMO2 H UNGT_A ecipe EMO2 General UDT_R_EM_Master fact sah UDT_R_EM_PCamBasic act FE UNO1_Recipe EMO2 Manual Jog UNO1_Recipe EM02 Cam_Pars UNO1_Recipe EM02 Cam_Pars No_Of_Cam_Points UNO1 Recipe EM02 Cam_Pars Cam UNO1_Recipe EM03 UDBT_R_PCamBasic_Jog UDT_R_PCamBasic_CAM Basic act DINT ac COMP100 UBT_R_EM_PCamBasic act i ee UDT_R_PCamBasic_General 7 Righ
137. rting 7 IEO i Ear atse Phin Wa ST_Clearing iz aot UN MaochineSteteModel AN Sts ModeCurert ae ST_ Executing Baca l ST_Resetting ST_Starting 5 EO 1 Tasata u tl 5T_5topping a Source A UNDI _MacheStateMogel AOI Ste ModeCurert io Dasch Source Consterts PRO DS ARLE PROGRAM Based on the current mode Sts_ModeCurrent the phases will be inhibited and un inhibited according to the mode The AOI also interfaces with the PackML state machine shown on the HMI 128 Publication IASIMP QS018C EN P February 2010 Parameters and Local lags Logix Base Program Overview Appendix A Only a few of the tags in the table below are visible on the AOI itself and most of the other tags can be referenced via the backing tag outside the AOI Local Tags can only be referenced inside the AOI and are not discussed here Below is a table with all tags that can be referenced outside the AOI Name Cfg_DisableStates Cfg_ModeNames Cfg_ModeTransitions Cfg_RemoteCmdEnable Cmd_Abort Cmd_Clear Cmd_Hold Cmd_Mode Cmd_Reset Cmd_Start Cmd_StateComplete Cmd_Stop Cmd_Suspend Cmd_Unhold Cmd_UnSuspend Enableln EnableOut Inp_RemoteModeCmd Ino_RemoteModeCmdChangeRequest Inp_RemotestateCmd Inop_RemoteStateCmdChangeRequest Sts_ Aborted Publication IASIMP QS018C EN P February 2010 Input Input Input DINT 32 STRING 32 BOOL BOOL BOOL BOOL BOOL BOOL DINT BOOL DINT BOOL BOOL
138. rview Appendix A 9 Add anew CM routine to EM02_PCamBasic with the logic to execute the new function Use the command Inp_Commands AddCtrl xxx to initiate the logic E Tasks BGS MainTask O83 UNO1_ExampleUnit H E opal Automatic H E OPO2_Manual HES EMOO_VirtualMaster Eg EMO2_PCamBasic its k Program Tags ER MainRoutine ee CMOO ServodkisObject T CMO1 Servo4axisjog Git 2E amsi CA cmos NewFuncton gt L ee ankin saei omod nann B EM z_PCamBa sic Mainkovtine LECER h 5 Jump To Subroutine Routine Mame CMO1 ServoAxisJog VATE PCAM FUNCTION FOR PRODUCTION 5 Jump To Subroutine Routine Mame CMO2_PCamtart Jump To Subroutine Routine Mame CMOS _MewFunction MainRoutine EMO PCambasic Publication I ASIMP QS018C EN P February 2010 109 Appendix A Logix Base Program Overview User defined Data Types UDTs 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 accelerations decelerations direction and sequencers A tag structure is created for each axis based on this data type Axis Data UDT Example E Data Types ESB User Defined Ll UDT_AXES Sts lM UIDT_AXIS_Sts MA UDT_AXIS_Sts_HMI Basin er a a bas fio U
139. ry 2010 Chapter 2 Plan System Layout In this chapter you layout the system components selected in Chapter 1 Remove components from the basic motion control panel system or add components using the CAD drawings supplied on the Kinetix Accelerator Toolkit DVD For a copy of the DVD contact your local Rockwell Automation distributor or sales representative Before You Begin Complete your system hardware selection Refer to Chapter 1 What You Need e Kinetix Accelerator Toolkit DVD 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 Kinetix 2000 Multi axis Servo Drive User Manual publication 2093 UM001 e Kinetix 6000 Multi axis Servo Drive User Manual publication 2094 UM001 e Kinetix 7000 High Power Servo Drive User Manual publication 2099 UM001 Publication IASIMP QS018C EN P February 2010 21 Chapter 2 Plan System Layout Follow These Steps Complete the following steps to plan your system layout within the enclosure Load Basic System CAD Drawings page 23 Use Yes Basic Motion Control me Panel as is Verifying Your Basic Modify Your Motion Panel Layout Panel Layout page 24 page 25 Download Other Allen Bradley CAD Drawings page 26 22 Publication IASIMP QS018C EN P February 2010 Load Basic System CAD Drawings Plan System Layout Cha
140. s aie Yeas in Ste Suspended Contest ne abe sth ee ae Bat 0 SHE Socpns Conan ne srny ins dod Oe St coed gt Cie Ind rb ne Spe edi J Se pend 0e Ste dadi B E Tasks IRs ne Hs inhig o A MainTask ne a4 5 T Y ee ES UNOL ExampleUnit geen tere ie Sdent a as aare aere en A Program Tags ah EB MainRoutine vee B CMO1_OperatianLoca AH Coz _conditionsModules H 5R01 _Initialize vo B SRO2_Processoratatus EB UPOL Pack OR OPOL_Automatic O o p H E opoz Manual H E EMOO_VirtualMaster OR EM02 _PCamBasic Lf Unscheduled Programs Phases J E Motion Groups eee Axes Model tre tsire Ere Model rretsire cx ple A gt EMOO_Axis _Master a EMOZ_AxisSD_PCamBasic ae Ungrouped Axes Add On Instructions el Lis Axis Mastery AOI OE Axis _Object5D_ACI ae H A PackML StateModel_Acl This diagram indicates the pre configured states and transitions allowed forthe QPO1 Automatic Additional states and transitions can be configured for more complicated processes The Logix program template provides examples for two unit operations associated with the automatic and manual machine modes e OP01_ Automatic Controls the machine when in automatic mode e OP0O2_ Manual Controls the machine when in manual mode An operation is implemented as a program that runs in a task and has a set of routines and tags An operation uses a state model to execute the processing procedure for operat
141. s defined in the PAC program will be shown Use the procedure in Steps 3 12 to copy the button and make the required changes 15 Repeat steps 1 12 for each new EM Using Multiple Languages in the Project Currently the application only supports English language Test the Project Factory Talk 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 Ue To test run the project all communications must be configured first Follow these steps to test your FactoryTalk View Studio project 1 Select Test Application in the A RSView Studio Machine Edition Application menu File Edit Yew Objects Arrange Animation Appicatom Tools Window Help SES Oa FE S gt 7 erate Create Runtime Adbiication p SAME US Apmicahion Properties eS A Be mi ror aa y Th inn ia Publication IASIMP QS018C EN P February 2010 71 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration 2 If prompted to save changes click Yes RIN Ue g F P Save changes bo Main Screen gtx No Cancel The FactoryTalk View Studio software compiles the project and runs it as if it were executing on the desired terminal Graphics Library Cancel 3 Test the functionality of the project and fix errors as necessary 4 Click Close F3 to close this window 5 When the test of the application is d
142. s modularity in machine programming e provides integration of library modules e streamlines the development of application programs Basic Program Flow PackML 3 0 Equipment Procedures OPO1_ Automatic OPO Manual State Machine State Commands Status Status Main Machine Control AXIS UNO Exampleu nit Command Machine Status a AxisfEquipm ent Control EMOO VirtualMl aster EMU PCamBasic Publication I ASIMP QS018C EN P February 2010 101 Appendix A Logix Base Program Overview PackML 3 0 State Model Integration State model programming provides a way to execute processing procedures based on machine conditions but independent of the direct equipment control logic This is an essential component to modular programming The PackML 3 0 state model a recognized standard in the packaging segment is implemented in this example using an Add On Instruction AOI that manages from 1 32 modes each having its associated instance of the state model The states may be enabled and disabled as required depending on the needs of the mode PackML 3 0 State Model Tag and Logic Integration akM Slarehiidel ol The PackML StateModel AOl Pack Sarebiodal 800 JRO Machine ttalevidel cl manages state transitions state ore Saerleaneehin Cig MarleTranet a a iela configurations mode selection and Gis Sesh Stale Clq Debess Ste Hacing a CF Meor hlmes Cig Barkha nes Ste_ cle mode transition
143. sic_General H Data Type UDT_Recipe_Unit_Example Name UDTR ecipe_Unit_E ample Description Members Data Type Size 1260 byte s Name Data Type Style Description jm Recipe Murmber DINT J EMoo UDT_R_EM_Master Decimal number of format part of filename in fla Cami input for the Equipment Module L Cam input for the Equipment Module L J Emi UDT_R_EM_PCamBasic f iii Move Up Move Down Cancel Apply Duplicate member EM02 To do this follow these steps a Right click the row for the EM02 member and then select Copy a Right click the empty row and then select Paste Rename EM02 to EMO3 and change the description from Equipment Module 02 to Equipment Module 03 E EM Move Up Mave Dawn Click Apply or OK H Emo UDT_R_EM_Master EMU LEW PB E EMD UDT_R_EM_PCamBasic a ead 4 Cam input for the Equipment Module 00 Ss Cam input for the Equipment Module 02 Cam input for the Equipment Module 03 Cancel Apply Help Publication IASIMP QS018C EN P February 2010 43 Chapter 4 Motion Logix Integration Link Axes Program lags to Controller lags In this example you will link the program tags for EM03_PCamBasic that you created in the preceding example a eens Follow these steps to re link alias program tags to controller tags E E Tasks EG MainTask O83 UNO1_ExampleUnit H E OFO1_Automatic 1 Expand the EM03_PCamBasic a
144. 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 Required Software Rockwell Automation Software RSLogix 5000 Factorylalk View Studio for Machine Edition includes RSLinx Enterprise and RSLinx Classic Motion Analyzer Motion Selector Kinetix Accelerator Toolkit DVD Conventions Used in This Convention Click Double click Right click Drag and drop select Check uncheck gt Expand Enter Type Press 10 To complete this quick start the following software is required Minimum Version 9324 RLD300ENE 17 9701 VWMRO30AENE 5 00 Download at 46 htto www rockwellautomation com en e tools l IASIMP SP004 IASIMP SP004G EN C This manual uses the following conventions Click left mouse button once to initiate an action Assumes cursor is positioned on object or selection Click Browse Click left mouse button twice in quick succession to initiate an Double click the Motion Analyzer version 4 6 action Assumes cursor is positioned on object or selection application file Click right mouse button once Assumes cursor is positioned on object or selection In the Explorer window right click 1 0 Configuration Click and hold the left mouse button on an object move the curso
145. ster Behavior 0 Abort Stop will execute the MAS instruction immediately 1 Abort Stop will wait for Inp_MasterNoMotion before executing MAS instruction When Sts_NoMotion of the axis is detected and either a Cmd_Abort or Cmd_Stop command 1s set either the Sts_AbortDone or Sts_StopDone status bit as appropriate will be set Ste_NMoMotion Cmd_Abort Cig _AbortEnabled Ste_AbortDone Cmd_Stop Cig _StopEnabled Sts _StopDone Publication I ASIMP QS018C EN P February 2010 125 Appendix A Logix Base Program Overview No motion is when none of the motion planner inputs for example gears jogs or CAMs are active and the axis speed is less than the level configured in Cfg_ZeroSpeedTolerance ABS Absolute Value Source Out Axis Vv Averagevelocty T Dest Average elocity 0 0 Er Less Than or Eql 4 B Source 4 Average elocity 0 0 Source B Cfg_ZeroSpeedTolerance 0 0 EQ Ste_MoMotion Mask Equal Source Out Axis Vv MotionStatus T Mask 5407 Compare The motion planner inputs are masked with the MotionStatus Motion planner input set this way 65407 dec 1111 1111 0111 1111 bin Bit 126 Description AccelStatus DecelStatus Movestatus Jogstatus Gearingstatus Homingstatus Stoppingstatus AxisHomedstatus PositionCamstatus TimeCamStatus PositionCamPendingstatus TimeCamPendingStatus GearingLockStatus PositionCamLockStatus MasterOffsetMovestatus CoordinatedMotionStatus Publication ASIMP OS018
146. t Profile Export Wizard Welcome to Profile Export Wizard This wizard helps to export data from profile editor to different options gt 3 Cancel Help 16 Click Logix CAM Profile Editor Select the desired type of Export from the following available options Logix CAM Profile Editor Logix Ladder AOI Instructions SolidWorks Motion Study Move Profile User Defined 17 Click Next Profile generated as RSLogix CAM segments to export to RSLogix 5000 Cam Profile Editor table via clipboard or file al eee 96 Publication IASIMP QS018C EN P February 2010 Motion Analyzer Motion Profile Export Chapter 7 The Index profile is copied to the clipboard Profile Export Wizard Profile Data has been copied to the clipboard in the format shown in the table below This data can be directly pasted to the Logix CAM table BS 9999999999999 Linear 2 O 00000000087 7 Cubie 360 O0000000087 7 Linear Cancel Help Copy Position Cam Profile to RSLogix 5000 Program In this example the preconfigured Logix file PowerProgramming CLX_V4_00_Core ACD is modified to replace the Position Cam PCam in the Equipment Module Program EM02_PCamBasic with the profile copied to the clipboard in the previous procedure Follow these steps to add the PCam Profile to your RSLogix 5000 program 1 Open the PowerProgramming CLX_V4_00_Core ACD application file The RSLogix 5000 software launches and your application file
147. t Here Quick Start AutoCAD Electrical CAD Contredier Propam Files HAI Application Pijet x DWG Files 5 4 KAT Common Tools l DDF Files E O 4A Sequencer Based SERCOS 5 1 Quick Start 5 2 Bill OF Material E 9 4 AutoCAD Electrical CAD 5 DW Files O DXF Files wal 23 Chapter 2 Plan System Layout Verifying Your Basic Panel Layout The basic 460V motion control panel layout is shown below Included is a four axis Kinetix 6000 drive system with Line Interface Module LIM PanelView Plus 600 terminal and CompactLogix controller with SERCOS module Sample Information from Enclosure Files VIIIN LLL LLL LL CEN V PanelView Plus 600 ee al Terminal HMI C os Through the door LIM Module Disconnect Bulletin B00EP Push Buttons Kinetix 6000 Optional Equipment Includes Four axis Drive System 460V is shown Line Filter required for CE PowerFlex 40 ac Drive Ethernet Modem Point I0 System Safety Relay T a NE TA Ethernet UEG m mi CompactLogix Controller Enclosure 1768 M04SE 1219 x 609 x 304 mm SERCOS Module 48 x 24 x 12 in eae he enclosure CAD drawings were designed using best practices techniques as shown in the 24 system Design for Control of Electrical Noise Reference Manual publicati
148. t click the row for tag UN01_Recipe EM02 Cam_Pars Cam and select Configure UN01_Recipe EM02 Cam_Pars Cam Publication IASIMP QS018C EN P February 2010 45 Chapter 4 Motion Logix Integration The Cam Editor will open in a new window New Tag caw UDT_EMConditions tate UDT_AXES_Sts Edit UNO1_Recipe EM02 Cam_Pars Cam UDT_EMConditions Edit UNO1_Recipe EM02 Cam_Pars Cam Properties Alt Enter UDT_AXES Sts UDT_EMCondtions Edit CAM Data Type Eii UDT_AXES_Sts Go to Cross Reference For UNO1_Recipe EM02 Cam_Pars Cam Ctril E UDT_EMConditions Filter on CAM UDT_AXES_Sts UDT_EMConditions SoBe ns UDT_AXES_Sts Toggle Bit Ctri T UDT_EMConditions P UDT_AXES_Sts Boi UDT_EMConditions Force Off UDT_Unit te PackML_StateModel_AO EVE CONE UDT_Recipe_Unit_Example amp ut Ctrl o DINT Ba Copy Ctrl C i Sener UDT_R_EM_Master E Paste Ctrl UDT_RA_EM_PCamB asic Paste Pass Through EEES UDT_R_PCamBasic_General Eaa UDT_R_PCamBasic_Jog Delete Del UDT_R_PCamBasic_CAM_Basic Find All UNO1_Recipe EM02 Cam_Pars Cam 20 DINT ae UNO1 Recipe EM02 Cam_Pars Cam CAM 100 8 Starting at 0 and ending at the final cam point select all rows of the Cam table then press Ctrl C to copy the table E Cam Editor UNO1_Re
149. tate combinations AOI will reset the disable bits for these states automatically if invalid state combination is detected The above states are always mandatory and shall be set also if none is shown in this table Publication I ASIMP QS018C EN P February 2010 133 Appendix A Logix Base Program Overview Cig DisableStates f DINT S2 Chg DisableStates O 0 DINT Chg DisableStates 1 226400 DINT Chg DisableStates 2 0 DINT o Chg DisableStates 3 2268408 DINT Each individual bit of the DINT corresponds to a specific state as follows rae sene a e Not Used Reserved 16 i i ofe f 7 ca Stopping Ce Aborted Holding Held Un holding z z z z z 7 z 134 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A Not Used Reserved Not Used Reserved Suspending Un Suspending Automatic Mode Not Used Reserved Cfe_DisableStates 1 228400 dec 0000 0000 0000 0011 0111 1100 0011 0000 bin That means the template disables the Idle Suspended Held Un Holding Suspending Un Suspending Completing and Complete states Manual Mode Cfo _DisableStates 3 228408 dec 0000 0000 0000 0011 0111 1100 0011 1000 bin That means the template disables the Starting Idle Suspended Holding Held Un holding Suspending Un Suspending Completing and Complete states The configuration of the states of these operati
150. te and not in aborted state Follow these steps to view status and fault indicators and to select the axis 1 Go to the EM Diagnostics display by pressing EM Diagnostics 5 13 2009 7 58 23 PM A Fault and Status M 682009 10 52 30 AM auit an atus Message m i Automatic Mode Fault and Status Message Aborted State ra g Prvan arita EM 02 Cornmnarnd reser Zen came peser Seren sities mome Goer Maze Mane Meee k Diag Screen Atomatic biterface ed ee ramuan START 3 TART HOLD STOP SPEED A Ready For Mode Change Request 85 otm otm Machine EM EM EM Motion Sel aes nA ean Derma future tuture Vv State Model Diagnostics jaintenance Config Diagnostics Use Use Use Use System in Aborted State System in Execute state 2 Press EMO2 The Axis Status display opens E 5 13 2009 7 58 42 PM y 6 8 2009 10 54 49 AM N j N nn Fault and Status Message ESTAS RS w Fault and Status Message prenan Aborted State Execute State EM02 Servo Enabled Servo Faulted SERCOS Fault EM Fault EM02 Servo Enabled Servo Faulted SERCOS Fault EM Fault Axis Status Bus Ready Status Axis Status Bus Ready Status Drive Enable Status Drive Enable Status Motion Status Servo Action Status Motion Status Servo Action Status i Shutdown Status P Shutdown Status Drive Status Inhibit Status Drive Status Inhibit Status Module Faults Config Update In Process Module Faults Config Update In Process Absolute Reference Status Absolute Reference St
151. ter Accs velocity scaling when using Position Based Profile Sec Master Velocity Time Based Profile T CAM Position Based Profile P CAM Slave Conversion 1 deg 0 0174532925 rad Master Velocity 350 MUvsec Enter Slave Axis units 12 Click Done to return to the prior screen Slave Conversion 1 Deg 0017453292 tad Done Cancel 13 Type the following parameter data into the Index Parameter f i Index Motion Parameters 1 q fields on the left side of the screen a Slave Distance 360 deg a Master Distance 360 MU Segment Name NewSeqment Leave all other parameters at default values Increment Absolute Slave Distance 360 deg Master Distance 360 MU Index type a Aukomatic Smoothness Bukomatic haf _ of A I of eee Accel Jerk 0 Iia Time Decel Jerk a l Time n LLa naaa aaa LILUILiLLLLULliLililiiliullill iin Publication IASIMP QS018C EN P February 2010 95 Chapter 7 Motion Analyzer Motion Profile Export 14 Click Export to export this profile to your RSLogix 5000 program Profile Plot f Distance 0 rey EOAR A ne Mil Jerk o radise P ICEA o kgm 4 a m Thrust z B Nan sb Start Condon Error List E Profile Grid Derived Parameters i Less Options The Profile Export Wizard appears Profile Export Wizard 15 Click Nex
152. terature Library http www_literature rockwellautomation com for access to publications Follow These Steps Complete the following steps to plan the installation and wiring of your system components within the enclosure Load Basic System CAD Diagrams page 29 Routing Cables for Your Integrated Motion Panel page 30 Laying Out Power and 0 Cables page 31 Laying Out SERCOS and Ethernet Cables page 33 28 Publication IASIMP QS018C EN P February 2010 Plan System Wiring Chapter 3 Load Basic System CAD Diagrams The Kinetix Accelerator Toolkit DVD provides CAD diagrams in DWG and DXF format to assist in the planning of your system wiring The diagrams are designed to optimize panel space and to minimize electrical noise Follow these steps to load CAD files from the Kinetix Accelerator Toolkit DVD 1 If you have not already done so follow the instructions in Install Kinetix Accelerator Toolkit from DVD on page 13 to install the Kinetix Accelerator Toolkit DVD on your personal computer Choose Start gt Programs gt Rockwell Automation gt Simplification gt Kinetix Accelerator Toolkit and click Use The TEN THI wees Use KAT Development Tools KAT Development Tools Browse to the AutoCAD Electrical CAD folder Basic KAT Option This option provides Simple Sequencer Based Control simple synchronized motion control and introduces new a Double click the
153. ting ST_Starting a H 57 _Stopping ES OPO2_Manual HES EMOO_VirtualMaster EIS EMO2_PCamBasic pnr Program Tags poy ERI MainRoutine CMO0_Servo4xisObject aie CMO1 Servo4axisJog UNO Commands Enable UNOLE ong _ ALL EnableDone UNO Commands Enable xis_ObjectSD_A0 Axis Serva Drive Object Add On InstrugtionPe Axis ObjectSD ACI AOL ServaObject1 Sta ER feo Out Axis SD Axe an EMO2_ AxisihD_PCoRasic Ste_EnableDone hi Inp_ Motion Group AMES Cmd_Enable Inp_ Commands Enable Ste _DisableDone UNO1 Commands Enable gt 0e Ste FautResetDone Inp_ Commands Disable lt UNO1 Commands Dizable Ste _HomeDone Performs Enable je Disable Fault Inp_Commands Fautheset Sts_AbortDone Reset Home Ston 101 Commands Fautheset Abort Diag cs gie sts_StopDone and Statue Inp Commands Home functions lt UMO1 Commands Home gt Sts_AxisOk EE I l condition Enable iz Enable Ha 7 Inp_ Commands Enable Done Out _EMConditions EnableDone In Sis SI Mean CEs eal Sts_NoMotion UNO1 Commands Enable gt 401 ServoObject Ste _EnableDone EMO2_ Conditions EnableDone ig LU ee 0e Sts Homed E SS np Commands Stop UNO1 Commands Stop 0e Add Your Application Code Application code may be added by altering or replacing the current routines or by adding new routines Follow these steps to add application code to each of your EMxx_SectionName programs 1 In RSLogix 5000 software expan
154. tion File Bi PowerProg_v4_00_FaultHandler_D1 1 mer RSview ME Station File Bi PowerProg_Packaging_v4 0 D315B 1 mer RSview ME Station File Bi artDependent_vOO1_O61 12008 mer RSview ME Station File BiDemoRobot_Robotics_ v1 1_001_5BI01 mer RSview ME Station File SEDISO109C_RA mer RSview ME Station File j DemoRobot480x640 W001 mer RSview ME Station File Bi bemoRobot_vOO1 mer RSview ME Station File Desktop 8 Browse for your PanelView Plus terminal hy Network File name PowerProgramming w4 O01 Core mer Places Files of type Runtime Application Files mer Publication IASIMP QS018C EN P February 2010 75 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration 9 Select Download The file transfers to the Panel View Plus terminal Transfer Utility l5 x Downoad 7 Exit jet Help Download Upload Compare Source file CADocuments and Settings All Users s Documents AS iew Enterprise ME SAuntimes IMME _PYP1250_YO01 mer E Downoad as iMME_PvPI 250 YOO Destination storage type WARNING intemal Storage ae Include a goto configure mode button in your application if I Run application when download completes you need to access the configuration mode screens when application runs Include a shutdown button in your application if you want to Replace communications be able to shut it down Select destination terminal l RSLinx Enterprise
155. to the Logix5000 Motion Modules User Manual publication LOGIX UMO002 10 Click ORK Status Offline aa 11 Repeat steps 1 10 for each Logix SERCOS module Add Logix Program Code for Additional Axes Use the instructions in this section to add Logix program code by duplicating existing code when your application requires additional axes Duplicating the already tested program code of an existing axis saves time and is easier than creating it yourself The procedures described in the following bulleted list summarize the process e Export an Axis Equipment Module Program e Import an Axis Equipment Module Program e Add EMO03 to Sample Recipe UDT e Link Axes Program Tags to Controller Tags e Copy Cam Profile to New EM Export an Axis Equipment Module Program The ControlLogix base application file Power_Programming CLX_V4_00_Core acd contains program code for one physical servo axis and one virtual axis In this example you will duplicate the program code of EM02_AxisSD_PCamBasic and create EMO03_AxisSD_PCamBasic Follow these steps to export an axis equipment module program 1 Expand the MainTask tree 40 Publication ASIMP OS018C EN P February 2010 Motion Logix Integration Chapter 4 2 Right click the program EMO02_PCamBasic and select Export Program 5 5 tasks ETA manTas EHER UNO Evangeli E OG OR shir BHIR oroe Marual Oh ENO piaba E unesveded Prorat Miew Routine aoe
156. tor The EM_03_Para PowerProgramming V4_00_Core Parameters window opens In each parameter file there are nine references to specific tags or partial strings The before any text indicates that line is a comment The before a number indicates a parameterized tag Parameter 01 contains the alias the Topic Name Unit in this example This should match the shortcut name created in step 14 on page 62 Parameter 02 is used to alias the Motion Group name Parameter 03 is used to alias the Unit program Parameter 04 is used to alias the State Machine AOI backing tag in controller scope Publication IASIMP QS018C EN P February 2010 65 Chapter 5 Motion FactoryTalk View IntegrationLogix Integration 66 Parameter 05 is used to alias the axis tag Parameter 06 is used for displaying the EM name on the screen HMI Tag 30 EMs are predefined in the database Parameter 07 is used for On Line Cam Calculation Program Parameter 09 is used to alias the UNO1 tag in controller scope Parameter 10 is used to alias the EM program name Edit Parameter 03 and change 03 Unit Program UNO1_ExampleUnit to 03 Unit Program UNO1_Labeler Edit parameters 05 06 Axis Status fIMME_2axis_PVP1250 vO01 Parameters 07 and 10 and change Parameter File Created 2005 09 28 tag names with EMO2 to Parameter files are used with graphic displays to specify the tags a display l uses at runtime You
157. under the I O Configuration folder in the Explorer window In the Name field enter the module Name xi Type 1756 MOSSE 6 Asis SERCOS Interface Select the Slot where your module resides Vendor _ Allen Bradley The left most slot 0 Description Select an Electronic Keying option Use oo E the guidelines in the following table to determine which Electronic Keying option to select If you are unsure which option to select select Disable Keying Cancel Help Electronic Keying Compatible Keping bor Electronic Keying Selection Guidelines Choose Compatible Keying if you require the major version of RSLogix 5000 software to match your Compatible motion module s major firmware revision Choose Exact Keying if you require the major and minor version of RSLogix 5000 software to match your Exact motion module s major firmware revision Disable Choose Disable Keying if you are unsure 7 Check box Open Module Properties 8 Click OK Publication IASIMP QS018C EN P February 2010 39 Chapter 4 Motion Logix Integration The Module Properties window opens B Module Properties Local 4 1756 MO08S5E 17 1 General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane 9 Click the SERCOS Interface tab Data Rate Cycle Time Do not change the default values unless Tane enet they differ from drive settings Transition To Phase 4 For more information refer
158. urce A UNO1_MachineStateModel_AOl Sts_ModeCurrent Class Name PROGRAM 1 Instance Name OP02_Manual Source B 3 Attribute Name DisableFlag Source Constants PRG_DISABLE_PROGRAM 1 Publication IASIMP QS018C EN P February 2010 131 Appendix A Logix Base Program Overview Cfg_ModeTransitions Configure Mode Transitions Cfg _ModeTransitions is used to define acceptable states to transition between modes In this way you can allow a mode change such as from Automatic mode to Manual mode in the Execute state The tag consists of an array of 32 DINT each corresponding to one of the possible modes e Cfg ModeName 1 Cfg_ModeTransitions 1 e Cfg ModeName 2 Cfg_ModeTransitions 2 e Cfg ModeName 31 Cfe_ModeTransitions 31 Each individual bit of the DINT corresponds to a specific state as follows rae senm O e Sette Not Used Reserved 16 i 02 Stopped 18 i i z 2 z i i ie 03 04 05 07 10 11 12 13 14 15 Chg_ModeT ransitions tf DINT S2 E Cfg_bodeTransitions 0 0 DINT E Chg _ModeT ransitions 1 516 DINT E Chg _ModeT ransitions 2 0 DINT Chg _ModeT ransitions s 516 DINT 132 Publication IASIMP QS018C EN P February 2010 Logix Base Program Overview Appendix A The template has the following defined for both Automatic and Manual mode Cfg ModeTransitions 1 516 dec 0000 0000 0000 0000 0000 0010 0000 0100 bin That means the template only allows a mode change in Stopped and A
159. xis program file that you created in the E1 E OP02 Manuel f 8 EMOO_VirtualMaster Import an Axis Equipment Module Program section ie anes E EMOS_PCamBasic eee rogram Tags Pat ERI MainRoutine a CMOO_ServodxisObject ce CMO1 Servoaxistog ie CMOZ_PCamStart ves CMO4_ PoeumaticControl a 520 _InitializeData Been Unscheduled Programs Phases 2 Double click Program Tags E S Controller Power _Programming_CLx_ 4_00 a Scope EREM03_PCamBas Show show All A Controller Tags 5 BO aaa ee es Power Up Handler a HAO ServoObject Ll Avis_Objects H E Tasks Esis EMO3_AwisS EMO3_AxisSD_P AXIS SERVE EMOO_Axis G3 MainTask E AsisMaster O EMOD Avis Mas AXIS VIATU 0 0 UNDI Exampeunt Weoo unt Lover F E C H Cig Cam Pars1 Cig_EM_Par UNOI_Recipe EM UDT_A_PCa amp _Manua ORE AAE EN See Shahn y pat EES EMOO_virtualMaster E Cig EM_Pars UNO1_Reci UNO1_ Recipe EM UDT_R_EM_ Emo2_PCamBasic Cig log Parsi CfoLEM_Pav UNO1_Recipe EM UIDT_R_PCa E EMo3_PCamBasic EHEM_Awis Sts_HMI1 EMO3 Axes EMO3 Axes Sts UDT_AXIS FeggProgram Tags aq EM Anis Stel EM03 Axes EMO3 Aves Ste UDT_AKIS_E E MainRoutine EM_is Executing BOL i E e sea __ LEM_Master_Sts_Axis EMOD Axes UDT_AXIS_ ate cMoz_PCamStart mi Inp_Commands UNO1 Comm UNDI Commands C UCT Comma H CMO4_PreumaticControl E J1 UDT_LocalT io E aa mas m A St Bese Unscheduled Progra
160. y All communications with other systems are functioning if applicable STARTING State Type Acting This state provides the steps needed to start the machine and is a result of a starting type command local or STARTUP ana y remote Following this command the machine will begin to execute IDLE State Type Wait READY This is a state which indicates that RESETING is complete This state maintains the machine conditions which were achieved during the RESET state State Type Acting SUSPENDING This state is a result of a command change from the EXECUTE state This state is typically required prior to the SUSPENDED wait state and prepares the machine for example stops glue cycles stops carton feeds etc prior to the SUSPEND state State Type Wait S OPENED The machine may be running at the relevant setpoint speed but there is no product being produced This state RUNNING i can be reached as a result of a machine status and differs from HELD in that HELD is typically a result of an STANDBY operator request State Type Acting UN This state is a result of a request from SUSPENDED state to go back to the EXECUTE state The actions of this SUSPENDING state may include ramping up speeds turning on vacuums the re engagement of clutches This state is done prior to EXECUTE state and prepares the machine for the EXECUTE state EXECUTE State Type Dual State PRODUCING Once the machine is processing materials it is deemed to be Ex
161. ystem 1 If you have not already done so follow the instructions in Install Kinetix Accelerator Toolkit from DVD on page 13 and Get Motion Analyzer Software on page 14 to install the Kinetix Accelerator Toolkit DVD and Motion Analyzer and Motion Selector software on your personal computer 2 Open the Kinetix Accelerator Toolkit software and click Use the KAT Development Tools 3 Browse to the Product Information folders LISTEN THINK SOLVE GANOON E ta ketel Retum to Main Menu z Selecting the Right KAT Option Quick Starts Help waa Required Software Common Info for KAT Applications EMC Noise Management Phase Manager Basic KAT Option einai eae oe See Simple Sequencer Based Control Product Information Distributed I0 i gt HMI Modem Support Information Other KAT Options pores Selectable by Application Type Safety Network and Programming Style 7 E cervos Kinetix Servos Ultra3000 Standard Drives el af 4 4 Identify needed components listed in the Product Information folders that you would like to add to your system 5 If necessary identify additional components not listed in the Product Information folders Contact your local Rockwell Automation distributor or sales representative for more information Publication I ASIMP QS018C EN P February 2010 19 Chapter 1 Notes 20 Hardware Selection Publication IASIMP OS018C EN P Februa

Follow These Steps

Contents

Download Pdf Manuals

Related Search

Related Contents