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Integrated Motion on the Ethernet/IP Network

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1. Geral Comedie Se Ms ena P a isin News ce Ror Axis 1 Axis_1 a a Motor Feedback Device Motor Feedback Port Load Feedback Device lt none gt X Axis 2 Auxiliary Axis lt none gt x idem Aris Master Feedback Device lt none gt x Axis 1 on the Associated Axes tab in Module Properties corresponds to Axis 1 listed on the General dialog box in the Axis Properties see step 2 on page 36 The axis tag field appears as Axis 1 for example Axis_I_Position_Motor The Motor Master Feedback Device Motor Feedback Port is populated based on the Feedback Configuration type 3 Choose the Load Feedback device This selection maps the second port of the Kinetix 6500 drive as the input port for the Dual or Load feedback device For the Axis Configuration type Position Loop and Feedback Configuration type Dual or Load Feedback see Example 2 Position Loop with Dual Feedback on page 59 General Connection Time Syne Module Info Intemet Protocol Port Configuration Network Associated Axes Power Dil 1 Axis 1 Axis_1 x fa Gewaxis Motor Feedback Device Motor Feedback Port Load Feedback Device Aux Feedback Port z Axis 2 Auxiliary Axis snone gt x fo NewAxiss Master Feedback Device l lt none gt a For more detailed exampl
2. X Axis Properties PF_755_Axis 1 o taje Categories General S Motor Model Axis Configuration Position Loop X Analyzer Feedback Configuration Motor Feedback X Motor Feedback i T Scaling Application Type Basic A Hookup Tests Loop Response Medium Sa Polarity i New Gro Aiaia Motion Group Motion_1 nA i New Group 6 Load Backlash Associated Module Compliance SS ana Module PowerHex_755_Axis_1 zm Position Loop Module Type Powerflex 755 EENET CM Velocity Loop Power Structure 200V 4 8A Normal Duty Frame 1 Torque Current Loop fe SO ae r Planner Axis Number 1 Zi Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag se Ge hn The axis parameters you configure on the General dialog box result in the presentation of attributes and parameters that are specifically available for the combination of your selections IMPORTANT The AXIS_CIP_DRIVE axis properties dialog boxes appear or disappear depending on the Axis Configuration except for Tag Status Faults Dynamics and Homing they are always present Optional attributes related to each integrated motion axis you create come and go based on what combination of axis characteristics you define Axis Attributes control modes are either Required Optional or Conditional Elements of the General dialog box depend on the control mode you select The Axis Attribute determines the usage definition internally See
3. General Connection Time Sync Module info Intemet Protocol Port Configuration Axis 1 TIP You can also create a new axis directly off the Motion Group in the controller organizer 6 Motion Groups cae Axis New Axis AXIS_CONSUMED i Axis_ New Coordinate System AXIS_SERVO E Ungroupe 7 AXIS_SERYO_DRIVE E Add On Instr Monitor Group Tag AXIS_GENERIC 6 8 Data Types Of User Def Fault Help AXIS_GENERIC_DRIVE oa Strings Clear Motion Group Faults AXIS_CIP_DRIVE Add On a predefnc T ane AXIS_VIRTUAL The New Tag dialog box appears New Tag a See eate v He ww oo Type Connection Alias For e ee E Data Type AXSCIPDRIVE E Scope ffllPowerflex ample Edemal _ Read Wite Style rr F Constant F Open AXIS_CIP_DRIVE Configuration 4 Type the name Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 5 Type a Description if desired The fields in the next steps are automatically filled in for the AXIS_CIP_DRIVE data type 6 Change the Tag Type Data Type Scope and External Access if needed 7 Click Create For more information about External Data Access Control and Constants see the Logix5000 Controllers I O and Tag Data Programming Guide publication 1756 PM004
4. fa New Group Frequency Control EP Moton g Hi Group Actions i Drive Parameters Parameter List CIP_PowerFlex v This shows you the type of drive you selected and power structure you assigned via the PowerFlex 755 drive Module Properties ho oO A See Add a PowerFlex 755 Drive on page 79 The newly created PowerFlex 755 drive module name should be the default The Axis Number defaults to 1 indicating the primary axis of the drive Axis Number 2 would be used only for configuring a Feedback Only axis Manual Tune Rockwell Automation Publication MOTION UM003D EN P October 2012 125 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive 4 From the Data Source pull down menu choose a data source In this case Nameplate Datasheet is the Data Source See the Specifying the Motor Data Source on page 46 for more information about Data Sources Example 5 Frequency Control with No Feedback Motor Dialog Box General Frequency Control Actions Drive Parameters Parameter List Status Faults amp Alarms L Tag Axis Properties B15_PF755 Motor Device Specification Nameplate Datasheet x 5 From the Motor Type pull down menu choose Rotary Induction 6 On the Motor Model dialog box enter the parameter values In this case the data source is Catalog Number and the values for these fields are provided by the Motion Database S
5. Velocity Loop No Feedback Motor Feedback mounted device Torque Loop e Motor Feedback mounted device Feedback Configuration Options for the PowerFlex 755 Drive The following feedback module combinations are supported Option Two Feedback Options Two Feedback Options and One Safe Torque Off Option Two Feedback Options and One Safe Speed Monitor Option Supported Module Catalog Number Valid Ports Single Incremental Encoder 20 750 ENC 1 4 8 Dual Incremental Encoder 20 750 DENC 1 4 8 Universal Feedback Card 20 750 UFB 1 4 6 Single Incremental Encoder 20 750 ENC 1 4and5 Dual Incremental Encoder 20 750 DENC 1 4and5 Universal Feedback 20 750 UFB 1 4and5 Safe Torque Off 20 750 S 6 Single Incremental Encoder 20 750 ENC 1 4and5 Dual Incremental Encoder 20 750 DENC 1 4and5 Universal Feedback 20 750 UFB 1 4and5 Safe Speed Monitor 20 750 S1 6 1 The Safe Speed Monitor option module must be used with the 20 750 DENC 1 Dual Incremental Encoder module or the 20 750 UFB 1 Universal Feedback module For more information see the PowerFlex 750 Series AC Drive Installation Instructions publication 750 IN001 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 There are seven available peripherals HIM I O Communications Ethernet Standard Aux Power Safety Encoder Interface Universal Feedback
6. Advanced Configure advanced network properties Advanced appears dimmed if either of the following occurs e Offline e Online and a module mismatch or communication error has occurred Refresh Communication Refresh communication appears when communication with the module has failed Refresh communication attempts to refresh communication with the module Apply When you click Apply or OK the information is automatically sent to the controller if either of the following occurs e You are online in Program Remote Program or Remote Run mode This controller is the owner controller e You have changed the module s configuration in the software The controller tries to send the information to the module if the module s connection is not inhibited If you do not click Apply your changes are not sent to the controller Rockwell Automation Publication MOTION UM003D EN P October 2012 CIP Drive Module Properties Appendix A Associated Axes Tab The Associated Axes tab provides different functions depending on the drive you are configuring Kinetix 6500 and PowerFlex 755 Drives For the Kinetix 6500 and PowerFlex 755 use the Associated Axes tab to do the following e Associate an axis from a list of axis tags e Create new axis tags e Choose the Motor Feedback Device e Choose the Load Feedback Device e Choose the Master Feedback Device Each Kinetix 6500 drive module can have one full axis and one half
7. Hertz Integrator Hold Joisabled x e Error Tolerance a709 Position Units s DANGER Tuning may result in unstable axis motion 5 xj Motion Generator More Commands Commands t DANGER Executing motion command with controller in Program or Run Mode may cause axis motion Axis State Running No Faults Execute Disable Axis Axis Fault Additional Tune The Motion Console dialog box displays the following e Axis State Running e Axis Faults No Faults The Results window displays the following message Going online with controller 0 warning s MSO Complete 0 error s Motion Console Axis_101 16 0000 No Error 3 Select MAH Motion Axis Home and click Execute This step is needed to execute the Homing command to establish a feedback positional reference if a Position loop is being tuned Rockwell Automation Publication MOTION UM003D EN P October 2012 193 Chapter8 Manual Tune The axis state will go Servo On and the controller performs the Axis Home procedure based on the configured Home settings The Motion Console dialog box appears e Axis State Running e Axis Faults No Faults Motion Console Axis_101 19 479559 Motion Axis Home 19 469685 gt Disabled 1 3624167 77 87874 Disabled 37 039696 Blue arrows next to a field means that these values are immediately applie
8. The default load type is linear actuator 7 Enter the Scaling Units 8 Enter the Travel Range For more information about Scaling see Scaling Dialog Box on page 134 9 Click OK You are now finished configuring the Kinetix 350 axis for Position Loop with Motor Feedback Rockwell Automation Publication MOTION UM003D EN P October 2012 75 Chapter3 Configuration Examples for a Kinetix Drive Notes 76 Rockwell Automation Publication MOTION UM003D EN P October 2012 Chapter 4 Configure Integrated Motion by Using a PowerFlex 755 Drive This chapter provides procedures on how to set up Integrated Motion on the EtherNet IP network control by using a PowerFlex 755 Embedded EtherNet IP drive Topic About the PowerFlex 755 Drives Page 78 Add a PowerFlex 755 Drive 79 Select a Peripheral Feedback Device and Slot Assignment 81 Assign a Power Structure 82 Create an Axis for a PowerFlex 755 Drive 84 Configure the Associated Axis and Control Mode 90 Create a Motion Group 93 Set the Coarse Update Period 96 Choose Catalog Number as the Motor Data Source 98 Choose Nameplate as the Motor Data Source 100 Choose Drive NV as the Data Source 101 Feedback Configuration Options for the PowerFlex 755 Drive 104 IMPORTANT When you perform an import export on a project in the RSLogix 5000 software version 19 or earlier the axis absolute
9. Controller Event Machine Reference Retained Controller removal and insertion under power RIUP with a battery Yes Controller power cycle with battery Yes Controller Firmware Update Yes Controller update from CompactFlash card Yes Controller swap CompactFlash card also swapped Yes Steps Yes 1 Axes are homed 2 Project saved to CompactFlash or SD card 3 Axes are moved and rereferenced 4 System restored from CompactFlash or SD card Result The system absolute position is restored to rereferenced positions and the Home bit remains set Steps Yes 1 Axes are homed 2 Project is saved to CompactFlash or SD card 3 Same CompactFlash or SD card is used on machines 2 3 4 4 Axes are homed on machines 2 3 4 at different positions 5 System restore from CompactFlash or SD card on each machine Result The system absolute position on each machine becomes restored correctly at its respective position and the Home bit remains set Change controller CompactFlash card not swapped No Change controller without a CompactFlash card No Controller power cycle without battery No Controller removal and insertion under power RIUP without battery 0 Take the controllers out of two systems with a battery or energy storage module No and swap controller There is no CompactFlash or SD cards on either controller 1 Controller remains powered No 2 Power cycle drives 3 Change feedback device
10. Direct Coupled Rotary i tange Position Units Parameter List d f Status t a Position Writs Faults amp Alarms Tag N From the Load Type pull down menu choose your type of load Enter the Scaling Units ee 9 From the Travel Mode pull down menu choose your Travel Mode For more information about Scaling see Scaling Dialog Box on page 134 10 Click Apply and OK to exit Axis Properties The axis is now configured for Position Loop with Motor Feedback 112 Rockwell Automation Publication MOTION UM003D EN P October 2012 Example 2 Position Loop with Dual Motor Feedback via a UFB Feedback Device Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 This example describes creating an AXIS_CIP_DRIVE axis associated to a PowerFlex 755 drive with dual motor feedback via a universal feedback device catalog number 20 750 UFB 1 TIP Remember that you already assigned the feedback device when you added the drive to your project See Create an Axis for a PowerFlex 755 Drive on page 84 for more information about feedback devices 1 Once you have created an AXIS_CIP_DRIVE open the Axis Properties 2 From the Axis Configuration pull down menu choose Position Loop 3 From the Feedback Configuration pull down menu choose Dual Feedback This determines the Control Mode See the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 Ex
11. Configure the Exception Actions for AXIS_CIP_ DRIVE 230 Use exception actions to set how an axis responds to different types of faults The types of faults depend on the type of axis and how you configure it TIP If you have used sercos motion these are called fault actions The available actions for each Exception is controlled by the drive the axis is associated with When a fault or alarm occurs the corresponding fault or alarm axis attributes are set See Exception Fault and Alarm Attributes in the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 Open the Axis Properties Actions dialog box for an axis to configure the Exception Actions Axis Properties Axis_101 lolx Categories Actions to Take Upon Conditions General B Motor Model Stop Action Disable amp Coast z Parameters Motor Feedback Motor Overload Action me Scaling 5 Hookup Teste Inverter Overload Action knone gt x Polarity Autohune Shutdown Action Disable z E Load ramming Modifying fault actions aed A ro Ea pena axis is compliance S sstoy al to protect Fiction eet personnel machine and propel Postion Loop E Velocity Loop Bus Overvoltage Factory Limit StopDrive E additional information Acceleration Loop Bus Power Fuse Blown StopDrive xl Torque Current Loop Bus Regulator Failure StopDrive v
12. Enable Supervisor mode appears dimmed if either of the following Offline e Online and a module mismatch or communication error has occurred 250 Rockwell Automation Publication MOTION UM003D EN P October 2012 CIP Drive Module Properties Appendix A Table 34 Module Properties Network Tab Descriptions Parameter Ring Faults Detected Description When the module is configured as a ring supervisor on the network it displays the number of times that a ring fault has been detected by the Ring Ring Faults Detected has no value if either of the following occurs Offline e Online and a module mismatch or communication error has occurred The module is not configured as a ring supervisor Reset Counter When the module is configured as a ring supervisor on the network click Reset Counter to reset the module s ring fault count to zero Reset Counter appears dimmed if either of the following occurs Offline e Online and a module mismatch or communication error has occurred e The module is not configured as a ring supervisor Supervisor Status When the module is configured as a ring supervisor on the network it displays the module s ring supervisor status as the following Active the module is the Active Ring Supervisor e Back up the module is the back up ring supervisor e Cannot support current Beacon Interval or Timeout the module cannot support either the beacon interval or timeout values of
13. Example Suppose your Home Return Speed is 0 1 in s and it takes 10 ms to detect the home limit switch Uncertainty 0 1 in s x 0 01 s 0 001 in The mechanical uncertainty of the home limit switch also affects the homing accuracy Rockwell Automation Publication MOTION UM003D EN P October 2012 163 Chapter7 Home an Axis Table 14 Active Homing Examples Continued Sequence Active home to marker in forward bidirectional 164 Description The marker homing sequence is useful for single turn rotary and linear encoder applications because these applications have one encoder marker only for full axis travel Active Bidirectional Home with Marker Homing Vel Axis Position Axis Velocity Return Vel 1 Encoder Marker Detected 2 Home Position These steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker and stops 2 The axis moves back to the marker or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than a half revolution The accuracy of this homing sequence depends on the homing speed and the delay to detect the marker transition Uncertainty Home Speed x delay to detect the marker Example Suppose your Home Speed is 1 in s and it takes 1 us to detect the marker Uncertainty 1 In s x 0 000001 s 0 000001 in Ro
14. This table lists valid peripheral devices and ports for various PowerFlex drives Table 9 Peripheral Devices that Drives Support Drive Ports Peripheral Devices PowerFlex 755EENET CM 4 5 6 7 8 HMI Safety Encoder Interface Universal Feedback PowerFlex 755EENET CM S 4and 5 HMlis only supported in CIP Control 6 is reserved for Safety Mode Integrated Motion on the EtherNet IP PowerFlex 755 EENET CM S1 4and5 Network does not support 1 0 Aux 6 is reserved for Safety Power COM 20 E PowerFlex 755EENET CM 4 5 6 7 8 PowerFlex 755EENET CM S 4and5 6 is reserved for Safety PowerFlex 755EENET CM S 4and5 6 is reserved for Safety See the PowerFlex 755 Drive Enabled Ethernet Adapter User Manual publication 750COM UMOO0L and the PowerFlex 755 Drive Embedded EtherNet IP Adapter Installation Instructions publication 750 IN001 Rockwell Automation Publication MOTION UM003D EN P October 2012 105 Chapter 4 106 Hookup Tests Polarity Autotune Load Compliance Observer Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Configure Integrated Motion by Using a PowerFlex 755 Drive The Motor Feedback dialog box represents the information for the feedback device This category dialog box is not available for Frequency axis configuration and is dependent on the axis configuration type and the m
15. Velocity Accel Jerk Rockwell Automation Publication MOTION UM003D EN P October 2012 205 Chapter 9 206 Program S Curve Velocity Profile S Curve velocity profiles are most often used when the stress on the mechanical system and load needs to be minimized The acceleration and deceleration time is balanced against the machine stress using two additional parameters acceleration jerk and deceleration jerk Depending on the Jerk settings the acceleration profile can be set to almost pure rectangular see Trapezoidal Accel Decel Time on page 205 fastest and highest stress or to triangular see Programmable Curve Accel Decel Time Acceleration Jerk 60 of Time on page 207 slowest lowest stress The typical acceleration profile is a trade off between stress and speed as shown in Curve Accel Decel Time Backward Compatibility Setting Acceleration Jerk 100 of Time on page 208 The Jerk is either specified by the user either in Units sec or asa percentage of maximum or it is calculated from the percentage of time Percentage of time is equal to the percentage of ramp time in the acceleration deceleration profile amaz EU s 200 U s l eve Vmax EU s ja of time dmax EU s 200 BU s3 i EU s Vmax EU s ja of time Backward Compatibility The Jerk of 100 of time produces triangular acceleration and deceleration profiles These profiles are ones that w
16. lt none gt v Actions Module Type lt none gt Drive Parameters Parameter List Power Structure uli ek Asie Number 0 z Faults amp Alarms Tag Manual Tune Cancel Help Rockwell Automation Publication MOTION UM003D EN P October 2012 33 Chapter 2 34 Configure Integrated Motion Control by Using Kinetix Drives Establish Feedback Port Assignments The Kinetix 6500 drive has two feedback ports Port 1 is reserved for Motor Feedback on the primary axis Axis_1 Port 2 can be used either as Load Feedback for the primary axis or as Master Feedback associated with a secondary feedback only axis Axis_2 TIP The Kinetix 350 and Kinetix 5500 drives support motor feedback only which is populated by default The Kinetix 5500 drives support only Bulletin VPL motors with Hiperface DSL feedback See Configuration Examples for a Kinetix Drive on page 55 Example Primary Axis Configuration Follow these steps to associate axes to the Kinetix module 1 Double click the Kinetix 6500 drive in the Controller Organizer to go to Module Properties 2 Click the Associated Axes tab Notice that the motor feedback is already configured by default TE Module Properties Motion 1 2094 EN02D MO1 S0 21 Sra General Connection Time Sync Module Info Intemet Protocol Port Configuration Network Axis 1 Axis x f New Axis Motor Feedback Device Motor Feedback Port Load Feedback Devi
17. 0 0 ctertz Axis State Running Integrator Hold Disabled z e Axis Fault No Faults Disable Axis Error Tolerance 37 039696 a Position Units s DANGER Tuning may result in unstable axis motion Bou Watch z Eater Guach Witch Latam al menu HA Current Routine PET NeUr A Cue eontrotier fof ch CIPAxis AverageVelocity Controller Ww CIPAxis CommandPasition Controller Once you name a Quick Watch List it available in the ACD L5K and L5X files Make sure to name your lists Lists that do not have names are lost when you close the software 192 Rockwell Automation Publication MOTION UM003D EN P October 2012 Motion Generator This example assumes the following Manual Tune Chapter 8 e The servo is off with session Online e Axis State Stopped e Axis Faults No Faults Choose MSO Motion Servo On This readies the drive for motion and enables the servo loop Click Execute The axis state goes to Servo On motion Console Axis_101 Manual Tuning Rest Eilts 19 479559 E Seems Hertz 5 System a 2 Damping 110 ae eet ji 3 8 15 Tuning Configuration Position Loop Loop Bandwidth 19 469685 al Hertz Integrator Bandwidth foo Hertz Integrator Hold bisae e Error Tolerance L32167 H Position Units elocity Loop Loop Bandwidth 77 87874 Hertz Integrator Bandwidth 0 0
18. B S 1756 Backplane 1756 A10 fa 0 1756 L71 Integrated_Motion_Contrc S Dea 2 Ethernet 8 New Module Discover Modules Cut Ctrl X Copy Ctrl C Paste Ctrl V Delete Del Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 2 Check the Motion checkbox to filter the selections and choose a Kinetix 350 Kinetix 5500 or a Kinetix 6500 drive Catalog Module Discovery Favorites Enter Search Text for Module Type Clear Filters a Module Type Category Fitters Motion Motor Overload Motor Starter MotorStarter Programmable Logic Controller Catalog Number Description 2094 EN02D M01 SO Kinetix 6500 Single Axis Ethemet Safe Torque Off Drive 2094 EN02D M01 51 Kinetix 6500 Single Axis Ethemet Safe Speed Monitori Allen Bradley Safety Drive Motion 2094 SEPM B24 S 2094 SERCOS IDM Power Interface 400V 24A Safe Allen Bradley Motion 2097 V31PRO LM Kinetix 350 2A 120 240V No Filter Ethemet Drive Allen Bradley Drive Motion 2097 V31PR2M Kinetic 350 4A 120 240V No Fiter Ethemet Drive Allen Bradley Drive Motion 2097 V32PRO LM Kinetix 350 2A 240V integral Fiter Ethemet Drive Alen Bradley Drive Motion 2097 V32PR2 LM Kinetix 350 4A 240V integral Filter Ethemet Drive Allen Bradley Drive Motion 2097 V32PR41M Ki
19. Configuring the General Parameters Picnic sausy en eas ne reeseds 35 Associate Axes and Drivese s finch dard decease aed eheus 36 Configure the Associated Axis and Control Mode 38 Create a Motion Group sicisiiass ieeG is sei eh cee sa oa Gs 4 Associate the Axis to the Motion Group 0 eee eee 43 Set the Coarse Update Period o bet ovine eee hae ales 44 Specifying the Motor Data Source wc iss uate ucGsee wines car uayens 46 Choose the Catalog Number st a2 ctevseug sree nccuatiewis eorrbtias 46 Choose Nameplate 3 dancou dene band tend pig teddaddehnee 48 Choose Motor NV ese as colle sae raced ou ad and O SU aeh 49 Displaying Motor Model Information 0 0c eee ee eee 49 Assigning Motor Feedback ixsonaniesadenkancnpnninee eve vroete tanannels 50 Configuring the Load Feedback ocsecicias vb ep alayeeeaeetenees 51 Configuring the Master Feedback 00 ce eec eee eee ee ees 52 CGreat REPOrtS niin E ho oie haat tated ac tgrs ty ater ant atest leet aan ado 52 Chapter 3 Example 1 Position Loop with Motor Feedback Only 55 Example 2 Position Loop with Dual Feedback 4 59 Examples Feedback nly arseron a haben eat eee 64 Example 4 Kinetix 5500 Drive Velocity Loop with Motor Feedback tics tea tenet nd hi ta vache e aa tid ha 68 Example 5 Kinetix 350 Drive Position Loop with Motor Reedback ss ues inte Sea se ose tole ee oy ee 72 Rockwell Automation P
20. Each drive module can have one full axis If you change the drive s Major Revision module property you will remove the axis association The feedback configuration and power structure module properties are fixed When you remove an association either by changing the module definition or selecting a different axis causes the following to be reset e Association in the axis e References to motors in the axis e References to feedback devices in the axis e Access the Axis Property category dialog boxes 254 Rockwell Automation Publication MOTION UM003D EN P October 2012 CIP Drive Module Properties Appendix A Figure 18 Associated Axes Tab W Module Properties To_K6K 2094 ENO2D M01 S1 1 1 j p jol x ill General Connection Time Syne Module Info Internet Protocol Port Configuration Network Associated Axes Power Di Axis 1 ER o Motor Master Feedback Device Motor Feedback Port Load Feedback Device lt none gt i Axis 2 Auxiliary Axis lt none gt x a New Axis Master Feedback Device l lt none gt pa Table 35 Module Properties Associated Axis Tab Descriptions Parameter Description Axis 1 Select the AXIS_CIP_DRIVE axis tag that you want to be associated as the full axis for the drive module Axis 2 Select the axis you want to be the half axis if needed New Axis Opens the New Tag dialog box where you can create an AXIS_CIP_DRIVE axis Motor Feedback
21. Electronic Keying Mismatch Electronic Keying is enabled and some part of the keying information differs between the software and the module Rockwell Automation Publication MOTION UM003D EN P October 2012 Time Sync Tab CIP Drive Module Properties Appendix A When you are online with the controller you can review all the time synchronization status data related to the network When you are offline no values display Figure 14 Time Sync Tab 2101 General Connection Time Syne Module Info Intemet Protocol Pott Configuration Network Associated Axes Power pisl CIP Syne Time Synchronization UTC System Time Grandmaster Clock Description User Name User Location Protocol Address Physical Address Identity Class Accuracy Variance Source Priority 1 Priority 2 Status Running Enabled 1 3 1970 12 00 34 AM Local Clock Synchronization Status Synchronized Offset to Master 990 ns Ethernet State Slave Port 1 00 00 00 01 00 00 00 01 xl OOOOBCFFFE3B1448 Identity O200BCFFFEO0017E 248 254 Class 255 Accuracy 254 65535 Variance 65535 Oscillator Source Oscillator 128 128 Cancel Apply Help Table 29 Time Sync Tab Descriptions for the Grandmaster Clock Parameter Identity Description Specifies the unique identifier for the Grandmaster clock The format depends on the network protocol Ethernet network encodes the MAC address into the i
22. KRPM Motor Feedback changes Scaling Resistance Rs a7 Ohms Hookup Test eee inductance Ls 0025 Hiennas Autotune Load Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions e Ifthe motor data source is Catalog Number the fields are populated automatically from the database and the fields are read only e Ifthe motor data source is Nameplate Datasheet you can to enter the information TIP You can leave the default values go online and run a Motor Test to get the proper values from the drive See Hookup Tests Dialog Box on page 138 e Ifthe motor data source is Drive NV the data comes from the drive s nonvolatile memory e Ifyou select Catalog Number Motor NV or Drive NV the values display as read only Motor Analyzer Dialog Box The Motor Analyzer provides the following three tests e Dynamic Motor e Static Motor e Calculate Model The tests analyze motor parameters for rotary and linear induction motors and permanent magnet motors The parameters that appear on the tests are dependent on the motor type you choose TIP If the motor you are using is a Permanent Magnet the Dynamic Motor is the only test that appears Motor Analyzer Dialog Box 102 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 Axis Properties PowerFlex_Axis_1 ioj x Categori
23. Planner Bus Regulator Thermal Overload Factory Limit StopDrive xl Homing Bus Regulator Thermal Overload User Limit StopDrive x Actions Bus Undervoltage Factory Limit StopDrive xi Drive Parameters Bus Undervoltage User Limit StopDrive xl Parameter List Commutation Startup Failure StopDrive y Status Control Module Overtemperature Factory Limit StopDrive xl Faults amp Alarms Control Module Overtemperature User Limit StopDrive v Tag Controller Initiated Exception StopDrive xl Converter AC Power Loss StopDrive xz Manual Tune Options for each of the actions and the list of Exceptions may change based on how you configure the drive If an exception is not possible for a specific drive as defined by the drive s profile then that exception is not shown in this list Rockwell Automation Publication MOTION UM003D EN P October 2012 Faults and Alarms Chapter 10 The list of actions taken may be restricted by the drive When a previously selected entry is no longer supported due to a configuration change most of the entries default to Stop Drive In the few cases where Stop Drive does not apply the default is Fault Status Only For example Stop Drive does not apply with a Feedback Only type configuration Figure 10 Action Parameter Group Dialog Box 9 Axis Properties Axis_101 Ioj xj Categories Motion Axis Parameters General B
24. Scaling Hookup Tests Loop Response f Polarity A h Grou tion Gi Autotune Motion Group Group_09 E es New Group Application Type 2 Choose an Axis Configuration type For this example choose Position Loop TIP The associated drive determines what Axis and Feedback Configuration choices are presented 38 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 This table compares the axis configuration types for the Kinetix and PowerFlex drives Axis Type LoopType Kinetix350 Kinetix5500 Kinetix 6500 Posiontoop P ww ww wo Velocity Loop V Yes Yes Yes Torque Loop T Yes Yes Yes Feedback Only N No Yes Yes Frequency Control F No Yes No 3 In the Feedback Configuration drop down choose Motor Feedback Axis Configuration Position Loop 7 Motor Feedback T Motor Feedback Feedback Configuration Application Type Load Feedback Dual Feedback Motion Group lt none gt ae Loop Response TIP The Kinetix 350 and the Kinetix 5500 drives support only Motor Feedback This table compares the feedback configuration types for the Kinetix and PowerFlex drives Feedback Type Loop Type Kinetix350 Kinetix 5500 Kinetix 6500 Motor Feedback PV T Yes Yes Yes Load Feedback PVT No No Yes Dual Feedback P Yes No Yes Dual Integrator P No No No Master Feedback N No
25. The linear load is coupled to a rotary motor through a rotary to linear mechanical system This is the default Scaling dialog box for a Direct Coupled Rotary load type By default the Scaling dialog box is set for 1 Position Unit per Motor Rev Axis Properties CIPAxis P al x Categories General Scaling to Convert Motion from Controller Units to User Defined Units E Motor Model Load Type Direct Coupled Rotary Parameters Motor Feedback ae Sealing Transmission Hookup Tests Patio 0 1 1 Rev Poa Actuator Autotune 7 z p Load Tye enone 7 By default the Scaling dialog box is set Backlash Lead MilimeterRev ipi ip Compliance aa 1o wilimete ev for 1 Position Unit per Motor Rev Friction Diameter 1 0 Millimeter Observer Position Loop Scaling Velocity Loop Units Position Units Acceleration Loop Torque Current Loop Scaling 1 0 Position Units per 10 Motor Rev Planner Ae Homing ave Actions Mode Unlimited v Drive Parameters Parameter List Range 1000 0 Position Units Status or enn Unwind 1 0 Peine per 10 Cycle Tag Soft Travel Limits Maximum Pasitive 0 0 Position Units Maximum Negative oo Position Units Manual Tune OK Cancel Help When you click Parameters you will see values for the Conversion Constant and the Motion Resolution each having a value of 1 million These values are generated from the software calculator In most cases the sof
26. choose the appropriate actuator 12 Enter the Diameter dimensions 13 Enter the Scaling Units See the Scaling Dialog Box on page 134 for more information 14 From the Travel Mode pull down menu choose the appropriate travel mode 15 Click Apply You are now finished configuring the axis for Frequency Control with No Feedback 128 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 Example 6 Torque Loop with In this example you are configuring the axis for Torque Loop with feedback Feedback 1 Once you have created the AXIS_CIP_DRIVE axis open the Axis Properties 2 From the Axis Configuration pull down menu choose Torque Loop 3 From the Feedback Configuration pull down menu choose Motor Feedback Example 6 Torque Loop with Motor Feedback General Dialog Box Axis Properties PowerFlex_JKL General This defines the controller Control Mode See the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 Hookup Tests Polarity i Compliance Torque Current Loop Homing Actions Drive Parameters PF 755_Torque_Feedback Parameter List Status This shows you the type of drive you selected Faults amp Alarms and power structure you assigned via the Tag h l PowerFlex755 drive Module Properties See Add a PowerFlex 755 Drive on page 79 Th
27. cones 100 of Time aaa oo ns t E 499 ofTime i 60 of Time At 60 of Time the acceleration or deceleration changes 60 of the time that the axis speeds up or slows down The acceleration or deceleration is constant for the other 40 7 f Speed Deceleration mi eee ee ee 30 40 30 Rockwell Automation Publication MOTION UM003D EN P October 2012 199 Chapter9 Program Velocity Profile Effects This table summarizes the differences between profiles Profile ACC DEC Motor Priority of Control Type Time Stress Highest to Lowest Trapezoidal Fastest Worst Acc Dec Velocity Position S Curve 2X Slower Best Jerk Acc Dec Velocity Position Jerk Rate Calculation If the instruction uses or changes an S Curve profile the controller calculates acceleration deceleration and jerk when you start the instruction The system has a Jerk priority planner In other words Jerk always takes priority over acceleration and velocity Therefore you always get the programmed Jerk If a move is velocity limited the move does not reach the programmed acceleration and or velocity Jerk Parameters for MAJ programmed in units of time are converted to engineering units as follows If Start Speed lt MAJ Programmed Speed Programmed Accel Rate 200 Accel Jerk Units Sec 2 x 1 of Time Programmed Speed Programmed Speed Ths Accel Jerk Velocity Time
28. 0 Position Units _ PositionUnits Position Units _ PositionUnwind 1000000 Motion Counts Unwind Cycle _ PositionUnwindDenominator 1 0 Unwind Cycles _ PositionUnwindNumerator 1 0 Position Units _ ScalingSource From Calculato _ SoftTravelLimitChecking N _ SoftTravelLimitNegative 0 0 Position Units _ SoftTravelLimitPositive 0 0 Position Units z Manual Tune Cancel Apply Help Rockwell Automation Publication MOTION UM003D EN P October 2012 You can configure advanced parameters only on the dialog box for that group and not all parameters can be set on each category dialog box 261 Appendix B Parameter Group Dialog Boxes This is an example of the parameters available for an axis configured as a Position Loop There are six parameters that you can set on the Position Loop and Position Loop Parameter Group dialog boxes Axis Properties K6K_Position_Loop Moto Polar Load Velocity Loop AcE To DommrmaAnnn m 262 Scaling Hookup Tests Autotune Position Loop 19 469685 Disabled E r Feedback Click Parameters to open the Parameter Group listing ty Backlash Axis Properties K6K_Position_Loop Motion Axis Parameters Position Loop 43624167 Disable W ac pi On this dialog box the list includes the parameters that are
29. 3 or later 1756 EN2T 1756 EN2TR 1756 EN3TR 1756 EN2F Integrated Motion EtherNet IP control modules drives and adapters Kinetix 350 Ethernet drive single axis servo drive with RSLogix 5000 programming software version 20 00 00 or the Logix Designer application version 21 00 00 or later Kinetix 5500 Mid range Ethernet servo drive with the Logix Designer application version 21 00 00 or later Kinetix 6500 control module multi axis servo drive with RSLogix 5000 programming software version 18 00 00 or later or the Logix Designer application version 21 00 00 or later PowerFlex 755 Embedded EtherNet IP drive with RSLogix 5000 programming software version 19 00 00 20 00 00 or later or the Logix Designer application version 21 00 00 or later Logix Designer application version 21 00 00 or later RSLinx Classic software version 3 51 00 or later 10 Rockwell Automation Publication MOTION UM003D EN P October 2012 Table 1 Integrated Motion EtherNet IP Drives Preface Integrated Motion EtherNet This table lists the EcherNet IP drives available for integrated motion IP Drives module and five configuration option slots for control communication 1 0 feedback safety and auxiliary control power Input Power 600V AC Output Power 0 5 1500 Hp 1 7 1530 A Input Power 690V AC Output Power 5 5 1500 kW 12 1485 A Drive Description Supported Axis Types
30. 755 Drive External Shunt Pulse Power PowerFlex 755 Drive You can change the overload and voltage limits when you are offline You cannot make any changes while online but the values are displayed Figure 26 Kinetix 6500 Offline Display of the Advanced Limits Dialog Box Advanced Limits Converter Thermal Overload Limit x 100 000 A Bus Regulator Thermal Overload Limit 100 000 Yo Bus Under Voltage Limit Rockwell Automation Publication MOTION UM003D EN P October 2012 15 000 A 257 AppendixA CIP Drive Module Properties Figure 27 Kinetix 5500 Offline Display of the Advanced Limits Dialog Box Figure 28 PowerFlex 755 Offline Display of the Advanced Limits Dialog Box Advanced Limits The Kinetix 350 drive does not have an Advanced Limits dialog box 258 Rockwell Automation Publication MOTION UM003D EN P October 2012 CIP Drive Module Properties Appendix A Digital Input Tab Use the Digital Input tab to enter digital input values for the drive module This offline displays are the default values for the Kinetix 6500 and PowerFlex 755 Ethernet drives The Kinetix 350 and the Kinetix 5500 drives do not have a Digital Input tab Figure 29 Digital Input Tab for the Kinetix 6500 Drive Modul Properties To_K6K 2034 EN020 MOI SL MA TES Time Syne Module Info Internet Protocol Port Configuration Network Associated Axes Power Digital Input Motion Diag l gt Digital Input 1 X Digit
31. AqB as the feedback type 9 From the Units pull down menu choose Rev 10 In the appropriate field type the resolutions of your specific feedback device 66 Rockwell Automation Publication MOTION UM003D EN P October 2012 General Master Feedback ng Hookup Tests Polarity Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Ture Configuration Examples for a Kinetix Drive Chapter 3 Example 3 Feedback Only with Master Feedback Scaling Dialog Box Axis Properties Axis_I _FeedbackOnly Scaling to Convert Motion from Controller Units to User Defined Units Direct Coupled Rotary Rd Ratio Igy lype Diameter henge Wiig mj Position Units Unlimited Ej Position Units Fasition Writs Position Units Position Units E ee ee Maximum Posi Mazmun Wegatve 11 12 13 From the Load Type pull down menu choose your load type Enter the Scaling Units From the Mode pull down menu choose your Travel mode For more information about Scaling see Scaling Dialog Box on page 134 Click Apply 14 You are now finished configuring an axis for Feedback Only Rockwell Automation Publication MOTION UM003D EN P October 2012 67 Chapter 3 Example 4 Kinetix 5500 Drive Velocity Loop with Configuration Examples for a Kinetix Drive Motor Feedback 68 Motor Feedback Scaling Hooku
32. Chapter 4 100 Configure Integrated Motion by Using a PowerFlex 755 Drive Choose Nameplate as the Motor Data Source The Nameplate option requires you to directly enter the motor specification information You can find the information on the hardware nameplate or product data sheets 1 From the Motor dialog box of Axis Properties choose Nameplate Datasheet Axis Properties PowerFlex_Axis_1 Categories General Motor Device Specification E Motor Model Data Source Nameplate Datasheet x Parameters Analyzer Catalog Number Nameplate Datasheet Change Catalog Motor Feedback Load Feedback Motor Type Scaling Hookup Tests Polarity Units 2 Choose a motor type Axis Properties PowerFlex_JKL Categories General Motor Device Specification Motor Model Data Source Nameplate Datasheet z Parameters Analyzer Catalog Number enone gt Change Catalog Scaling Hookup Tests Motor Type Rotary Induction z Polarity Planner Frequency Control Nameplate Data Not Specified Rotary Permanent Magnet Rotary Induction Units This table describes the motor types that are available MotorType Powerflex755 Rotary Permanent Magnet Yes Linear Permanent Magnet No Rotary Induction Yes Notice that all the motor information fields display zeros 5 Axis Properties PowerFlex_JKL Categories General Motor Device Specification
33. Choose the drive module you want the axis to be associated with Associated Module Module CIP_K6K x Module Type 2094 EN02D M01 SO Power Structure 2094 BC02 M02 M Axis Number fa x 3 Leave the Axis Number as 1 the default When you select a Kinetix 6500 drive the drive catalog and the power structure you assigned appears If you have not assigned a power structure this message appears The Kinetix 350 and the Kinetix 5500 drives do not require a power structure so this message will not appear Y Unable to perform calculations in axis until Power Structure is defined for Associated Module Define a gies If using a Kinetix 6500 drive click the hyperlink to go to the drive s Module Properties dialog box so you can assign a Power Structure This message means that without fully defining the drive with a power structure the factory defaults cannot be computed See Assign the appropriate Power Structure on page 31 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 Map a Kinetix Drive to the Axis Follow this instructions to map a Kinetix drive 1 Go the Module Properties dialog box of the drive e Right click the module in the I O tree and choose Properties e Double click the module in the I O tree e Right click the axis in the Controller Organizer and choose Go to Module 2 Goto the Associated Axis tab
34. CompactFlash card on a 1756 L6x or 1756 L6xS controller if a battery is not present or a SD card on a 1756 L7x controller if a 1756 ESMxxx module is not present as described on page 168 e A download of an axis that does not have its home bit set e Power cycling of an incremental encoder Behavior of APR for Incremental Encoders APR for incremental encoders means Absolute Machine Reference Position Retention When an incremental encoder is homed the homed bit is set When any of the events and or conditions that generate an APR fault for an absolute encoder occur for an incremental encoder then an APR fault is generated and the axis home bit is cleared For example the behavior of APR faults for an incremental encoder is identical to that of an absolute encoder except when an incremental encoder is power cycled and its position comes up as 0 Its Absolute Machine Reference Position is lost An APR fault is not generated Rockwell Automation Publication MOTION UM003D EN P October 2012 179 Chapter7 Home an Axis Saving an ACD File versus Upload of a Project The following is an example of a sequence of events that can generate an APR fault 1 Make an online change to an axis attribute that generates an APR fault 2 Rehome the axis This is normally done so APR will restore axes positions after a download 3 Save your project 4 Download your project You will still get an APR fault because saving the project onl
35. Current Loop Commutation Offset 0 0 Degrees Degrees Planner Commutation Polarity Normal Homing Actions Drive Parameters Parameter List Status Accept Test Results Faults amp Alarms Tag Manual Tune Cancel Apply Help The drive executes the Commutation Test which includes rotating the motor in the positive direction by at least one revolution The results of the Commutation Test appear 2 Ifthe results are satisfactory click Accept Test Results Commutation Offset and Polarity results are stored in the controller as part of the axis configuration that is sent to the drive during initialization Rockwell Automation Publication MOTION UM003D EN P October 2012 147 Chapter6 Commission Polarity Dialog Box Autotune Dialog Box 148 If you have run the Motor and Feedback Hookup Test the settings on the Polarity dialog box are already correct for the application If the polarity settings are known and cables to the motor and feedback devices are prefabricated and tested the polarity settings may be entered directly on this dialog box Motion Motor and Feedback Polarity Motion Polarity f Nomal Inverted Motor Polarity Womeal Inverted DANGER Modifying polarity setting may cause axis runaway condition At this point in the commissioning process the axis is ready for operation You may use Direct Commands to initiate axis motion or you may run your application program I
36. Detected Reset Gounter e Supervisor Status Ring Fault Refresh communication Table 34 Module Properties Network Tab Descriptions Parameter Description Network Topology Displays the current network topology as either Linear Star or Ring Network Topology has no value when offline online and a module mismatch or communication error has occurred Network Status Displays the current network status as either of the following occurs Normal Ring Fault Unexpected Loop Detected Network Status has no value when offline online and a module mismatch or communication error has occurred Active Ring Supervisor If the network topology is operating in a Ring mode it displays the IP Address or MAC Address of the Active Ring Supervisor Active Ring Supervisor appears dimmed if either of the following Offline e Online and a module mismatch or communication error has occurred The network topology is not operating in a Ring mode Active Supervisor Precedence If the network topology is operating in a Ring mode it displays the Active Ring Supervisor s precedence Active Supervisor Precedence appears dimmed if either of the following Offline e Online and a module mismatch or communication error has occurred The network topology is not operating in a Ring mode Enable Supervisor Mode Displays the module s Supervisor mode or checks for the module to be configured as a supervisor on the network
37. Direction 150 Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 Once the Autotune is finished the test state changes RSLogix 5000 Autotune 7 Click OK After completing the Autotune profile the measurements made during this process are used to update the fields in the Gains Tuned and Inertia Tuned grids Check your Tune Status Any value that has an asterisk in the left most column has a different value than it s tuned value 8 At this point you can compare existing and tuned values for your gains and inertias with the prospective tune values If the value does not fit in the column a tool tip appears to show the complete value You E Units can also change the column N widths 19 469685 9 Choose to accept the new values and apply them to the controller Rockwell Automation Publication MOTION UM003D EN P October 2012 151 Chapter6 Commission Load Dialog Box 152 Now you can run the system with the new gain set and evaluate performance You can improve the performance by adjusting application type loop response and or load coupling selections TIP If your application requires stricter performance you can further improve performance with manual tuning See Manual Tune on page 181 The Load dialog box contains the characteristics of the motor load You can also use the values provided by autotune Most of these values are au
38. Drive See Moe OO err a w Erter Search Text for Module Type Clear Filters Module Type Category Fiters E Module Type Vendor Fiters 3 E Digtal Z Mensredey 4 F DPIto EtherNet IP E Cognex Corporation MV Dive E Endress Hauser l E DSIto EtherNet IP E FUIR Systems i E General Purpose Discrete 1 0 E _ Mettler Toledo Catalog Number Description Vendor Category F PowerFlex 700S 600V E 600V AC Drive via 20 COMM E Alen Bradley Drive PowerFlex 70E AC Drive via 20 COMM E Allen Bradley Drive I PowerFlex 753 ENETR AC Drive via ENETR Allen Bradley Dive 4 Powerflex 753 NET E AC Drive via 20 COMM E Allen Bradley Dive I Powerflex 755 HiPwr EENET AC Drive Allen Bradley Drive Powerflex 755 HiPwr ENETR AC Drive Allen Bradley Drive i PowerFlex 755 HiPwr NET E AC Drive via 20 COMM E Allen Bradley Dive Powerflex 755 EENET AC Drive Alen Bradley Dive PowerFlex 755 EENET CM PowerFlex 755 AC Drive via Embedded Ethemet CIP Allen Bradley PowerFlex 755 EENET CM S PowerFlex 755 AC Drive via Embedded Ethemet CIP Allen Bradley Drive Motion 1 Powerflex 755 EENET CM S1 PowerFlex 755 AC Drive via Embedded Ethemet CIP Allen Bradley Safety Drive Motion PowerFlex 755 ENETR AC Drive Allen Bradley Dive Powerflex 755 HiPwr EENET CM PowerFlex 755 High Power AC Drive via Embedded Et Allen Bradley Drive Motion Powerflex 755
39. Drive Chapter 5 For more information about Commutation see Assigning Motor Feedback on page 50 and Commutation Test on page 145 Example 2 Position Loop with Dual Feedback Motor Feedback Dialog Box Axis Properties PowerFlex_Axis_1 Motor Feedback Devic pecification Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters arameter List On the Motor Feedback dialog box the information is automatic based on your selections on the Motor dialog box 5 Axis Properties PowerFlex_Axis_1 Motor Feedback Device Specification a Not Specified E Hookup Tests rev F If you have not defined a feedback device the motor dialog box will display a link taking you to the module definition for the drive The axis is now configured as a Position Loop with two feedback devices The next task is to configure Feedback 2 on the Load Feedback dialog box Rockwell Automation Publication MOTION UM003D EN P October 2012 115 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive Follow these instructions to define the Load feedback 1 From the Load Feedback dialog box click the Define feedback device link Example 2 Load side Feedback Load Feedback Dialog Box Axis Properties PowerFlex_Axis_1 Load Feedback Device Specification Not Species T P Torque Current Loop Planner Homing Actions ive Parameters Parameter List
40. EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 The New Tag dialog box appears r Nes Teg z Name Create v Description Hanca csc eee Usage lt nonmal gt i Gomer Alias For Data Type AXIS_CIP_DRIVE m Scope ff Integrated_Motion_Control Style E Constant F Open AXIS_CIP_DRIVE Configuration Notice that the fields in the next steps are automatically filled in for the AXIS_CIP_DRIVE data type Type a Tag name Type a Description if desired Choose the Tag Type Choose the Data Type AXIS_CIP_DRIVE Choose the Scope YV oNN A Choose the External Access For more information about External Data Access Control and Constants see the Logix5000 Controllers I O and Tag Data Programming Guide publication 1756 PM004 10 Click Create If you have checked Open AXIS_CIP_DRIVE Configuration then the General dialog box of the Axis Properties appears If not double click the axis in the Controller Organizer Axis Properties CIPAxis 4 lolx Categories E Motor Model Axis Configuration Position Loop baal Mator nesdhacs Feedback Configuration Motor Feedback v Scaling Polarity Application Type Basic X Autotune Load Loop Response Medium X Backlash Motion Group mo CE Position Loop Velocity Loop Torque Current Loop Associated Module Planner Homing Module
41. Help From Import Sample Project Release Notes Sample Project From Upload About Recent Projects avost 2012 Rockwell Automation Publication MOTION UM003D EN P October 2012 17 Chapter1 Configure a Project for Integrated Motion on the EtherNet IP Network 2 Choose a controller type a name and click Next CompactLogix 5370 Controller ControlLogix 5570 Controller 1756 L71 ControlLogix 5570 Controller 1756 L72 ControlLogix 5570 Controller 1756 L73 ControlLogix 5570 Controller 1756 L74 ControlLogix 5570 Controller 1756 L75 ControlLogix 5570 Controller GuardLogix 5570 Safety Controller RSLogix Emulate 5000 Controller SoftLogix 5800 Controller Name Integrated_Motion_Contro Location C Users jklutman Documents Studio 5000 Projects 3 Type a Name for the controller 4 Assign a location optional 5 Click Next Project Configuration dialog box appears New Project Project Configuration l Integrated_Motion_Control V21 1756 L71 ControlLogix 5570 Controller Chassis 1756 A10 10 Slot ControlLogix Chassis Slot Security Authority No Protection v Use only the selected Security Authority for authentication and authorization Description Enable redundancy 6 Choose the chassis type 7 Assign the slot location of the controller 18 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure a P
42. HiPwr EENET CM S Powerflex 755 High Power AC Drive via Embedded Et Allen Bradley Drive Motion PowerFlex 755 HiPwr EENET CM S1 Powerflex 755 High Power AC Drive via Embedded amp Allen Bradley Safety Drive Motion PowerFlex 755 NET E AC Drive via 20 COMM E Allen Bradley Drive PowerFlex DC 200V E 208 240V DC Drive via 20 COMM E Alen Bradley Drive PowerFlex DC 400V E 400 480V DC Drive via 20 COMM E Allen Bradley Drive PowerFlex DC 600V E 600V DC Drive via 20 COMM E Allen Bradley Drive SMC 50E Fully Solid State Smart Motor Controller via 20 COMM E Allen Bradley Drive i 92 of 312 Module Types Found Add to Favorites F Close on Create Create Close Help 5 Choose the drive and click create Rockwell Automation Publication MOTION UM003D EN P October 2012 79 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive 6 Type a Name for the module r 3 New Module arin S General Connection Time Sync Module Info Intemet Protocol Port Configuration Associated Axes Power Digital Input gt Type PowerFlex 755 EENET CM PowerFlex 755 AC Drive via Embedded Ethemet CIP Vendor Allen Bradley Parent EN2T_to_PowerFlex_755 Ethemet Address Name Private Network 192 168 1 2 Description a IP Address F Host Name Module Definition Revision 61 Blectronic Keying Compatible Module Connectio
43. It appears dimmed and is blank when you are offline online and a module mismatch or communication error occurs Secondary DNS Server Address appears dimmed when the module supports the option to set the IP address by using the switches on the module you choose to set the IP address by using the switches Refresh Communication Appears when communication with the module has failed Click Refresh communication to attempt to refresh communication Set Commits modifications to the module Set appears dimmed when you are offline or online and a module mismatch or communication error has occurred Port Configuration Tab By enabling Auto negotiate the communication between communication modules and drives is automatic Figure 16 Auto Negotiate Enabled W Module Properties To_K6K 2094 ENO2D M01 S1 1 1 General Connection Time Syne Module Info Intemet Protocol Port Configuration Network Associated Axes Power Dic4 gt Port Diagnostics Refresh communicatio Status Running 246 Rockwell Automation Publication MOTION UM003D EN P October 2012 CIP Drive Module Properties Appendix A Notice above that you cannot see the current Speed or Duplex You must click Refresh communication to have those fields populate after you select Auto Negotiate Mi Module Properties To_K6K 2094 ENO2D M01 S1 1 1 aigi x Network Associated Anes Power Dic sL beta a O i mem After
44. Module and Axis Module components Kinetix 5500 Servo Drives User Manual publication 2198 UM001 Provides information on installing configuring start up troubleshooting and applications for the Kinetix 5500 servo drive systems PowerFlex 750 Series AC Drives Reference Manual publication 750 RM002 Provides detailed drive information including operation parameter descriptions and programming of the AC drive PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 Provides information needed to install start up and troubleshoot PowerFlex 750 Series Adjustable Frequency AC Drives PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual publication 750COM UM001 Provides information on installing configuring start up troubleshooting and applications for the for the PowerFlex 755 Drive Embedded EtherNet IP Adapter GuardLogix Controllers User Manual publication 1756 UM020 Provides information on configuring and programming the 1756 GuardLogix controller GuardLogix Controller Systems Safety Reference Manual publication 1756 RM093 Contains detailed requirements for achieving and maintaining SIL 3 with the GuardLogix controller system Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 Provides general guidelines for installing a Rockwell Automation industrial system Product Certifications website http www ab com Provides declarations of co
45. Motor Model Parameter Group Actions 7 Associated Page Motor Feedback Scaling E Hookup Tests _ FeedbackSignalLossUserLimit 100 0 FL Voltage Drop Polarity _ inverterOverloadAction lt none gt Autotune _ inverterThermalOverloadUserLimit 100 0 Motor Rated Load _ MechanicalBrakeContral Brake Release Backlash _ MechanicalBrakeEngageDelay 0 0 s Compliance _ MechanicalBrakeReleaseDelay 0 0 s Friction _ MotorOverloadAction snone gt Position Loop _ MotorThermalOverloadUserLimit 100 0 Motor Rated Velocity Loop _ ProgrammedStopMode Fast Stop Acceleration Loop __ ResistiveBrakeContactDelay 0 0 s Torque Current Loop fE ShutdownAction Disable Planner _ StoppingAction Disable amp Coast Homing _ StoppingTimeLimit 1 0 s Actions _ StoppingTorque 288 62973 Motor Rated Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune OK Cancel Apply Help Table 24 Action Tasks and Related Faults Task Choose Description Shut down the axis and let it Shutdown Shutdown is the most severe action Use it for faults that could coast to a stop endanger the machine or the operator if you don t remove power quickly and completely A fault happens when the following occurs Axis servo action is disabled e Servo amplifier output is zeroed e Appropriate drive enable output is deactivated e OK contact of the servo module opens Use this to open the E Stop string to the drive power
46. Network Tab 250 Associated Axes Tab 253 Power Tab 256 Digital Input Tab 259 Motion Diagnostics Tab 260 The Module Properties dialog boxes provide the configuration information needed to set up your CIP drive module For all tabs when you click Apply the software accepts and applies your edits and you can continue configuring your module When you are online the information is automatically sent to the controller The controller will then try to send the information to the module if the module s connection is not inhibited These examples show the Kinetix 6500 drive module properties pages Other module property pages for drives such as PowerFlex 755 Kinetix 350 and Kinetix 5500 servo drives are noted where appropriate Rockwell Automation Publication MOTION UM003D EN P October 2012 237 AppendixA CIP Drive Module Properties General Tab The General tab provides the internal drive type description vendor and the parent 1756 EnxT communication module This is where you do the following e Name the drive module e Write a description for the drive module e Configure the module Figure 11 General Tab E Module Properties To_K6K 2094 ENO2D MO1 S1 1 1 Click Change in the Module Definition area to select the following e Revision of the module e Electronic Keying type do not use Disable Keying for motion applications e Type of connection in this case Motion e Correct Power Structure that is
47. New Project Explore Existing Project Help From Import Sample Project Release Notes From Sample Project From Upload About Recent Projects Sept_test 8 Integrated_Motion_Co 8 August_2012 The Studio 5000 environment is the foundation for the future of Rockwell Automation engineering design tools and capabilities It is the one place for design engineers to develop all the elements of their control system Rockwell Automation Publication MOTION UM003D EN P October 2012 9 Preface l What You Need You will need a combination of the following hardware and software to set up an integrated motion solution ControlLogix controllers supports up to 100 position loop configured drives that support integrated motion control 1756 L7x 1756 L7xS TIP ControlLogix controllers 1756 L6x and L6xS are not supported in Logix Designer application version 21 00 00 and later CompactLogix 5370 L1 L2 and L3 family of controllers have the embedded EtherNet IP network which supports integrated motion control These are the CompactLogix controllers that support the AXIS_CIP_DRIVE axis type 1769 L18ERM up to 8 drives and 2 position loops 1769 L27ERM 4 position loops 1769 L30ERM up to 16 drives and 4 position loops 1769 L33ERM up to 32 drives and 8 position loops 1769 L36ERM up to 48 drives and 16 position loops Ethernet communication modules with updated firmware to revision 3
48. No Yes No Feedback VF No No No 4 Choose an Application Type if applicable S Axis Properties Axis_11 Categories General Motor eo Model Axis Configuration Motor Feedback Feedback Configuration Position Loop z Load Feedback x Load Feedback PTET es SOSst C S Scaling pplication Type Basic Hookup Tests Loop Response Custom Polarity Autotune Point to Point Load Constant Speed Motion Group Tracking TIP Application Type defines the servo loop configuration automatically These combinations determine how the calculations are made that may eliminate the need for you to perform an Autotune or a Manual Tune Rockwell Automation Publication MOTION UM003D EN P October 2012 39 Chapter 2 40 Configure Integrated Motion Control by Using Kinetix Drives The Application Type determines the type of motion control application This attribute is used to set the Gain Tuning Configuration Bits This table illustrates the gains established based on application type Table 3 Customize Gains to Tune Application Type Kpi Kvi ihold Kvff Kaff torqLPF Custom 7 i g Basic V20 and later No No No No Yes Yes Basic V19 and earlier No No No No No Tracking No Yes No Yes Yes Yes Point to Point Yes No Yes No No Yes Constant Speed No Yes No Yes No Yes 1 Ifyou set the type to Custom you can control the individual gain calculations by
49. Position Loop 7 Motor Feedback Dual Feedback Dual Integral Feedback CIP_Motion 7 TA N ew Gi Troup This table describes the compares the feedback type and loop type Feedback Type Loop Type PowerFlex 755 MotorFeedback J BVT ses Load Feedback PVT No Dual Feedback P Yes Dual Integrator P Yes Master Feedback N No No Feedback VF Yes For more information see Feedback Configuration Options for the PowerFlex 755 Drive on page 104 4 Choose an Application Type if applicable Axis Configuration Feedback Configuration Application Type Loop Response Motion Group TIP Position Loop 7 Motor Feedback E Basic he Basic Tracking Point to Point Constant Speed Application Type defines the servo loop configuration automatically These combinations determine how the calculations are made which may eliminate the need for you to perform an Autotune or a Manual Tune The Application Type determines the type of motion control application This attribute is used to set the Gain Tuning Configuration Bits Rockwell Automation Publication MOTION UM003D EN P October 2012 91 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive This table provides the gains established base on the application type Table 6 Customize Gains to Tune Application Type Kpi Kvi ihold Kvff Kaff torqLPF Custom F 7 7 Basic V20
50. Range 1000 0 Position Units Parameter List Unwind 1 0 Status Faults amp Alarms E Soft Travel Limits Maximum Positive 0 0 Position Units Maximum Negative 0 0 Position Units Manual Tune ox Position Units per 1 0 Cycle 7 Choose the Load Type 8 Enter the Scaling Units 9 Choose the Travel Mode For more information about Scaling see Scaling Dialog Box on page 134 10 Click Apply You are now finished configuring the Kinetix 5500 axis for Velocity Loop with Motor Feedback Rockwell Automation Publication MOTION UM003D EN P October 2012 71 Chapter 3 Example 5 Kinetix 350 Drive Configuration Examples for a Kinetix Drive Position Loop with Motor Feedback In this example you would create a project with a CompactLogix controller for example 1769 L36ERM You are configuring a Kinetix 350 drive catalog number 2097 V33PR6 LM with motor feedback by using a Rotary Permanent Magnet motor catalog number MPAR A1xxxB V2A You will need to connect the Motor Feedback cable to the Motor Feedback port of the Kinetix 350 drive and then configure the feedback port 1 Once you have added the drive to your project and created an AXIS_CIP_DRIVE open the Axis Properties Axis Properties ax_CIP_P1_on_K350_elect_cylinder Categories Motor Model i Motor Feedback Scaling Hookup Tests Polarity i Autotune Load Backlash i Compliance
51. Solution List 1 of 1 Available Solution 2 If you don t want to run the autotune you can go to Motion Analyzer software and get the load ratio or the total inertia Inertia Ratio 4 6 g 46 See Help for Selecting Drives and Motors on page 14 and 157 for more information about the Motion Analyzer software 157 Chapter6 Commission Test an Axis with Motion Direct Commands 158 Motion direct commands let you issue motion commands while you are online without having to write or execute an application program You must be online to execute a Motion Direct Command There are several ways to access the Motion Direct Command Motion Direct Commands are particularly useful when you are commissioning or troubleshooting a motion application During commissioning you can configure an axis and monitor the behavior by using Trends in the Controller Organizer Use of Motion Direct Commands can fine tune the system with or without load to optimize its performance When testing and or troubleshooting you can issue Motion Direct Commands to establish or re establish conditions such as Home Often during initial development you need to test the system in small manageable areas These tasks include the following e Home to establish initial conditions e Incrementally Move to a physical position e Monitor system dynamics under specific conditions Access Motion Direct Commands
52. Source Nameplate Datasheet Parameters Catalog Number kms Change Catalog Motor Type Rotary Permanent Magnet Units Rev Z Nameplate Datasheet Phase to Phase parameters Rated Power 0 0 kw Pole Count pa Ratedoltage o0 Volts RMS Rated Speed 0 0 RPM Max Speed po RM Rated Current fo Amps RMS Peak Current po Amps RMS Rated Torque 0 0 Nem Motor Overload Limi 1000 Rated 3 Enter the parameter information from the motor Nameplate Datasheet and click Apply 48 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 Displaying Motor Model Information Choose Motor NV When you choose Motor NV as the data source the motor attributes are derived from nonvolatile memory of a motor mounted smart feedback device equipped with a serial interface Only a minimal set of motor and motor feedback Feedback 1 attributes are required to configure the drive 1 From the Motor dialog box of Axis Properties choose Motor NV 5 Axis Properties Axis_11 Categories General Motor Device Specification Data Source Motor NV j Parameters e Feedback Catalog Number N Elaeare patsha See caling Motor NY Hookup Tests Motor N Polarity Autotune 2 Choose the Motor Units associated with the motor either Rev for rotary motor or Meters for linear motor No other motor information is needed 3
53. Status Faults amp Alarms Tag 2 Click Associated Axes in Module Properties dialog box 3 From the Load Feedback Device pull down menu choose the appropriate port channel for the Load Feedback Device Example 2 PowerFlex 755 Module Properties Associated Axis Tab E Module Properties EN2T_to_Network PowerFlex 755 EENET CM 2 1 fonera d Naw Port 4 Channel B ha 4 From the Type pull down menu choose the type of feedback 5 From the Units pull down menu choose the appropriate units 6 Click Apply 116 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 Example 2 Load side Feedback Load Feedback Dialog Box 5 Axis Properties PowerFlex_Axis_1 Geel Load Feedback Device Specification Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Example 2 Position Loop with Dual Feedback Scaling Dialog Box Axis Properties PowerFlex_Axis_1 Scaling to Convert Motion from Controller Units to User Defined Units Direct Coupled Rotary Motor Feedback lir g Hookup Tests Position Units nlimited ba fio Fasition Units Position Units pet Faults amp Alarms Tag Maximum e Fosition Units Marin Fasition Units ok cones __ tort __ Hor _ N From the Load Type pull down menu cho
54. T Enable Transmission Timing Statistics Transmission Statistics Table 38 Module Properties Motion Diagnostics Tab Descriptions Parameter Description Coarse Update Period Displays the associated motion group Coarse Update Period Controller to Drive Displays the current size of the CIP connection to the drive Drive to Controller Displays the current size of the CIP connection from the drive Enable Transmission Timing Statistics View data on Lost and Late transmissions and Timing Statistics The default is unchecked which means timing statistics do not display on the Transmission Statistics dialog box Checking this box displays the Transmission Statistic dialog box e You can improve performance by not checking this box which limits the amount of diagnostic data that appears on the Transmission Statistics dialog box Enable Transmission Timing Statistics appears dimmed in Hard Run mode Transmission Statistics appears dimmed in offline mode or when a connection error exists Figure 32 Transmission Timing Statistics Dialog Box Transmission Statistics fis xi Lost Transmissions Late Transmissions Controller To Drive 0 Controller To Drive 0 Drive To Controller 0 Drive To Controller 0 Timing Statistics Last Average Maimun Nominal Controller Tio Drive Time Drive To Controller Time System Clock Jitter Reset Transmission Statistics e Close Help Rockwell Automation Publicatio
55. Ta Catalog Number Motor Type Motor NV ie Units 4 Click Change Catalog Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 5 Select a motor Change Catalog Number Catalog Number MPL B310P M MPL B230P Ho4 MPL B230P Vioc2 MPL B230P Vioc4 MPL B310P H MPL B310P S MPL B320P H MPL B320P M Use these filters to reduce Blea the size of the list MPL B330P H sani_noonn es Filters Voltage Family Feedback Type ps fa fe The Motor dialog box is now populated with all information related to the motor you selected from the Motion Database Motor Device Specification Data Source Catalog Number x Parameters Catalog Number MPL B310P M Motor Type Rotary Pemanent Magnet M Units Rev Nameplate Datasheet Phase to Phase parameters Rated Power 0 77 kw Pole Count 8 Rated Voltage 460 0 Volts RMS Rated Speed 50000 RPM Max Speed 50000 RPM Rated Curent 17 Amps RMS Peak Curent 502 Amps RMS Sree Usp Rated Torque 1 58 Nm Motor Overload Limit 100 0 Rated i Planner Homing Manual Tune hok Genet Anp He 6 Click Apply TIP When you use a motor catalog number as the data source default values for example gains and dynamics are automatically set based on the Application Type and Loop Response settings from the General
56. Units Units per sec amp MDS Accel Rate 100 Qe MAFR Accel Units Units per sec 6 6 Motion Move Dacal Rate 700 amp MAS Decel Units Units per sec2 amp MAH Profile Trapezoidal ia Accel Jerk 100 amp MAG Decel Jerk 100 MCD Jerk Units of Time zi Marna Nicahlad amp MRP amp Motion Group hai Dagmar ae Hep Rockwell Automation Publication MOTION UM003D EN P October 2012 185 Chapter 8 186 Manual Tune Follow these instructions to use a Motion Direct Command 1 Select MSO Motion Servo On and click Execute Emotion Direct Commands CIPAxis 4 o x Motion Servo On C Motion Group Motion Gro 2 Click Reset Reset restores all the values that were there when you first opened Manual Tune 3 Select MAM Motion Axis Move and click Execute Emotion Direct Commands CIPAxis 4 oO x Motion Axis Move f tabel o a 0 Units per sec 100 100 Units per sec2 Trapezoidal p I Motion Group Motion Gri 4 Click Execute Your drive should have moved according to your configuration settings 5 Adjust your settings if desired 6 Select another command and click Execute Rockwell Automation Publication MOTION UM003D EN P October 2012 Additional Tune Manual Tune Chapter 8 The Additional Tune tabs are available for both the Kinetix 6500 and PowerFlex 755 drives The attributes that appear on the tabs are determined by the type of drive you ar
57. a Profile Consider cycle time and smoothness when you choose a profile If you want Choose this profile Consideration Fastest acceleration and deceleration Trapezoidal Jerk doesn t limit the acceleration and times deceleration time e More flexibility in programming The Acceleration and Deceleration rates subsequent motion control the maximum change in Velocity e Your equipment and load get more stress Velocity than with an S Curve profile e Jerk is considered infinite and is shown as a vertical line Smoother acceleration and deceleration that reduces the stress on the equipment and load Velocity 198 S Curve Rockwell Automation Publication MOTION UM003D EN P October 2012 Jerk limits the acceleration and deceleration time Ittakes longer to accelerate and decelerate than a trapezoidal profile e Ifthe instruction uses an S Curve profile the controller calculates acceleration deceleration and jerk when you start the instruction e The controller calculates triangular acceleration and deceleration profiles Program Chapter 9 Use of Time for the Easiest Programming of Jerk Use of Time to specify how much of the acceleration or deceleration time has jerk You don t have to calculate actual jerk values Example Profile 100 of Time At 100 of Time the acceleration or deceleration changes the entire time that the axis speeds up or slows down ar 1 i 60 AANEEN E EEE ee E
58. and an S Curve profile Rockwell Automation Publication MOTION UM003D EN P October 2012 215 Chapter9 Program Stop while accelerating and reduce the acceleration rate Trapezoidal speed goes past Piers its target The axis slows down as soon as you start the stopping instruction The stopping instruction reduces the acceleration of the axis It now takes longer to The lower acceleration doesn t change the response of the axis bring the acceleration rate to 0 The axis continues past its target speed until acceleration equals 0 216 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Corrective Action Use a Motion Axis Stop MAS instruction to stop the axis or set up your instructions like this Jog_P8 lt Locak4 Data 0 gt My_Axis_OK Use the same acceleration rate as the instruction that stops the axis Or use a lower acceleration Jog_PB sLocal 4 Data O gt My_Axis_OK Use the same acceleration rate as the instruction that starts the axis Or use a higher acceleration Why is there a delay when stop and then restart a jog While an axis is jogging at its target speed you stop the axis Before the axis stops completely you restart the jog The axis continues to slow down before it speeds up Example You use a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you use a Motion Axis Jog
59. and later No No No No Yes Yes Basic V19 and earlier No No No No No Tracking No Yes No Yes Yes Yes Point to Point Yes No Yes No No Yes Constant Speed No Yes No Yes No Yes 1 Ifyou set the type to Custom you can control the individual gain calculations by changing the bit settings in the Gain Tuning Configuration Bits Attribute TIP For information about other attribute calculations see the specific attribute description in the Integrated Motion on the EtherNet IP Reference Manual publication MOTION RM003 5 Choose a Loop Response if applicable Axis Configuration Feedback Configuration Application Type Loop Response Motion Group 6 Click Apply 92 Rockwell Automation Publication MOTION UM003D EN P October 2012 PostionLoop H Motor Feedback E Table 7 Position Loop Configured Axes Configure Integrated Motion by Using a PowerFlex 755 Drive Create a Motion Group Chapter 4 All axes must be added to the Motion Group in your project If you don t group the axes they remain ungrouped and unavailable for use You must create a Motion Group for an axis to be configured properly Controller Communication Modules Supported Axes Position Loop Other Loop Types CIP_Drives 1756 L6x and L7x 1756 EN2T and 1756 EN2TF 8 Up to 100 1756 L6x and L7x 1756 EN3TR 100 Up to 100 1756 EN2TR 8 Up to 100 1769 L18ERM Embedded Ethernet 2 Up to 100 8 max i
60. as the Data Source When you choose Drive NV the motor attributes are derived from the nonvolatile memory of a drive Only a minimal set of motor and motor feedback Feedback 1 attributes are required to configure the drive Follow these instructions to choose a data source 1 From the Data Source pull down menu choose Drive NV Axis Properties PowerFlex_Axis_1 Categories General Motor Device Specification Motor Model Data Source Catalog Number x Analyzer Catana Norbe Nameplate Datasheet Motor Feedback e Catalog Number Load Feedback Motor Type Scaling Hookup Tests Units 2 From the Units pull down menu choose Revolutions or Meters Axis Properties PowerFlex_Axis_1 Categories General Motor Device Specification c Motor Model Data Source Drive NV z Parameters Analyzer Catalog Number Jenone gt Change Catalog Motor Feedback Load Feedback Scaling Hookup Tests Polarity Units Rockwell Automation Publication MOTION UM003D EN P October 2012 101 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive Motor Model Dialog Box The Motor Model dialog box displays additional information based on the motor axis and feedback configuration types you choose A Axis Properties PowerFlex_915 The asterisk next toa category Seuss h F Generel means that you have not applied Voltage Constant Ke 33 948196 Volts RMS
61. axis You assign the full primary axis as Axis 1 the half secondary axis as Axis 2 If you change the listed properties of Major Revision feedback configuration or power structure you will remove the axis association TIP Only the Kinetix 6500 drive supports a half axis When you remove an association either by changing the module definition or selecting a different axis causes the following to be reset e Association in the axis e References to motors in the axis e References to feedback devices in the axis e Access the Axis Property category dialog boxes Kinetix 350 Drive For the Kinetix 350 use the Associated Axes tab to do the following e Associate an axis from a list of axis tags e Create new axis tags Each drive module can have one full axis If you change the drive s Major Revision module property you will remove the axis association The feedback configuration and power structure module properties are fixed When you remove an association either by changing the module definition or selecting a different axis causes the following to be reset e Association in the axis e References to motors in the axis e References to feedback devices in the axis e Access the Axis Property category dialog boxes Rockwell Automation Publication MOTION UM003D EN P October 2012 253 AppendixA CIP Drive Module Properties Kinetix 5500 Drive e Associate an axis from a list of axis tags e Create new axis tags
62. by applying a saved absolute offset to this absolute feedback position the motion control system can recover the machine referenced absolute position Most drive products provide this capability However Absolute Position is generally lost if the drive is swapped out or drive firmware is updated Integrated Motion on the EtherNet IP network lets you recover Absolute Position through power cycles program downloads and firmware updates Sercos versus CIP For a sercos axis with absolute feedback the drive scaling function and absolute position is maintained in the drive and therefore may be easily restored in the control after a power cycle or download of a new project by simply reading the position from the drive Rockwell Automation Publication MOTION UM003D EN P October 2012 169 Chapter7 Home an Axis APR Faults 170 By contrast a Integrated Motion on the EtherNet IP network axis supports controller based scaling where absolute position is maintained in the controller s firmware Without the work of the APR feature absolute position would be lost after a power cycle or project download APR faults are generated during the events and when one of the conditions defined in the following APR Fault Conditions is present APR Fault Conditions The axis must be in the homed state for an APR Fault to occur The Axis Homed Status Bit must be set Attribute Changes A Motion Resolution or an Axis Feedback Polarity attribute
63. coupled to the drive module You can also verify the power rating of the power structure when you go online Module Definition 238 Rockwell Automation Publication MOTION UM003D EN P October 2012 Figure 12 General Tab CIP Drive Module Properties Appendix A Ml Module Properties To_K6K 2094 ENO2D M01 S1 1 1 5 x General Connection Time Sync Module Info Internet Protocol Port Configuration Network Associated Axes Power pisl gt Type 2094 EN02D M01 51 Kinetix 6500 Single Axis Ethernet Safety Drive Vendor Allen Bradley Parent To KEK Ethemet Address Name K6K_11_09 Private Network 192 1681 21 Description Cipaddes Host Name Module Definition Revision Electronic Keying Connection Power Structure Change 11 Compatible Module Motion 2094 4C09 M02 M Table 26 Module Properties General Tab Parameter Descriptions Parameter Revision Description Assign the major and minor revision of the drive The major revision is set automatically and it cannot be changed If you change the major revision any axis that is associated with the drive is lost and the module configuration settings are reset to default values The minor revision is a value between 1 and 255 It is enabled when Electronic Keying is not set to Disable Keying and the controller is offline or when the controller is in Remote Run mode It is not availab
64. dialog box The defaults eliminate the need for Autotune Manual Tune and the manual setting of these parameters Rockwell Automation Publication MOTION UM003D EN P October 2012 47 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives Choose Nameplate The Nameplate option requires you to directly enter the motor specification information from the motor nameplate and the motor datasheet 1 On the Motor dialog box of Axis Properties from the Data Source pull down menu choose Nameplate Datasheet 59 Axis Properties Axis_11 Categories General Motor Device Specification Motor Scaling Model Data Source z Parameters Motor Feedback Catalog Number lt none gt Change Catalog Hookup Tests Motor Type Not Specified z Polarity Autotune WI Bey 2 Choose a motor type 9 Axis Properties Axis_11 Categories General Motor Device Specification Motor Model Data Source Nameplate Datasheet 7 Parameters Motor Feedback Catalog Number none gt Change Catalog Scaling Hookup Tests Motor Type Not Specified z Polarit olarity iae Not Specified Autotune Load This table illustrates the which motor types and drives are compatible Rotary Permanent Magnet Ys o ws e Linear Permanent Magnet No No Yes Rotary Induction No Yes No Notice that all the motor information fields are initialized to defaults Motor Device Specification Data
65. drive during initialization to establish the correct wiring polarity Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 Run a Commutation Test Setting the Motor and Feedback Polarity by using the Motor and Feedback Test prior to running the Commutation Test ensures that the motor spins in the correct direction for the Commutation Test for monitoring the Commutation Angle TIP You should run the Motor and Feedback Test first to determine that your feedback is working If the Feedback is not working the Commutation Test will give you incorrect results or the test will time out Follow these steps to run a commutation test 1 Click Start to run the Commutation Test to determine the Commutation Offset and Commutation Polarity TIP The Kinetix 350 and the Kinetix 5500 drives do not support the Commutation Polarity attribute s Axis Properties K6K_Position_Loop joj xj Categories Test Motor and Feedback Device Wiring General E Motor Model Motor and Feedback Motor Feedback Commutation Marker Motor Feedback Scaling Hookup Tests e stop DANGER Starting test with controller in Polarity ___ stat Program or Run Mode initiates axis motion Autotune Load Test State Ready Backlash Compliance ressing start initiates motion Friction tart test when ready Observer Position Loop Velocity Loop Current Test Results Acceleration Loop Torque
66. during the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch 2 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Active home to marker in forward unidirectional This active homing sequence is useful for single turn rotary and linear encoder applications when unidirectional motion is required These steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the marker 2 The axis moves to the Home Offset position if it s in the same direction as the Home Direction Active home to switch and marker in forward unidirectional Roci This active homing sequence is useful for multi turn rotary applications when unidirectional motion is required These steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch 2 The axis keeps moving at the Home Speed until it gets to the marker 3 The axis moves to the Home Offset position if it s in the same direction as the Home Direction kwell Automation Publication MOTION UM003D EN P October 2012 165 Chapter7 Home an Axis Table 14 Active Homing Examples Continued Sequence Description Active Home to Torque The Home to Torque Level sequence is a type of homing used when a hard stop is going to be used as the home position as in a linear actuator Torque Level homing is very similar to Home Sw
67. faceplate Instruction faceplate Decel jerk in Units Sec 1 0 in sec Example 2 Start Speed 13 0 in sec Desired Speed 5 0 in sec Desired Decel Rate 2 0 in sec Desired Decel Jerk 1 0 in sec Temporary Speed Desired Decel Rate Desired jerk value in Units Sec 2 0 1 0 4 0 in sec k 13 0 5 0 max 5 0 4 0 8 0 5 0 1 6 Because k gt 1 we have to calculate the Decel jerk to use on the instruction faceplate as Instruction faceplate Decel jerk in Units Sec 1 0 in sec 1 6 1 6 in sec Which revision do you have e 15or earlier of Time is fixed at 100 e 1G6or later of Time defaults to 100 of time on projects converted from earlier versions For new projects you must enter the Jerk value Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Profile Operand This operand has two profile types e Trapezoidal Velocity Profile e S Curve Velocity Profile Trapezoidal Velocity Profile The trapezoidal velocity profile is the most commonly used profile because it provides the most flexibility in programming subsequent motion and the fastest acceleration and deceleration times The change in velocity per unit time is specified by acceleration and deceleration Jerk is not a factor for trapezoidal profiles Therefore it is considered infinite and is shown as a vertical line in the following graph Trapezoidal Accel Decel Time
68. for an Axis or Group To access the Motion Direct Commands for the Motion Group or axis right click the Group or Axis in the Controller Organizer and choose Motion Direct Commands aa Motion Groups 6 Motion_group_A gt Ee gt Axis_II_Position_Dual_loop Goto Module 495 axis_IV_FeedbackOnly_Au gt p X Eoi Axis_I_Position_Motor Ah se ee 3 Ungrouped Axes Fault Help E3 Add On Instructions E Data Types Clear Axis Faults oR User Defined Cut Ctrl x ee Copy Ctrl C E 2094 EN02D M01 50 K6500_Drive E Paste Ctrl HAD Axis 1 192 168 1 3 Delete Del Motion Direct Commands X Manual Tune Motion Generator Cross Reference Ctrl E Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 Figure 5 Motion Direct Commands Dialog Box Motion Direct Commands Axis_101 2 jol x Commands Motion Servo On Qe MSO Axis Axis_1 01 z Bj Re MSF MASD Re MASR MDO gt MDF gt MDS gt MAFR 3 Motion Move Re MAS gt MAH Re MAJ gt MAM Re MAG MCD Re MRP ha DANGER Executing motion command with controller in Program or Run Mode may cause axis motion Motion Group Shutdown Execute Help The content of the Motion Direct Command dialog box will vary depending on the command you have chosen In the Command list you can either type the mnemonic and the list advances to
69. has been changed and downloaded to the controller This can also happen during the execution of an SSV Axis Feedback Changes The feedback device has been replaced This creates an Axis Feedback Serial Number mismatch APR fault Axis Feedback mode has changed for example axis with feedback changed to axis without feedback or vice versa and downloaded to the controller e A user program is downloaded e A user program and tags are restored from the CompactFlash card Manual Restore Power up restore when configured e Firmware is updated via ControlFLASH software e An SSV to either change Feedback Polarity or one of the attributes which results in a change to the Motion Resolution attribute Rockwell Automation Publication MOTION UM003D EN P October 2012 Home an Axis Chapter 7 APR Fault Generation An APR fault is caused by a project download restore from a CompactFlash card a restore from an SD card or a ControlFLASH firmware update after one of these events e Axis configuration Change in any of the axis attributes that impacts the absolute machine position e Attribute changes Offline edits of the axis attributes or configuration does not cause an APR fault until after download occurs Online edits of certain attributes will result in an immediate APR fault Changing the axis feedback device or feedback polarity without downloading the project will also generate an immediate APR fault e Axi
70. have created an AXIS_CIP_DRIVE open the Axis Properties 2 From the Axis Configuration pull down menu choose Position Loop 3 From the Feedback Configuration pull down menu choose Motor Feedback The axis and feedback configurations determine the control mode For more information on the control modes see the Integrated Motion on the EtherNet IP network Reference Manual publication MOTION RM003 Rockwell Automation Publication MOTION UM003D EN P October 2012 55 Chapter 3 56 Configuration Examples for a Kinetix Drive Example 1 General Dialog Box Position Loop with Motor Feedback Only fs fos Ge e This is type of drive you selected and the power structure you assigned via the Kinetix 6500 Module Properties For more information see Add a Kinetix EtherNet IP Drive on page 28 Drive Parametery Parameter List Status The newly created Kinetix 6500 drive module name is the default The Axis Number defaults to 1 indicating the primary axis of the drive Axis Number 2 is used only for configuring a Feedback Only axis i Faults amp Alarms low Tag TIP After you have configured the axis and you change the Axis Configuration type or the Axis Number some of the configuration information will be set to default values This may cause some previously entered data to be reset back to its default setting Having selected Position Loop with Motor Feed
71. i Position Loop Velocity Loop i Torque Current Loop i Planner Homing i Actions Drive Parameters Parameter List i Status i Faults amp Alarms Tag Axis Configuration Feedback Configuration Application Type Loop Response Motion Group Associated Module Module Module Type Power Structure Axis Number Position Loop Motor Feedback Basic Medium Motion_grp New Group K350_12A_240v 2097 NZPRELM This is type of drive you selected the Kinetix 350 Module Properties 2097 V33PR6 LM For more information see Add a Kinetix EtherNet IP 1 Drive on page 28 The newly created Kinetix 350 drive module name is the default The Axis Number defaults to 1 indicating the axis of the drive 72 TIP After you have configured the axis and you change the Axis Configuration type or the Axis Number some of the configuration information will be set to default values This may cause some previously entered data to be reset back to its default setting 2 Click the Motor dialog box 3 Choose Catalog Number as the Motor Data Source Rockwell Automation Publication MOTION UM003D EN P October 2012 Configuration Examples for a Kinetix Drive Chapter 3 4 Click Change Catalog and choose your motor for example catalog number MPAR A1xxxB V2A EM Motor Ts Model Data Source Catalog Numbe
72. is not displayed if either of the following occurs Offline e Online and a module mismatch or communication error has occurred e Online and the module is not configured as a ring supervisor e Online and the module is not the Active Ring Supervisor Status When the module is the Active Ring Supervisor on the network Status displays the ring fault condition on the network as either of the following occurs e Partial Network Fault Rapid Fault Restore Cycles Status is not displayed if either of the following occurs Offline e Online and a module mismatch or communication error has occurred e Online and the module is not configured as a ring supervisor e Online and the module is not the Active Ring Supervisor The ring fault condition is not Partial Network Fault or Rapid Fault Restore Cycles Rockwell Automation Publication MOTION UM003D EN P October 2012 251 AppendixA CIP Drive Module Properties 252 Table 34 Module Properties Network Tab Descriptions Parameter Clear Fault Description Clear Fault causes the Active Ring Supervisor to clear the Rapid Faults Restore Cycles fault Clear Fault is not displayed if either of the following occurs Offline e Online and a module mismatch or communication error has occurred e Online and the module is not configured as a ring supervisor e Online and the module is not the Active Ring Supervisor The ring fault condition is not Rapid Fault Restore Cycles
73. is the absolute time value as defined in the CIP Sync standard in the context of a distributed time system where all devices have a local clock that is synchronized with a common master clock In the context of Integrated Motion on the EtherNet IP network System Time is a 64 bit integer value in units of microseconds or nanoseconds with a value of 0 corresponding to January 1 1970 A shunt regulator is a specific Bus Regulator method that switches the DC Bus across a power dissipating resistor to dissipate the regenerative power ofa decelerating motor The service data block is a lower priority real time data block associated with a service message from the controller that is transferred by an Integrated Motion on the EtherNet IP network connection on a periodic basis Service data includes service request messages to access attributes run a drive based motion planner or perform various drive diagnostics A Set Write involves setting an attribute to a specified value from the perspective of the Controller side of the interface Synchronized is a condition where the local clock value on the drive is locked onto the master clock of the distributed System Time When synchronized the drive and controller devices may use time stamps associated with an Integrated Motion on the EtherNet IP network connection data Time stamp is a system time stamp value associated with the Integrated Motion on the EtherNet IP network connection data that conveys t
74. name A warning message appears when the host name in the physical module does not match the host name on the General tab Make sure the host name entered here matches the host name on the General tab and click Set Host Name appears only if the module supports a host name It appears dimmed and is blank when you are offline or online and a module mismatch or communication error has occurred Primary DNS Server Address Displays the module s primary DNS server IP address or if you selected to configure the IP settings manually enter a valid primary DNS server address Primary DNS Server Address appears only if the module supports a primary DNS server address It appears dimmed and is blank when you are offline or online and a module mismatch or communication error occurs Primary DNS Server Address appears dimmed when the module supports the option to set the IP address by using the switches you choose to set the IP address by using the switches on the module Rockwell Automation Publication MOTION UM003D EN P October 2012 245 AppendixA CIP Drive Module Properties Table 32 Module Properties Internet Protocol Tab Descriptions Parameter Description Secondary DNS Server Address Displays the module s secondary DNS server IP address or if you selected to configure the IP settings manually enter a valid secondary DNS server address Secondary DNS Server Address appears only if the module supports a secondary DNS server address
75. on the Position Loop dialog box as well as additional advanced parameters 13624167 Ooo oo 0 0 Disabled Disabled Enabled h A T NaN a er On this dialog box the list includes the parameters that are on the Position Loop dialog box as well as additional advanced parameters Rockwell Automation Publication MOTION UM003D EN P October 2012 Parameter Group Dialog Boxes Appendix B Figure 34 Frequency Control Parameters Axis Properties PowerFlex_ 19_2 Motion Axis Parameters Frequency Control E E Basic Volts Hertz 8 my in ojo aults amp Alarms ag Rockwell Automation Publication MOTION UM003D EN P October 2012 263 AppendixB Parameter Group Dialog Boxes Notes 264 Rockwell Automation Publication MOTION UM003D EN P October 2012 Absolute Position Retention APR Bus Regulator CIP Integrated Motion on the EtherNet IP Network CIP Sync Integrated Motion on the EtherNet IP network I O Connection Integrated Motion on the EtherNet IP Network Drive Closed Loop Converter Cyclic Data Block Drive Event Data Block Rockwell Automation Publication MOTION UM003D EN P October 2012 Glossary The following terms and abbreviations are used throughout this manual For definitions of terms not listed here refer to the Allen Bradley Industrial Automation Glossary publication AG 7 1 While Homing creates an absolute machine ref
76. re done choose View gt Toolbars gt Factory Defaults or turn on the toolbars you want to see The Feedforward tab lets you adjust velocity and acceleration feedforward Additional Tune Feedforward Compensation Filters Limits Planner Velocity Feedforward 0 0 4 e Acceleration 0 0 e Attribute Description Velocity Feedforward A command signal that represents a scaled version of the command velocity profile Acceleration A signal that represents a scaled version of the command acceleration profile The Compensation tab lets you input scaling gain and friction offset values A Additional Tune 5 Feedforward Compensation Filters Limits Planner System Inertia 0 0 Rated Rev s 2 Backlash Compensation 0 0 Position Units Torque Offset foo Rated Load Observer Configuration Load Observer Only Friction p ST e Rated Load Observer Bandwidth ra Hertz Friction Compensation feo y Position Units Load Observer Integrator Bandwidth O0 Hertz Attribute Description System Inertia Torque or force scaling gain value that converts commanded acceleration into equivalent rated torque force Torque Offset Provides a torque bias when performing closed loop control Load Observer Configuration Configures the operation of the Load Observer Load Observer Bandwidth Determines the proportional gain Kop of the load observer Rockwell Automati
77. sent to a drive for example Planned Stop Ramped Stop Limited Stop Coast No Action Alarm Off Alarm On End State Displays the action result returned from the axis which may be more detailed than the command sent For instance a send of Disable Drive may result in either Holding Shutdown or other status for example e Stopped Hold Stopped Disable e Shutdown e Shutdown Reset Faults Toggles between displaying or hiding the faults Alarms Toggles between displaying or hiding the alarms Clear Log Clears both the fault and alarm logs in the controller for this axis Rockwell Automation Publication MOTION UM003D EN P October 2012 Faults and Alarms Chapter 10 Quick View Pane The Quick View pane gives you a quick summary of faults and alarms related to the axis you select in the Controller Organizer The information includes the type of axis description axis state faults and alarms Data Monitor The Data Monitor is where you can read and write the values assigned to specific tags both online and offline You can do the following e Seta tag description e Change a value s display style e Change a force mask value e Sort your tags alphabetically horan 16 0000_0000 16 0000_0000 m E E A E 7 E A B A E A A Rockwell Automation Publication MOTION UM003D EN P October 2012 227 Chapter 10 Troubleshoot Faults 228 Fa
78. shutdown the controller if you do not correct the fault condition exceeding an overtravel limit Rockwell Automation Publication MOTION UM003D EN P October 2012 Faults and Alarms Chapter 10 Manage Motion Faults By default the controller keeps running when there is a motion fault As an option you can have motion faults cause a major fault and shut down the controller 1 Choose a General Fault Type 2 Do you want any motion fault to cause a major fault and shut down the controller e YES Choose Major Fault e NO Choose Non Major Fault You must write code to handle motion faults 3 Right click Motion Group and choose Properties 9 Controller My_Controller 2a Tasks Motion Direct Commands Motion Groups E Cross Reference Ctrl E My_Axis_ cA My_Axis_ H Ungrouped Axes G Trends 9 Data Types E 1 0 Configuration Print gt H A 4 Click the Attribute tab 5 From the General Fault Type pull down menu choose the general fault type amp Motion Group Properties Group_09 ioj xi Axis Assignment Attribute Tag Coarse Update Period feo a ms in 0 5 increments Auto Tag Update Enabled z General Fault Type Non Major Fault z Scan Times elapsed time Max l us Reset Mar Last us Rockwell Automation Publication MOTION UM003D EN P October 2012 229 Chapter10 Faults and Alarms
79. supply Stop the axis and let the drive Stop Drive A fault happens when the following occurs stop the axis where you use the Axis servo action is disabled Stopping Action attribute to Servo amplifier output is zeroed configure how to stop the drive Appropriate drive enable output is deactivated Drive switches to local servo loop control and the axis is slowed to a stop using the Stopping Torque e The servo action and the power structure are disabled if the axis doesn t stop in the Stopping Time Rockwell Automation Publication MOTION UM003D EN P October 2012 231 Chapter10 Faults and Alarms Table 24 Action Tasks and Related Faults Task Choose Description Leave the servo loop on and stop Stop Planner Use this fault action for less severe faults It is the gentlest way to the axis at its Maximum stop Once the axis stops you must clear the fault before you can Deceleration rate move the axis The exception is Hardware Overtravel and Software Overtravel faults where you can jog or move the axis off the limit A fault happens when the following occurs Axis slows to a stop at the Maximum Deceleration Rate without disabling servo action or the servo module s Drive Enable output Control of the drive s servo loop is maintained Axis slows to a stop at the Maximum Deceleration rate without disabling the drive Write your own application code Fault Status Use this fault action only when th
80. the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RM003 for complete information on the Axis Attributes and Control Modes Rockwell Automation Publication MOTION UM003D EN P October 2012 85 Chapter 4 86 Configure Integrated Motion by Using a PowerFlex 755 Drive Map the PowerFlex 755 Drive Port Assignment to the Axis Follow these instructions to map the drive port to the axis 1 Go the Module Properties of the drive 2 Click the Associated Axis tab E Module Properties EN2T_PowerFlex_755 PowerFlex 755 EENET CM 6 1 oE aE General Connection Time Sync Module Info Intemet Protocol Port Configuration Associated Axes Axis 1 PF_Axis_1 Motor Feedback Device knone gt Load Feedback Device lt none gt Axis 1 on the Associated Axes tab in Module Properties corresponds to the Axis 1 listed on the General tab on the Axis Properties see step 2 on page 84 Associated Module Module PowerFlex_755_Axis_1 x Module Type Powerflex 755 EENET CM Power Structure 200V 4 8A Normal Duty Frame 1 Axis Number l 1 X For more detailed examples see Axis Configuration Examples for the PowerFlex 755 Drive on page 109 3 Click OK Establish Feedback Port Assignments for the PowerFlex 755 Drive These are the two ways to establish the drive axis associations e The first way is to assign the drive to the a
81. the closest match or you can choose a command from the Axis pull down menu Choose the desired command and its dialog box appears You can also get to the commands either by right clicking the axis and choosing Motion Generator or on the Manual Tune dialog box IMPORTANT If you are using a PowerFlex 755 drive and it s configured for Velocity Mode and you have set the Flying Start Enable attribute to true the device starts spinning at the command velocity immediately after you execute an MDS command For more information about the Flying Start Attribute see the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO03 Rockwell Automation Publication MOTION UM003D EN P October 2012 159 Chapter6 Commission Notes 160 Rockwell Automation Publication MOTION UM003D EN P October 2012 Guidelines for Homing Chapter 7 Home an Axis Homing puts your equipment at a specific starting point for operation This starting point is called the home position Typically you home your equipment when you reset it for operation When using Integrated Motion on the EtherNet IP network all active and passive homes are setting absolute positions as long as an absolute device is being used Topic Page Guidelines for Homing 161 Active Homing 162 Passive Homing 162 Examples 163 Absolute Position Recovery APR 168 See the Integrated Motion on the EtherNet IP Network Reference Manual publi
82. the motion module a Unicast connection The Coarse Update Period determines how often the Motion Task runs When the Motion Task runs it interrupts most other tasks regardless of their priority The Motion Task is the part of the controller that takes care of position and velocity information for the axes You set the Coarse Update Period when you create the Motion Group Follow these steps to set the Coarse Update Period 1 Click the Attribute tab in the Motion Group Properties dialog box oxi Axis Assignment Attribute Tag Coarse Update Period m 4 ms in 0 5 increments Auto Tag Update Enabled 7 General Fault Type Non Major Fault zj Scan Times elapsed time Max 65766 us Reset Max Last ji 4 us Cancel Apply Help 2 Set the Coarse Update Period to 2 0 32 0 ms TIP Check to see if the Last Scan time values on the Attribute tab are less Typically the value is less than 50 of the Coarse Update Period 44 Rockwell Automation Publication MOTION UM003D EN P October 2012 Motion Task Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 For the Kinetix 6500 drive the minimum Coarse Update Rate is 1 ms Figure 2 Coarse Update Period Example Scans of Your Code System Overhead and so on Oms 10 ms 20 ms 30 ms 40 ms In this example the Coarse Update Period 10 ms Every 10 ms the c
83. with the controller in the way of the axis 3 Click Start Run a Marker Test The Marker Test checks that the drive receives the marker pulse from the position feedback device You must manually move the axis for this test Follow these steps to perform a Marker test 1 From the Hookup Tests dialog box 2 Click the Marker tab 3 Click Start to check for the marker pulse 9 Axis Properties PowerFlex_Axis_1 Test Motor and Feedback Device Wiring Backlash Compliance Observer Position Loop Velocity Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag 144 Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 The drive receives the marker pulse and the test passed x Test State Passed Test complete Help 5 Click OK Commutation Test The Commutation Test determines an unknown Commutation Offset and potentially the unknown polarity of the start up commutation wiring The Commutation Test can be used also to verify both a known Commutation Offset as well as the polarity start up commutation wiring This test is generally applied to third party or custom Permanent Magnet motors that are not available as a Catalog Number in the Motion Database When a motor needs a Commutation Offset and you are not using Catalog number as the Motor Data Source you cannot enable th
84. you click Refresh communication you can see that this drive s communication port is set to 100 Mbps for Speed and Full for Duplex ae Clicking Set commits your changes Appi IMPORTANT You must reset the drive to use the new settings Resetting the drive causes a loss of connection and motion will stop The drive will be in the STOPPED state Rockwell Automation Publication MOTION UM003D EN P October 2012 247 AppendixA CIP Drive Module Properties If you click under Port Diagnostics you will see the values for the Interface and Media Counters Port Diagnostics pora x f Interface Counters m Media Counters Octets Inbound 0 Alignment Errors 0 Octets Outbound 0 FCS Errors 0 Unicast Packets Inbound 0 Single Collisions 0 Unicast Packets Outbound 12285 Multiple Collisions 0 Non unicast Packets Inbound 0 SQE Test Errors 0 Non unicast Packets Dutbound 3627 Deferred Transmissions 0 Packets Discarded Inbound 0 Late Collisions 0 Packets Discarded Outbound 0 Excessive Collisions 0 Packets With Errors Inbound 0 MAC Transmit Errors 0 Packets With Errors Outbound 0 MAC Receive Errors 0 Unknown Protocol Carrier Sense 0 Packets Inbound 0 Frame Too Long 0 Reset Counters e Help Table 33 Module Properties Port Configuration Tab Descriptions Parameter Description Port Port name Enable Enabled state of the port or check to enable the port Enable appears dimmed w
85. 0 00 and later APR Supported Components There are differences in the way the 1756 L6x 1756 L6xS and the 1756 L7x ControlLogix controllers recover machine position The 1756 L6x and 1756 L6xS controllers have a battery and use a CompactFlash card to save information The 1756 L7x controller has a 1756 ESMxxx module and uses a Secure Digital SD card to save information The 1756 L6x and 1756 L6xS Series A controllers have a battery to recover the position after a power cycle but does not support APR The 1756 L6 and 1756 L6xS Series B controllers recover the position after a download or restore from CompactFlash software card or a firmware update from the Control FLASH utility A battery is not required The 1756 L7x controller with a ControlLogix Controller Energy Storage Module ESM works the same as the 1756 L6x Series B controller with a battery The 1756 L7x controller without a ControlLogix Controller Energy Storage Module ESM works like a 1756 L6x Series B controller without a battery 168 Rockwell Automation Publication MOTION UM003D EN P October 2012 Absolute Position Recovery Functionality Home an Axis Chapter 7 APR provides support for maintaining absolute position referenced to a specific machine commonly called the machine referenced absolute position or just absolute position after a power loss program download or firmware update Absolute position is established by a homing procedure initiated by
86. 00 kW 1 2000 Hp EtherNet IP Adapter Installation is a closed loop drive It consists Velocity 2 1 2330A Instructions publication 750 IN001 of an integrated axis power Torque PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 For additional information about the configuration types see Configure the Associated Axis and Control Mode on page 38 and the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 Rockwell Automation Publication MOTION UM003D EN P October 2012 11 12 Preface Configuration and Start up Scenarios The two ways to get an Integrated Motion on the EtherNet IP Network solution up and running are to connect the hardware first or configure the software Connect Hardware First 1 Connect e Install modules and drives e Check software and firmware for the latest revisions 2 Configure the controllers and communication modules e Open the Logix Designer application e Check software and firmware for the latest revisions and update if needed e You must configure the controllers and communication modules for time synchronization and motion e To setup a project and enable time synchronization follow the steps in Chapter 1 Configure a Project for Integrated Motion on the EtherNet IP Network on page 17 3 Configure the drive module and an axis Check drive firmware for the latest revisions and update if nee
87. 12 Chapter 2 Configure Integrated Motion Control by Using Kinetix Drives This chapter provides procedures on how to set up integrated motion control by using the Kinetix 6500 Kinetix 350 and the Kinetix 5500 drives The basic configuration for a integrated motion solution is to associate a drive with motor feedback and an axis configuration type For the examples in this chapter the Kinetix 6500 drive is used and the exceptions for the Kinetix 350 and Kinetix 5500 drives noted Topic Page Configuring a Kinetix Drive 28 Add a Kinetix EtherNet IP Drive 28 Create an Associated Axis 32 Configuring the General Parameters 35 Specifying the Motor Data Source 46 Displaying Motor Model Information 49 Assigning Motor Feedback 50 Configuring the Load Feedback 51 Configuring the Master Feedback 52 Create Reports 52 For information about what attributes are replicated in the drive see the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 Rockwell Automation Publication MOTION UM003D EN P October 2012 27 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives Configuring a Kinetix Drive i Add a Kinetix EtherNet IP Drive 28 After you add the drive to your project use software dialog boxes to configure the drive As you configure a drive you will notice that the dialog boxes change based on your configuration choices for exampl
88. 168 179 CompactLogix 10 25 41 93 coordinated motion instructions Motion Coordinated Change Dynamics MCCD 212 Motion Coordinated Circular Move MCCM 212 Motion Coordinated Linear Move MCLM 212 Motion Coordinated Shutdown MCSD 212 Motion Coordinated Shutdown Reset MCSR 212 Motion Coordinated Stop MCS 212 course update period integrated architecture builder 45 97 D dependent attributes 137 diagnostics 248 direct commands motion state 210 direct coupled rotary 134 135 drive status indicators 228 electronic keying 238 EtherNet IP 244 external bus capacitance 257 external shunt 257 faults major 229 manage motion 228 229 non major 229 status 231 faults and alarms 225 action 226 alarms 226 clear log 226 condition 226 data monitor 227 date and time 226 drive status indicators 225 end state 226 faults 226 indicator 226 log 225 quick view 225 227 source 226 tag monitor 225 feedback configuration types compare 39 feedback position 168 feedforward 187 190 G gains established 40 gains to tune customize 40 grandmaster 241 home offset 168 homing axis 161 guidelines 161 hookup tests 140 incremental feedback position 168 Integrated Architecture Builder course update period 45 97 interface and media counters 248 K Kinetix 350 10 voltage ranges 11 Kinetix 5500 voltage ranges 11 Kinetix 6500 10 voltage ranges 11 Rockwell Automation Publication MOTION UM003D E
89. 3 Feedback Only In this example you create a half axis AXIS_CIP_DRIVE type by using the AUX Feedback port of the drive for Master Feedback You need to connect the Master Feedback device cable to the Aux Feedback port of the Kinetix 6500 drive TIP You can use feedback only axes for example as a master reference for gearing with PCAM moves and MAOC output CAMs 1 From the Axis Configuration pull down menu choose Feedback Only 2 From the Feedback Configuration pull down menu choose Master Feedback This determines the control mode For more information see the Integrated Motion on the EtherNet IP network Reference Manual publication MOTION RMO03 3 From the Module pull down menu choose the associated module that you want to use for the Master Feedback device Example 3 Feedback Only with Master Feedback General Dialog Box Axis Properties Axis_I _FeedbackOnly General Feedback Only Master Feedback d Motion_group_A K6500_Drive3 The Axis Number will be set to 2 because Axis 1 is already assigned to the primary axis of the drive Manuali 64 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configuration Examples for a Kinetix Drive Chapter 3 4 Click the Define feedback device link to associate the drive with the axis Example 3 Feedback Only with Master Feedback Master Feedback Dialog Box Axis Properties Axis_I _FeedbackOnly General Master Fe
90. 5 Hectronic Keying Compatible Module Z Rack Connection None Time Sync Connection None Time Sync and Motion hs IMPORTANT For CIP Sync time coordination to work in motion control you must set the Time Sync Connection to Time Sync and Motion on all 1756 ENxTx communication modules The CIP Sync protocol is what enables motion control on the EtherNet IP network The Motion and Time Sync selection is available only for firmware revision 3 0 and later You must be offline to change the Motion and Time Sync selection If you are online at a major revision of 1 or 2 you can only change the revision to a 1 or 2 You must go offline to change the module to revision 3 or 4 and to go back to revision 1 or 2 IMPORTANT For the CompactLogix 5370 controllers 1769 L18ERM 1769 L27ERM 1769 L30ERM 1769 L33ERM and 1769 L36ERM the embedded dualport Ethernet is automatically set with Time Sync Connection Time Sync and Motion You only need to check the Enable Time Synchronization checkbox on the controller s time date tab to enable Integrated Motion 12 Click OK IMPORTANT You will get errors when you try and associate an axis if you have not enabled time synchronization Rockwell Automation Publication MOTION UM003D EN P October 2012 25 Chapter1 Configure a Project for Integrated Motion on the EtherNet IP Network Notes 26 Rockwell Automation Publication MOTION UM003D EN P October 20
91. 756 EN2T 22 alarm 232 1756 EN2TR 22 fault status only 232 1756 EN3TR 22 ignore 232 1756 ENxT stop drive 231 firmware 22 stop planner 232 1756 L6x APR 172 C 1756 L7x APR 172 CIP motion drive module associated axes 253 axis 1255 A axis 2 255 load feedback device 255 absolute feedback device 169 absolute feedback position 168 absolute position 161 168 169 absolute position loss without APR fault 178 absolute position recovery 173 active homing 162 active supervisor precedence 250 APR absolute position recovery 168 fault 172 faults 170 functionality 169 incremental encoders 179 recovery 168 battery backed controller 175 change controller 175 controller 174 controller and drives remained powered 175 download same program and no hard ware changes 176 download same program with no hard ware changes 176 drive 177 feedback device 176 inhibit or uninhibit 176 position feedback 176 restore 176 RSLogix 5000 project 176 scaling 177 reset 178 retention 168 sequence of events 179 supported components 168 terminology 168 associated products 9 auto negotiate 246 axis homed bit 169 homed status bit 172 inhibit 233 tune 181 axis configuration types compare 39 Rockwell Automation Publication MOTION UM003D EN P October 2012 master feedback device 255 motor feedback device 255 new axis 255 configuring 237 connection 239 240 electronic keying mismatch 240 inhibit module 240 major fault 240 module configuration i
92. Accel amp gt Decel IN an HA 4 75sec 195 sec Target Distance per Time asec Time L Travel Distance speed Time Start 0 0 End 50 0 mm Speed 10 mm sec Accel Decel 0 25 sec Equivalent to Distance Time RSLogix 5000 software version 20 and later MAM Motion Axis Move CEN i A i res x3 a MAM instruction programmed as time lt ax_V_slave3_reverse_M gt CDN Motion Control cb_mamM2 sae ove Tyee o Leer Position 50 0 mm start 0 0 Speed 5 25 sec Position position CIP 50 06 Accel 0 25 sec Speed time_MAM2 4 Decel 0 25 sec 5256 j Speed Units Seconds Accel Rate acc_dec_MAM2 e gos So Travel_Distance area under the Accel Units Seconds e see waa curve accel at_speed decel 0 256 Travel_ Distance 50 mm Decel Units Seconds s Sane Trapi Travel_Time 5 25 sec 0 25 4 75 0 25 sec Accel Jerk 10000 Decel Jerk 10000 Jerk Units Units per sec3 Merge Disabled Merge Speed Programmed Lock Position 0 0 Lock Direction None Event Distance 0 Calculated Data 0 A R Rockwell Automation Publication MOTION UM003D EN P October 2012 223 Chapter9 Program Notes 224 Rockwell Automation Publication MOTION UM003D EN P October 2012 Chapter 10 Faults and Alarms Dialog Box Faults and Alarms There are four ways to find and view faults and alarms e Fault and Alarm Log e Quick View Pane e Tag Monitor see the in
93. ActionStatus fo Motion Axis Move Axis My Axis x E Motion Control My_Axis_X_Move Move Type 0 Position 10 Speed My Axis x_SetUp utoSpeedCommand 1 06 Speed Units Units per sec More gt gt Rockwell Automation Publication MOTION UM003D EN P October 2012 209 Chapter9 Program Download a Project and Run Logix Follow these steps to download your program to a controller 1 With the keyswitch place the controller in Program or Remote Program mode From the Communications menu choose Download Confirm that you wish to complete the download procedure Click Download Yok Yo Once the download is complete place the controller in Run Test mode After the project file is downloaded status and compiler messages appear in the status bar Choose a Motion Instruction Use this table to choose an instruction and see if it is available as a Motion Direct Table 21 Available Motion Direct Commands If You Want To Change the state of an axis 210 Command And Use This Instruction Motion Direct Command Enable the drive and activate the axis loop MSO Yes Motion Servo On Disable the drive and deactivate the axis loop MSF Yes Motion Servo Off Force an axis into the shutdown state and block any instructions that MASD Yes initiate axis motion Motion Axis Shutdown Reset the axis from the shutdown state MASR Yes Motion Axis Shutdown Reset Activate the drive control loops for the CIP axis and run t
94. Axis Properties Axis_11 Categories General Load Feedback Device Specification Moio Device Function Load Side Feedback Model Motor Feedback Feedback Channel Feedback 2 TE Wet Not Specified z Hookup Tests Units SEES Sine Cosine Autotune Hiperface E Load EnDat 2 1 Polarity Attributes associated with the Load Feedback dialog box are designated Feedback 2 Axis Properties Axis_11 Categories General Load Feedback Device Specification Motor Load Side Feedback Model Motor Feedback Feedback Channel Feedback 2 Load Feedback Type ype Scaling Digital AgB 7 Hookup Tests Units Rev hd Polarity Device Function Unlike the Motor Feedback dialog box you must explicitly enter load feedback device information on the Load Feedback dialog box including the Feedback Type This is because the Load Feedback device is not built into the motor Default values are displayed based on the Feedback Type selected Digital AqB Cycle Resolution fico Cycle Interpolation od Feedback Counts per Cycle Effective Resolution facoo Feedback Counts per Rev Startup Method incrementa gt Feedback Ratio f o Aux Rev Motor Rev Rockwell Automation Publication MOTION UM003D EN P October 2012 51 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives J Configuring the Master Feedback J Create Reports 52 The Master Feedback dialog box is available if the Feedba
95. Click Apply The Motor Model dialog box displays additional information based on the motor type you select The asterisk next Axis Properties Axis_11 to a category Categories means that you General Motor Model Phase to Phase Parameters have not applied Motor changes Torque Constant Kt 0 562 N m Amps RMS Motor Feedback Voltage Constant Ke Scaling Hookup Tests Resistance Ris a7 Ohms Polarity Inductance Ls 0 025 Henries Autotune fi 9 6 Volts RMS KRPM e Ifthe motor data source is Database this information is populated automatically e Ifthe motor data source is Nameplate Datasheet this information must be entered manually or by running the optional Motor Analyzer e Ifthe motor data source is Motor NV this dialog box is blank Rockwell Automation Publication MOTION UM003D EN P October 2012 49 Chapter 2 J Assigning Motor Feedback 50 Configure Integrated Motion Control by Using Kinetix Drives What appears on the Motor Feedback dialog box is dependent on what you select on the General dialog box for Feedback Configuration The Motor Feedback dialog box represents the information for the feedback device that is directly coupled to the motor This dialog box is available if the feedback configuration specified on the General dialog box is anything other than Master Feedback If the motor that you select has Catalog Number as the data source all of the information on this d
96. Description 1756 DeviceNet Scanner 1756 10 100 Mbps Ethemet Bridge Fiber Media 1756 10 100 Mbps Ethemet Bridge Twisted Pair Media 1756 10 100 Mbps Ethemet Bridge 2 Port Twisted P 1756 10 100 Mbps Ethemet Bridge 2 Port Twisted P 1756 10 100 Mbps Ethemet Bridge Twisted Pair Media Vendor Allen Bradley Allen Bradley Allen Bradley Allen Bradley Allen Bradley Allen Bradley Category 1 Communication Communication Communication Communication Communication Communication 16 of 128 Module Types Found Add to Favorites Close on Create Rockwell Automation Publication MOTION UM003D EN P October 2012 help F Create Close Configure a Project for Integrated Motion on the EtherNet IP Network Chapter 1 The New Module configuration tabs appear Connection RSNetWonx Module Info Intemet Protocol Port Configuration Time Sync 1756 EN2T 1756 10 100 Mbps Ethemet Bridge Twisted Pair Media Ethemet Address X E Private Network 192 168 1 25 IP Address Host Name Slot 1 X Hectronic Keying Rack Connection Time Sync Connection 5 Type a name for the module 6 Ifyou want type a description 7 Assign the Ethernet address of the 1756 ENxTx module For information on setting up an Ethernet network and setting IP addresses for the communication and motion modul
97. Device The motor feedback device is set to Motor Feedback Port and cannot be changed Load Feedback Device Click to select the port for the physical feedback device used by Axis 1 load feedback Aux Feedback Port Master Feedback Device Choose the port for the physical feedback device used by Axis 2 master feedback Figure 19 Associated Axes Tab for the Kinetix 5500 Drive General Connection Time Sync Module info Intemet Protocol Port Configuration Network Associated Axes Axis 1 ax_CIP_V1_on_K5500 x fe Newasa Motor Feedback Device Motor Feedback Port Figure 20 Associated Axes Tab for the Kinetix 350 Drive E Module Properties B15 2097 V32PR4 LM 1 1 General Connection Time Sync Module Info Internet Protocol Port Configuration Associated Axes Power Motion Diagnostics Axis 1 B15_K350 a New Axis Motor Master Feedback Device Motor Feedback Port Figure 21 Associated Axes Tab for the PowerFlex 755 Drive E Module Properties B15 PowerFlex 755 EENET CM 3 1 foal ojx General Connection Time Sync Module Info Internet Protocol Port Configuration Associated Axes Power Digital Input Motion Diagr_4 Axis 1 B15_PF755 x El New Axis Motor Master Feedback Device Port 4 Channel A v Load Feedback Device Port 4 Channel B ad For more information about associating an axis see Associate Axes and Drives on page 36 for
98. Hertz E ETA RENAR 0 0 50 0 System Damping aun enuen A Tuning Configuration Position Loop Loop Bandwidth 19 469685 4 Hertz Integrator Bandwidth o o Hertz Integrator Hold Disabled 7 e Error Tolerance 13624167 SY Position Units f DANGER Executing motion command with controller in elocity Loop e Program or Run Mode may cause axis motion Loop Bandwidth 77 87874 Hertz Integrator Bandwidth Joo Hertz Axis State Running Execute Integrator Hold Joisabled Axis Fault No Faults Ditabie as Error Tolerance 37 039696 Z Position Units s The blue arrows indicate an immediate commit D DANGER Tuning may result in unstable axis mation When you change a value and leave the field the values are sent automatically to the controller including changes you made to slider values A Additional Tune Feedforward Compensation Filters Limits Planner lt ___ _4 ad i Hig l l The Additional Tune tabs are available for the Kinetix 6500 and Torque Low Pass Fiter Bandwidth 389 3937 H Hertz PowerFlex 755 drives The type of drive determines what Torque Notch Fiter Frequency 0 0 H ehHerz attributes you can configure Torque Lag Filter Gain 1 0 e bz See Additional Tune on page 187 Torque Lag Filter Bandwidth l 0 0 e Hertz ATTENTION Before you tune or test axis motion make sure no one is in the way of the axi
99. If Start Velocity gt MAJ Programmed Speed Programmed Decel Rate Decel Jerk Units Sec 9 r 200 4 Max Programmed Speed Start Speed Programmed Speed of Time Decel Jerk Velocity Programmed Speed Time 200 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Jerks for programmed moves such as MAM or MCLM instructions in units of time are converted to engineering units as follows IfStart Speed lt Programmed Speed Programmed Accel Rate 200 Accel Jerk Units Sec g x 1 Programmed Speed of Time Programmed Decel Rate 200 Decel Jerk Units Sec 3 x 1 Max Programmed Speed Start Speed Programmed Speed of Time Programmed Speed Decel Jerk Z a Time IfStart Speed gt Programmed Speed Programmed Decel Rate 200 DecelJerk1 x 1 Max Programmed Speed Start Speed Programmed Speed of Time Programmed Decel Rate 200 DecelJerk2 f 1 Programmed Speed of Time lt _ DecelJerk1 Velocity Programmed Speed DecelJerk2 Time DecelJerk1 is used while Current Speed gt Programmed Speed DecelJerk2 is used while Current Speed lt Programmed Speed Rockwell Automation Publication MOTION UM003D EN P October 2012 201 Chapter9 Program Depending on the instruction s Speed parameter the same of time jerk can result in different slopes for the acceleration pro
100. Kinetix 350 X X X Kinetix 5500 X X X Kinetix 6500 xX X x X PowerFlex 755 X X X X Load Feedback Kinetix 6500 X X X X X No Feedback Powerflex 755 X 140 Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 Run a Motor and Feedback Test The Motor and Feedback Test is the most commonly used Hookup Test because it automatically tests both the motor and feedback wiring and determines correct polarity values Follow these steps to perform a Motor and Feedback Hookup Test 1 Go to the Hookup Tests dialog box 59 Axis Properties PowerFlex_Axis_1 Test Motor and Feedback Device Wiring Remember that a blue arrow next to a field means that when you change its value the new value automatically gets written to the controller when you leave the field 2 Enter the Test Distance This is the distance the test will move the axis 3 Click Start to run the Motor and Feedback test RSLogix 5000 Motor Feedback Test 4 Manually move the axis by at least the test distance Rockwell Automation Publication MOTION UM003D EN P October 2012 141 Chapter6 Commission The drive determines that the feedback device is working properly and the test passed RSLogix 5000 Motor Feedback Test 5 Click OK RSLogix 5000 6 Ifyour axis moved in a forward direction click yes and you will see that the test result is Normal If the motor does not m
101. M003D EN P October 2012 167 Chapter7 Home an Axis Absolute Position Recovery APR is the recovery of the absolute position of an axis that has been machine APR referenced after a power cycle or reconnection The terms Absolute Position and Machine Reference Position are synonymous APR Terminology This table describes terminology related to the APR feature Term Description Absolute Feedback Position Position value read from an absolute feedback device Incremental Feedback Position Position value read from an incremental feedback device Feedback Position Value read from a feedback device absolute or incremental Absolute Position Position registers in the 1756 L6x 1756 L6xS and 1756 L7x controllers Absolute Machine Reference Position after the following instructions have been executed on a machine with an Machine Reference Position absolute or an incremental feedback device MAH machine home MRP machine redefine position A machine home reference Establishes a Machine Reference Offset as follows HomeOffset ConfiguredHomePosition AbsoluteFeedbackPosition AbsoluteMachineReferencePosition AbsoluteFeedback Position HomeOffset Absolute Position Recovery APR Recovers the Absolute Machine Reference Position by maintaining the Home Offset through various scenarios as described on page 169 1 The 1756 L6x controllers are not supported in the Logix Designer application version 21 0
102. MAJ instruction to start the axis again The axis doesn t respond right away It continues to slow down Eventually it speeds back up to the target speed Rockwell Automation Publication MOTION UM003D EN P October 2012 217 Chapter9 Program Look For Jog_PB lt Local 4 Data O gt My_Axis_OK m The instruction that starts the axis uses an S Curve profile Jog_PB lt Local 4 Data O gt S The instruction that stops the axis keeps the S Curve profile Suppose you use an MAS instruction with the Stop Type set to Jog In that case the axis keeps the profile of the MAJ instruction that started the axis Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis An S Curve profile has to get acceleration to 0 before the axis can speed up again The following trends show how the axis stops and starts with a trapezoidal profile and an S Curve profile Start while decelerating Trapezoidal S Curve speed goes down until acceleration is 0 The axis speeds back up as soon as you start the jog again The axis continues to slow down until the S Curve profile brings the acceleration rate to 0 218 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Corrective Action If you want the axis to accelerate right away use a trapezoidal profile Why does my axis r
103. Manual Tune Chapter 8 Motion Generator and Motion Direct Commands The commands on the Motion Generator give you basic control of a closed loop servo axis E Motion Console CIPAxis 3 iol x Motion Generator More Commands gt Commands Motion Servo On Fy 2 A Commands also called instructions a a amp MAM amp MAS amp MAFR Manual Tune Tab Click Axis State to go to the Status category dialog box Click Axis Fault to go to the Faults and Alarms category dialog box Axis State Execute Axis Fault Disable Axis Close Help The following instructions are available are on the Motion Generator dialog box Table 19 Available Instructions Command Description MDS T MotionDDriveStart MSO Motion Servo On MSF Motion Servo Off MAH Motion Axis Home MAJ Motion Axis Jog MAM Motion Axis Move MAS Motion Axis Stop MAFR Motion Axis Fault Reset When you click the More Commands link on the Motion Generator you are taken to the Motion Direct Commands dialog box In this dialog box you can observe the effects of the manual tune You can turn the axis on and off home and move the axis as well as resetting faults Motion Direct Commands CIPAxis 2 oj x Commands Motion Axis Jog amp MSO Axis CIPAxis zl jal amp MSF amp MASD amp MASR amp MDO amp MDF Speed
104. N P October 2012 L linear actuator 134 137 load type 134 136 Logix Designer 9 M machine home reference 168 MAFR Motion Axis Fault Reset 185 MAH 169 Motion Axis Home 185 MAJ Motion Axis Jog 185 MAM Motion Axis Move 185 manual tune 187 marker homing sequence 161 MAS Motion Axis Stop 185 master speed 221 MDS Motion Drive Start 185 MDSC lock position 221 program rate 222 program time 223 programming 221 Motion Arm Output Cam 211 Motion Arm Registration 211 Motion Arm Watch Position 211 motion attributes configuration attributes 163 motion homing configuration 167 passive home with marker 167 passive home with switch 167 passive home with switch then marker 167 Motion Axis Fault Reset 210 Motion Axis Gear 211 Motion Axis Home 211 Motion Axis Jog 211 Motion Axis Move 211 motion axis move 186 Motion Axis Position Cam 211 motion axis shutdown 210 Motion Axis Shutdown Reset 210 Motion Axis Stop 211 Motion Axis Time Cam 211 Motion Calculate Cam Profile 211 Motion Calculate Slave Values 211 Motion Change Dynamics 211 motion configuration instructions Motion Run Axis Tuning MRAT 212 Motion Run Hookup Diagnostic MRHD 212 Motion Coordinated Change Dynamics 212 Motion Coordinated Circular Move 212 Motion Coordinated Linear Move 212 Index Motion Coordinated Shutdown 212 Motion Coordinated Shutdown Reset 212 Motion Coordinated Stop 212 motion direct commands 185 Motion Disarm
105. N UM003D EN P October 2012 CIP Drive Module Properties Appendix A Table 33 Module Properties Port Configuration Tab Descriptions Parameter Current Speed Description Displays the port s current speed Current Speed has no value when you are offline online and Enable is unchecked online and a module mismatch or communication error has occurred Selected Duplex Displays the port s selected duplex if Auto Negotiate is unchecked You can select the port s duplex Valid duplexes are Half and Full Selected Duplex appears dimmed and has no value if either of the following occurs You are offline or online and Enable is unchecked e Online and Auto Negotiate is checked e Online and Auto Negotiate appears dimmed e Online and a module mismatch or communication error has occurred Current Duplex Displays the port s current duplex Current Duplex is blank when you are offline online and Enable is unchecked online and a module mismatch or communication error has occurred Port Diagnostics Port Diagnostics appears dimmed when you are offline online and Enable is unchecked online and a module mismatch or communication error has occurred Reset Module A reset module message appears stating that the module needs to be reset before the modifications will take effect After you make modifications to either e Auto Negotiate state e Selected Speed Selected Duplex configuration values Clickin
106. N UM003D EN P October 2012 Motion Planner Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 TIP Check to see if the Last Scan time values on the Attribute tab are less Typically the value is less than 50 of the Coarse Update Period Figure 4 Course Update Period Example Scans of your code and system overhead Oms 10 ms 20 ms 30 ms 40 ms In this example the Coarse Update Period 10 ms Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner The Coarse Update Period is a trade off between updating positions of your axes and scanning your code For a 1756 L6x or 1756 L6xS controller you can have 4 axes ms and 8 axes ms for the 1756 L7x controller Integrated Architecture Builder To help you determine motion system performance use the motion performance calculator in the Integrated Architecture Builder IAB The IAB is a graphical software tool for configuring Logix based automation systems It helps you select hardware and generate bills of material for applications that include controllers I O networks Powerflex drives OnMachine cabling and wiring motion control and other devices You can find the software at http www rockwellautomation com en e tools configuration html Rockwell Automation Publication MOTION UM003D EN P October 2012 97 Chapter4 Configure Integrated Motion by Usin
107. Output Cam 211 Motion Disarm Registration 211 Motion Disarm Watch Position 211 Motion Drive Start 210 motion event instructions Motion Arm Output Cam MAOC 211 Motion Arm Watch Position MAWP 211 Motion Disarm Output Cam MDOC 211 Motion Disarm Registration MDR 211 Motion Disarm Watch Position MDW 211 Motion Generator 185 motion group instructions Motion Group Shutdown MGS 211 Motion Group Shutdown Reset MGSR 211 Motion Group Stop MGS 211 Motion Group Strobe Position MGSP 211 Motion Group Shutdown 211 Motion Group Shutdown Reset 211 Motion Group Stop 211 Motion Group Strobe Position 211 motion instructions 158 motion move instructions Motion Axis Gear MAG 211 Motion Axis Home MAH 211 active homing 162 passive homing 162 Motion Axis Jog MAJ 211 Motion Axis Move MAM 211 Motion Axis Position Cam MAPC 211 Motion Axis Stop MAS 211 Motion Axis Time Cam MATC 211 Motion Calculate Cam Profile MCCP 211 Motion Calculate Slave Values MCSV 211 Motion Change Dynamics MCD 211 Motion Redefine Position MRP 211 Motion Redefine Position 211 Motion Run Axis Tuning 212 Motion Run Hookup Diagnostic 212 motion servo off 210 motion state instructions Motion Axis Fault Reset MAFR 210 Motion Axis Shutdown MAS 210 Motion Axis Shutdown Reset MASR 210 Motion Servo Off 210 Motion Servo On 210 motioni event instructions Motion Arm Registration MAR 211 MSO Motion Servo Off 185 Motion Servo On 185 210 0 overl
108. PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual publication 750COM UMO01 e PowerFlex 755 Drive Embedded EtherNet IP Adapter Installation Instructions publication 750COM INOO1 e Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RM003 for information about what attributes are replicated in the drive Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 Add a PowerFlex 755 Drive There are six PowerFlex 755 Ethernet drives that you can configure for Integrated Motion on the EtherNet IP network TIP When you add drive modules for a sercos network you see all of the power structures and catalog numbers With Integrated Motion on the EtherNet IP network you will assign the power structure later in the configuration process See Assign a Power Structure on page 82 Follow these instructions to add the PowerFlex 755 drive your project 1 Right click the Ethernet network node and choose New Module 5 6 YO Configuration S S 1756 Backplane 1756 A10 fa 0 1756 L71 PowerFlex_Example 1 1756 EN2T EN2T_to_PowerFlex 755 a Ethernet Discover Modules 2 Clear the small select all checkboxes Module Type Category and Vendor Filters 3 In the Module Type Vendors Filters window check Allen Bradley 4 In the Module Type Category Filters window check and
109. S Rated Rev s 2 Backlash Compensation p a Position Units Torque Offset foc SJ Rated Load Observer Configuration Load Observer with Velocity Estimate Friction foo a Rated Load Observer Bandwidth 2257 Hertz Friction Compensation foo SJ Position Units Load Observer Integrator Bandwidth 20 Hertz Attribute Description System Inertia Torque or force scaling gain value that converts commanded acceleration into equivalent rated torque force Torque Offset Provides a torque bias when performing closed loop control Friction Value added to the current torque command to offset the effects of coulomb friction Friction Compensation Value added to the current torque command to offset the effects of friction The Kinetix 350 drive does not support this parameter Backlash Compensation Defines a window around the command position Load Observer Configuration Configures the operation of the Load Observer Load Observer Bandwidth Determines the proportional gain Kop of the load observer Load Observer Integral Bandwidth Determines the load observer integral gain Koi that together with the Kop multiplies the integrated error signal within the observer The Filters tab lets you input torque values R Additional Tune N Feedforward Compensation Filters timits Planner Torque Low Pass Filter Bandwidth 124 583115 4 Hertz Torque Notch Filter Frequency 0 0 Hertz Tor
110. TION UM003D EN P October 2012 31 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives ll Create an Associated Axis There are two approaches that you can take to create and configure an axis You can create an axis first and then add the axis to your motion group or you can create your motion group and then add an axis The procedure outlined in this section takes the approach to create your axis first configure the axis and then add it to your motion group Create an Axis for a Kinetix Drive Follow these steps to create an axis 1 Double click the drive in the Controller Organizer to open the Module Properties dialog box 2 Click the Associated Axes tab 3 Click New Axis Motor Feedback Device Load Feedback Device Axis 2 Auxiliary Axis Master Feedback Device TIP You can also create a new axis directly off the Associated Axis dialog box of the drive s Module Properties dialog box or by right clicking the Motion Group and choosing New Axis aa Motion Groups Be Axis_ New Axis 4XIS_CONSUMED K gt Axis_ lew Coordinate System ies Be X Axi New Coordinate Syst AXIS_SERVO Pa a SESA TRR AXIS_SERVO_DRIVE Add On Instr G E Data Types AXIS_GENERIC Of User Def Fault Help AXIS_GENERIC_DRIVE oe Strings Clear Motion Group Faults AXIS_CIP_DRIVE Add On a a Coe a AXIS_VIRTUAL 32 Rockwell Automation Publication MOTION UM003D
111. This may cause some previously entered data to be reset back to its default setting Having selected Velocity Loop with Motor Feedback the Motor and Motor Feedback dialog boxes become available 2 Click the Motor dialog box 3 Choose Catalog Number as the Motor Data Source Rockwell Automation Publication MOTION UM003D EN P October 2012 i Motor Feedback Scaling Hookup Tests Polarity Autotune Velocity Loop Acceleration Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Catalog Number VPL A1001M P Motor Type l Rotary Permanent Magnet X Units Rev v Nameplate Datasheet Phase to Phase parameters Rated Power 1075 kW Pole Count 8 Rated Voltage 230 0 Volts RMS Rated Speed 40000 RPM Max Speed 65000 RPM Rated Curent 4 94 Amps RMS Peak Current 14 27 Amps RMS Rated Torque 1 58 Nm Motor Overload Limit 100 0 Rated 4 Configuration Examples for a Kinetix Drive Chapter 3 Click Change Catalog and choose your motor for example catalog number VPL A1001M P Ga c Aor testes When you select the Catalog Number for the motor specification the VPL A1001M P motor is in the Motion Database The specification data for this motor is automatically filled in for you If the motor you are using is not in the Change Catalog listing then it is not in the M
112. User Manual Allen Bradley Integrated Motion on the EtherNet IP Network Configuration and Startup Catalog Numbers ControlLogix CompactLogix Kinetix 350 Kinetix 5500 Kinetix 6500 PowerFlex 755 ty ia Rockwell Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature 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 liabilit
113. Users Public Documents Studio 5000 Samples ENU V21 Rockwell Automation There isa PDF file named Vendor Sample Projects on the Start Page that explains how to work with the sample projects Free sample code is available at http samplecode rockwellautomation com 14 Rockwell Automation Publication MOTION UM003D EN P October 2012 Additional Resources Preface These documents contain additional information concerning related products from Rockwell Automation Resource Logix5000 Controller Motion Instructions Reference Manual publication MOTION RM002 Description Provides a programmer with details about motion instructions for a Logix based controller Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RM003 Provides a programmer with details about the Integrated Motion on the EtherNet IP Network Control Modes Control Methods and AXIS_CIP_DRIVE Attributes Logix5000 Controllers Quick Start publication 1756 05001 Describes how to get started programming and maintaining Logix5000 controllers Logix5000 Controllers Common Procedures publication 1756 PM001 Provides detailed and comprehensive information about how to program a Logix5000 controller Logix5000 Controllers General Instructions Reference Manual publication 1756 RM003 Provides a programmer with details about general instructions for a Logix based controller Logix5000 Controllers Process and Drive
114. Voltage Ranges Resources Kinetix 350 The Kinetix 350 drive is a single Position Input power Kinetix 350 Single axis EtherNet IP axis EtherNet IP servo drive with Velocity 120 240V or 480V AC Servo Drives User Manual publication safe torque off feature that Torque 2097 UM002 support the Integrated Motion q on EtherNet IP network Output power 0 4 3 0 kW 2 12 Arms Kinetix 5500 The Kinetix 5500 single axis Frequency Control Voltage Ranges Output Power Kinetix 5500 Servo Drives User Manual servo drives that support the Feedback Only 195 264V rms single phase 0 2 1 0 publication 2198 UM001 e tona e a Position 195 264V rms three phase 0 3 7 2 AC DC and AC DC hybrid bus Velocity 324 528Vrms three phase 0 6 14 9 sharing configurations are also Torque possible Kinetix 6500 The Kinetix 6500 drive is a closed Feedback Only Voltage Range Kinetix 6500 Modular Servo Drive User loop servo modular drive It Position 324 528V rms three phase Manual consists of an integrated axis Veloci publication 2094 UM002 elocity IAM power module and up to seven axis AM power modules Torque Continuous Output Power each coupled with a Kinetix 6500 6 0 45 kW control module The IAM and AM power modules provide power for up to eight servo motors or actuators PowerFlex 755 The PowerFlex 755 Drive Frequency Control Input Power 380 480V AC PowerFlex 755 Drive Embedded EtherNet IP Embedded Adapter Position Output Power 0 75 14
115. Yes Motion Group Shutdown Reset Latch the current command and actual position of all axes MGSP Yes Motion Group Strobe Position Arm and disarm special event checking Arm the watch position event checking for an axis MAW Yes functions such as registration and watch Motion Arm Watch Position sition Disarm the watch position event checking for an axis MDW Yes Motion Disarm Watch Position Arm the module registration event checking for an axis MAR Yes Motion Arm Registration Disarm the module registration event checking for an axis MDR Yes Motion Disarm Registration Arm an output cam for an axis and output MAOC No Motion Arm Output Cam Disarm one or all output cams connected to an axis MDOC No Motion Disarm Output Cam Rockwell Automation Publication MOTION UM003D EN P October 2012 211 Chapter9 Program Table 21 Available Motion Direct Commands If You Want To Tune an axis and run diagnostic tests for your control system These tests include the following e Motor encoder hookup test e Encoder hookup test e Marker test Control multi axis coordinated motion And Use This Instruction Motion Direct Command Run a tuning motion profile for an axis MRAT No Motion Run Axis Tuning Run one of the diagnostic tests on an axis MRHD No Motion Run Hookup Diagnostic Start a linear coordinated move for the axes of a coordinate system MCLM No Motion Coordinated Linear Move Start a ci
116. a CompactFlash or SD card with Integrated Motion on the EtherNet IP network axes homed Machine Reference Retained Yes Same controller Transfer the CompactFlash or SD Card from the first controller to the second with the following preconditions 1 The second controller has the same user program with the controller being swapped 2 The second controller has axes homed Event Reload the same user program from a CompactFlash or SD card This scenario assumes that the axis is homed in RAM prior to reload Yes Machine Reference Retained Yes Controller remains powered or power cycled with battery and power cycle drives Update controller firmware from CompactFlash or SD card Yes Event Machine Reference Retained Change the drive with the same or different catalog number Yes Change the motor but not the feedback device Yes Rockwell Automation Publication MOTION UM003D EN P October 2012 175 Chapter7 Home an Axis Table 18 APR Recovery Scenarios Download same program with no hardware changes Event Machine Reference Retained Change the name of an axis Yes Download the same program to the controller Yes Save As with a different filename Yes Partial Export and then import an axis Yes Added application logic Yes Download a project of an existing axis Yes Download same program and no hardware Event Machine Reference Retained changes Ad
117. ad Limit Dual Feedback 2094 EN02D M01 S0 1 MPL A310P M Rev 8 5000 0 RPM 9 9 Amps RMS 100 0 Rated You can also right click a controller communication module and any motion module to print the Module Properties you have configured uated nee an Bay Cut Copy fF Paste Delete Cross Reference Properties New Module Ctrl x Ctrl C Ctrl Del Ctrl E Alt Enter Rockwell Automation Publication MOTION UM003D EN P October 2012 53 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives Notes 54 Rockwell Automation Publication MOTION UM003D EN P October 2012 Chapter 3 Configuration Examples for a Kinetix Drive This chapter provides three typical axis configuration examples when using a Kinetix 6500 drive The differences between the Kinetix drives are noted where applicable Topic Page Example 1 Position Loop with Motor Feedback Only 55 Example 2 Position Loop with Dual Feedback 59 Example 3 Feedback Only 64 Example 4 Kinetix 5500 Drive Velocity Loop with Motor Feedback 68 Example 5 Kinetix 350 Drive Position Loop with Motor Feedback 72 Example 1 Position Loop In this example you create an AXIS_CIP_DRIVE and a Kinetix 6500 drive which includes the control module and a power structure You need to connect with Motor Feedback Only the motor feedback cable to the Motor Feedback port of the Kinetix 6500 drive 1 Once you
118. ad Observer Friction Position Loop Configuration Disabled hs Velocity Loop 5 p Acceleration Loop Bandwidth Disabled Torque Current Loop Load Observer Only arm Planner Integrator Bandwidth Load Observer with Velocity Estimate Homing Velocity Estimate Only hs Actions Acceleration Feedback Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune Cancel Apply Help The Load Observer functions as an inner feedback loop like the current loop but unlike the current loop in that the observer s control loop includes the motor mechanics Due to the work of the Load Observer variations in load inertia mass and even the motor s torque force constant can be nearly eliminated as seen by the velocity loop Because the Load Observer includes the Acceleration Reference signal as an input it can provide a velocity estimate signal that has less delay than the velocity feedback estimate generated by the actual feedback device Thus applying the Load Observer s velocity estimate to the velocity loop can be used to improve the performance of the velocity loop Acceleration Feedback Selection Feedback to the Load Observer can be derived from either feedback device Feedback 1 or Feedback 2 Which feedback source is used by the loop is governed by Feedback Mode In general the Load Observer works best when using a high resolution feedback device Acceleration and Torque Estimates The output of the Load Observer i
119. al Duty Frame 1 240V 4 2A Heavy Duty Frame 1 240V 4 24 Normal Duty 240V 4 2A Heavy Duty 400V 2 1A Normal Duty Frame 1 400V 2 1A Heavy Duty Frame 1 400V 2 1A Normal Duty Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 See Create an Axis for a PowerFlex 755 Drive on page 84 IMPORTANT When you change the major revision on the PowerFlex 755 drive change the power structure or change the peripheral feedback device the axis will no longer be associated with the modules When you change parameters other related parameters will change as well These changes will cause module data types and properties to change Data will be set to default values unless it can be recovered from the existing module properties Verify module properties before Applying changes Change module definition This message always appears after you have changed a configuration This message is a reminder that when you change the power structure the identity of the drive changes If your drive is associated to an axis changing the power structure disassociates the axis Even though a feedback card has been selected the drive is not configured You must associate the axis first and then you will have the options to configure a feedback module r E New Module peo a General Connection Time Sync Module info Intemet Protocol Port Configuration Asso
120. al Input 2 bme H Digital Input 3 Registration l Digtal Input 4 Registraton2 i Figure 30 Digital Input Tab for the PowerFlex 755 Drive Time Syne Module Info Intemet Protocol Port Configuration Associated Axes Power Digital Input Motion Diagnostics alel Digital Input 1 Enable hd Enable Table 37 Module Properties Digital Input Tab Descriptions Parameter Description Digital Input 1 Choose one of these values for Digital Input 1 2 3 and 4 Digital Input 2 Unassigned Digital Input 3 Enable Digital Input 4 Home e Registration 1 e Registration 2 Positive Overtravel Negative Overtravel Regeneration OK Rockwell Automation Publication MOTION UM003D EN P October 2012 259 AppendixA CIP Drive Module Properties 260 Motion Diagnostics Tab When online the Motion Diagnostics tab displays basic connection information related to the Motion Ethernet packet transmission rates You can also go to the Transition Statistics dialog box to view Lost and Late transmissions as well as Timing Statistics No values display during these conditions e Offline mode e No axis is assigned to the module Figure 31 Motion Diagnostics Tab Hax Module Info Intemet Protocol Port Configuration Network Associated Axes Power Digital Input Motion Diagnostics gt Coarse Update Period 2000 ps Connection Size Controller to Drive 44 bytes Drive to Controller 36 bytes
121. alog box are dependent on the Control Mode you select The Axis Attribute you use determines internally the usage definition See the Integrated Motion Reference Manual publication MOTION RM003 for complete information on Axis Attributes and how to apply Control Modes On the General dialog box you can modify these parameters Associate a drive module to the axis Select the axis configuration Choose the feedback configuration Choose the application type if applicable Choose the loop response if applicable Create and associate a new motion group Optional attributes are dependent on the associated drive characteristics IMPORTANT Be sure to associate the drive as the first step in configuring the axis because the drive determines what optional attributes are supported Rockwell Automation Publication MOTION UM003D EN P October 2012 35 Chapter 2 36 Configure Integrated Motion Control by Using Kinetix Drives Associate Axes and Drives These are the two ways to establish the drive axis associations e The first way is to assign the drive to the axis on the Associated Axis tab in the Module Properties dialog box e The second way is to assign the axis to the drive on the General dialog box for the axis Follow these steps on the General dialog box and the Module Properties dialog box to associate the axis to a drive module and to map the drive to the axis 1 Go to the General dialog box for the axis 2
122. ample when you are wrapping regular sized candy bars and then you need to change and make king sized bars you would change the conversion constant If the Axis Homed status bit is clear indicating that position has not been absolutely referenced to the machine the APR function is bypassed and there is no attempt to restore absolute position There are two types of APR Faults Standard APR Faults and RA Specific Faults APR Faults display in the Axis Properties dialog box Faults and Alarms Table 16 Standard APR Fault Descriptions Value Exception Description 1 Memory Write Error Error in saving absolute position data to Nonvolatile memory 2 Memory Read Error Error in reading absolute position data from Nonvolatile memory 3 Feedback Serial Number Mismatch Position Feedback Serial Number does not match saved Feedback Serial Number 4 Buffer Allocation Fault Caused when there is not enough RAM memory left to save APR data 5 Scaling Configuration Changed Scaling attribute configuration for this axis does not match the saved scaling configuration 6 Feedback Mode Change Feedback Mode has changed and does not match the saved Feedback Mode configuration Table 17 Rockwell Automation Specific Fault Descriptions Value Exception Description 1 Persistent Media Fault L6x Means that all six sectors reserved for APR in persistent memory are marked as bad This is not a recoverable fault condition Aft
123. ample 2 Position Loop with Dual Feedback General Dialog Box i lolx Categories General E Motor 4 ae Model Axis Configuration Position Loop 7 k Analyzer Feedback Configuration Motor Feedback z Nocia aor Sealing Soricei Tine Dual Feedback i Hookup Tests Loop Response This shows you the type of i Moton Grout Motor sro ful drive you selected and power wie structure you assigned to via sat Associated Module the PowerFlex 755 drive omplance Oba Module PowerFlex_7551 7 Module Properties Position Loop Module Type PowerFlex 755 EENET CM 51 See Add a PowerFlex 755 Drive Velocity Loop 240V 4 24 Normal D lt Torque Current Loop Hci blige on page 79 Planner Axis Number fi 7 Homing Actions Drive Parameters z are EX The newly created PowerFlex 755 drive module name should be the default tat 5 te e a e a The Axis Number defaults to 1 indicating the primary axis of the drive Axis Tag Number 2 would be used only for configuring a Feedback Only axis Manual Tune Cancel Apply Help IMPORTANT After you have configured the axis and you change the Axis Configuration type or the Axis Number some of the configuration information will be set to default values This may cause some previously entered data to be reset back to its default setting Now that you defined the axis as being a Position Loop with Dual Feedback axis the Motor F
124. away use a trapezoidal profile Why does my axis overshoot its target speed While an axis is accelerating you try to stop the axis or change its speed The axis keeps accelerating and goes past its initial target speed Eventually it starts to decelerate Example You start a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you try to stop it with another MAJ instruction The speed of the second instruction is set to 0 The axis continues to speed up and overshoots its initial target speed Eventually it slows to a stop 214 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Look For Jog_PB sLocal 4 Data 0 gt My_Axis_OK The MAJ instruction that starts the axis has a higher acceleration rate than the instruction that stops the axis S Curve profile Jog_PB lt Local4 DataQ gt My_Axis_OK eI t EN The MAJ instruction that stops the axis has a lower acceleration rate than the instruction that starts the axis S Curve profile Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e An S Curve profile has to get acceleration to 0 before the axis can slow down e Ifyou reduce the acceleration it takes longer to get acceleration to 0 e Inthe meantime the axis continues past its initial target speed The following trends show how the axis stops with a trapezoidal profile
125. back the Motor and Motor Feedback dialog boxes become available 4 Choose Catalog Number as the Motor Data Source 5 Click Change Catalog and choose your motor Rockwell Automation Publication MOTION UM003D EN P October 2012 Configuration Examples for a Kinetix Drive Chapter 3 In this case a MPL B310P M motor was chosen Example 1 Position Loop with Motor Feedback Only Motor Dialog Box Daia Soure raae Catalog Number MPL B310P M Motor Type Rotary Permanent Magnet v Units Rev Y Nameplate Datasheet Phase to Phase parameters Rated Power 0 77 kW Pole Count 8 Rated Voltage 4600 Volts RMS Rated Speed 5000 0 RPM Max Speed 50000 RPM Rated Curent 1 7 Amps RMS Peak Curent 502 Amps RMS Rated Torque 158 Nm Motor Overload Limit 1000 Rated When you select the Catalog Number for the motor specification the MPL B310P M motor is in the Motion Database The specification data for this motor is automatically filled in for you If the motor you are using is not in the Change Catalog listing then it is not in the Motion Database You will need to input the specification data or add a custom motor to the Motion Database that can be selected For more information see Choose Nameplate on page 48 Rockwell Automation Publication MOTION UM003D EN P October 2012 57 Chapter 3 58 Configuration Examples for a Kinetix Driv
126. but not motor Steps No 1 Axes are homed 2 Project is saved to a CompactFlash or SD card 3 Memory becomes corrupt 4 System restores from the CompactFlash or SD card Result The system absolute position is lost the axes must be rehomed and the Home bit is cleared Controller power cycle or removal and insertion under power without a battery No or energy storage module 1 Controller and drives remained powered No 2 Hardware feedback failure on an axis 1 Battery Backed Controller No 2 User program running with an axis that is not homed 174 Rockwell Automation Publication MOTION UM003D EN P October 2012 Table 18 APR Recovery Scenarios Controller and drives remained powered Battery backed controller Home an Axis Chapter 7 Event Machine Reference Retained Disconnect and reconnect the Ethernet cable Yes Disconnect and reconnect the same feedback and or motor cable on an axis Yes Inhibit or uninhibit an axis or drive Yes Change controller Event Machine Reference Retained Save to a CompactFlash or SD card with a homed axis and you initiate the Yes restore RIUP controller Yes Cycle power on controller Yes Cycle power on controller that is configured to restore user program from a Yes CompactFlash card or SD card on power up RAM memory becomes corrupt and the user program is restored from the No CompactFlash or SD card The machine must be
127. cation MOTION RM003 for more details about the Homing attributes This table describes guidelines for homing procedures Table 13 Guidelines for the Homing Procedures Guideline To move an axis to the home position use Active homing Description Active homing turns on the servo loop and moves the axis to the home position Active homing also does the following Stops any other motion e Uses a trapezoidal profile For a Feedback only device use Passive homing Passive homing doesn t move the axis Use passive homing to calibrate a Feedback only axis to its marker Ifyou use passive homing on a servo axis turn on the servo loop and use a move instruction to move the axis For single turn equipment consider homing to a marker The marker homing sequence is useful for single turn rotary and linear encoder applications because these applications have only one encoder marker for full axis travel For multi turn equipment home to a switch or switch and marker These homing sequences use a home limit switch to define the home position You need a home limit switch if the axis moves more than one revolution when it runs Otherwise the controller can t tell which marker pulse to use e For the most precise homing use both the switch and marker Rockwell Automation Publication MOTION UM003D EN P October 2012 161 Chapter7 Home an Axis Table 13 Guidelines for the Homing Procedures Cont
128. ce lt none gt x Axis 2 Awdiary Axis lt none gt x Wdemaxis Master Feedback Device lt none gt z The AUX Feedback Port Port 2 of the drive can be optionally used for load feedback of the primary axis Axis 1 to support Load or Dual Feedback Configuration 3 From the Load Feedback Device pull down menu choose AUX Feedback Port General Connection Time Syne Module Info Intemet Protocol Port Configuration Network Associated Axes Power Dil Axis 1 axis_t x fa Mewa Motor Feedback Device Motor Feedback Port Load Feedback Device l Aux Feedback Port Axis 2 Auxiliary Axis lt none gt Master Feedback Device l lt none gt Rockwell Automation Publication MOTION UM003D EN P October 2012 Configuring the General Parameters Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 The parameters you configure on the General dialog box result in the presentation of attributes and parameters that are specifically available for the combination of your selections IMPORTANT All of the AXIS_CIP_DRIVE Axis Properties dialog boxes are dynamic Optional attributes and dialog boxes related to each integrated motion axis you create come and go based on what combination of axis characteristics you define Axis Attributes Control Modes are either Required Optional or Conditional Elements of the General di
129. changing the bit settings in the Gain Tuning Configuration Bits Attribute 5 Choose a Loop Response if applicable Axis Configuration Feedback Configuration Application Type Loop Response Motion Group TIP Loop Response settings also impact the calculations that are made that may eliminate the need for you to perform an Autotune or a Manual Tune Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Create a Motion Group All axes must be added to the Motion Group in your project Ifyou don t group the axes they remain ungrouped and unavailable for use You can only have one Motion Group per Logix controller Chapter 2 You can have eight Position Loop axes per 1756 EN2T module Each drive requires one TCP and one CIP connection If you have other devices that consume TCP connections on the module it will reduce the number of drives you can support Table 4 Position Loop Configured Axes Controller Communication Modules Supported Axes Position Loop Other Loop Types Integrated motion Drives 1756 L6x and L7x 1756 EN2T and 1756 EN2TF 8 Up to 100 1756 L6x and L7x 1756 EN3TR 100 Up to 100 1756 EN2TR 8 Up to 100 1769 L18ERM Embedded Ethernet 2 Up to 100 8 max nodes 1769 L27ERM Embedded Ethernet 4 Up to 100 16 max nodes 1769 L30ERM Embedded Ethernet 4 Up to 100 16 max nodes 1769 L33ERM Embedde
130. ciated Axes Power Digital Type Powerflex 755 EENET CM Powerflex 755 AC Drive via Embedded Ethemet CIP Vendor Allen Bradley Parent EN2T_to_PowerFlex_755 Ethemet Address Name PowerFlex_755_Axis_1 Private Network 192 168 1 sE Description a IP Address ia Host Name Module Definition Revision 61 Hectronic Keying Compatible Module Connection Motion Power Structure 200V 4 8A Normal Duty Fr 3 On the General Tab click OK to apply the changes Rockwell Automation Publication MOTION UM003D EN P October 2012 83 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive Create an Axis for a PowerFlex 755 Drive 84 Once you have added a drive selected the power structure and assigned a feedback device you can create and configure an axis You must apply the changes and exit the Associated Axis dialog box before the option to create an axis becomes available There are two approaches that you can take to create and configure an axis You can create an axis first and then add the axis to your motion group or you can create your motion group and then add an axis The procedure outlined in this section takes the approach to create your axis first configure the axis and then add it to your motion group Follow these steps to create an axis 1 Double click the drive in the Controller Organizer 2 Click the Associated Axes tab 3 Click New Axis
131. ck Configuration specified on the General dialog box is Master Feedback The attributes associated with the Master Feedback dialog box are associated with Feedback 1 Again like the Load Feedback dialog box you must enter all of the information Categories General Hookup Tests Polarity z is Hiperface M Actions Drive Parameters Hiperface Parameter List Cycle Resolution 1024 Feedback Cycles Rev Status Faults amp Alarms Cycle Interpolation 2048 Feedback Counts per Cycle Tag Effective Resolution 2097152 Feedback Counts per Rev Sate Hees Tums 1 Manual Tune At this point if you need to verify motor and feedback device are functioning properly download to the controller and continue on to Hookup Tests Dialog Box on page 138 The Logix Designer application lets you print a variety of reports 1 Right click Controller Tags MainTask MainProgram Module Properties Axis Add On Instructions or Data Types and choose Print a Se Motion_Group F 3 Physical_Joint_1 CurentTime i Goto Module 2 Physi Ose 2 Virtue Te 2 veu ee Go_ToStartPosition AD Virtue Fault Help IP W csal Clear Axis Faults Fma ooo oA Ema pride C wex imaa E Add On Instri 2 E Data Types PA COPY E R User Defi B Paste Ctrl H me_transformStop ER Strings Delete Del y Add On C mc_transformStop2 Emett Dp Predefine Motion Direct Commands Manual Tune a AXISA Motio
132. ckwell Automation Publication MOTION UM003D EN P October 2012 Home an Axis Chapter 7 Table 14 Active Homing Examples Continued Sequence Active home to switch and marker in forward bidirectional Description This is the most precise active homing sequence available Active Bidirectional Home with Switch then Marker Homing Vel Axis Position Axis Velocity 3 Return Vel 1 Home Limit Switch Detected 2 Home Limit Switch Cleared 3 Encoder Marker Detected 4 Home Position These steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and stops 2 The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch 3 The axis keeps moving at the Home Return Speed until it gets to the marker 4 The axis moves back to the marker or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more than 1 2 revolution If the axis is past the home limit switch at the start of the homing sequence the axis reverses direction and starts the return leg of the homing sequence Active home to switch in forward unidirectional This active homing sequence is useful for when an encoder marker is not available and either unidirectional motion is required or proximity switch is being used These steps occur
133. cs aes bch oh oiuii tat bleed 2 bo Power ET o E E sere latins E E eke eee Digital laput Tab denare ten eienen a an a ve eaa Motion Diagnostics Tab s seseserrrerrerrresrsrerrere Appendix B Parameter Dialog Box Listings eves cess ta sv ee dean aes poke does Rockwell Automation Publication MOTION UM003D EN P October 2012 219 Studio 5000 Environment Preface Use this manual to configure an Integrated Motion on the EtherNet IP network application and to start up your motion solution using the ControlLogix and CompactLogix systems Topic Page What You Need 10 Integrated Motion EtherNet IP Drives 11 Configuration and Start up Scenarios 12 Help for Selecting Drives and Motors 14 Where to Find Sample Projects 15 This manual is designed to give you the quickest and easiest approach to an integrated motion control solution If you have any comments or suggestions please see Documentation Feedback on the back cover of this manual The Studio 5000 Engineering and Design Environment combines engineering and design elements into a common environment The first element in the Studio 5000 environment is the Logix Designer application The Logix Designer application is the rebranding of RSLogix 5000 software and will continue to be the product to program Logix5000 controllers for discrete process batch motion safety and drive based solutions packet Software Studio 5000_y Create 4
134. ct Event Machine Reference Retained Import or export the project download No 176 Download the project download of new or copied axis Rockwell Automation Publication MOTION UM003D EN P October 2012 No Home an Axis Chapter 7 Table 18 APR Recovery Scenarios Drive Event Machine Reference Retained The drive cycled power with incremental feedback No The drive firmware updated with incremental feedback No Change the drive Yes Cycle power to the drive Yes Cycle power to the drive with absolute feedback Yes Change the motor assuming the motor does not contain a feedback device Yes The drive firmware was update with absolute feedback Yes The drive was disconnected or reconnected Yes The drive was Inhibited or Uninhibited Yes The drive was swapped with the same feedback Yes Scaling Event Machine Reference Retained Scaling signature changed No The scaling signature changed This includes Transmission Linear Actuator Motion Resolution and Motion Unit attribute changes 1 The term Battery in this table assumes the 1756 L6x or 1756 L6xS controller with a battery or a 1756 L7x and a 1756 ESMxxx Energy Storage Module 2 1756 L6x or 1756 L6xS controller 3 1756 L7x controller Scaling Changing the Scaling parameters can potentially generate an APR fault because internal constants computed from these two parameters may generate a motion resolution chan
135. ction af E Observer F Position Loop Acceleration Loop Torque Current Loop Unwind Changing Scaling Changing Scaling configuration factors can have a significant impact on the calculations of factory defaults for scaling dependent axis configuration attributes When certain criteria are met described below the following dialog box appears when applying changes RSLogix 5000 This dialog box gives you the choice to recalculate factory defaults for scaling dependent attributes 1 Click Yes to recalculate and apply all dependent attribute values 2 Click No to apply only changes to the scaling attributes Rockwell Automation Publication MOTION UM003D EN P October 2012 137 Chapter6 Commission Once you have applied your configurations the factory defaults for dynamic configuration attributes for example gain limits and filter settings are automatically computed The calculations are based on your drive and motor configuration settings and selection for application type and loop response These factory defaults should yield a stable operational system that can then be tailored to the specific requirements for many types of machine applications If you find that the gain set provided to you by the factory defaults does not satisfy your configuration requirements of your system then you can use Autotune to improve performance See Autotune Dialog Box on page 148 Hookup Tests Dialog Box Use the Hoo
136. d Once you put a value in the field and then leave that field it is automatically sent to the controller Going online with controller Complete 0 error s 0 warning s Motion Console Axis_101 MSO 16 0000 No Error Motion Console Axis_101 MAM 16 0000 No Error Motion Console Axis_101 MAH 16 0000 No Error The Results window displays No Error 4 Choose MAM Motion Axis Move This step initiates an Axis Move at the selected speed acceleration deceleration profile and end point position and lets you observe the axis response Before executing this MAM Move you may want to initiate a method to observe the axis response during the move 194 Rockwell Automation Publication MOTION UM003D EN P October 2012 Manual Tune Chapter 8 Some examples include the following e Watch window Quick Watch tag name Axis_y ActualPosition or Axis_y ActualVelocity e New Trend with Tags Axis_y ActualPosition or Axis_y ActualVelocity e Axis Properties Status dialog box Axis_y ActualPosition or Axis_y ActualVelocity 5 Click Execute Motion Console Axis_101 Manual Tuning Motion Generator More Commands COo EE Bandwidth 2 i a f Label Operand Zz System Move Type Absolute Damping Position 0 0 A f D Speed 0 0 Tuning Configuration MAM Speed Units Units per sec Position Loop Accel Rate 100 0 Loop Bandwidth 19 469665 eHerte Accel Units Units per sec2 Decel Ra
137. d Ethernet 8 Up to 100 32 max nodes 1769 L36ERM Embedded Ethernet 16 Up to 100 48 max nodes 1 Multiple controllers can control drives on a common 1756 ENxTx module so based on the TCP connection limit up to 128 can be supported 2 Only the drives axes configured for Position Loop are limited Frequency Control Velocity Loop and Torque Loop configured drives axes are not limited 3 If more than the maximum 1 0 modules are configured in the 1 0 tree under Embedded Ethernet then you will get a Project Verify Error Error Maximum number of nodes on the local Ethernet port has been exceeded Follow these instructions to create a motion group 1 Click New Group r New Tag e Name Motion_Group_101 Omen z Help f Usage lt normal Alias For gt MOTION_GROUP Data Type E Scope ff Integrated_Motion_Control i Extemal z Il acea Read Write x I Style X Constant V Open MOTION_GROUP Configuration 2 Type a Tag name 3 Type a description if desired 4 Choose the Tag Type Rockwell Automation Publication MOTION UM003D EN P October 2012 41 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives 5 Choose a Data Type of MOTION GROUP 6 Choose the Scope 7 Choose the External Access For more information about External Data Access Control and Constants see the Logix5000 Controllers I O and Tag Data Programming Guide
138. d Motion Resolution see the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO03 Rotary Transmission For a Rotary Transmission load type you enter the Transmission ratio mechanical system When you allow the software scaling calculator to compute the Scaling Factors by using the Transmission Ratio it eliminates the potential for cumulative errors due to irrational numbers Here is an example of Rotary Transmission load scaled in Packages three packages per Load Revolution and the resulting values for the Conversion Constant and Motion Resolution Axis Properties CIPAxis Scaling to Convert Motion from Controller Units to User Defined Units Compliance Friction Observer ed Nes OE Scaling Units for Rotary Transmission Aelraton Lop load type is expressed in terms of Load Torque Current Loo x planes E Revolutions for example Packages Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Rotary Transmission 136 Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 Linear Actuator With the Linear Actuator load type you can specify the characteristics of the linear actuator mechanics by first specifying the Actuator Type Axis Properties CIPAxis General Scaling to Convert Motion from Controller Units to User Defined Units Linear Actuator Ea i Fo __ ramcerev Fri
139. d an axis No for the new axis Copy or cut and paste or drag drop axis into the same project or another project No for the new or pasted axis Export and then import into the same or another project Tip Save the project as an ACD file to recover the absolute position No There are changes to the axis scaling attributes No Position feedback Event Machine Reference Retained The position feedback device disconnect reconnect Yes Feedback device Event Machine Reference Retained The position feedback device was disconnected or reconnected Yes The feedback device changed No The position feedback device was swap No The position feedback device failed No The position feedback polarity changed No The Feedback mode changed No When any of these conditions occur the Axis Homed b Homed bit has been cleared and that the machine refe Reset or Shutdown Reset instruction renced absolute position has been lost an APR Fault is generated This is a recoverab it if set is cleared indicating that axis position is no longer referenced to the machine To flag the condition that the Axis le fault that may be cleared via any Fault Restore Event Machine Reference Retained Restore from the CompactFlash card or SD card Yes Inhibit or Uninhibit Event Machine Reference Retained Inhibit or uninhibit an axis Yes Inhibit or uninhibit an 1 0 module Yes Logix Designer proje
140. dLogix Studio 5000 and TechConnect are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies New and Updated Information Summary of Changes This manual contains new and updated information Changes throughout this revision are marked by change bars as shown to the right of this paragraph This table contains the major changes made to this revision Topic Page Updated graphics for Logix Designer software version 21 00 00 Throughout Added information related to the Kinetix 5500 Ethernet drive Throughout Added Studio 5000 Engineering and Design Environment Information Preface Updated What You Need 10 Added Integrated Motion EtherNet IP Drives Table 11 Updated Configuration and Start up Scenarios 12 Where to Find Sample Projects 14 Updated Create a Controller Project 17 Updated Set Time Synchronization 20 Updated Add a 1756 ENxTx Communication Module 22 Updated Configuring a Kinetix Drive 28 Updated Add a Kinetix EtherNet IP Drive 28 Updated Create an Associated Axis 32 Updated Configuring the General Parameters 35 Added Integrated Architecture Builder 45 97 Updated Specifying the Motor Data Source 46 Added Example 4 Kinetix 5500 Drive Velocity Loop with Motor Feedback 68 Added Example 5 Kinetix 350 Drive Position Loop with Motor Feedback 72 Update Screen Captures in Configure Integrated Mot
141. ded e For a Kinetix drives follow the steps in Chapter 2 Configure Integrated Motion Control by Using Kinetix Drives on page 27 e For a PowerFlex 755 drive follow the steps in Chapter 4 Configure Integrated Motion by Using a PowerFlex 755 Drive on page 77 If you are using a PowerFlex 755 drive and are unfamiliar with the integrated motion interface and attributes see the Integrated Motion on EtherNet IP appendix in the PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 For example configuration scenarios see these chapters e For Kinetix drives Chapter 3 Configuration Examples for a Kinetix Drive on page 55 e For PowerFlex drives Chapter 5 Axis Configuration Examples for the PowerFlex 755 Drive on page 109 4 Commission e Download project e Follow steps in Chapter 6 Commission on page 133 5 Program Follow steps in Chapter 9 Program on page 197 Rockwell Automation Publication MOTION UM003D EN P October 2012 Preface Configure Software First 1 Configure the controllers and communication modules e Open the Logix Designer application e Check software and firmware for the latest revisions and update if needed e You must configure the controllers and communication modules for time synchronization and motion e To set up a project and enable time synchronization follow the steps in Chapter 1 Configure a Project for Integra
142. dentifier while ControlNet and DeviceNet networks encode the vendor ID and serial number into the identifier Class Specifies a measure of the quality of the Grandmaster clock Values are defined from 0 255 with zero 0 as the best clock Accuracy Indicates the expected absolute accuracy of the Grandmaster clock relative to the PTP epoch The accuracy is specified as a graduated scale starting at 25 ns and ending at grater than 10 seconds or unknown The lower the accuracy value the better the clock Variance Displays the measure of inherent stability properties of the local clock The value is represented in offset scaled log units The lower the variance the better the clock Source Specifies the time source of the Grandmaster clock for example GPS NTP and hand Priority1 Priority 2 specifies the relative priority of the Grandmaster clock to other clocks in the system These fields may be used to override the best master in the system Rockwell Automation Publication MOTION UM003D EN P October 2012 241 AppendixA CIP Drive Module Properties Table 30 Time Sync Tab Descriptions for the Local Clock Parameter Description Local Clock Specifies clock property information for the local clock The Local Clock values appear dimmed in offline mode or when PTP is disabled Synchronization Status Specifies whether the local clock is synchronized with the Grandmaster reference clock The value is 1
143. dividual fault related attributes e Drive Status Indicators Topic Page Troubleshoot Faults 228 Manage Motion Faults 229 Configure the Exception Actions for AXIS_CIP_DRIVE 230 Inhibit an Axis 233 The Faults and Alarms dialog box displays the current status of faults and alarms in the controller for an axis The display is read only except for the ability to clear logs Fault and alarm entries are displayed only when you are online with a controller When online check or clear the checkboxes in the Show row to toggle between showing and hiding the specified group of entries The last 25 faults and alarms only display Show WM Faults M Alarms V Resets Figure 9 Faults and Alarms Log Axis Properties Axis_09 lol x Categories Faults and Alarms Log General E Motor Model Date Time amp Source Condition Action End State Motor Feedback ay 10 27 2009 17 11 11 399 Faults Cleared Fault Reset No Action No Action Scaling iy 10 27 2009 17 11 12 281 Faults Cleared Fault Log Reset No Action No Action Hookup Tests Wi 10 27 2009 17 11 12 325 No Alarms Alarm Log Reset Alarm Off Polarity TY 10 27 2009 17 11 13 670 Faults Cleared Connection Reset No Action No Action Autotune Wig 10 27 2009 17 11 13 670 Faults Cleared Fault Reset No Action No Action B Load ay 10 27 2009 17 11 13 670 Faults Cleared Shutdown Reset No Action No Action Backlash Compliance Friction Position Loop Velocity Loop Acceleration L
144. dor Module Type the combination of Product Type and Product Code for a particular Vendor e Major Revision Mismatch The values returned from the module do not match what appears in the General tab This field does not take into account the Electronic Keying or Minor Revision selections for the module that were specified on the General tab Refresh Gathers updated data from the module Reset Module Resets a module to the power up state by emulating a power cycle e Resetting a module causes all connections to or through the module to be closed and this may result in loss of control Rockwell Automation Publication MOTION UM003D EN P October 2012 243 AppendixA CIP Drive Module Properties 244 Internet Protocol Tab The Internet Protocol tab lets you configure EtherNet IP settings You must be online to configure EtherNet IP settings These settings appear dimmed when you are offline They also appear dimmed when you are online and there is a module mismatch or a communication error occurs BOOTP or DHCP is not supported If you use the switches on the module to set the EtherNet IP address the IP is set automatically If the module does not support setting the IP address via switches this option does not display To disable IP settings set by switches on the module change the switch settings on the module and then reset the module either by cycling power to the module or by clicking Reset on the Module In
145. e Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 Example 3 Velocity Loop with Motor Feedback Motor Dialog Box 5 Axis Properties PowerFlex_Axis_1 General Motor Device Specification Nameplate Datasheet Frequency Control Actions Drive Parameters 5 From the Data Source pull down menu choose Nameplate Datasheet 6 From the Motor Type pull down menu choose Rotary Induction 7 Enter the parameters by using the information from the motor Nameplate or Datasheet and click Apply gt Axis Properties PowerFlex_Axis_1 Motor Model Phase to Phase Parameters Motor Feedback Scaling Hookup Tests Polarity Autotune Load Compliance Observer Velocity Loop 8 Enter the parameters on the Motor Model dialog box by using the information from the motor Nameplate or Datasheet and click Apply Rockwell Automation Publication MOTION UM003D EN P October 2012 119 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive Example 3 Motor Feedback Dialog Box Velocity Loop with Motor Feedback 59 Axis Properties PowerFlex_Axis_1 Hookup Tests Polarity Autotune Motor Feedback Device Specification Not Specified 2 Not Specified Digital AgB 9 From the Type pull down menu choose the type of feedback The fields are populated with the data that relates to the mot
146. e Example 1 Position Loop with Motor Feedback Only Scaling Dialog Box Axis Properties CIPAxis Velocity Loop Acceleration Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Scaling to Convert Motion from Controller Units to User Defined Units Direct Coupled Rotary Ratio Isr Position Units Hange Position Units Urwin Pasition Units Ej Maximum Positives Position Units Maximum Negative Position Units ae ee ee L 6 Choose the Load Type 7 Enter the Scaling Units 8 Choose the Travel Mode For more information about Scaling see Scaling Dialog Box on page 134 9 Click Apply You are now finished configuring the axis for Position Loop with Motor Feedback Rockwell Automation Publication MOTION UM003D EN P October 2012 Example 2 Position Loop with Dual Feedback Motor Feedback Load Feedback Scaling Hookup Tests Polarity Compliance Friction Observer Position Loop Velocity Loop Acceleration Loop Torque Current Lo Planner Configuration Examples for a Kinetix Drive Chapter 3 In this example you create an AXIS_CIP_DRIVE and a Kinetix 6500 drive which includes the control module and a power structure You will need to configure both feedback ports You will need to have two feedback cables connected to the Kinetix 6500 drive for one axis You will connect th
147. e Axis Configuration Position Loop x following values for System ap ke Damping Feedback Configuration Load Feedback x cs Low 1 5 Application Type Medium 1 0 Loop Response High 0 8 Motion Group Medium High Emotion Console CIPAxis System Damping Manual Tuning System Al System Damping is for a Bandwidth setting the axis z Bandwidth and Error amp x m Tolerance values E Tuning Configuration Application Basic Coupling Rigid Gains To Tune Position Integrator Bandwidth o Velocity Integrator Bandwidth 182 Rockwell Automation Publication MOTION UM003D EN P October 2012 Manual Tune Chapter 8 Loop Responses This is where you can directly enter values for system bandwidth and system damping which effect all of the loop gains You can also individually modify the gains The gains and filters that you have tuned by using either default factory values or Autotune will be your initial values in the Manual Tune dialog box Coupling displays how tightly set or how you chose the system to tune The Motion Console dialog box displays Manual Tuning and Motion Generator Use the left of the dialog box to test in an inactive state As you perform the tune you can test in an active state with Motion Generator E Motion Console Axis_101 Manual Tuning Reset Motion Generator More Commands System 19 479559 Commands Motion Axis Move Bandwidth 19 479559
148. e feedback configuration This table provides you with an overview of the tasks needed to configure a drive Table 2 Category Dialog Boxes to Configure Kinetix Drive Category Dialog Box Perform These Tasks Page General Associate a drive module to the axis 35 Assign the axis configuration Choose the feedback configuration Choose the application type if applicable Choose the loop response low medium or high if applicable e Create and associate an axis to a new Motion Group Motor Specify a motor with the Data Source Nameplate Datasheet 46 Specify a motor with the Data Source Catalog Number Select a motor with the Data Source Motor NV Motor Feedback e Connect the Motor Feedback cable 50 Select the Motor Feedback Type Load Feedback Select the Load Feedback Type if applicable 51 Scaling Configure feedback by choosing the load type entering the scaling units and 138 choosing the Travel mode Enter the Input Transmission and Actuator ratio if applicable Follow these instructions to add a Kinetix drive your project TIP When you add drive modules for a sercos network you see all of the power structures and catalog numbers With integrated motion you assign the power structure later in the configuration process See Assign the appropriate Power Structure on page 31 1 Right click the Ethernet network node and choose New Module 6 3 VO Configuration
149. e 1 Position Loop with Motor Feedback Motor Dialog Box Axis Properties PowerFlex_Axis_1 Motor Device Specification Catalog Number ha 4 Choose Catalog Number as the Data Source 5 Click Change Catalog and choose a motor When you select the Catalog Number for the motor specification the MPL B310P M motor is in the Motion Database The specification data for this motor is automatically filled in for you If the motor you are using is not in the Change Catalog listing then it is not in the Motion Database You will need to input the specification data The Motor Feedback dialog box is automatically filled based on your motor selection Example 1 Position Loop with Motor Feedback Motor Feedback Dialog Box 5 Axis Properties PowerFlex_Axis_1 Motor Feedback Device Specification rivetace xd CEE BE poas rosse assos zf ET Torque Current Loop Planner Homing Actions Drive Parameters Parameter List 6 Choose the Commutation Alignment Rockwell Automation Publication MOTION UM003D EN P October 2012 111 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive For more information about Commutation see Assigning Motor Feedback on page 50 and Commutation Test on page 145 Example 1 Position Loop with Motor Feedback Scaling Dialog Box 5 Axis Properties PowerFlex_Axis_1 Scaling to Convert Motion from Controller Units to User Defined Units
150. e Aux Feedback Port 8 Click OK to apply your changes and go back to the Load Feedback dialog box Example 2 Kinetix 6500 Module Properties Associated Axis Tab E Module Properties EN2T_K6K 2094 ENO2D MO01 S1 2 1 9 Choose the Feedback Type and Units Example 2 Position Loop with Dual Feedback Load Feedback Dialog Box Axis Properties CIPAxis Load Feedback Device Specification Sine Cosine F Default values for Resolution and Interpolation are automatically provided You must enter the actual Resolution of load side feedback device 62 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Properties Drive Parameters Parameter List Status Faults amp Alarms Configuration Examples for a Kinetix Drive Chapter 3 Example 2 Position Loop with Dual Feedback Scaling Dialog Box CIPAxis Scaling to Convert Motion from Controller Units to User Defined Units Direct Coupled Rotary iimeter Rev z i EEE Mimer The Scaling values are in Load Feedback units Load Feedback Range Load Feedback Unwind E Menimum Positive Mazmun Met You are now finished configuring the axis as Position Loop axis with Dual Feedback 10 Click OK to apply your changes and close Axis Properties Rockwell Automation Publication MOTION UM003D EN P October 2012 63 Chapter3 Configuration Examples for a Kinetix Drive Example
151. e Motor Feedback cable to the Motor Feedback port and the Load Feedback cable to the Aux Feedback port of the Kinetix 6500 drive 1 Once you have created an AXIS_CIP_DRIVE open the Axis Properties 2 From the Axis Configuration pull down menu choose Position Loop 3 From the Feedback Configuration pull down menu choose Dual Feedback The axis and feedback configurations determine the control mode For more information on the control modes see the Integrated Motion on the EtherNet IP network Reference Manual publication MOTION RMO003 Example 2 Position Loop with Dual Feedback General Dialog Box Axis Configuration Feedback Configuration Application Type Loop Response Motion Group Associated Module Position Loop Dual Feedback Basic Medium z Motion_Group_101 m New Group Module Module Type Power Structure Axis Number CIP_K6K i 2094 ENO2D MO1 S0 This is type of drive you selected and the power 4 structure you assigned via the Kinetix 6500 Module 2034 BC02 M02 M Properties 1 For more information see Add a Kinetix EtherNet IP Drive on page 28 Status Homing The newly created Kinetix 6500 drive module name is Actions the default The Axis Number defaults to 1 indicating Drive Paraj the primary axis of the drive Axis Number 2 is used only Parameter for configuring a Feedback Only axis Faults amp A
152. e a 50 0 mm move Figure 6 Slave Speed Control from Master with Lock Position MDSC Time Based Speed Slave Speed or Master 20 mm s m Master 10 mm s Operational Speed Time Start Lock Position Target Position 0 0 mm 50 0 mm 0 2 sec Master Programmed Total Move Time 0 2 sec Programmed Total Move Time 1 2 sec Slave Speed 2 0 MasterUnits accel decell 2 0 Master Units Lock Position 10 0 Table 22 Comparison of the Enumerations for the Motion Instructions Revision Operand Units Type Profile V19 and Speed Units sec Rate Trapezoidal S curve earlier PJerk Accel Decel Units sec Rate Jerk Units sec Rate of time Time Speed Accel Decel and Jerk of max Rate of units sec For instructions MAM MAJ MCD and MAS V20 Speed Units sec Rate Trapezoidal S curve Sec Time Trapezoidal S curve Master units Feedback Trapezoidal S curve Accel Decel Units sec2 Rate Trapezoidal S curve Sec Time Trapezoidal S curve Master units Feedback Trapezoidal S curve Jerk Units sec Rate Trapezoidal S curve Sec Time Trapezoidal S curve Master units Feedback Trapezoidal S curve For instructions MDSC MAM MAJ and MATC Rockwell Automation Publication MOTION UM003D EN P October 2012 221 Chapter9 Program In this figure we are programming rate The controller calculates the time of the move Speed amp Accel Decel as units units seconds Fi
153. e axis Applying the Commutation Hookup Test There are several different cases where the Commutation Hookup Test can be applied toa PM motor e Unknown Commutation Offset e Verification of Known Commutation OffsetVerification of Known Commutation Offset e Non standard or Incorrect Wiring Unknown Commutation Offset The primary use for the Commutation Hookup Test is the case where the machine is equipped with a PM motor that has an unknown Commutation Offset The Commutation Offset and potentially Commutation Polarity can be unknown for different reasons including an unprogrammed smart encoder or any generic third party encoder where Commutation Offset is unknown TIP The Kinetix 350 and the Kinetix 5500 drives do not support the Commutation Polarity attribute Rockwell Automation Publication MOTION UM003D EN P October 2012 145 Chapter 6 Commission 146 Verification of Known Commutation Offset Another use of the Commutation Test is to verify that the motor is wired correctly and has the expected Commutation Offset A machine engineer may not want to correct for a wiring error in software but rather flag a wiring error so that it may be physically corrected Incorrect wiring of the motor power phases encoder signal wiring or commutation signal wiring may show up as an unexpected Commutation Offset For example suppose a motor was wired in a WUV sequence instead of the normal UVW sequ
154. e newly created PowerFlex 755 drive module name should be the default The Axis Number defaults to 1 indicating the primary axis of the drive Axis Number 2 would be used only for configuring a Feedback Only axis Example 6 Torque Loop with Motor Feedback Motor Dialog Box Axis Properties B15_PF755 Motor Devic Namepiete Darase FRotyinucion x E T Faults amp Alarms po Tag Rockwell Automation Publication MOTION UM003D EN P October 2012 129 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive Example 6 Torque Loop with Motor Feedback Feedback Type Axis Properties PowerFlex_JKL Motor Feedback Device Specification Not Specified ha Not Specified Di B Sine 4 From the Type pull down menu choose the appropriate feedback type Example 6 Torque Loop with Motor Feedback Feedback Type 5 gt Axis Properties PowerFlex_JKL Motor Feedback Device Specification Sine Cosine Drive Parameters Incremental Parameter List Status Faults amp Alarms Tag 130 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 Example 6 Torque Loop with Motor Feedback Scaling Load Type Axis Properties PowerFlex_JKL Scaling to Convert Motion from Controller Units to User Defined Units Direct Coupled Rotary Direct Coup led Rota Rotary Transmissior Fetio
155. e standard fault actions are not to handle the fault Only appropriate With this fault action you must write code to handle the motion faults For Stop Motion or Status Only the drive must stay enabled for the controller to continue to control the axis Selecting Status Only lets motion continue only if the drive itself is still enabled and tracking the command reference Ignore Ignore instructs the device to completely ignore the exception condition For some exceptions that are fundamental to the operation of the axis it may not be possible to Ignore the condition Alarm Alarm action instructs the device to set the associated bit in the Axis Alarm word but to otherwise not affect axis behavior For some exceptions that are fundamental to the operation of the device it may not be possible to select this action or any other action that leaves device operation unaffected 232 Rockwell Automation Publication MOTION UM003D EN P October 2012 Inhibit an Axis Table 25 Inhibit Axes Before you inhibit or uninhibit an axis turn off all axes Faults and Alarms Chapter 10 Follow these instructions to determine when to inhibit an axis and how to block the controller from using an axis You want to block the controller from using E Controller My_Controller an axis because the axis is faulted or not H Tasks installed f Motion Groups Ne My_Motion_Group You want to let the controller use the other tb a
156. e synchronization in the Logix system is called CIP Sync CIP Sync provides a mechanism to synchronize clocks between controllers I O and other devices connected over CIP networks and the ControlLogix or CompactLogix backplane The device with the best clock becomes the Grandmaster time source for your system Figure 1 Star Topology with the ControlLogix Controller as the Grandmaster Stratix 8000 CIP Sync PowerFlex 755 CIP Sync gt CIP Sync CIP Sync Kinetix 350 Kinetix 5500 CIP Sync Kinetix 6500 ijji P1 and P2 Priorities Priorities are automatically assigned based on their clock quality which is determined by the Best Clock Algorithm In this example P2 1 is the best quality so it becomes the Grandmaster If the P2 1 device loses clock quality for some reason then P2 2 would become the Grandmaster for the system 20 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure a Project for Integrated Motion on the EtherNet IP Network Chapter 1 The Best Master Clock algorithm determines what device has the best clock The device with the best clock becomes the Grandmaster time source for your system All controllers and communication modules must have time synchronization enabled to participate in CIP Sync See the Integrated Architecture and CIP Sync Configuration Application Technique publication IA AT003 for detailed informatio
157. e the motor configuration values are originating You can select a motor by catalog number from the Motion Database enter motor data from a nameplate or datasheet or use the motor data contained in the drive or motor nonvolatile memory On the Motor dialog box you specify what motor you want to use and where the data will be coming from e Specify a motor with the Data Source Nameplate Datasheet e Specify a motor with the Data Source Catalog Number e Select a motor with the Data Source Motor NV Choose the Catalog Number Follow these steps to choose a motor from the Motion Database 1 Ifthe Axis Properties dialog box is not open double click the axis 2 Go to the Motor dialog box of Axis Properties lolx toa category _ General Motor Device Specification means that you m i H Model Data Source Catalog Number hd Parameters have not applied Motor Feedback cha nges Scaling Catalog Number knone gt mee dee Motor Type NotSpecitied z Autotune Units Pev z Load Backlash Compliance Friction Observer Position Loop Velocity Loop Acceleration Loop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag Manual Tune ok Cancel Apply Help 46 3 From the Data Source pull down menu choose Catalog Number Motor Device Specification Nameplate Datasheet ka Data Source Parise NGnber Nameplate Datasheet se
158. e using See the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 for detailed information about the AXIS_CIP_DRIVE attributes Additional Tune for the Kinetix 6500 Module The Additional Tune section gives you access to additional tuning parameters typically needed for more advanced servo loop settings Additional Tune for the Kinetix 6500 module provides access to five parameter tabs e Feedforward e Compensation e Filters e Limits e Planner TIP You may need to turn all your toolbars off to see the complete screen When you re done choose View gt Toolbars gt Factory Defaults or turn on the toolbars you want to see The Feedforward tab lets you adjust velocity and acceleration feedforward Additional Tune BY Feedforward Compensation Filters Limits Planner Velocity Feedforward 0 0 e Acceleration 0 0 ew Attribute Description Velocity Feedforward Command A command signal that represents a scaled version of the command velocity profile Acceleration Feedforward Command A signal that represents a scaled version of the command acceleration profile Rockwell Automation Publication MOTION UM003D EN P October 2012 187 Chapter8 Manual Tune The Compensation tab lets you input scaling gain and friction offset values Additional Tune By Feedforward Compensation Filters Limits Planner System Inertia foo i
159. edback e Ifyou are configuring a Torque or Velocity Loop you will have only the option for Motor Feedback e Ifyou are configuring for Frequency Control no feedback is available For an Axis Configuration of Position Loop and a Feedback Configuration of Motor Feedback using a UFB peripheral device see Example 1 Position Loop with Motor Feedback using a UFB Feedback Device on page 110 Axis 1 on the Associated Axes tab in Module Properties corresponds to Axis 1 listed on the General tab in the Axis Properties see step 2 on page 84 The axis tag field appears as Axis 1 for example Axis_I_Position_Motor The Motor Master Feedback Device Motor Feedback Port is populated based on the Feedback Configuration type For more information about control modes and control methods see the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO03 5 Ifyou chose Dual Feedback as the Feedback Configuration type for the axis on the General tab choose the Load Feedback device For an Axis Configuration of Position Loop and a Feedback Configuration of Dual or Load Feedback see Example 2 Position Loop with Dual Motor Feedback via a UFB Feedback Device on 113 General Connection Time Syne Module Info Intemet Protocol Port Configuration Associated Axes Power Diatal Input Axis 1 PF_Axis_1 x fe Newiss Motor Feedback Device Por
160. edback Device Specification tay Feadibar Scaling Hookup Tests Not Specified E Re l Drive Parameters Parameter List Status Faults amp Alarms Teg Feedback 1 is the logical port for this axis that is assigned to physical Port 2 or Aux Feedback port of the Kinetix 6500 drive 5 From the Axis 2 Auxiliary Axis pull down menu choose Axis_IV_Feedback Only to associate the axis Example 3 Master Feedback Dialog Box E Module Properties EN2T_for_CIP_Motion_re 3_1 2094 EN02D M01 50 1 1 oeron ed New mor o fos Foetody mil New as Au M 6 From the Master Feedback Device pull down menu choose Aux Feedback Port to map the port to the device 7 Click OK to apply your changes and return to Axis Properties Rockwell Automation Publication MOTION UM003D EN P October 2012 65 Chapter3 Configuration Examples for a Kinetix Drive Example 3 Feedback Only with Master Feedback Master Feedback Dialog Box Axis Properties Axis_I _FeedbackOnly Master Feedback Device Specification aster Feedback Scaling Hookup Tests Polarity This is Feedback 1 of Axis 2 It is connected to the Aux Homing Feedback port of the primary axis This Feedback only Actions axis is also known as the 1 2 axis Drive Parameters Parameter List Status Faults amp Alarms Tag Incremental Default values are filled in for you 8 From the Type pull down menu choose Digital
161. ee the Displaying Motor Model Information on page 49 for more information about data sources Example 5 Frequency Control with No Feedback Motor Model Dialog Box General a Motor eT i 126 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 7 From the Frequency Control Method pull down menu choose the appropriate method 8 Click Apply Example 5 Frequency Control with No Feedback Frequency Control Dialog Box 5 Axis Properties PowerFlex_JKL Frequency Control Basic Volts Hertz Basic Volts Hertz _Fan Pump Volts Hertz prame Sensorless Vector Sensorless Vector economy Drive Parameters Parameter List Status Faults amp Alarms Tag Frequency Control Basic Volts Hertz x Rockwell Automation Publication MOTION UM003D EN P October 2012 127 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive Example 5 Frequency Control with No Feedback Scaling Dialog Box Conversion Units Axis Properties PowerFlex_JKL Scaling to Convert Motion from Controller Units to User Defined Units Hookup Tests Polarity Planner Drive Parameters Parameter List uults amp Alarms g Manual Tune 9 From the Load Type pull down menu choose the appropriate load type 10 Enter the Transmission Ratio 11 From the Actuator Type pull down menu
162. eedback and Load Feedback dialog boxes become available Rockwell Automation Publication MOTION UM003D EN P October 2012 113 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive 4 From the Data Source pull down menu choose Catalog Number Example 2 Position Loop with Dual Feedback Motor Dialog Box Axis Properties PowerFlex_Axis_1 Motor Device Specification Catalog Number ha Motor Feedback Load Feedback Scaling Hookup Tests Polarity Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Status Faults amp Alarms 5 Click Change Catalog and choose your motor In this case a MPL B310P M motor was chosen When you select the Catalog Number for the motor specification the MPL B310P M motor is in the Motion Database The specification data for this motor is automatically filled in for you If the motor you are using is not in the Change Catalog listing then it is not in the Motion Database You will need to input the specification data The Motor Feedback dialog box is automatically filled based on your motor selection Example 2 Position Loop with Dual Feedback Motor Feedback Dialog Box Axis Properties PowerFlex_Axis_1 Motor Feedback Device Specification 6 Choose the Commutation Alignment 114 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755
163. ence The motor would still rotate in the correct direction but the Commutation Test indicate that the Commutation Offset was off by a factor of 120 electrical degrees After running the Motor and Feedback Hookup Tests you can run the Commutation Test to determine the specific Commutation Offset and Commutation Polarity The drive executes the Commutation Test which includes rotating the motor in the positive direction by at least one revolution The results of the Commutation Test are reported back to compare against the known Commutation Offset and Commutation Polarity to determine if a wiring issue exists Non standard or Incorrect Wiring The Commutation Test can also be applied to a PM motor that is wired in a non standard manner or incorrectly In the case of incorrect wiring it is sometimes desirable to mitigate the problem via software This can be the case on larger machines where changing the wiring would be difficult due to the size and location of the wiring After running the Motor and Feedback Hookup Tests you can run the Commutation Test to determine the specific Commutation Offset and Commutation Polarity The drive executes the Commutation Test which includes rotating the motor in the positive direction by at least one revolution The results of the Commutation Test are reported back for review and if found satisfactory you can accept the results as part of the controller s stored axis configuration that is sent to the
164. entage value for the regenerative power limit Bus Regulator Action Get or Set the bus regulator action to a configuration tag Valid values include the following Disabled Shunt Regulator CommonBus Follower Shunt Regulator Resistor Type Select either an internal or external shunt Shunt Regulator Resistor Type appears dimmed in online mode and when Bus Regulator Action is disabled set to CommonBus Follower The Kinetix 350 drive does not support this parameter External Shunt The following external shunt values are enabled when the Shunt Regulator Resistor Type is set to External If you select External for the Shunt Regulator Resistor Type choose the external shunt value Valid values include the following e lt none gt e Custom The external shunt regulator catalog numbers External Bus Capacitance Kinetix 6500 Drive Kinetix 350 and Kinetix 5500 do not support this parameter When Bus Regulator Action is set to Shunt Regulator or CommonBus Follower enter the External Bus Capacitance in pf External Bus Capacitance is enabled when the Bus Regulator Action is set to Disabled or Shunt Regulator Valid values are determined by the type of drive you are configuring The value you enter is validated when you click OK You receive an error message if the value is over or under the valid range for the drive External Shunt Resistance PowerFlex 755 Drive External Shunt Power PowerFlex
165. eps accelerating for a short time before it starts to decelerate Example You start a Motion Axis Jog MAJ instruction Before the axis gets to its target speed you start a Motion Axis Stop MAS instruction The axis continues to speed up and then eventually slows to a stop Look For Jog_PB lt Local 4 Data 0 gt _Axis_OK l S Curve profile in the instruction that starts the motion Rockwell Automation Publication MOTION UM003D EN P October 2012 Accel Rate Accel Units Decel Rate Decel Units Profile Merge Merge Speed _1_Speed 60 0 Units per sec _1_Accel 20 06 Units per sec2 Programmed lex Less 213 Chapter9 Program Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e An S Curve profile has to get acceleration to 0 before the axis can slow down e The time it takes depends on the acceleration and speed e Inthe meantime the axis continues to speed up The following trends show how the axis stops with a trapezoidal profile and an S Curve profile Stop while accelerating Trapezoidal speed goes up until acceleration La u Bea acceleration The axis slows down as soon as you start the stopping instruction The axis continues to speed up until the S Curve profile brings the acceleration rate to 0 Corrective Action If you want the axis to slow down right
166. er you get this fault the APR feature stops working until you replace the 1756 L6x or 1756 L6xS controller You will never get this error when using a 1756 L7x controller 2 Firmware Error Used to trap firmware errors that should never happen Rockwell Automation Publication MOTION UM003D EN P October 2012 Home an Axis Chapter 7 Absolute Position Recovery Scenarios ATTENTION Whenever memory becomes corrupt you lose position even if you have it stored on an SD card This table provides detailed information on when the APR feature recovers absolute position The following assumptions need to be taken into consideration In each of these cases the APR feature restores absolute position and preserves the state of the Axis Homed bit indicating that the axis has a machine referenced absolute position e All relevant axes are CIP axes e Yes indicates machine reference is recovered for Axes that have been homed e No indicates machine reference is not recovered for Axes that have been homed Rockwell Automation Publication MOTION UM003D EN P October 2012 173 Chapter7 Home an Axis This table describes the scenarios whether the APR feature recovers absolute position In each of these cases marked by Yes the APR feature restores absolute position and preserves the state of the Axis Homed bit indicating that the axis has a machine referenced absolute position Table 18 APR Recovery Scenarios
167. erNet IP Network Reference Manual publication MOTION RM003 Analyzer Feedback Configuration Motor Feedback Motor Feedback Peerage eas bse E Scaling pplication Type Basic Hookup Tests Loop Response Medium bd Polarity Motion Group Motion Group_101 7 a New Group Autotune Load Compliance Associated Module Observer Module Velocity Loop odule PowerFlex_7551 x Torque Current Loop Module Type PowerFlex 755 EENET CM S1 v fine a ar 240V 4 24 Normal Duty This shows you the type of drive you selected oming Nats Base Number 4 i gf and power structure you assigned via the Drive Parameters PowerFlex 755 drive Module Properties Parameter List The newly created PowerFlex 755 drive module See Add a PowerFlex 755 Drive on page 79 Status name should be the default The Axis Number Faults amp Alarms defaults to 1 indicating the primary axis of the Tag drive Axis Number 2 would be used only for configuring a Feedback Only axis Manual Tune Cancel Apply Help IMPORTANT After you have configured the axis and you change the Axis Configuration type or the Axis Number some of the configuration information will be set to default values This may cause some previously entered data to be reset back to its default setting Now that you defined the axis as a Velocity Loop with Motor Feedback the Motor and Motor Feedback dialog boxes become availabl
168. erence position the APR bit is designed to retain the absolute position An axis is a logical element of a motion control system that exhibits some form of movement Axes can be rotary or linear physical or virtual controlled or simply observed A bus regulator is used to limit the rise in DC Bus voltage level that occurs when decelerating a motor Common Industrial Protocol Defines extensions to CIP Common objects and device profiles to support motion control over CIP networks CIP Sync defines extensions to CIP Common objects and device profiles to support time synchronization over CIP Networks The I O connection is the periodic bidirectional Class 1 CIP connection between a controller and a drive that is defined as part of the Integrated Motion on the EtherNet IP network standard Refers to any drive device that complies with the CIP Motion standard Closed loop is a method of control where there is a feedback signal of some kind that is used to drive the actual dynamics of the motor to match the commanded dynamics by servo action In most cases there is a literal feedback device to provide this signal but in some cases the signal is derived from the motor excitation for example sensorless operation A converter is a device that generally converts AC input to DC output A Converter is also commonly called the Drive Power Supply In the context of a drive system the Converter is responsible for converting AC Main input in
169. es Analyze Motor to Determine Motor Model Dynamic Motor Test Static Motor Test Calculate Model General jzer Motor Feedback Start Stop t DANGER Starting test with controller in Scaling e Program or Run Mode initiates axis motion Hookup Test REF Test State Failed Polarity Autotune axis is not configured E Load Backlash Compliance Observer Model Parameters Current Test Results Position Loop Velocity Loop Motor Stator Resistance 0 0 Ohms Ohms Torque Current Loop Motor Stator Leakage Reactance 0 0 Ohms Ohms Planner Homing Motor Rotor Leakage Reactance 0 0 Ohms Ohms Actions Motor Flux Current 0 0 Amps Amps Drive Parameters f Parameter List Rated Slip Speed 1800 0 RPM RPM Status Faults amp Alarms Accept Test Results g Tag Table 8 Motor Analyzer Parameters Parameter Description Motor Resistance Specifies the phase to phase resistance of a permanent magnet motor Motor Inductance Specifies the phase to phase inductance of a permanent magnet motor Motor Rotary Voltage Constant Specifies the voltage or back EMF constant of a rotary permanent magnet motor in phase to phase RMS Volts per KRPM Motor Stator Resistance Specifies the Y circuit phase neutral winding resistance of the stator as shown as R1 in the IEEE motor model Motor Stator Leakage Reactance Specifies the Y circuit phase neutral leakage reactance of the stator winding at rated freq
170. es see Configuration Examples for a Kinetix Drive on page 55 4 Click OK Rockwell Automation Publication MOTION UM003D EN P October 2012 37 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives This applies the changes and closes the Module Properties dialog box If you have not enabled Time Synchronization this message appears RSLogix 5000 xi l i Failed to modify properties for axis Axis_101 The axis cannot be associated to the module The CIP Motion Drive module requires Hard or Soft Time Synchronization and the parent ethernet scanner of the module is not configured with Time Sync Connection to support it Scie PEGE Error 16427 80042496 You must go to the 1756 ENxI Communication Module Properties and enable time synchronization See Add a 1756 ENxTx Communication Module on page 22 for more information Configure the Associated Axis and Control Mode Now that the axis is associated to the drive module meaningful values are available for other axis properties For more information on Control Modes see the Integrated Motion Reference Manual publication MOTION RMO003 1 In the Controller Organizer double click the Axis that you want to configure The Axis Properties General dialog box appears Axis Properties Axis_11 Categories General Motor 1 A Modal Axis Configuration Position Loop gt Motor Feedback Feedback Configuration Load Feedback
171. es see these manuals EtherNet IP Modules in Logix5000 Control Systems User Manual publication ENET UM001 PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual publication 750COM UMO001 Knowledgebase Technote 66326 Converged Plantwide Ethernet CPwE Design and Implementation Guide publication ENET TD001 8 Assign the slot for the module 9 In the module definition area click Change Rockwell Automation Publication MOTION UM003D EN P October 2012 23 Chapter 1 24 Configure a Project for Integrated Motion on the EtherNet IP Network 10 Choose an Electronic Keying option Module Definition Revision Hectronic Keying Rack Connection Time Sync Connection expected module as shown in the configuration tree to the physical module before communication begins When you are using motion modules set the electronic keying to either Exact Match or Compatible Keying ATTENTION The electronic keying feature automatically compares the Never use Disable Keying with 1756 ENxTx communication and motion modules For more information about electronic keying see the ControlLogix Controller User Manual publication 1756 UM001 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure a Project for Integrated Motion on the EtherNet IP Network Chapter 1 11 Choose Time Sync and Motion Module Definition Revision 1
172. est 145 Polarity Dialog Box 148 Autotune Dialog Box 148 Load Dialog Box 152 Load Observer Configuration 155 Test an Axis with Motion Direct Commands 158 Once you have followed the steps in Configuration Examples for a Kinetix Drive on page 55 or Axis Configuration Examples for the PowerFlex 755 Drive on page 109 you need to commission the axis Rockwell Automation Publication MOTION UM003D EN P October 2012 133 Chapter6 Commission J Scaling Dialog Box 134 Axis motion can be specified in whatever units you want The Scaling dialog box lets you configure the motion control system to convert between raw internal motion units For example Feedback Counts or Planner Counts can be converted to your preferred unit of measure be it revolutions degrees meters inches or candy bars This conversion involves three key Scaling Factor attributes Conversion Constant Motion Resolution and Position Unwind If you use the Scaling dialog box the software calculates the Scaling Factors for you The only task you need to do is to select the Load Type that best matches the mechanical linkage between the motor and the load There are four Load types e Direct Coupled Rotary The load is directly coupled to the linear motor moving mass e Direct Coupled Linear The load is directly coupled to the linear motor moving mass e Rotary Transmission The rotational load is coupled to the motor through a geared transmission e Linear Actuator
173. everse direction when stop and start it While an axis is jogging at its target speed you stop the axis Before the axis stops completely you restart the jog The axis continues to slow down and then reverses direction Eventually the axis changes direction again and moves in the programmed direction Example You use a Motion Axis Stop MAS instruction to stop a jog While the axis is slowing down you use a Motion Axis Jog MAJ instruction to start the axis again The axis continues to slow down and then moves in the opposite direction Eventually it goes back to its programmed direction Look For Jog_PB sLocal 4 Data 0 gt My_Axis_OK A Motion Axis Jog Axis My_Axis Motion Control Jog_4 Direction 0 Speed Jog_1_Speed S Curve profile in the 60 0 instruction that starts Speed Units Units per sec the motion Accel Rate 1_Accel 20 0 Accel Units Units per sec2 Decel Rate Decel Units Units Prorie MEET Stop Type is set to a specific type of motion such as Jog or Move Jog_PB sLocat4 I Data 0 gt The stopping instruction changes the deceleration For example the Change Decel operand of an MAS instruction is set to No This means the axis uses its maximum deceleration rate Cause When you use an S Curve profile jerk determines the acceleration and deceleration time of the axis e AnS Curve profile has to get acceleration to 0 before the axis can speed up again e Ifyou reduce the acceleration i
174. f you find that the dynamic performance of your axis does not meet your system requirements then you can use Autotune to improve performance Once you have set the parameters and performed tasks in the General Motor Motor Feedback Scaling Hookup Test and Polarity dialog boxes you are ready to Autotune if needed These are the steps included in Autotune e Select the Application Type Loop Response and Load Coupling e Set the Travel Limit Speed Torque and Direction e Perform Tune e Review results Autotune is optional Typically you won t have to use Autotune or Manual Tune Once you select your drive and use the Motion Database as the data source the defaults often provide adequate tuning performance In most cases the software default calculations are adequate and Autotune and or Manual Tune should not be needed Depending on the application type and axis configuration you may need to use Manual Tune See Manual Tune on page 181 in Remote Program mode In that mode your code is not in control of the axis Before you tune an axis make sure no one is in the way of the axis ATTENTION When you tune an axis it moves even with the controller 1 Click the Autotune dialog box Rockwell Automation Publication MOTION UM003D EN P October 2012 If this box is checked the Autotune will move the motor using a Tune Profile to measure inertia If this box is not checked gain and filter bandwidth calcu
175. figured Program mode state Inhibit Online but Connection Not Established If you inhibit the module while online but a connection to the module has not been established due to an error condition or fault the module is inhibited The module status information changes to indicate that the module is Inhibited and not Faulted Uninhibit Online If you uninhibit a module online and no fault condition occurs a connection is made to the module and the module is reconfigured If you are not the owner and in Listen Only mode the module will not be reconfigured Uninhibit Online and a Fault Occurs If you uninhibit a module while online and a fault condition occurs a connection is not made to the module Major Fault Configure the controller so that a loss of connection to this module causes a major fault Module Faults Displays the fault code returned from the controller and provides details about the fault The following table describes common connection errors Table 28 Common Connection Errors Error Description Connection Request Error The controller is attempting to make a connection to the module and has received an error The connection was not made Service Request Error The controller is attempting to request a service from the module and has received an error The service was not performed successfully Module Configuration Invalid The configuration in the module is invalid Module Configuration Rejected invalid power structure
176. file than on the deceleration profile 60 of Time i 30 i 40 30 30 40 130 gt _ gt on ee or eee MAJI MAJ2 The motion planner algorithm adjusts the actual jerk rate so that both the acceleration profile and the deceleration profile contain at least the of time ramp time If the Start Speed is close to the programmed Speed parameter the actual percentage of ramp time may be higher than the programmed value In most cases the condition is if start Speed is 0 0 OR start Speed is gt 2 max Speed then you get programmed percentage of ramp time else you get higher than programmed percentage of ramp time Conversion from Time to Engineering Units If you want to convert of Time to Engineering Units use these equations For Accel Jerk 2 ja of Time 3 100 ja EU S Vinay EU S amax EU S 202 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 For Decel Jerk 2 ja of Time 100 ja EU 5 Vmax EU S Toe dmax EU 5 Jerk Programming in Units Sec If you want to specify the jerk in Units sec instead of of time adjust your jerk value as follows so that you get the value that you programmed Programmed Decel Rate Temporary Speed Desired Decel Jerk value in Units Sec Start Speed Programmed Speed k Max Programmed Speed Temporary Speed if k lt 1 Instruction faceplate Decel jerk in Uni
177. fo tab Figure 15 Internet Protocol W Module Properties To_K6K 2094 ENO02D MO01 S1 1 1 t Manua e Obtain lE OF Rockwell Automation Publication MOTION UM003D EN P October 2012 CIP Drive Module Properties Appendix A Table 32 Module Properties Internet Protocol Tab Descriptions Parameter Physical Module IP Address Description Displays the module s physical IP address or if you selected to configure the IP settings manually enter a valid physical module IP address Refer to the IP address for valid values Physical Module IP Address appears dimmed and has no value when you are offline or online with a module mismatch or a communication error occurs Physical Module IP Address also appears dimmed when you set the IP address by using the switches on the module Both a warning message and the IP address entered on the General tab appear when you enter a physical module IP address that does not match the IP address entered on the General tab The warning message does not display when you are offline or online and a module mismatch or communication error occurs You can click Copy IP address from the General tab so that the Physical Module IP Address matches the IP address on the General tab It appears only when you choose to configure the IP settings manually and when there is a mismatch between the IP address in the physical module and the IP address entered on the General tab Subnet Mask Displays the m
178. ful for when an encoder marker is not available or a proximity switch is being used When this sequence is performed in the Passive Homing mode an external agent moves the axis until the home switch is detected The Home Position is assigned to the axis position at the moment that the limit switch is detected If you are using a Home Offset then the Home Position is offset from the point where the switch is detected by this value Passive Home with Marker This passive homing sequence is useful for single turn rotary and linear encoder applications When this sequence is performed in the Passive Homing mode an external agent moves the axis until the marker is detected The home position is assigned to the axis position at the precise position where the marker was detected If you are using a Home Offset then the Home Position is offset from the point where the marker is detected by this value Passive Home with Switch then Marker This passive homing sequence is useful for multi turn rotary applications When this sequence is performed in the Passive Homing mode an external agent moves the axis until the home switch and then the first encoder marker is detected The home position is assigned to the axis position at the precise position where the marker was detected If you are using a Home Offset then the Home Position is offset from the point where the marker is detected by this value Rockwell Automation Publication MOTION U
179. g Reset Module initiates a reset operation on the module which returns the module to its power up state by emulating the cycling of power Refresh Communication Appears when communication with the module has failed Clicking Refresh communication attempts to refresh communication with the module Set Commits your modifications Set appears dimmed when you are offline or online and a module mismatch or communication error has occurred or there are no pending edits on the tab Apply Accepts and applies your edits on any tab and you can continue configuring When you click Apply or OK the information is automatically sent to the controller The controller tries to send the information to the module if the module s connection is not inhibited Rockwell Automation Publication MOTION UM003D EN P October 2012 249 AppendixA CIP Drive Module Properties Network Tab The Network tab provides you the network information for the port TIP The Network tab does not exist on the PowerFlex 755 or Kinetix 350 drive s module properties Figure 17 Network Tab E Module Properties To_K6K 2094 ENO2D M01 S1 1 1 iol x General Connection Time Sync Module Info Intemet Protocol Port Configuration Network Associated Axes Power pi gt Network Topology Linear Star Advanced Network Status Normal Active Ring Supervisor Active Supervisor Precedente I Enable Supervisor Mode Ring Faults
180. g a PowerFlex 755 Drive Select the Motor Data Source The Motor Data Source is where you tell the axis where the motor configuration values are originating You can select a motor from the database nameplate or nonvolatile memory Choose Catalog Number as the Motor Data Source Follow these steps to identify the specification information that is originating from the Motion Database 1 Ifthe Axis Properties dialog box is not open double click the axis 2 Click the Motor tab of the Axis Properties dialog box 3 From the Data Source pull down menu choose Catalog Number Motor Device Specification Data Source Catalog Number Nameplate Datasheet Catalog Number EE Datasheet Catalog Number Motor Type Prive MY Units Rev 4 Click Catalog Number 5 Click Change Catalog 6 Select a motor and click OK Change Catalog Number Catalog Number MPL B310P M MPL B230P Hix4 a MPL B230P Vixc2 MPL B230P Vicx4 MPL B310P H ie MPL B310P S a MPL B320P H MPL B320P M MPL B320P S MPL B330P H Filters Voltage Family Feedback Type lt all gt x sab x sab M ik 98 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 The Motor dialog box is populated with all information related to the motor you selected from the Motion Database Motor Dialog Box 1 Axis Properties A
181. ge If this happens an APR fault is generated Axis Properties CIPAxis Categories General Scaling to Convert Motion from Controller Units to User Defined Units o Motor Model Load Type Direct Coupled Rotary v Mot otor 7 Araneae Hookup Tests Ratio 0 1 i Pey Polarity Aitgine Actuator B Load Type lt none gt M Backlash Compliance ead 1 0 Millimeter Rev v Friction Diameter 1 0 Millimeter 7 Observer Position Loop Scaling Velocity Loop Units Position Units Acceleration Loop Torque Current Loop Scaling 1 0 Position Units per 10 Motor Rev P Planner Twa Homing Actions Mode Oyclic y Drive Parameters Parameter List Range 1000 0 Position Unite Status i Unwind 1 0 il it er 10 le Faults amp Alarms Position Units pi Odl Tag F Bott travel Limite Maximum Positive 0 0 Position Unite Maximum Negative 0 0 Position Unite Manual Tune Cancel Apply Help Rockwell Automation Publication MOTION UM003D EN P October 2012 177 Chapter7 Home an Axis Online Scaling Any change or SSV message that results in a motion resolution change will generate an APR fault lolx Categories General Motion Axis Parameters B Motor Model Parameter Group Scaling bd Associated Page Motor Feedback Scaling Hookup Tests Polarity Autotune E Load Backlash Compliance Motion Counts Positi
182. gnment Feedback devices on the PowerFlex 755 drives are called peripheral devices You must assign the port channel for each device you are using Follow these steps to select a feedback device 1 Right click on the device and choose New Peripheral Device r Module Definition ies Peripheral Devices Revision IS 5 7 Compatible Module z i New Peripheral Device Connection Power Structure l lt none gt Ea V Verify Power Rating on Connection The peripheral device refers to the type of feedback device you are using with the PowerFlex 755 drive 2 From the Port pull down menu choose the appropriate port slot Peripheral Device Demat rn 3 From the Peripheral Device pull down menu choose the appropriate catalog number Peripheral Device Definition ESS Port Peripheral Device none ooo oy lt none gt 20 750 DENC 1 20 750 UFB 1 R 4 Click OK Rockwell Automation Publication MOTION UM003D EN P October 2012 81 Chapter 4 82 Configure Integrated Motion by Using a PowerFlex 755 Drive The device is added Notice the feedback device appears Module Definition e Sa Peripheral Devices Revision 6 16 2 2 PowerFex_755_Axis_1 RAET ETERN ETE Blectronic Keying Compatible Module Connection M
183. gramming of Jerk Velocity Profile PieGtsisesc1u2 tne tne eetle En aa Jek RateCalewlation ss sok aoa vey eer th seta Ae ey i oy Profile peraine s take ake iat hen AeA ie Lace es a Enter Basic Logic eni nan cenaus darana secede dae Mada Rees Example Motion Control Program e eee ee eens Download a Project and Run Logix 2 c cvecesotiieresaweever ods Choose a Motion Instruction eed ces inane ake ee eae eee ER SONS Chapter 10 Quick View Pane heh aa wes SoA ON eee Data Monitor cc cccecg dicle Sadis 32 3S an balla SAN Dy aE Drive Status Ip dicatorsin c Soere ec tee eG Tro bleshoot PAULUS cd s seeen eea a a a a Manage Motion Faults cacweten vic asaa a Make peer se teas Configure the Exception Actions for AXIS_CIP_DRIVE Inhibit anA RSs r ik aa a ue Oe ols oss a te Oe ed Example Inhibit an Axis ads soccassoaen eee dantnaneuas auaes Example Uninhibit aA sa Soe yni2 ot aan cotis ihe eate eee wie hordes Appendix A Mod le Properties ines 6 seu ox tated oe mein et ar chau A anon EE A abit chat So Uh ats Bei a ell ol ous ak skal AB dl ou Connection Jabas sui ae Soe a k edie e oes TimeSync LAD ieee vas cca sa iy hae Surtees oaks EE SENERARA Module Info Papas beer erential ales eke eneeg Internet Protocol Fabs ti catictcversiiededees ahtaliateeaeeaevars Pott Configuration Tabwicccic siii jo5da vad vee ven aee en ieass Network AD mrincesas eit cearee teach deans eee ae aes Associated Axes Pabiccieo
184. gure 7 Programming Rate in RSLogix 5000 Software Version 19 and Earlier Speed Programmed Speed Accel O gt Decel IN Ai 1x ar 47 5 mm j I l 1 25mm Programmed Distance per Rate 1 25 mm L Time L Travel Distance speed Rate Start 0 0 End 50 0 mm Speed 10 mm sec Accel Decel 40 0 mm sec Equivalent to Distance Rate Ha r RSLogix 5000 software version 19 and earlier e heen MAM instruction programmed as rate lt ax_V_master_M gt CDN eater area CER Position 50 0 mm start 0 0 3 Speed 10 0 mm sec siti gt eee Rr sues ee Accel 40 0 mm sec ari serene a Decel 40 0 mm sec Speed Units Units per sec Accel Rate 40 0 So Travel_ Distance area under the curve accel at_speed decel Travel_ Distance 50 mm Travel_ Distance 50 mm 1 25 mm 47 5 mm 1 25 mm Accel Units Units per sec2 Decel Rate 40 0 Decel Units Units per sec2 Profile Trapezoidal Accel Jerk 10000 Decel Jerk 10000 Jerk Units Units per sec3 Merge Disabled Merge Speed Programmed Lock Position 0 0 Lock Direction None Event Distance 0 Calculated Data 0 A a 222 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 In this figure we are programming time The controller calculates the speed of the move Speed amp Accel Decel as time seconds Figure 8 Programming Time in RSLogix 5000 Software Version 20 and Later Speed Calculated Speed
185. he absolute time when the associated data was captured or can be also used to determine when associated data is to be applied Time offset is the System Time Offset value associated with the Integrated Motion on the EtherNet IP network connection data that is associated with the source device The System Time Offset is a 64 bit offset value that is added toa device s local clock to generate System Time for that device Rockwell Automation Publication MOTION UM003D EN P October 2012 Glossary Variable Frequency Drive VFD Variable Frequency Drive VFD is a class of drive products that seek to control the speed of a motor typically an induction motor through a proportional relationship between drive output voltage and commanded output frequency Frequency drives are therefore sometimes referred to as Volts Hertz drives TIP The Kinetix 350 drive does not support the Output Frequency attribute Vector Drive Vector drive is a class of drive products that seek to control the dynamics of a motor via closed loop control which includes but is not limited to closed loop control of both torque and flux vector components of the motor stator current relative to the rotor flux vector Rockwell Automation Publication MOTION UM003D EN P October 2012 267 Glossary Notes 268 Rockwell Automation Publication MOTION UM003D EN P October 2012 Numerics Index AXIS_CIP_DRIVE 255 1756 EN2F 22 exception actions 230 exceptions 231 1
186. he motorat MDS the specified speed Motion Drive Start Clear all motion faults for an axis MAFR Yes Motion Axis Fault Reset Rockwell Automation Publication MOTION UM003D EN P October 2012 Table 21 Available Motion Direct Commands Program Chapter 9 If You Want To And Use This Instruction Motion Direct Command Control axis position Stop any motion process on an axis MAS Yes Motion Axis Stop Home an axis MAH Yes Motion Axis Home Jog an axis MAJ Yes Motion Axis Jog Move an axis to a specific position MAM Yes Motion Axis Move Start electronic gearing between two axes MAG Yes Motion Axis Gear Change the speed acceleration or deceleration of a move ora jog that MCD Yes is in progress Motion Change Dynamics Change the command or actual position of an axis MRP Yes Motion Redefine Position Calculate a Cam Profile based on an array of cam points MCCP No Motion Calculate Cam Profile Start electronic camming between two axes MAPC No Motion Axis Position Cam Start electronic camming as a function of time MATC No Motion Axis Time Cam Calculate the slave value slope and derivative of the slope fora cam MCSV No profile and master value Motion Calculate Slave Values Initiate action on all axes Stop motion of all axes MGS Yes Motion Group Stop Force all axes into the shutdown state MGSD Yes Motion Group Shutdown Transition all axes to the ready state MGSR
187. hen you are offline or online and a module mismatch or communication error has occurred Link Status Displays the link status as Inactive port is inactive or Active port is active Link Status appears dimmed when you are offline or online and a module mismatch or communication error has occurred Auto Negotiate Displays the port s auto negotiate status e Check Auto Negotiate to enable the module to negotiate the port s speed and duplex automatically e Clear the Auto Negotiate checkbox to set the port s speed and duplex manually Auto Negotiate appears dimmed and checked when the module s port and duplex cannot be specified manually Auto Negotiate appears dimmed and unchecked when the port s speed and duplex are specified by the module Auto Negotiate is unchecked and appears dimmed when you are offline online and Enable is unchecked or online and a module mismatch or communication error has occurred Selected Speed Displays the port s selected speed if Auto Negotiate is unchecked You can also select the port s speed These are the valid speed e 10Mbps e 100 Mbps e 1000 Mbps Selected Speed appears dimmed and has no value if either of the following occurs You are offline e Online and Enable is unchecked e Online and Auto Negotiate is checked e Online and Auto Negotiate appears dimmed e Online and a module mismatch or communication error has occurred Rockwell Automation Publication MOTIO
188. ialog box with be filled in automatically Otherwise you will have to enter the information yourself Axis Properties Axis_11 Categories General Motor Feedback Device Specification Motor Model Device Function Motor Mounted Feedback Ean Motor Feedback Feedback Channel Feedback 1 Scaling Type Hookup Tests x Hiperface z Units Polarity Rev x Autotune Attributes associated with the Motor Feedback dialog box are designated as Feedback 1 Commutation Alignment Motor Offset v Offset Not Aligned Controller Offset Degrees Polarity Motor Offset Le SeltSense Ifa permanent magnet motor is selected from the Motion Database the Commutation Alignment is set to Controller Offset However ifa permanent magnet motor is specified from Nameplate Datasheet you need to specify the Commutation Alignment method The default is set to Not Aligned Table 5 Commutation Alignment Settings Type Description Not Aligned This indicates that the motor is not aligned and that the Commutation Offset value is not valid If the Commutation Offset is not valid it cannot be used by the drive to determine the commutation angle Any attempt to enable the drive with an invalid commutation angle shall result in a Start Inhibit condition Controller Offset It applies the Commutation Offset value from the controller to determine the electrical angle of the motor Motor Offset The drive derives the commuta
189. ic Motor J otor Model Data Source Nameplate Datasheet hd Parameters Analyzer Catalog Number knon o Chenge Catalog Scaling Hookup Tests Motor Type Rotary Induction 7 Polarity p Planner lets Bas ee Control Nameplate Datasheet Phase to Phase parameters ctions Drive Parameters Rated Power 0 kw Pole Count 0 Panels List Rated Voltage 0 Volts RMS Rated Frequency 0 Hertz tatus Faults amp Alarms Rated Speed 0 RPM Tag Rated Current 0 Amps RMS Motor Overload Limit 100 0 Rated Manual Tune Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 3 Enter the parameters information from the motor Nameplate Datasheet Mohs properties poneren masa T Categories General Motor Device Specification Motor Model Data Source Nameplate Datasheet z Parameters Analyzer Catalog Number none gt Change Catalog Scaling Hookup Tests Motor Type Rotary Induction z Polarity Planner Urner Heg Frane Control Nameplate Datasheet Phase to Phase parameters ctions Drive Parameters Rated Power 0 025 kw Pole Count 4 eas List Rated Voltage eso 0 Volts RMS Rated Frequency 60 0 Hertz tatus Faults amp Alarms Rated Speed 1600 0 RPM Tag Rated Current fo 22 Amps RMS Motor Overload Limit 100 0 Rated Manual Tune Cancel Apply Help 4 Click Apply Choose Drive NV
190. if the local clock is synchronized and zero 0 if the local clock is not synchronized A clock is synchronized if it has one port in the slave state and is receiving updates from the time master Offset Master Specifies the amount of deviation between the local clock and the Grandmaster clock in nanoseconds Backplane State Specifies the state of the backplane Ethernet State Specifies the state of the Ethernet port e For more information about the Time Sync tab see Set Time Synchronization on page 20 e For detailed information about CIP Sync see the Integrated Architecture and CIP Sync Configuration Application Technique publication A AT003 Module Info Tab The Module Info Tab displays module and status information You can also reset a module to the power up state Use this tab to determine the identity of the module The data on this tab comes directly from the module If you selected a Listen Only communication format when you created the module this tab is not available You will not see any values if you are offline or you are creating a module When you are online with the controller you can review real time drive status information When you are offline no values display W Module Properties To_K6K 2094 ENO2D M01 S1 1 1 jol xj General Connection Time Sync Module Info Intenet Protocol Port Configuration Network Associated Axes Power Dis Identification M Status Vendo
191. ilable 10 Check the checkbox if you want to verify the power rating on connection Module Definition x Revision le bd 1 Electronic Keying Compatible Module sA Connection Motion 2094 AC05 MP5 M bf lt none gt 2094 AC05 MP5 M 2094 AC05 M01 M 2094 AC09 M02 M 2094 AC16 M03 M 2094 AC32 M05 M 2094 BC01 MP5 M 2094 BC01 M01 M 2094 BC02 M02 M Power Structure v Verify Power Rating on Conn 11 Click OK When you change the Module Definition related parameters also change Changing the major revision or power structure changes the identity of the drive If your drive is associated to an axis these changes will disassociate the axis r lt _ a s fi These changes will cause module data types and properties to change _ Data will be set to default values unless it can be recovered from the existing module properties Verify module properties before Applying changes Change module definition 12 On the General tab click OK to apply the changes TIP If you go to the Associated Axis tab before you click OK and exit the General tab the option to create or associate an axis is unavailable Once you exit you can go back to the Associated Axis tab and create an axis or associate an existing axis Alternatively you can create an axis by right clicking the Motion Group in the Controller Organizer tree Rockwell Automation Publication MO
192. inued Guideline If your equipment can t back up use unidirectional homing Description With unidirectional homing the axis doesn t reverse direction to move to the Home Position For greater accuracy consider using an offset Use a Home Offset that is in the same direction as the Home Direction e Use a Home Offset that is greater than the deceleration distance Ifthe Home Offset is less than the deceleration distance does the following The axis simply slows to a stop The axis doesn t reverse direction to move to the Home Position In this case the MAH instruction doesn t set the PC bit Ona rotary axis the controller adds one or more revolutions to the move distance This makes sure that the move to the Home Position is unidirectional Choose a starting direction for the homing sequence 162 Decide which direction you want to start the homing sequence in Positive direction choose a Forward direction Negative direction choose a Negative direction Active Homing When the axis Homing mode is configured as Active the physical axis is first activated for servo operation As part of this process all other motion in process is cancelled and appropriate status bits cleared The axis is then homed by using the configured Home Sequence which may be Immediate Switch Marker or Switch Marker The later three Home Sequences result in the axis being jogged in the configured Home Direction and
193. ion 2 Type a name 3 Type a description if desired Rockwell Automation Publication MOTION UM003D EN P October 2012 93 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive The fields in the next steps are automatically filled in for the Motion_Group data type 4 Change the Tag Type Data Type Scope and External Access if needed For more information about External Data Access Control and Constants see the Logix5000 Controllers I O and Tag Data Programming Guide publication 1756 PM004 5 Check Open MOTION_GROUP configuration and click Create The Motion Group Wizard appears with unassigned axes r Motion Group Wizard Motion_Group_101 Axis Assignment Unassigned Assigned PF_Axis_1 94 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 Associate the Axis to the Motion Group There are three ways to assign axes to a Motion Group e Create a motion group The Motion Group wizard appears and will take you through the necessary screens e Open the Motion Group properties and make changes e Drag the axis into the Motion Group in the Controller Organizer 1 Select an axis and click Add 2 Verify that the axis has been assigned to the group ca Group es Motion_Group_101 b gt bajks Axis Assign
194. ion by Using a 77 PowerFlex 755 Drive Updated Absolute Position Recovery Scenarios 173 Rockwell Automation Publication MOTION UM003D EN P October 2012 Summary of Changes Notes 4 Rockwell Automation Publication MOTION UM003D EN P October 2012 Preface Configure a Project for Integrated Motion on the EtherNet IP Network Configure Integrated Motion Control by Using Kinetix Drives Configuration Examples for a Kinetix Drive Table of Contents Studio 5000 Envitonincht ject e oleae Sas ale am 9 What You Need yi hoes eee an stow eyuy erage A AN N ee brder ins 10 Integrated Motion EtherNet IP Drives 0 0 cece ee eee 11 Configuration and Start up Scenarios isinnsetucwhiekorasatersende 12 Help for Selecting Drives and Mototsvcic ies cuek chivtan da neen tench 14 Where to Find Sample Projects i cits aes dda e tan eeristens 14 Additional Resources hoe cnt ket eieease satay Sa beet Ratio wide awaboaes 15 Chapter 1 Create a Controller Project s4 cvo4ca sed ao Pauineg ieee gs ve tose lenens vs 17 Set Time SyHchronizationiiy iaes2 ia boleh chan eee Masada basa oui 20 Add a 1756 ENxTx Communication Module 000008 22 Chapter 2 Configuring a Kinetix Drive xcsas cress os ed Uae oye ee Ns 28 Adda Kin tix EtherNet IP Drive wx wicanacasiakewsa ss tnbeianwoas 28 Create an Associated Axis a touida teva een n Gh leaemiall Ob heey oll cd 32 Create an Axis for a Kinetix Drive 00 cccceeceeenees 32
195. is Manual Tune Program Table of Contents Autotune Dialog Dox aiis4 vas eccrine eas and eee SS 148 Load Dialog BOK cineri iri ii enr A AROE E aE 152 Eoad ODserver eee hitch th el ee eh ra lah a a 154 Motion Analyzer Son Wares lt c2 d320 ti de tuiaGa aioe besetentencse 157 Test an Axis with Motion Direct Commands 0000008 158 Access Motion Direct Commands for an Axis or Group 158 Chapter 7 Guidelines for Pomihgs cccv t so ejetri iad eerei Lae 161 Active Homing 55 6 foe ap sea eveaks vom sai Seed Nore eT Rs KAA ATIOOS 162 Passive Homing e ci205 iecicudas essen wen iadnaa tienen EE 162 EXAM PSs dese jae harceane een tin E EAEE E A TS 163 Active Homing trance aca Ace Geely mpage ging A S ants 163 Passive Homing srr senhos en Gan saa anaty Nig mele tah 167 Absolute Position Recovery APR 2 see e eee eee en eee e eee 168 APR Petamnolopyerayin cus detednn aerie Ta io en i ous eke 168 APR Supported Components 4 2 cstchves oe beveewtenegas 168 Absolute Position Recovery Functionality 0 2 eee eee 169 Absolute Feedback Device cccccecucceccceeveeusuce 169 S icos versus CIP esien ces a atdchds whats Shanletarer date 169 PPR Patil EE iaia wee E EE edits Nase E 170 APR Fault Conditions n nunnu dee een ug wy wena eae eeew ees 170 APR Fault G nieratioti v seid hoes bos cus Neha sk BARE Sead 171 Absolute Position Recovery Scenarios cee eee ee eee 173 Sealing aise chat Oia
196. is Properties Axis Faults is a hyperlink to Faults and Alarms dialog box of Axis Properties Rockwell Automation Publication MOTION UM003D EN P October 2012 195 Chapter8 Manual Tune Notes 196 Rockwell Automation Publication MOTION UM003D EN P October 2012 Chapter 9 Program This chapter describes how to program a velocity profile and jerk rate Topic Page Program a Velocity Profile and Jerk Rate 197 Enter Basic Logic 208 Choose a Motion Instruction 210 Troubleshoot Axis Motion 213 Troubleshoot Axis Motion 213 Why does my axis overshoot its target speed 214 Why is there a delay when stop and then restart a jog 217 Why does my axis reverse direction when I stop and start it 219 Programming with the MDSC Function 221 Prog rama Velocity Profile You can use either of these motion profiles for various instructions and Jerk Rate e Trapezoidal profile for linear acceleration and deceleration e Curve profiles for controlled jerk Definition of Jerk The Jerk is the rate of change of acceleration or deceleration The jerk parameters apply only to S Curve profile moves using these instructions MAJ MCS MAM MCCD e MAS e MCCM MCD MCLM For example if acceleration changes from 0 to 40 mm s in 0 2 seconds the jerk is 40 mm s 0 mm s 0 2 s 200 mm s Rockwell Automation Publication MOTION UM003D EN P October 2012 197 Chapter9 Program Choose
197. ission using a UFB Feedback Devices os 1S53 csinaneni asaeniiay oes cored Example 2 Position Loop with Dual Motor Feedback via a UFB Feedback Device ins Sicedsendcd cia a aaste tea eer ess Example 3 Velocity Loop with Motor Feedback via a UFB Feedback Device 0ccccececeeseescvevevucues Example 4 Velocity Loop with No Feedback 0 00005 Example 5 Frequency Control with No Feedback Example 6 Torque Loop with Feedback 2 0 ee eee ees Chapter 6 Scaling Dialog Dox ih oer pedencses veered ehaetenan aud meni Direct Coupled Rotary six e eeu a bets ve beret Atak hos Direct Coupled linear 4 03 tterstat eee eee Rotary Transmission ss pevscamennered aa denvere ee Peesen Lifear Actuator 3 casas E N sind iis eet EA ad ooo y ence bakes Hookup Tests Dialog Box psc ssnl cus wave nous een ays oiehwesete eens Test Cable Connections Wiring and Motion Polarity Run a Motor and Feedback Test 0 0 ccc ceceeeeeeeeee Run a Motor Feedback Testa 2212 024 hcuvevevetadivebseeuc van R na Marker Fest eere ia aa cna enous ten dana ace EEE C mmu tation Testees iia neer tie che see bhatt setetenitente hes Applying the Commutation Hookup Test 085 Runa Commutation Test 0c ccc cece eee e eet e nee rrr Polarity Dialog Boxiancess sae sinus os psn ahed ee sesmeneeyee oe eaahe Rockwell Automation Publication MOTION UM003D EN P October 2012 Home an Ax
198. itch homing with the exception that the torque level is used instead of the home switch input This graphic depicts the Position Velocity for Torque Level Homing Torque Level Homing Homing Vel 1 Axis Position Axis Velocity Return Vel 1 End of Travel Hard Stop 2 Homing Torque Above Threshold TRUE 3 Homing Torque Above Threshold FALSE 4 Home Position Torque Level Marker homing is very similar to Home Switch Marker homing with the exception that the torque level is used instead of the home switch input This graphic depicts the Position Velocity for Torque Level Marker Homing Torque Level Marker Homing Homing Vel 1 Axis Position Axis Velocity 4 Return Vel 1 End of Travel Hard Stop 2 Homing Torque Above Threshold TRUE 3 Homing Torque Above Threshold FALSE and Arm Regestration for Encoder Marker 4 Encoder Marker Detected 5 Home Position 166 Rockwell Automation Publication MOTION UM003D EN P October 2012 Passive Homing Home an Axis Chapter 7 These examples show different ways to use passive homing Table 15 Passive Homing Examples Sequence Passive Immediate Home Description This is the simplest passive homing sequence type When this sequence is performed the controller immediately assigns the Home Position to the current axis actual position This homing sequence produces no axis motion Passive Home with Switch This passive homing sequence is use
199. kup Tests dialog box to check your cabling adjust motor and feedback polarity establish your sense of positive motion direction and if applicable check encoder marker and commutation function To run any of the Hookup Tests you must first download your program ATTENTION These tests may actively move the axis even with the controller in remote program mode e Before you do the tests make sure no one is in the way of the axis e Changing motor or feedback after performing the Hookup Test may result in an axis runaway condition when the drive is enabled These are the tasks to run tests on the Hookup test dialog box e Download a program e Runa Hookup test to test motor and feedback device wiring e Runa Marker test to check for the marker pulse e Runa Motor Feedback test to check for feedback counts e Set atest distance and run a Motor and Feedback test e Runa Load Feedback test e Runa Commutation test The combination of the Axis and Feedback configuration types you choose determines what Hookup tests are available 138 Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 Test Cable Connections Wiring and Motion Polarity Various types of Hookup Tests become available depending on what type of drive you are using and what combinations of Axis Configuration and Feedback Configuration types you choose Table 10 Types of Hookup Tests Test Description Marker Checks
200. l combination that is applicable to your hardware configuration In this case Port 4 Channel A is associated with the Motor Feedback device General Connection Time Sync Module info Intemet Protocol Port Configuration Axis 1 PF _Axis_1 z amp SeSe r This message means that without fully defining the drive with a power structure the factory defaults cannot be computed See Assign a Power Structure on page 82 Similarly if you have not assigned the feedback device on the drive s Module Properties dialog box you will get this message on the Motor Feedback dialog box telling you to define the feedback device E Motor Model Device Function Motor Mounted Feedback Analyzer Feedback Channel Feedback 1 MEET tne a T ee Scaling g feedback device is defined for this Feedb eop Toas ts Grn ead Meade Polarity Define feedback device Autotune Click the link to define the feedback device Rockwell Automation Publication MOTION UM003D EN P October 2012 87 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive See Configure the Associated Axis and Control Mode on page 90 The ports and channels that you can select are related to what hardware you have installed The choices depend on the installation and automatically appear e Ifyou are configuring a Position Loop you can choose between Motor Feedback Dual Feedback and Dual Integrated Fe
201. l modes Follow these steps to configure an axis 1 In the Controller Organizer double click the axis that you want to configure The Axis Properties General dialog box appears AF Categories F General Motor Model Axis Configuration Frequency Control K Analyzer Feedback Configuration No Feedback Scaling Hookup Tests Polarity Planner Frequency Control Motion Group CIP_Motion Ka lal New Group Actions Drive Parameters Parameter List Associated Module Status Faults amp Alarms Module B15_PF755 id Tag Module Type PowerFlex 755 EENET CM Power Structure 240V 4 24 Normal Duty Axis Number 1 hd Manual Tune Cancel Apply Help 2 Choose an Axis Configuration Axis Configuration Position Loop v Fecia Cinet P Application Type Loop Response Motion Group lt none gt TIP The associated drive determines what axis and feedback configuration choices are presented 90 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 This table describes the axis and loop types related to the drive Axis Type Loop Type PowerFlex 755 Positiontoop Pi ws Velocity Loop V Yes Torque Loop T Yes Feedback Only N No Frequency Control F Yes 3 Choose a Feedback Configuration type Axis Configuration Feedback Configuration Application Type Loop Response Motion Group
202. lG Linear Actuator V Torque Current Loop Homing Actions Drive Parameters Parameter List Status Faults amp Alarms Tag 5 From the Load Type pull down menu choose the appropriate load type Example 6 Torque Loop with Motor Feedback Scaling Conversions 5 gt Axis Properties PowerFlex_JKL Scaling to Convert Motion from Controller Units to User Defined Units Rotary Transmission Faults amp Alarms Tag per Cycle tion Units Units ok f o cme aw o eo 6 Enter the Transmission Ratio 7 Enter the Scaling Units 8 From the Travel Mode pull down menu choose the appropriate travel mode See the Scaling Dialog Box on page 134 for more information 9 Click Apply You are now finished configuring the axis for Torque Loop with Motor Feedback Rockwell Automation Publication MOTION UM003D EN P October 2012 131 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive Notes 132 Rockwell Automation Publication MOTION UM003D EN P October 2012 Chapter 6 Commission This chapter discusses how to commission an axis for a motion application Commissioning includes Off line Scaling settings downloading a project running a Hookup Test performing Tuning and using the Motion Direct Commands Topic Page Scaling Dialog Box 134 Hookup Tests Dialog Box 138 Test Cable Connections Wiring and Motion Polarity 139 Commutation T
203. larms m r IMPORTANT After you have configured the axis and you change the Axis Configuration type or the Axis Number some of the configuration information will be set to default values This may cause some previously entered data to be reset back to its default setting Rockwell Automation Publication MOTION UM003D EN P October 2012 59 Chapter3 Configuration Examples for a Kinetix Drive Position Loop Data Source Catalog Number MPL B310PM Change Catalog Motor Type Rotary Permanent Magnet Units Rev Nameplate Datasheet Phase to Phase parameters Rated Power Rated Voltage Rated Speed Rated Current Rated Torque 4 5 Now that you defined the axis as being a Position Loop with Dual Feedback axis the Motor Motor Feedback and Load dialog boxes become available From the Data Source pull down menu choose Catalog Number Click Change Catalog and choose your motor In this case a MPL B310P M motor was chosen Example 2 Position Loop with Dual Feedback Motor Dialog Box 07 kw Pole Count 8 460 0 Volts RMS 5000 0 RPM Max Speed 5000 0 RPM 17 Amps RMS Peak Curent 502 Amps RMS 158 Nm Motor Overload Limt 100 0 Rated 60 0K Cano op Hep When you select the Data Source for the motor specification the MPL B310P M mortor is in the Motion Database so you can select it by Catalog Number Notice that the specification data f
204. lations are still made but the inertia is not measured Choose whether the motor is coupled to the load or not Commission Chapter 6 The Application Type Loop Response and Load Coupling settings are conveniently grouped at the top left of the Autotune dialog box These three attributes control the Autotune servo loop gain and filter bandwidth calculations Axis Properties B15_K6500 Drive Parameters Parameter List Failte amp Alarms Tune Control Loop by Measuring Load Characteristics These are the same settings you made on the General dialog box You can change them here if desired Tune Control Loop by Measuring Load Characteristics Autotune normally applies a Tune Profile to briefly accelerate and decelerate the motor to measure its inertia The measured inertia is normally used to establish the overall System Inertia However if the Uncoupled Motor box is checked the measured inertia is applied to Motor Inertia attribute To set up the Tune Profile you enter the Travel Limit Speed Torque and Direction Forward Unidirectional 2 Set the Travel Limit based on the travel constraints of the machine Rockwell Automation Publication MOTION UM003D EN P October 2012 149 Chapter6 Commission 3 Set the Speed to the expected operation speed 4 Set the Torque to the level you want to apply to the motor during the Autotune The default of 100 Rated Torque usual
205. le when the controller is in Run mode Electronic Keying Set the electronic keying as Exact Match or Compatible Module Never use Disable Keying in motion applications Power Structure Defines the current and voltage of the drive It is a voltage current duty cycle combination When you change the power structure the associated axis settings are removed and the values are reset to defaults Power Ratings Verifies that the power structure in the profile is the same as the connected drive You may see a power mismatch depending on state of the checkbox Verify Power Rating on Connection is checked by default It is enabled in offline mode You can access the Verify Power Rating by clicking Change Connection Available offline only The default and only value is Motion Ethernet Address Assign an Ethernet address for the integrated motion drive Depending on your application requirements you can either assign a Private Network Address or a general IP Address You can also assign a Host Name A Host Name can have up to 64 ASCII characters These are the valid values gt 0 9 AZ e Upper or lower case letters dash e period For specific information about setting up the EtherNet IP network for the Kinetix 6500 control module see the Kinetix 6200 and Kinetix 6500 Modular Servo Drive User Manual publication 2094 UM002 For general information about setting IP addresses and other Ethernet ne
206. ll axes are off All Axes_Off i 2 Use a one shot instruction to trigger the uninhibit Your condition to uninhibit the Your condition to inhibit the axis axis is on is off All axes are off Give the command to uninhibit the axis My_Axis_X_Uninhibit My_Axis_X_Inhibit All_Axes_Off e a ee eel SR One Shot Rising Storage Bit My_Avxi Output Bit My_Axis_ 3 Uninhibit the axis My_Axis_X_Uninhibit_Cmd Set System Value Class Name AXIS inhibi Uninhibit this axis Instance Name My_Axis_X The uninhibit command turns on irene Name My Ada Uninhibit the axis Source 4 Wait for the inhibit process to finish All of these have happened eThe axis is uninhibited All uninhibited axes are ready eThe connections to the motion drive module are running again This axis is on This axis is OK to run My_Axis_XInhibitStatus My_Axis_X ServoActionStatus My_Axis_ X_OK Rockwell Automation Publication MOTION UM003D EN P October 2012 235 Chapter10 Faults and Alarms Notes 236 Rockwell Automation Publication MOTION UM003D EN P October 2012 Module Properties CIP Drive Module Properties Appendix A Use this appendix for a description of each tab of the CIP drive Module Properties dialog box Topic Page General Tab 238 Connection Tab 240 Time Sync Tab 241 Module Info Tab 242 Internet Protocol Tab 244 Port Configuration Tab 246
207. lter The Kinetix 350 does not support this parameter Load Friction Sliding Friction Compensation is the value added to the current torque command to offset the effects of coulomb friction e Compensation Window defines a window around the command position The Kinetix 350 does not support this parameter Load Observer This configures the operation of the Load Observer The Kinetix 350 does not support this parameter See the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 for detailed descriptions of the AXIS_CIP_DRIVE attributes Rockwell Automation Publication MOTION UM003D EN P October 2012 153 Chapter6 Commission Load Observer 154 Acceleration Control can optionally include a Load Observer Feeding the Acceleration Reference Kinetix 350 drive not supported into a Load Observer along with the velocity feedback signal has been found to be effective in compensating for mechanical backlash mechanical compliance and various load disturbances For example the effectiveness of the Load Observer can be thought of as a result of the Observer adding virtual inertia to the motor 59 Axis Properties K6K_Axis_0 gt lol x Categories Load Observer General E Motor Model Configuration Disabled z Parameters Motor Feedback Bandwidth i Here Hek a IntesratorBandwidth an Hertz Polarity Autotune E Load Backlash Compliance Lo
208. ly give good results Set the Direction based on machine constrains Unidirectional tune profile measures inertia and friction Bidirectional tune profile adds measurement of active torque loading TIP Blue arrows next to a field means that these values are immediately applied Once you put a value in the field and then leave that field it is automatically sent to the controller 6 Click Start This message appears if you have edits that have not been applied If you don t save pending edits Autotune does not run RSLogix 5000 xi Pending edits must be saved prior to executing online command e Save pending edits lt a The Autotune status should display Success A tune configuration fault can occur if any number of attributes are zero Fault Description Tune Configuration Fault A tune configuration fault can occur if any number of attributes are zero This occurs only when you use Nameplate Data as the motor data source The following attributes are checked for zero Tuning Torque e Conversion Constant Drive Model Time Constant System Damping Damping Factor e Rotary Motor Inertia e Linear Motor Mass The Kinetix 350 drive does not support this attribute Motor Rated Continuous Current PM Motor Rotary Voltage Constant PM Motor Linear Voltage Constant e Rotary Motor Rated Speed Linear Motor Rated Speed The Autotune profile accelerates and decelerates the motor according to the Tune
209. mation Publication MOTION UM003D EN P October 2012 233 Chapter10 Faults and Alarms Example Inhibit an Axis 1 Make sure all axes are off This axis is off And this axis is off All axes are off My_Axis_X ServoActionStatus My_Axis_Y ServoActionStatus All_Axes_Off E n 2 Use a one shot instruction to trigger the inhibit Your condition to inhibit the axis Your condition to uninhibit the is on axis is off All axes are off Give the command to inhibit the axis Y f Y My_Axis_X_Inhibt My_Axis_X_Uninhibt All_Axes_Off e e eel SR One Shot Rising Storage Bit My Axis X_Inhibit_SB Output Bit My_Axis X _nhibit_ Cmd 3 Inhibit the axis The inhibit command turns on My_A amp xis_X_Inhibit_Cmd SSY Set System Value Class Name AXIS Instance Name My_Axis_X Attribute Name InhibitAxis Source One p 1 Inhibit this axis Inhibit the axis 4 Wait for the inhibit process to finish All of these have happened The axis is inhibited All uninhibited axes are ready The connections to the motion drive module are running again What you want to do next My_Axis_X InhibitStatus NOP 234 Rockwell Automation Publication MOTION UM003D EN P October 2012 Faults and Alarms Chapter 10 Example Uninhibit an Axis 1 Make sure all axes are off This axis is off And this axis is off My_Axis_X ServoActionStatus My_Axis_Y ServoActionStatus A
210. ment Attribute Tag Unassigned Assigned PE is 1 Add gt lt Remove ok Canos Apy __Hep 3 Click OK 6 Motion Groups The axis appears under the Motion Groups 8 Motion_Group 101 Re DANE Ungrouped Axes Rockwell Automation Publication MOTION UM003D EN P October 2012 Chapter 4 96 Configure Integrated Motion by Using a PowerFlex 755 Drive Set the Coarse Update Period The Coarse Update Period is basically the RPI rate for Ethernet communication between the controller and the motion module a Unicast connection It also sets the motor feedback returned from the drive in the drive to controller connection The Coarse Update Period is how often the motion planner runs When the motion planner runs it interrupts most other tasks regardless of their priority The motion planner is the part of the controller that takes care of position and velocity information for the axes Follow these steps to set the Coarse Update Period 1 Click the Attribute tab in the Motion Group Properties dialog box Coarse Update Period 3 0 ms in 0 5 increments Ato Tog Update General Fault Type Non Major Faut v Scan Times elapsed time Max j us Reset Max Last us ok canca Apy C Hep 2 Set the Coarse Update Period to 3 0 32 0 ms For the PowerFlex 755 drive the minimum Coarse Update Rate 3 ms Rockwell Automation Publication MOTIO
211. n You must enable time synchronization for motion applications Follow these instructions to enable time synchronization 1 In the Controller Organizer right click the controller and choose Properties 2 Click the Date Time tab This is an example of the Controller Properties dialog box for the 1756 L71 controller Redundancy Nonvolatile Memory J Security Data Logging Aam Log General Major Fauts Minor Faults Date Time __ Advanced SFC Execution Project i The Date and Time displayed here is Controller local time not workstation local time Use these fields to configure Time attributes of the Controller Set Date Time and Zone from Workstation e Date and Time Change Date and Time e Time Zone C Eje C Adjust for Daylight Saving 00 00 e Time Synchronize gt DANGER If time synchronization is V Enable Time Synchronization disabled online active axes in any controller in this chassis or any other la j synchronized device may experience 2 Bie E unexpected motion Safety controllers may ls a synchronized time slave Fault if no other time master exists in the Duplicate CST master detected socal chee CST Mastership disabled No CST master 0k cancel ay Hep 3 Check Enable Time Synchronization 4 Click OK Rockwell Automation Publication MOTION UM003D EN P October 2012 21 Chapte
212. n Filters Limits Planner Maximum 2266666 H Position Units s Maximum Acceleration po Position Units s 3 Maximum po Position Units s 2 Maximum Deceleration po iS Position Units s 3 Maximum foot iS Position Units s 2 Attribute Description Maximum The value of the Maximum Speed attribute is used by various motion instructions to determine the steady state speed of the axis Maximum Acceleration The Maximum Acceleration and Maximum Deceleration values are frequently and Maximum Deceleration used by motion instructions for example MAJ MAM and MCD to determine the acceleration deceleration rate to apply to the axis Rockwell Automation Publication MOTION UM003D EN P October 2012 191 Chapter8 Manual Tune Quick Watch The Quick Watch window lets you monitor the tags in your program while you are executing commands To open Quick Watch press ALT 3 or choose it from the View menu Motion Console Axis_101 ral Mai Motion Generator More Commands pr Commands BE 19 479559 System Damping zo aun enuey A E Tuning Configuration Position Loop Loop Bandwidth 19 469685 Hertz Integrator Bandwidth 0 0 Hert Integrator Hold Disabled z e Trapezoidal Error Tolerance a217 Position Units DANGER Executing motion command with controller in elocity Loop Program or Run Mode may cause axis motion Loop Bandwidth 77 87874 a Hertz Integrator Bandwidth
213. n Motion Power Structure lt none gt Status Creating OK Canca Hep 7 Type a description if desired 8 Assign an EtherNet IP address See these manuals for information about setting up IP addresses e PowerFlex 755 Embedded EtherNet IP Adapter User Manual publication 750COM UMO01 e Ethernet User Manual publication ENET UMO001 9 Under Module Definition click Change Module Definition Revision 61 Bectronic Keying Compatible Module Connection Motion Power Structure lt none gt The Module Definition dialog box appears fiica Deen cemoe b ES p Peripheral Devices Revision gz a Electronic Keying Compatible Module z Connection Motion z Power Structure knone gt x V Verify Power Rating on Connection A ATTENTION The electronic keying feature automatically compares the expected module as shown in the configuration tree to the physical module before communication begins 80 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 10 From the Electronic Keying pull down menu choose an option either Exact Match or Compatible Keying i WARNING When using motion modules the electronic keying must be Never use Disable Keying with motion modules Select a Peripheral Feedback Device and Slot Assi
214. n 1 0 tree 1769 L27ERM Embedded Ethernet 4 Up to 100 16 max in 1 0 tree 1769 L30ERM Embedded Ethernet 4 Up to 100 16 max in 1 0 tree 1769 L33ERM Embedded Ethernet 8 Up to 100 32 max in 1 0 tree 1769 L36ERM Embedded Ethernet 16 Up to 100 64 max in 1 0 tree 1 Multiple controllers can control drives on a common 1756 ENx1x module so based on the TCP connection limit up to 128 can be supported 2 If more than the maximum 1 0 modules are configured in the 1 0 tree under Embedded Ethernet then you will get a Project Verify Error Error Maximum number of nodes on the local Ethernet port has been exceeded 3 The 1756 L6x controllers are not supported in the Logix Designer application Version 21 00 00 You can have eight Position Loop axes per 1756 EN2T module Each drive requires one TCP and one CIP connection If you have other devices that consume TCP connections on the module it will reduce the number of drives you can support Only the drives axes configured for Position Loop are limited Frequency Control Velocity Loop and Torque Loop configured drives axes are not limited 1 Click New Group r New Tag mmm Name Motion Group_101 Description A Cancel Help i i Usage lt normal gt X Alias For Data Type MOTION_GROUP eme WoT Scope a Integrated _Motion Control Extemal 3 I Access Read Write z Style X Constant V Open MOTION_GROUP Configurat
215. n Bradley drives and motors based upon your load characteristics and typical motion application cycles The software guides you through wizard like screens to collect information specific to your application After you enter the information for your application such as load inertia gear box ratio feedback device and brake requirements the software generates an easy to read list of recommended motors drives and other support equipment You can download the Motion Analyzer software at http www ab com motion software analyzer_download html There are three ways to find the sample projects e Studio 5000 Main Dialog Box r Rockwell Software a Studio 5000_7 Create Open Explore New Project Existing Project Help rom Import Sample Project Release Notes m Sample Project From Upload About Recent Projects a rust 2012 e Logix Designer Start Page ALT F9 ap aaae gt Quick Start gt Controller Projects There is a PDF file named Vendor Sample Projects on the Start Page that explains how to work with the sample projects Recent Projects E Open Project E New Project E Open Sample Project P Open Vendor Sample Project Qa Vendor Sample Projects Contents Instruction Help Release Notes Online Books Vendor Sample Projects p E Quick Start B Learning Center BE Resource Center About Logix Designer The Rockwell Automation sample project s default location is C
216. n Generator cription Cross Reference Ctrl E 3 State Print 2 On the Print dialog box select Adobe PDF and click Print Options Print Options Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 3 Check the Include Special Properties and Advanced list to see all of the information Print Options Categories General Change Tag Listing print preferences Data Type Listing Tag Listing Module Properties Listing Sort By Add On Instruction Listing Name B Ladder Listing C i Display Siia i FontColor I Include Cross Reference E SFC Listing Font Color T Exact Match FBD Listing Font Color a Structured Text Listing Edit Monitor Tags Window Font Color I Value Force Mask T Alias For I Base Tag J External Access Position Loop Motion_group_A K6500_Drive2 2094 AMPS M Catalog Number Rotary Permanent Magnet 0 73 kW 230 0 Volts RMS 5000 0 RPM 3 43 Amps RMS 1 58 N m x T Include Unused Tags Structure Members and Array Elements Include Special Properties Advanced List IV Expand Data Types Ss VV Expand Arrays IV Print Pass Through Descriptions I Style W Description V Type T Constant Loc caret tor Her Feedback Configuration Module Type Axis Number Catalog Number Units Pole Count Max Speed Peak Current Motor Overlo
217. n MOTION UM003D EN P October 2012 Parameter Dialog Box Listings Parameter Group Dialog Boxes Appendix B This appendix describes the parameter group dialog boxes You can access all the parameters associated with each category dialog box by clicking Parameters on the dialog box Each Parameter dialog box lists may contain more attributes than the associated category dialog box In some cases attributes that are contained on the Parameter List dialog box are not contained on the associated category dialog box Figure 33 Scaling Parameters Axis Properties CIPAxis 2 Categories General Motor Model Motor Feedback Scaling Hookup Tests Polarity Autotune 5 Load Backlash Compliance Friction Observer Position Loop Velocity Loop Acceleration Loop Torque Current Loop Planner Homing Actions Drive Parameters Status Faults amp Alarms Tag lolx Motion Axis Parameters Parameter Group Scaling Associated Page ActuatorDiameter ActuatorDiameterUnit Millimeter _ ActuatorLead 10 ActuatorLeadUnit Millimeter Re _ ActuatorType lt none _ ConversionConstant 1000000 0 Motion Counts Position Units E LoadType Direct Coupled Rotary _ MotionResolution 1000000 Motion Counts Motor Rev E MotionScalingConfiguration Control Scaling _ MotionUnit Motor Re _ PositionScalingDenominator 1 0 Motor Rev _ PositionScalingNumerator 1
218. nen gh w tenia vel tha corona aati E EER 177 Online Scaling cicisicauotipeebin nt bisiweedars eretaan ens 178 Resetting an APR Faltch siitict evar dvrdvand eeu stiles niydire 178 Absolute Position Loss without APR Faults 0 178 Behavior of APR for Incremental Encoders 0 e00005 179 Saving an ACD File versus Upload of a Project 04 180 Chapter 8 Manual i aneanvAgide a06ilatascsa ede he bers oe chu iesamewer acs 181 Axis Configuration Types s ssssrerererrsrerrrrererere 182 Current Tuning Configuration ssssrserererrrerrsrers 182 Loop RESPONSES ri is Ul ican tes Bechet cat ae ei cae REE A 183 Motion Generator and Motion Direct Commands 185 Additional ANC xccoractvatace dts stn tome aedeale tarersnices Pee ete AAN 187 Additional Tune for the Kinetix 6500 Module 187 Additional Tune for the PowerFlex 755 Drive 005 190 Quek Wy atch sss oe sso a Ss one caro h aire eS ate ret 192 Motion Generator cc cc cece cee ene n een ereer ror 193 Chapter 9 Program a Velocity Profile and Jerk Rate 0 0 0 e eee 197 Den nitein OF Jet eho os eon saaer E AON 197 Choose a Profile vince 6s vip ASD ceane tee adidas sae Aes 198 Rockwell Automation Publication MOTION UM003D EN P October 2012 7 Table of Contents Faults and Alarms CIP Drive Module Properties Parameter Group Dialog Boxes Glossary Index Use of Time for the Easiest Pro
219. netic 350 BA 240V Integral Fiter Ethemet Drive Allen Bradley Drive Motion 2097 V33PR1 LM Kinetix 350 2A 240V No Fiter Ethemet Drive Alen Bradley Drive Motion 2097 V33PR3 LM Kinetix 350 4A 240V No Filter Ethemet Drive Allen Bradley Drive Motion 2097 V33PR51M Kinetic 350 8A 240V No Fiter Ethemet Drive Allen Bradley Drive Motion 2097 V33PR6 LM Kinetix 350 12A 240V No Fiter Ethemet Drive Alen Bradey Drive Motion 2097 V34PR3 LM Kinetix 350 2A 480V No Fiter Ethemet Drive Alen Bradey Drive Motion 2097 V34PR5 LM Kinetix 350 4A 480V No Fiter Ethemet Drive Allen Bradley Drive Motion 2097 V34PR6 LM Kinetix 350 6A 480V No Fiter Ethemet Drive Alen Bradey Drive Motion 2198 H003 ERS Kinetic 5500 1A 195 528 Vot Safe Torque Off Drive Allen Bradley Drive Motion 2198 HO08 ERS Kinetic 5500 2 5A 195 528 Vot Safe Torque Off Drive Allen Bradley Drive Motion 2198 HO15 ERS Kinetix 5500 5A 195 528 Volt Safe Torque Off Drive Allen Bradley Drive Motion 2198 H025 ERS Kinetix 5500 8A 195 528 Vot Safe Torque Off Drive Allen Bradley Drive Motion 2198 HO40 ERS Kinetix 5500 13A 195 528 Volt Safe Torque Off Drive Allen Bradley Drive Motion 2198 HNTN FRS Kinetiy 5500 724 195 528 Valt Safe Tome OF Drive Allen Rraclew Drive Motion 27 of 312 Module Types Found Close on Create Create 3 Click Create 4 Type a Name for the module Connection Time Sync Module info Intemet Protocol Port Configuration Net
220. nfiguration Examples for the PowerFlex 755 Drive Example 4 Velocity Loop with No Feedback Load Dialog Box e Axis Properties PowerFlex_Axis_1 Characteristics of Motor Load Scaling i Ho k p Tage oad tiaj Motor Inertia Polarity E EA EE Drive Parameters Parameter List Status Faults amp Alarms i Tag 8 From the Load Coupling pull down menu choose the appropriate load coupling 9 Enter the System Inertia 10 Enter the Torque Offset if applicable For more information about the load characteristics see Load Dialog Box on page 152 11 Click Apply You are now finished configuring an axis as Velocity Loop with No Feedback 124 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 Example 5 Frequency In this example you are configuring an axis for Frequency Control with No Control with No Feedback 1 Once you have created the AXIS_CIP_DRIVE axis open the Axis Properties 2 From the Axis Configuration pull down menu choose Frequency Control 3 From the Feedback Configuration pull down menu choose No Feedback Example 5 Frequency Control with No Feedback General Dialog Box Axis Properties PowerFlex_Axis_1 General This defines the controller Control Mode F Control 5a See the Integrated Motion on the EtherNet Eenes an IP Network Reference Manual publication MOTION RVOOS
221. nformity certificates and other certification details Network specifications details http www odva org ODVA is the organization that supports network technologies built on the Common Industrial Protocol CIP DeviceNet EtherNet IP CompoNet and ControlNet You can view or download publications at hetp www rockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Rockwell Automation Publication MOTION UM003D EN P October 2012 15 Preface Notes 16 Rockwell Automation Publication MOTION UM003D EN P October 2012 Chapter 1 Configure a Project for Integrated Motion on the EtherNet IP Network This chapter describes how to set up an integrated motion project in the Logix Designer application Topic Page i Create a Controller Project 17 i Set Time Synchronization 20 i Add a 1756 ENxTx Communication Module 22 IMPORTANT When you perform an import export on a project in the RSLogix 5000 software version 19 or earlier the axis absolute position will not be recovered on download to the controller See APR Faults on page 170 for more information Create a Controller Project Follow these instructions to create a project 1 On the Studio 5000 dialog box choose Create New Project r Rockwell Software a Studio 5000 Create Open Explore _ New Project Existing Project
222. nge Dynamics or an MCS Stop of Stop ype Move or Jog is initiated Programmable S Curve Accel Decel Time Acceleration Jerk 60 of Time Velocity Accel Jerk 30 40 30 of Time 60 Rockwell Automation Publication MOTION UM003D EN P October 2012 207 Chapter9 Program S Curve Accel Decel Time Backward Compatibility Setting Acceleration Jerk 100 of Time Velocity Accel Jerk Enter Basic Logic The controller gives you a set of motion control instructions for your axes e Use these instructions just like the rest of the Logix5000 instructions You can program motion control in these programming languages Ladder diagram LD Structured text ST Sequential function chart SFC e Each motion instruction works on one or more axes e Each motion instruction needs a motion control tag The tag uses a MOTION_INSTRUCTION data type The tag stores the status information of the instruction MSO Motion Servo On Axis ic Motion control t iy Motion Control Tag instruction only once Unintended operation of the control variables may happen if you reuse the same motion control tag in other instructions i ATTENTION Use the tag for the motion control operand of motion 208 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Example Motion Control Program Than crap of Lad Lag tha bomes jos mae ants If Initialize_Pushbu
223. nvalid 240 request error 240 requested packet interval RPI 240 service request error 240 digital input 259 ethernet address 239 internet protocol 244 246 domain name 245 gateway address 245 host name 245 IP address 245 primary DNS server address 245 refresh communication 246 secondary DNS server address 246 subnet 245 module info 242 identification 243 refresh 243 reset module 243 status 243 motion diagnostics 260 controller to drive 260 course update period 260 drive to controller 260 enable transmission timing statistics 260 network 250 252 active ring supervisor 250 advanced 252 clear fault 252 enable supervisor mode 250 network status 250 reset counter 251 ring fault 251 ring faults detected 251 status 251 supervisor status 251 topology 250 verify fault location 251 port configuration 246 248 249 269 auto negotiate 248 current duplex 249 current speed 249 enable 248 link status 248 port 248 refresh communication 249 selected duplex 249 selected speed 248 power 256 257 ACinput phasing 257 bus regulator action 257 power structure 257 regenerative power limit 257 power ratings 239 power structure 238 properties 237 revision 239 time sync 241 accuracy 241 backplane state 242 class 241 ethernet state 242 identity 241 local clock 242 offset master 242 source 241 synchronization status 242 variance 241 CIP Sync 15 21 Coarse 97 commission hookup test 133 motion direct commands 133 CompactFlash
224. oad Observer Acceleration Estimate signal by the System Inertia results in the Load Observer Torque Estimate signal This signal represents an estimate of motor torque Load Observer Configuration The Load Observer can be configured in a variety of ways by using the Load Observer Configuration attribute Choose Load Observer Only when you want to enable the Standard Load Observer function Load Observer Only Kinetix 6500 Drive Configuration Load Observer Only gt Bandwidth o o Hertz o o Hertz Load Observer Only PowerFlex 755 Drive Integrator Bandwidth Load Observer Configuration Load Observer Only Bandwidth fi 1 466269 Hertz Rockwell Automation Publication MOTION UM003D EN P October 2012 155 Chapter6 Commission By choosing Load Observer with Velocity Estimate or Velocity Estimate Only you can apply the Load Observer s estimated velocity signal as feedback to the velocity loop Load Observer with Velocity Estimate Kinetix 6500 Drive Load Observer Configuration Load Observer with Velocity Estimate v Bandwidth o o Hertz Integrator Bandwidth o o Hertz Choosing Acceleration Feedback degenerates the Load Observer to an acceleration feedback loop by disconnecting the Acceleration Reference input from the observer The velocity estimate is not available in this mode of operation Accelerated Feedback Kinetix 6500 Drive Load Observer Configuration Accele
225. oad and voltage limits 257 Rockwell Automation Publication MOTION UM003D EN P October 2012 271 Index 272 P passive home 161 persistent media fault firmware error 172 planner 187 190 power cycle 168 power structure auto populate 31 PowerFlex 755 10 78 customize gains 91 feedback configuration type 91 voltage ranges 11 proportional gains 181 Q quick watch 192 refresh communication 252 rotary transmission 134 136 RSLogix 5000 programming software motion instructions 158 S scaling 134 off line 133 online 178 signature 177 secure digital 168 card 179 shunt regulator resistor type 257 shutdown 231 single axis 11 slave speed 221 stop drive 231 Studio 5000 9 system performance 45 97 T time synchronization 20 set 20 trapezoidal 161 troubleshoot faults instruction error 228 tune compensation 187 190 feedforward 187 190 filters 187 190 limits 187 190 manual 181 tuning parameters customize 181 V velocity profile effects 200 Rockwell Automation Publication MOTION UM003D EN P October 2012 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support 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 u
226. ociate the axis to the PowerFlex 755 drive 1 From the Axis Configuration pull down menu choose Velocity Loop 2 From the Feedback Configuration pull down menu choose No Feedback Example 4 Velocity Loop with No Feedback General Dialog Box Axis Properties PowerFlex_Axis_1 ol x Categories Motor This determines the Control Mode Asis Configuration fv locity Li a pu 3 Model mr ca det See the Integrated Motion on the EtherNet IP Analyzer Feedback Configuration No Feedback Network Reference Manual publication Sealing are F MOTION RM003 Hookup Tests Application Type Basic ba ATAY Polarity Loop Response Medium bd Autotune F Load Motion Group E P_Motion 7 a New Group Compliance Observer Associated Module A Loop Module CIP_PowerFlex zi 5 Planner Module Type PowerFlex 755 EENET CM sbi pir S FEEN Power Structure Beane adn PowerFlex 755 drive Module Properties Parameter List Axis Number fi f See Add a PowerFlex 755 Drive on page 79 Status RA Faulks amp Alarms The newly created PowerFlex 755 drive module Tag name should be the default The Axis Number defaults to 1 indicating the primary axis of the drive Axis Number 2 would be used only for configuring a Feedback Only axis Manual Tune 122 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples f
227. odule s subnet mask or if you selected to configure the IP settings manually enter a valid subnet mask Subnet Mask appears dimmed and is blank when you are offline or online anda module mismatch or communication error occurs Subnet Mask appears dimmed when the module supports the option to set the IP address by using the switches and you choose to set the IP address using the switches Gateway Address Displays the module s gateway IP address or if you selected to configure the IP settings manually enter a valid gateway address Gateway Address appears dimmed and is blank when you are offline or online and a module mismatch or communication error occurs Gateway Address appears dimmed when the module supports the option to set the IP address by using the switches and you choose to set the IP address using the switches on the module Domain Name Displays the module s domain name or to configure the IP settings manually enter a valid domain name See Domain Name for valid values for the domain name Domain Name appears only if the module supports a domain name It appears dimmed and is blank when you are offline or online and a module mismatch or communication error occurs Domain Name appears dimmed when the module supports the option to set the IP address by using the switches and when you choose to set the IP address by using the switches on the module Host Name Displays the module s host name or enter a valid host
228. on Defines the maximum deceleration decreasing speed allowed for the acceleration reference signal into the acceleration summing junction The Planner tab lets you input the maximum values for acceleration and deceleration Additional Tune 4 Feedforward Compensation Filters Limits Planner Maximum 0 0 Position Units s Maximum Acceleration 0 0 Position Units s 3 Maximum 0 0 4 Position Units s 2 Maximum Deceleration 0 0 e Position Units s 3 Maximum 0 0 Position Units s 2 Attribute Description Maximum The value of the Maximum Speed attribute is used by various motion instructions to determine the steady state speed of the axis Maximum Acceleration The Maximum Acceleration and Maximum Deceleration values are frequently and used by motion instructions for example MAJ MAM and MCD to determine Maxiinum Deceleration the acceleration deceleration rate to apply to the axis Rockwell Automation Publication MOTION UM003D EN P October 2012 189 Chapter 8 Manual Tune 190 Additional Tune for the PowerFlex 755 Drive The Additional Tune section gives you access to additional tuning parameters typically needed for more advanced servo loop settings Additional Tune for the PowerFlex 755 drive provides access to five parameter tabs e Feedforward e Compensation e Filters e Limits e Planner TIP You may need to turn all your toolbars off to see the complete screen When you
229. on Publication MOTION UM003D EN P October 2012 Manual Tune Chapter 8 The Filters tab lets you input torque values addtional Tune Feedforward Compensation Filters Limits Planner Torque Low Pass Filter Bandwidth 57 341442 4 Hertz Torque Notch Filter Frequency 0 0 Hertz Torque Lag Filter Gain 1 0 e Torque Lag Filter 0 0 Hertz Attribute Description Torque Low Pass Filter Bandwidth Break frequency for the 2nd order low pass filter applied to the torque reference signal Torque Notch Filter Frequency Center frequency of the notch filter applied to the toque reference signal The Limits tab lets you input peak and velocity values Additional Tune Feedforward Compensation Filters Limits Planner Peak Torque Limit foo Rated Velocity Limit 53332 H Position Units s Peak Torque Limit poo H Rated Velocity Limit 5333332 H e Position Units s Acceleration foci SS Position Units 5 2 Deceleration 0 0 Position Units s72 Attribute Description Peak Torque Limit Floating point based on calculations using Max Motor Torque Max Drive Torque Motor Peak Current Motor Rated Current and Drive Peak Current attributes Velocity Limit Positive or Negative velocity reference value The Planner tab lets you input the maximum values for acceleration and deceleration A Additional Tune Feedforward Compensatio
230. on Units Friction Position Loop z Motion Counts Motor Rev Velocity Loop Acceleration Loop Torque Current Loop r Motor Rev Planner J Position Units Homing Actions ti i Motion Counts Rev Drive Parameters _ PositionUnwindDenominator 1 0 Unwind Cycles Parameter List _ PositionUnwindNumerator 1 0 Position Units Status _ ScalingSource From Calculator Faults amp Alarms _ TransmissionRatioInput 1 Tag _ TransmissionRatioOutput 1 _ TravelMode Cyclic z Manual Tune OK Cancel Apply Help Resetting an APR Fault There are three ways to reset an APR Fault e Instruction execution Executing an MAFR Executing an MGSR Executing an MASR Executing a MCSR e Do the following from the Controller Organizer Clear the group fault the software executes an MGSR Clear the axis fault the software executes an MASR e Download the same project a second time Absolute Position Loss without APR Faults The Absolute Position Recovery is not retained after the following e A project is exported saved as a LSK and imported downloaded e A major non recoverable fault MNRF 178 Rockwell Automation Publication MOTION UM003D EN P October 2012 Home an Axis Chapter 7 e A power loss TIP When you perform an import export on a project in the RSLogix 5000 software version 19 or earlier the axis absolute position will not be recovered on download to the controller The APR can potentially be restored from a
231. ontroller stops scanning your code and whatever else it is doing and runs the motion planner The Coarse Update Period is a trade off between updating positions of your axes and scanning your code In general you do not want the Motion Task to take more than 50 of the overall Logix controller time on average The more axes you add to the Motion Group the more time it takes to run the Motion Task For a 1756 L6x controller the incremental impact on the Motion Task is roughly 2 3 drives ms For the 1756 L7x controller the incremental impact on the Motion Task is roughly at 6 8 drives ms Actual impact may vary depending on axis configuration Integrated Architecture Builder To help you determine motion system performance use the motion performance calculator in the Integrated Architecture Builder IAB The IAB is a graphical software tool for configuring Logix based automation systems It helps you select hardware and generate bills of material for applications that include controllers I O networks Powerflex drives OnMachine cabling and wiring motion control and other devices You can find the software at http www rockwellautomation com en e tools configuration html Rockwell Automation Publication MOTION UM003D EN P October 2012 45 Chapter 2 Configure Integrated Motion Control by Using Kinetix Drives Specifying the Motor Data Source The asterisk next The Motor Data Source is where you tell the axis wher
232. oop Torque Current Loop Planner Homing Actions Drive Parameters Parameter List Show Faults Alarms I Resets Clear Log Manual Tune OK __ Cancel C Hep Rockwell Automation Publication MOTION UM003D EN P October 2012 225 Chapter 10 226 Faults and Alarms This table describes the parameters for the Faults and Alarms dialog box Table 23 Faults and Alarms Dialog Box Descriptions Parameter Indicator Description Displays the following icons to indicate the state of a fault or alarm Alarm On Alarm Off Fault Occurred Reset Occurred Date Time Displays the date and time the event occurred The timestamp is the workstation setting Source Displays the source of the event for example Safety Fault Module Fault Group Fault Axis Fault Axis Alarm Condition Displays detailed information specific to the event category and code For drive exception conditions the information is the same text used for the condition This field may contain additional information when the Subcode field has been used for that entry and is a more detailed entry if both codes are used in the log for example e Group Sync Failure e Bus Overvoltage UL All Axis Faults e Motor Overspeed e Axis Init Fault Action Displays the action command that was executed in response to the event as configured in the axis For instance in many cases this indicates a command
233. op with Feedback 129 The following six examples are typical axis configuration applications for the PowerFlex 755 drive e Position Loop with Motor Feedback e Position Loop with Dual Feedback e Velocity Loop with Motor Feedback e Velocity Control with No Feedback e Frequency Control with No Feedback e Torque Loop with Feedback Rockwell Automation Publication MOTION UM003D EN P October 2012 109 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive Example 1 Position Loop with Motor Feedback using a UFB Feedback Device 110 This example describes creating an AXIS_CIP_DRIVE axis associated to a PowerFlex 755 drive with motor feedback via a universal feedback device catalog number 20 750 UFB 1 TIP Remember that you already assigned the feedback device when you added the drive to your project See Create an Axis for a PowerFlex 755 Drive on page 84 for more information about feedback devices 1 Once you have created an AXIS_CIP_DRIVE open the Axis Properties 2 From the Axis Configuration pull down menu choose Position Loop This determines the Control Mode See the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO03 Example 1 Position Loop with Motor Feedback General Dialog Box Axis Properties PowerFlex_Axis_1 ia ioj xj Categories B Mot i ea Axis Configuration Position Loop z Anal
234. or and feedback types you chose Example 3 Velocity Loop with Motor Feedback Motor Feedback Dialog Box Velocity Loop Torque Current Loop Faults amp Alarms Tag Axis Properties PowerFlex_Axis_1 Motor Feedback Device Specification 10 Click Scaling 120 Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 Example 3 Velocity Loop with Motor Feedback Scaling Dialog Box Axis Properties PowerFlex_Axis_1 Scaling to Convert Motion from Controller Units to User Defined Units Direct Coupled Rotary ha lyzer Motor Feedback Hookup Tests Diameter Velocity Loop Torque Current Loop Planner Homing Fosition Units oo Position Units 11 From the Load Type pull down menu choose the appropriate load type 12 Enter the Scaling Units 13 From the Travel Mode pull down menu choose the appropriate Travel Mode See Scaling Dialog Box on page 134 for more information 14 Click Apply and OK to exit Axis Properties You are now finished configuring the axis as Velocity Loop with Motor Feedback Rockwell Automation Publication MOTION UM003D EN P October 2012 121 Chapter5 Axis Configuration Examples for the PowerFlex 755 Drive Exam ple 4 Velocity Loop In this example you create an AXIS_CIP_DRIVE configured for a Velocity with No Feedback Loop with No Feedback axis and ass
235. or the PowerFlex 755 Drive Chapter 5 3 From the Data Source pull down menu choose Nameplate Datasheet Example 4 Velocity Loop with No Feedback Motor Dialog Box 5 Axis Properties PowerFlex_Axis_1 Motor Device Specification Motor Feedback Sealing Rookie lets In this case the drive has already been configured for the motor by the DriveExecutive software or the HIM When you select No Feedback the configuration tools Motor Feedback dialog box will not Torque Current Loop appe ar Planner Faults amp Alarms Example 4 Velocity Loop with No Feedback Scaling Dialog Box Axis Properties PowerFlex_Axis_1 Scaling to Convert Motion from Controller Units to User Defined Units Direct Coupled Rotary E Hookup Tests Polarity Velocity Loop Torque Current Loop Planner Position Units Juninted For scaling with Feedback No Feedback the Scaling factor s denominator is forced to have fixed units Motor Rev s because the controller will internally be simulating the Feedback Configuration No Fdbk 4 From the Load Type pull down menu choose the appropriate load type Enter the Scaling Units wn 6 From the Travel Mode pull down menu choose the appropriate Travel Mode See Scaling Dialog Box on page 134 for more information 7 Click Apply Rockwell Automation Publication MOTION UM003D EN P October 2012 123 Chapter5 Axis Co
236. or this motor is automatically filled in for you If the motor you are using is not in the Change Catalog listing then it is not in the Motion Database You will need to input the specification data For more information see Choose Nameplate on page 48 On the Motor Feedback dialog box the information is automatically filed in based on your selections on the Motor dialog box Rockwell Automation Publication MOTION UM003D EN P October 2012 Configuration Examples for a Kinetix Drive Chapter 3 Example 2 Position Loop with Dual Feedback Motor Feedback Dialog Box Axis Properties CIPAxis Motor Feedback Device Specification The drive gets the commutation offset EFM _ directly from the motor L Motor Offset ommutation Mom For information about Commutation see Assigning Motor Feedback on page 50 and Commutation Test on page 145 The axis is now configured as the primary feedback The next task is to configure Feedback 2 on the Load Feedback dialog box 6 Click the Define feedback device link to assign the Load Feedback device Example 2 Position Loop with Dual Feedback Load Feedback Dialog Box Load side Feedback n Properties CIPAxis Load Feedback Device Specification Not Specified _ E Re E Rockwell Automation Publication MOTION UM003D EN P October 2012 61 Chapter3 Configuration Examples for a Kinetix Drive 7 From the Load Feedback Device pull down menu choos
237. ose your load type ee Enter the Scaling Units 9 From the Travel Mode pull down menu choose a Travel Mode See Scaling Dialog Box on page 134 for more information about Scaling 10 Click Apply and OK to exit Axis Properties You are now finished configuring a PowerFlex 755 drive axis as Position Loop with Dual Feedback Rockwell Automation Publication MOTION UM003D EN P October 2012 117 Chapter 5 Axis Configuration Examples for the PowerFlex 755 Drive Example 3 Velocity Loop This example describes creating two AXIS_CIP_DRIVE axes associated to a with Motor Feedback via a UFB Feedback Device 118 PowerFlex 755 drive with dual motor feedback via a universal feedback device catalog number 20 750 UFB 1 TIP Remember that you already assigned the feedback device when you added the drive to your project 1 Once you have created an AXIS_CIP_DRIVE open the Axis Properties 2 Connect the Feedback Port 1 with one feedback cable connected to the PowerFlex 755 drive 3 From the Axis Configuration pull down menu choose Velocity Loop 4 From the Feedback Configuration pull down menu choose Motor Feedback Example 3 Velocity Loop with Motor Feedback General Dialog Box s Axis Properties PowerFlex_Axis_1 lol xi Categories Motor SES Model Axis Configuration This determines the Control Mode See the Integrated Motion on the Eth
238. otion Database You will need to input the specification data or add a custom motor to the Motion Database that can be selected For more information see Choose Nameplate on page 48 Rockwell Automation Publication MOTION UM003D EN P October 2012 69 Chapter3 Configuration Examples for a Kinetix Drive 5 Click the Motor Feedback dialog box Motor Feedback Device Specification Device Function Motor Mounted Feedback Parameters Feedback Channel Feedback 1 Type Hiperface DSL Units Rev Hiperface DSL Cycle Resolution 262144 Feedback Cydles Rev Cycle Interpolation 4 Feedback Counts per Cycle Effective Resolution 262144 Feedback Counts per Rev Sat Matot Tums 4096 Commutation Alignment Motor Offset X Offset 0 0 Degrees With this drive and motor combination the Motor Mounted Feedback that is available is the Hiperface DSL type The data is automatically populated based on that selection You can assign the commutation alignment Commutation Alignment Offset 70 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configuration Examples for a Kinetix Drive Chapter 3 6 Click the Scaling dialog box to adjust the Scaling attributes Type lt none gt Lead 1 0 Millimeter Rev Diameter 1 0 Milimeter Scaling Units Position Units Scaling 1 0 Position Units per 1 0 Motor Rev Trave Mode Drive Parameters
239. otion x Power Structure lt none gt X W Verify Power Rating on Connection Assign a Power Structure In the device documentation e Ona purchase order structure When you select a drive catalog number you are specifying only a class of drives You need to assign the appropriate power structure you have installed You can locate the power structure reference numbers in these ways e On the actual product usually on the right side of the drive Follow these instructions to complete the drive configuration 1 From the Power Structure pull down menu choose the appropriate power r Module Definition Peripheral Devices S S PowerFlex_755_Axis_1 i Sleg 4 20 750 ENC 1 Revision Bectronic Keying Connection 6 bd 16 Compatible Module x Motion P F Verify Power Rating on Cor U 2 Click OK If you go to the Associated Axis tab before you click OK and close the Module Properties dialog box the option to create an axis is unavailable Once you exit the dialog box you can go back to the Associated Axes tab and create an axis You can create an axis also by right clicking the Motion Group in the controller organizer Rockwell Automation Publication MOTION UM003D EN P October 2012 lt none gt 200V 4 8A Normal Duty Frame 1 200V 4 8A Heavy Duty Frame 1 le 200V 4 8A Normal Duty 200V 4 8A Heavy Duty 240V 4 2A Norm
240. otor selection Axis Properties PowerFlex_JKL Motor Feedback Device Specification Hoere NotAligned ha Commutation At this point you need to select a Feedback Type and Units The type of feedback available depends on the axis and feedback configurations The asterisk next Axis Properties PowerFlex_Axis_1 to a category means that you Motor Feedback Device Specification have not applied changes Not Specified M Not Specified Digital AgB 1 From the Type pull down menu choose the appropriate type of motor feedback 2 Click Apply and OK to exit the Motor Feedback dialog box 3 Set the commutation alignment type and the percentage of offset Motor Ofset I Not Aligned Controller Offset Motor Offset h Self Sense Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 If you are using a motor that is not in the database the default is Not Aligned If the motor is in the database the alignment is set to Controller Offset Type Not Aligned Description This indicates that the motor is not aligned and that the Commutation Offset value is not valid If the Commutation Offset is not valid it cannot be used by the drive to determine the commutation angle Any attempt to enable the drive with an invalid commutation angle shall result in a Start Inhibit condition Controller Offset It applies
241. ould have been previously produced as shown in Curve Accel Decel Time Backward Compatibility Setting Acceleration Jerk 100 of Time on page 208 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Very small Jerk rates that is less than 5 of time produce acceleration and deceleration profiles close to rectangular ones such as the one shown in Trapezoidal Accel Decel Time on page 205 IMPORTANT Higher values of the of Time result in lower values of Jerk Rate Limits and therefore slower profiles See the following table for reference Table 20 Velocity versus Jerk Trapezoidal Velocity S shaped Velocity Profile S shaped Velocity Profile Profile with 1 lt Jerk lt 100 of with Jerk 100 of Time Time Accel Decel Jerk in oO 2 2 Max Accel Max Accel Units se to 00 Max Velocity Max Velocity Accel Decel Jerk in NA 0 100 NA of Maximum Accel Decel Jerk in 0 1 100 100 of Time 1 The example on page 205 labeled Trapezoidal Accel Decel Time uses a rectangular acceleration profile 2 The example on page 207 labeled Programmable S Curve Accel Decel Time Acceleration Jerk 60 of Time uses a trapezoidal acceleration profile 3 The example on page 208 labeled S Curve Accel Decel Time Backward Compatibility Setting Acceleration Jerk 100 of Time uses a triangular acceleration profile Calculations are performed when an Axis Move Cha
242. ove in the forward direction according to your application the test result will be inverted Once you accept test results the Current will show inverted See the Polarity Dialog Box on page 148 If you are satisfied with the results you can accept the test results lt n The test can pass but give you results that you are not expecting In this case you might have a wiring problem See the related drive documentation listed in the Preface on page 9 142 Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 7 Wait until the test ends either pass or fail RSLogix 5000 Motor Feedback Test 8 Click OK RSLogix 5000 9 Click Yes or No depending on whether the axis moved in the forward direction for your application 10 Click Accept Results if the test ran successfully Run a Motor Feedback Test The Motor Feedback Test tests the polarity of the motor feedback Follow these steps to perform a Motor Feedback test 1 From the Hookup Tests dialog box click the Motor Feedback tab Axis Properties Axis_101 Test Motor and Feedback Device Wiring Drive Parameters Parameter List Status Faults amp Alarms Tag Rockwell Automation Publication MOTION UM003D EN P October 2012 143 Chapter6 Commission 2 Enter the Test Distance remote program mode Before you do the tests make sure no one is in f ATTENTION These tests make the axis move even
243. p Tests Polarity Autotune Load i Compliance Friction i Observer i Velocity Loop i Acceleration Loop f Torque Current Loop Planner i Homing Actions Drive Parameters i Parameter List Status i Faults amp Alarms In this example you are configuring a Kinetix 5500 servo drive catalog number 2098 H025 ERS with motor feedback by using a Rotary Permanent Magnet motor catalog number VPL A1001M P You will need to connect the Motor Feedback cable to the Motor Feedback port of the Kinetix 5500 drive and then configure the feedback port 1 Once you have added the drive to your project and created an AXIS_CIP_DRIVE open the Axis Properties Axis Configuration Fesdback Cort Postcaton Tipe Loop Response Medium zi Motion Group Motion_grp Z New Group Associated Module Module K5500_H025_8A_240V X Module Type SEG This is type of drive you selected the Kinetix 5500 4 Module Properties Power Structure 2198 H025 ERS For more information see Add a Kinetix EtherNet IP Axis Number Drive on page 28 The newly created Kinetix 5500 drive module name is the default The Axis Number defaults to 1 indicating F the axis of the drive Manual Tune Apply TIP After you have configured the axis and you change the Axis Configuration type or the Axis Number some of the configuration information will be set to default values
244. position will not be recovered on download to the controller see Absolute Position Recovery APR on page 168 Rockwell Automation Publication MOTION UM003D EN P October 2012 77 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive About the PowerFlex 755 Drives 78 Integrated Motion on the EtherNet IP network supports closed loop servo drives and frequency drives The PowerFlex 755 drive contains an EtherNet IP adapter embedded on the main control board The PowerFlex 755 drives supports Position Loop Velocity Loop Torque Loop and Frequency Control axis configuration types The PowerFlex 755 drive has five option ports capable of accepting a combination of options for control communication I O feedback safety and auxiliary control power This embedded adapter lets you easily configure control and collect drive data over Ethernet networks The drive can operate also in the integrated motion mode or the existing I O mode When a PowerFlex 755 is used in Integrated Motion on EtherNet IP mode the Logix controller and Logix Designer are the exclusive owners of the drive same as Kinetix An HIM or other drive software tools such as DriveExplorer and DriveTools SP cannot be used to control the drive or change configuration settings These tools can only be used for monitoring See these publications for more information e PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 e
245. ption Module Definition xj Revision 2 x J if Electronic Keying Compatible Module X Connection Exact Match gt om yatible M odule Power Structure Disable Keying IV Verify Power Rating on Connection Cancel Help ATTENTION The electronic keying feature automatically compares the expected module as shown in the configuration tree to the physical module before communication begins When you are using motion modules set the electronic keying to either Exact Match or Compatible Keying Never use Disable Keying with motion modules For more information about electronic keying see the ControlLogix Controller User Manual publication 1756 UM001 30 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 9 Assign the appropriate Power Structure When you select a Kinetix 6500 drive catalog number you are specifying only a class of drives To fully specify the drive you need to assign a power structure Some of the drives do not require a power structure TIP You can locate the power structure reference numbers by doing the following e Checking the hardware e Referring to the device documentation e Reviewing the purchase order or the bill of materials You assign the power structure for the Kinetix 6500 drive only The Kinetix 350 and Kinetix 5500 drives auto populate the only power structure ava
246. publication 1756 PM004 8 Check Open MOTION_GROUP configuration and click Create The Motion Group Properties dialog box appears Motion Group Wizard Motion_Group_101 Axis Assignment Unassigned Assigned Axis_1 Axis 2_K5500 42 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 Associate the Axis to the Motion Group There are two ways to assign axes to a Motion Group e Create a motion group through the Axis Assignment tab on the Motion Group Properties dialog box e Drag the axis into the Motion Group in the Controller Organizer tree Follow these instructions to associate an axis to the Motion Group 1 Select an axis and click Add 2 Verify that the axis has been assigned to the group Motion Group Wizard Motion_Group_101 Axis Assignment e _ Unassigned Assigned Ads 1 3 Click Finish The axis appears under the Motion Group in the Controller Organizer tree l E Motion Groups a Motion_Group_101 A Axis 1 ie Axis 2 K5500 Rockwell Automation Publication MOTION UM003D EN P October 2012 43 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives Set the Coarse Update Period The Coarse Update Period is basically the RPI rate for Ethernet communication between the controller and
247. que Lag Filter Gain 10 Torque Lag Filter 0 0 4 e Hertz Attribute Description Torque Low Pass Filter Bandwidth Break frequency for the 2nd order low pass filter applied to the torque reference signal Torque Notch Filter Frequency Center frequency of the notch filter applied to the toque reference signal Torque Lag Filter Gain Sets the high frequency gain of the torque reference Lead Lag Filter Torque Lag Filter Sets the lag filter applied to the torque reference filter The Limits tab lets you input peak velocity and accel decel values Additional Tune Feedforward Compensation Filters Limits Planner Peak Torque Limit po Rated Velocity Limit foo COS Position Units s Peak Torque Limit foo Rated Velocity Limit joo J e Position units Acceleration po a Position Units s 2 Deceleration po Position Units s 2 188 Rockwell Automation Publication MOTION UM003D EN P October 2012 Manual Tune Chapter 8 Attribute Description Peak Torque Limit Floating point based on calculations using Max Motor Torque Max Drive Torque Motor Peak Current Motor Rated Current and Drive Peak Current attributes Velocity Limit Positive or Negative velocity reference value Acceleration Defines the maximum acceleration increasing speed allowed for the acceleration reference value into the acceleration summing junction The Kinetix 350 does not support this attribute Decelerati
248. r Allen Bradley Major Fault None Product Type CIP Motion Drive Minor Fault None Product Code 2094 EN02D M01 51 Internal State Unconnected Revision 1 10 Serial Number 0000024C Configured No Product Name 2094 EN02D M01 S1 Owned No Module Identity Match 242 Rockwell Automation Publication MOTION UM003D EN P October 2012 CIP Drive Module Properties Appendix A Table 31 Module Properties Module Info Tab Descriptions Description Manufacturer of the module Type of module Usually the same as the name Category Parameter Identification Vendor Product Type Product Code Revision Revision of the module s firmware Serial Number Serial number of the module Product Name This value comes from the module It should relate to the Kinetix 6500 drive that you configured as part of your network Status Major Fault Unrecoverable Minor Fault Recoverable Internal State Current operational state Configured Displays a yes or no value indicating whether the module has been configured by an owner controller connected to it Once you configure a module it stays configured until you reset cycle power or if the owner drops connection to the module Owned Displays a yes or no value indicating whether an owner controller is currently connected to the module Module Identity Match For this to display Match all of the following must agree e Ven
249. r MPAR AtoxB V2A Motor Type Rotary Permanent Magnet x Units Rev bg Nameplate Datasheet Phase to Phase parameters Rated Power 0 113 kW Rated Voltage 230 0 Volts RMS Rated Speed 3150 0 RPM Rated Curent 0 81 Amps RMS Rated Torque 034 Nem When you select the Catalog Number for the motor specification the MPAR AIxxxB V2A motor is in the Motion Database The specification data for this motor is automatically filled in for you If the motor you are using is not in the Change Catalog listing then it is not in the Motion Database You will need to input the specification data or add a custom motor to the Motion Database that can be selected For more information see Choose Nameplate on page 48 Rockwell Automation Publication MOTION UM003D EN P October 2012 73 Chapter3 Configuration Examples for a Kinetix Drive 5 Click the Motor Feedback dialog box With this drive and motor combination the data is automatically populated based on that selection 74 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configuration Examples for a Kinetix Drive Chapter 3 6 Click the Scaling dialog box to adjust the Scaling attributes Millimeter Rev Milimeter Load Millimeter v 1000 0 Position Units Soft Travel Limits Maximum Positive Position Units Maximum Negative Position Units GOK Co Aoo leet
250. r 1 Add a 1756 ENxTx Communication Module 22 Configure a Project for Integrated Motion on the EtherNet IP Network Follow these instruction to add an Ethernet communication module to your project These modules are compatible with the CIP Sync protocol catalog numbers 1756 EN2T 1756 EN2F 1756 EN2TR and 1756 EN3TR IMPORTANT For all communication modules use the firmware revision that goes with the firmware revision of your controller See the release notes for your controller s firmware 1 To adda module right click the backplane and choose New Module 2 Clear the Module Type Category Filters select all checkbox 3 Check the Communication checkbox On the Select Module Type dialog box you can filter to the exact type of module you are looking for making your search faster 4 Under Communications select the 1756 ENxIx module and click OK oo Select Module Type Catalog Module Discovery Favorites Enter Search Text for Module Type Hide Filters 2 Analog Communication Controller Digital Module Type Category Filters Allen Bradley Module Type Vendor Filters Hardy Instruments Inc Molex Incorporated Online Development Inc Automation Value m a v Catalog Number 1756 DNB 1756 EN2F 1756 EN2T 1756 EN2TR 1756 EN3TR 1756 ENBT
251. ration Feedback Bandwidth o o Hertz Integrator Bandwidth o o Hertz Accelerated Feedback PowerFlex 755 Drive Configuration Acceleration Feedback Bandwidth fi 1 468289 Hertz 156 Rockwell Automation Publication MOTION UM003D EN P October 2012 Motion Analyzer Software Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 Load Ratio can also be found through Autotune from Motion Analyzer Axis Data Gant Product Family KINETIX 6000 y Axis Setup y Cycle Profile y Mechanism y Transmission Stages Selection Solutions Axis Stop Component Details Axis System Performance Summary Motor Drive Gearbox Torque Speed Power Speed Load Thermal REM Motor lt gt La Ratt Motor Drive Le 31 Motor Capacity Temp 1 Peak Speed 74 32 Peak Torque 13 Inertia Ratio 4 6 46 4 16 Dis 2094 BC04 M03 S l gt AC3ph 480 10 10 Drive Capacity Temp 1490 2 Average Current 1096 s Peak Current 15 9 8 Bus Utilization 66 1 16 Gearbox 40 1 lt lt lt SP100 MF2 40 051 gt gt gt og Peak Input Velocity sO ps RMS Torque sh Peak Torque 66 to00 3200 2400 1600 800 0 8007600 2400 3200 4000 Speed rpm Nominal Speed 81 uS i p Quadrant eres fel Add to Solutions List C Singe Four Pesk RMS Graph Detail IS Fd bittern RA Vier ase Torque Analysis lt Simulation _ Segment Data
252. rcular move for the axes of a coordinate system MCCM No Motion Coordinated Circular Move Change in path dynamics for the active motion on a coordinate MCCD No system Motion Coordinated Change Dynamics Stop the axes of a coordinate system or cancel a transform MCS No Motion Coordinated Stop Shut down the axes of a coordinate system MCSD No Motion Coordinated Shutdown Start a transform that links two coordinate systems together Thisis MCT No like bi directional gearing Motion Coordinated Transform Calculate the position of one coordinate system with respect to MCTP No another coordinate system Motion Calculate Transform Position Transition the axes of a coordinate system to the ready state and clear MCSR No the axis faults 1 You can only use this instruction with 1756 L6x or 1756 L6xS controllers 212 Motion Coordinated Shutdown Reset Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Troubleshoot Axis Motion This section helps you troubleshoot some situations that could happen while you are running an axis Example Situation Page Why does my axis accelerate when I stop it 213 Why does my axis overshoot its target speed 214 Why is there a delay when I stop and then restart a jog 217 Why does my axis reverse direction when I stop and start it 219 Why does my axis accelerate when I stop it While an axis is accelerating you try to stop it The axis ke
253. referenced again if RAM memory becomes corrupt There No is no way of retrieving the machine reference positions from either a SD or a SD card after machine memory becomes corrupt User program running with a homed axis and you manually restore the user Yes program from a CompactFlash or a SD card If you reset the machine reference by using MAH or MRP after storing the user program to a CompactFlash or SD card the MAH and MRP changes will not be lost The APR will not be restored to the reference stored on the CompactFlash or SD card The APR will be restored to the reference stored in RAM Battery backed controller Restore by taking the CompactFlash or a SD card to Yes another controller If the other controller has the exact same Axis ID and scaling constants as the CompactFlash or SD card and has homed axes the APR will not be restored to the reference stored on the card The APR will be restored to the reference stored in RAM The Axis ID attribute is automatically generated when you create an axis in the Logix Designer application See The Axis ID attribute description in the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RM003 for more information Event Transfer the CompactFlash or SD card from the first controller to the second with the following preconditions 1 Empty the second controller There is no user program in the second controller 2 The user program has been saved on
254. roject for Integrated Motion on the EtherNet IP Network Chapter 1 8 Assign the Security Authority 9 Type a description optional 10 Click Finish The Logix Designer application opens with new project File Edit View Search Logic Communications Tools Window Help acs S Bere Aaa BVP RA serme Path lt none gt E 1H tol dal Ae ae U 4 Controller Tags Controller Fault Handler Power Up Handler Unscheduled Programs Phases Motion Groups Ungrouped Axes Add On Instructions User Defined Strings Add On Defined Predefined jh Module Defined Trends p VO Configuration 5 1756 Backplane 1756 A10 fa 0 1756 L71 Integrated_Motion_Control Create Output Unlatch instruction Rockwell Automation Publication MOTION UM003D EN P October 2012 19 Chapter1 Configure a Project for Integrated Motion on the EtherNet IP Network E Set Time Synchronization Supervisory CIP Sync Stratix 8000 EtherNet IP GM Grandmaster time source M Master S Slave CIP Sync gt This technology supports highly distributed applications that require time stamping sequence of events recording distributed motion control and increased control coordination All controllers and communication modules must have time synchronization enabled for applications that use Integrated Motion on the EtherNet IP network Tim
255. s Typically motion does not occur in Program mode but you can test an axis in Remote Program mode by using Motion Direct Commands When you tune an axis your code is not in control of the axis Rockwell Automation Publication MOTION UM003D EN P October 2012 183 Chapter8 Manual Tune The tuning procedure tunes the proportional gains Typically tune the proportional gains first and see how your equipment runs Follow these instructions to manually tune an axis 1 To open Manual Tune do one of the following e Double click an axis while online with a controller e Right click an axis and choose Manual Tune e Click Manual Tune in the lower left of any category dialog box The Manual Tune dialog box appears motion Console Axis_101 19 479559 n Motion Axis Move 0 19 469685 2 1 3624167 77 87874 Disabled 37 039696 2 TIP When the Manual Tune dialog box appears you may find that you cannot see all of the console You can create more space for the console by reducing the size of the Controller Organizer or by adjusting the toolbars Adjust your settings according to your application When you make a change to a value it is sent to the controller immediately 2 3 4 Execute a command 5 Watch the result 6 Make adjustments and execute a command TIP You can click Reset to return to default values 184 Rockwell Automation Publication MOTION UM003D EN P October 2012
256. s Instructions Reference Manual publication 1756 RM006 Provides a programmer with details about process and drives instructions for a Logix based controller The Integrated Architecture and CIP Sync Configuration Application Technique publication IA AT003 Provides detailed configuration information on CIP Sync technology and time synchronization PhaseManager User Manual publication LOGIX UM001 Describes how to set up and program a Logix5000 controller to use equipment phases EtherNet IP Modules in Logix5000 Control Systems User Manual publication ENET UMO001 Describes Ethernet network considerations networks and setting IP addresses ControlLogix Controller User Manual publication 1756 UM001 Describes the necessary tasks to install configure program and operate a ControlLogix system Kinetix 6200 and Kinetix 6500 Modular Servo Drive User Manual publication 2094 UM002 Provides information on installing configuring start up troubleshooting and applications for the Kinetix 6200 and Kinetix 6500 servo drive systems Kinetix 350 Single axis EtherNet IP Servo Drives User Manual publication 2097 UM002 Provides detailed information on wiring applying power troubleshooting and integration with ControlLogix or CompactLogix controller platforms Kinetix 5500 Drives Installation Instructions publication 2198 IN001 Provides installation instructions for the Kinetix 5500 Integrated Axis
257. s hardware change or malfunction e Axis hardware resource insufficiency Hardware resource insufficiencies are detected only during download or ControlFLASH firmware update e Reconnection of the drive axis When an APR fault occurs the actual position of the axis is set to the feedback reference position of the axis This value is read from the absolute encoder of the axis The APR Fault clears the axis homed status bit Downloading of a Project The following checks are made during a download of a project 1 Does the Axis already exist If not then it is a new axis and no APR fault will ever result will ever get generated 2 Does the Scaling Signature match the saved Scaling Signature 3 Does the Feedback Serial Number match the saved Feedback Serial Number If these three checks pass generally absolute position is restored During operation the system monitors changes to that following attributes which do not impact the Scaling Signature or result in the loss of the absolute machine reference and therefore does not generate an APR Fault e Conversion Constant e Position Unwind e Travel Mode Rockwell Automation Publication MOTION UM003D EN P October 2012 171 Chapter 7 172 Home an Axis Care must be taken when changing these values so that the new values are correctly related to the Position Unit of the product and the mechanics of the system This is typically done as part of a product recipe change For ex
258. s the Acceleration Estimate signal that is subsequently applied to the acceleration reference summing junction Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 When configured for Load Observer operation the Acceleration Estimate signal represents the error between the actual acceleration as seen by the feedback device and the acceleration estimated by the Load Observer that is based on an ideal model of the motor and load By subtracting the Acceleration Estimate signal from the output of the Acceleration Limiter the Load Observer is forcing the actual motor and load to behave like the ideal model as seen by the velocity loop The Acceleration Estimate signal can be seen in this light as a dynamic measure of how much the actual motor and load are deviating from the ideal model Such deviations from the ideal motor model can be modeled as torque disturbances Scaling the Load Observer Acceleration Estimate signal by the System Inertia results in the Load Observer Torque Estimate signal This signal represents an estimate of the motor torque disturbance TIP The Kinetix 350 and the Kinetix 5500 drives do not support all of the Load Observer attributes When configured for Acceleration Feedback operation the Load Observer Acceleration Estimate represents an acceleration feedback signal Applying this signal to the acceleration reference summing junction forms a closed acceleration loop Scaling the L
259. se of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Use the Worldwide Locator at http www rockwellautomation com support americas phone_en html or contact Canada your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any sugges
260. successful execution ofan MAH instruction Once the homing procedure has successfully established a machine reference the Axis Homed bit is set in the Motion Status attribute indicating that actual position and command position now have meaning with respect to the associated machine It is good application programming practice to qualify dynamic machine operation with the Axis Homed bit being set Otherwise absolute moves to a specific position may not have any relationship to the position of the axis on the actual machine Because the homing procedure usually requires the machine to be taken offline and placed in a manual operating mode for example not making product anything that would require you to rehome one or more axes on the machine is undesirable This is downtime and costs money The APR feature maintains the machine reference or absolute position through power cycles program downloads and even firmware updates under certain conditions See APR Fault Conditions on page 170 and Absolute Position Recovery Scenarios on page 173 for more details Absolute Feedback Device The absolute feedback device lets absolute position be retained through a power cycle These devices take various forms but they all are capable of maintaining absolute feedback position while power to the drive and feedback device is off When power is turned back on the drive reads the feedback referenced absolute position from the feedback device and
261. t 4 Channel A x londro oone n lt none gt Port 4 Channel A N See Feedback Configuration Options for the PowerFlex 755 Drive on page 104 For more examples see Axis Configuration Examples for the PowerFlex 755 Drive on page 109 6 Click OK to apply the changes and close the dialog box 88 Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 If you have not enabled Time Synchronization this message appears RSLogix 5000 i The axis cannot be associated to this module The CIP Motion Drive module requires Hard or Soft Time Synchronization and the parent scanner is not configured to support it You must go to the 1756 ENxT communication module properties and enable time synchronization See Add a 1756 ENxTx Communication Module on page 22 Rockwell Automation Publication MOTION UM003D EN P October 2012 89 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive Configure the Associated Axis and Control Mode Now that the axis is associated to the drive meaningful values are available for other axis configuration properties The combination of the attributes selected when configuring an axis and feedback determines the control mode See the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RM003 for complete information on axis attributes and contro
262. t takes longer to get acceleration to 0 e Inthe meantime the axis continues past 0 speed and moves in the opposite direction Rockwell Automation Publication MOTION UM003D EN P October 2012 219 Chapter9 Program The following trends show how the axis stops and starts with a trapezoidal profile and an S Curve profile Start while decelerating and reduce the deceleration rate Trapezoidal S Curve speed overshoots 0 and axis goes in opposite direction SS deceleration changes The axis speeds back up as soon as you start the jog again The lower The jog instruction reduces the deceleration of the axis It now takes longer to bring deceleration doesn t change the response of the axis the acceleration rate to 0 The speed overshoots 0 and the axis moves in the opposite direction Corrective Action Use the same deceleration rate in the instruction that starts the axis and the instruction that stops the axis Jog_PB lt Locat4 I Data 0 gt My_Axis_OK Sanane Use the same deceleration rate in both instructions In a MAS instruction set Change Decel to Yes The axis uses the Decel Rate of the instruction 220 Rockwell Automation Publication MOTION UM003D EN P October 2012 Program Chapter 9 Prog ramming with the MDSC This is an example of programming motion with the MDSC functionality In Function this example we illustrat
263. ta Source is Nameplate Datasheet the System Acceleration value is calculated e Ifthe Data Source is Drive NV or Motor NV this field is blank Torque Offset The Torque Offset attribute provides a torque bias when performing closed loop control Mass Compensation Mass compensation controls relate to linear motors Motor Mass The mass of the motor displays in Kg units This control is calculated based on the load inertia ratio Generally it is not equal to 0 for Kinetix drives Total Mass Total Mass represents the combined mass of the linear motor and load in engineering units Load Backlash This provides backlash configuration options for the load of the motor The Kinetix 350 does not support this parameter Load Compliance The Torque Low Pass Filter Bandwidth attribute is the break frequency for the 2nd order low pass filter applied to the torque reference signal The Torque Notch Filter Frequency attribute is the center frequency of the notch filter applied to the toque reference signal A value of 0 for this attribute disables this feature The Torque Lag Filter Gain attribute sets the high frequency gain of the torque reference Lead Lag Filter A value greater than 1 results in a lead function and value less than 1 results in a lag function A value of 1 disables the filter The Torque Lag Filter Bandwidth attribute sets the pole frequency for the torque reference Lead Lag Filter A value of 0 disables the fi
264. te 100 0 Integrator Bandwidth 0 0 H Hertz Decel Units Units per secd Integrator Hold Jbisabled Sis Profile Trapezoidal Error Tolerance 1 3624167 Position Units DANGER Executing motion command with controller in Velocity Loop e Program or Run Mode may cause axis motion Loop Bandwidth 77 87874 a Hertz Integrator Bandwidth 0 0 a Hertz Axis State Running ae Integrator Hold Joisabled z a p i Axis Fault No Faults SRR Error Tolerance 37 039696 Position Units s ay DANGER Tuning may result in unstable axis motion Going online with controller Complete 0 error s 0 warning s Motion Console Axis_101 MSO 16 0000 No Error Motion Console Axis_101 MAM 16 0000 No Error The controller performs a controlled axis move The Motion Console dialog box appears e Axis State Running e Axis Faults No Faults The Results window displays No Error 6 Observe and verify the Axis response The axis motion should move according to the configured MAM settings Ifthe settings and response are satisfactory then tuning is finished and you can close Manual Tune Ifthe settings or response are not satisfactory stay in Manual Tune and adjust the parameters Also useful for diagnostics purpose are the hyperlinks to Axis State and Axis Fault Axis State Running No Faults Axis Fault Axis State goes to the Status dialog box of the Ax
265. ted Motion on the EtherNet IP Network on page 17 2 Configure the drive module and configure an axis Check drive firmware for the latest revisions and update if needed e For Kinetix drives follow the steps in Chapter 2 Configure Integrated Motion Control by Using Kinetix Drives on page 27 e For PowerFlex 755 drives follow the steps in Chapter 4 Configure Integrated Motion by Using a PowerFlex 755 Drive on page 77 If you are using a PowerFlex 755 drive and are unfamiliar with the integrated motion interface and attributes see the Integrated Motion on EtherNet IP appendix in the PowerFlex 750 Series AC Drives Programming Manual publication 750 PM001 For example configuration scenarios see these chapters e For Kinetix drives Chapter 3 Configuration Examples for a Kinetix Drive on page 55 e For PowerFlex drives Chapter 5 Axis Configuration Examples for the PowerFlex 755 Drive on page 109 3 Program Follow steps in Chapter 9 Program on page 197 4 Connect e Install modules and drives e Check software and firmware for the latest revisions 5 Commission Download project e Follow steps in Chapter 6 Commission on page 133 Rockwell Automation Publication MOTION UM003D EN P October 2012 Preface J Help for Selecting Drives and Motors Where to Find Sample Projects Motion Analyzer software helps you select the appropriate Alle
266. that the drive gets the marker pulse You must manually move the axis for this test Motor and Feedback Tests the polarity of the motor motion load and motor feedback Motor Feedback Tests the polarity of the motor feedback Load Feedback Test the load feedback polarity of the motor Commutation Tests the commutation offset and polarity of a drive Master Feedback Test the master feedback polarity Rockwell Automation Publication MOTION UM003D EN P October 2012 139 Chapter 6 Commission Table 11 Types of Hookup Tests This table lists the Hookup Tests based on axis configuration and drive type Axis Type Feedback Type Drive Master Feedback Motor and Feedback Motor Feedback Load Feedback Marker Commutation Feedback Only Master Feedback Kinetix 5500 Kinetix 6500 xX x Frequency Control No Feedback Kinetix 5500 X Powerflex 755 X Position Loop Motor Feedback Kinetix 350 x x x Kinetix 5500 X xX X Kinetix 6500 xX X xX X PowerFlex 755 X X X X Load Feedback Kinetix 6500 X X X X Dual Feedback Kinetix 6500 X Xx xX x motor x motor PowerFlex 755 x X xX x motor x motor Dual Integrated Powerflex 755 X x X x motor x motor Feedback Velocity Loop Motor Feedback Kinetix 350 X X X Kinetix 5500 X xX X Kinetix 6500 xX X xX X PowerFlex 755 X X X X Load Feedback Kinetix 6500 X X X X X Torque Loop No Feedback PowerFlex 755 x Motor Feedback
267. the Commutation Offset value from the controller to determine the electrical angle of the motor Motor Offset The drive derives the commutation offset directly from the motor Self Sense The drive automatically measures the commutation offset when it transitions to the Starting state for the first time after a power cycle This generally applies to a PM motor equipped with a simple incremental feedback device 4 Go online with the controller and click Test Commutation When the test is complete you will see the status of the polarity See the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 for complete descriptions of the axis attributes Rockwell Automation Publication MOTION UM003D EN P October 2012 107 Chapter4 Configure Integrated Motion by Using a PowerFlex 755 Drive Notes 108 Rockwell Automation Publication MOTION UM003D EN P October 2012 Chapter 5 Axis Configuration Examples for the PowerFlex 755 Drive This chapter provides example axis configurations when using a PowerFlex 755 drive Topic Page Example 1 Position Loop with Motor Feedback using a UFB Feedback Device 110 Example 2 Position Loop with Dual Motor Feedback via a UFB Feedback Device 113 Example 3 Velocity Loop with Motor Feedback via a UFB Feedback Device 118 Example 4 Velocity Loop with No Feedback 122 Example 5 Frequency Control with No Feedback 125 Example 6 Torque Lo
268. the Kinetix drives and Configure the Associated Axis and Control Mode on page 90 for the PowerFlex 755 drive Rockwell Automation Publication MOTION UM003D EN P October 2012 255 AppendixA CIP Drive Module Properties Power Tab The parameters that display on this tab will be different depending on the drive you are configuring even within a drive family It will vary based on the Power Structure you select Figure 22 Power Tab for the PowerFlex 755 Drive Catalog Number 50 000 Shunt Regulator v 9 9 Figure 23 Power Tab for the Kinetix 6500 Drive W Module Properties To_K6K 2094 EN02D M01 51 1 1 lol xi piste o a O Catalog Number Kinetix 5500 2 5A 195 528 Volt Safe To Catalog Number Busreguator scion Grunter Shunt Regulator Resistor Type External Internal External Shunt lt none gt Figure 25 Power Tab for the Kinetix 350 Drive E Module Properties B15 2097 V32PR4 LM 1 1 Catalog Number Shunt Regulator 256 Rockwell Automation Publication MOTION UM003D EN P October 2012 CIP Drive Module Properties Appendix A Table 36 Module Properties Power Tab Descriptions Parameter Power Structure Description Displays the drive catalog number and the drive power rating AC Input Phasing Specify the AC input phasing Valid values are 3 Phase and Single Phase Regenerative Power Limit Enter a negative perc
269. the current Active Ring Supervisor Supervisor Status has no value if either of the following occurs Offline e Online and a module mismatch or communication error has occurred The module is not configured as a ring supervisor Ring Fault Last Active Node on Port 1 When the module is the Active Ring Supervisor on the network it displays the IP Address or MAC Address of the last active node on Port 1 if a ring fault has occurred Last Active Node on Port 1 is not displayed if either of the following occurs Offline e Online and a module mismatch or communication error has occurred e Online and the module is not a ring supervisor e Online and the module is not the Active Ring Supervisor Last Active Node on Port 2 When the module is the Active Ring Supervisor on the network it displays the IP Address or MAC Address for the last active node on Port 2 if a ring fault has occurred Last Active Node on Port 2 is not displayed if either of the following occurs Offline e Online and a module mismatch or communication error has occurred e Online and the module is not configured as a ring supervisor e Online and the module is not the Active Ring Supervisor Verify Fault Location Verify Fault Location causes the active ring supervisor to verify the last node fault location on port 1 and port 2 of the module The last fault location that has occurred will continue to display until you verify the fault Verify Fault Location
270. then after the position is redefined Based on detection of the home event the axis is automatically moved to the configured Home Position IMPORTANT When unidirectional active homing is performed on a rotary axis and the Home Offset value is less than the deceleration distance when the home event is detected the control moves the axis to the unwind position of zero This ensures that the resulting move to the Home Position is unidirectional Passive Homing When the axis Homing mode is configured as Passive the MAH instruction redefines the actual position of a physical axis on the next occurrence of the encoder marker Passive homing is most commonly used to calibrate Feedback Only axes to their markers but can also be used on Servo axes Passive homing is identical to active homing to an encoder marker except that the motion controller does not command any axis motion After initiating passive homing the axis must be moved past the encoder marker for the homing sequence to complete properly For closed loop Servo axes this may be accomplished with a MAM or MAJ instruction For physical Feedback Only axes motion cannot be commanded directly by the motion controller and must be accomplished via other means Rockwell Automation Publication MOTION UM003D EN P October 2012 Home an Axis Chapter 7 Examples Table 14 Active Homing Examples Sequence Active immediate home Active Homing These examples show different wa
271. tion offset directly from the motor Self Sense The drive automatically measures the commutation offset when it transitions to the Starting state for the first time after a power cycle This generally applies to a PM motor equipped with a simple incremental feedback device In most cases the Commutation Alignment is set to Controller Offset and the Commutation test is run during commissioning to determine the Commutation Offset and Polarity See the Integrated Motion Reference Manual publication MOTION RMO003 for complete descriptions of the axis attributes Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion Control by Using Kinetix Drives Chapter 2 Configuring the Load Feedback The Load Feedback dialog box represents the information from the feedback device that is directly coupled to the load side of a mechanical transmission or actuator Load Feedback Device Specification Device Function Load Side Feedback ER ges Feedback Channel Feedback 2 Type m3 Y Device Type cannot be configured until Not Speciiod feedback device is defined for this Feedback Units Rev X Channel in Associated Module Define feedback device For your convenience you can use this link to the Module Properties dialog box for the associated drive The Load Feedback dialog box is available if the Feedback Configuration specified on the General dialog box is Load or Dual
272. tions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Furope 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 MOTION UM003D EN P October 2012 Supersedes Publication MOTION UM003C EN P September 2011 Copyright 2012 Rockwell Automation Inc All rights reserved Printed in the U S A AB Allen Bradley Integrated Motion on EtherNet IP Configuration and Startup User Manual
273. to DC Bus power The cyclic data block is a high priority real time data block that is transferred by a Integrated Motion on the EtherNet IP network connection on a periodic basis A drive is a device designed to control the dynamics of a motor The event data block is a medium priority real time data block that is transferred by an Integrated Motion on the EtherNet IP network connection only after a specified event occurs Registration and marker input transitions are typical drive events 265 Glossary 266 Get Read Inverter Motion Open Loop System Time Shunt Regulator Service Data Block Set Write Synchronized Time Stamp Time Offset A Get Read involves retrieving an attribute value from the perspective of Controller side of the interface An inverter is a device that generally converts DC input to AC output An Inverter is also commonly called the Drive Amplifier In the context of a drive system the Inverter is responsible for controlling the application of DC Bus power to an AC motor Motion refers to any aspect of the dynamics of an axis In the context of this document it is not limited to servo drives but encompasses all forms of drive based motor control Open loop is a method of control where there is no application of feedback to force the actual motor dynamics to match the commanded dynamics Examples of open loop control are stepper drives and variable frequency drives System time
274. tomatically set by the Autotune e Ifyou use the Catalog Number as the Data Source the Motor Inertia Total Inertia and System Inertia are pre populated with the correct values e Ifyou know what the Load Ratio values are you can enter that information on the Load dialog box or you can use the values provided by Autotune Kinetix 6500 Load Dialog Box lo Categories General Characteristics of Motor Load Motor i Model Load Inertia Mass Motor Feedback euie Poa Scaling Hookup Tests V Use Load Ratio Polarity i pee Autotune Load Fao 0 0 Load Inertia Motor Inertia a Motor Inertia fo 000044 Kgm 2 Backlash i Compliance Tiotal Inertia 0 000044 Kg m 2 Friction Observer Position Loop Inertia Mass Compensation Velocity Loop System Inertia 001434175 A Acceleration Loop PSS Rated Rev s 2 Torque Current Loop System Acceleration 6972 65 Rev s 2 100 Rated Planner Homing Actions Active Load Compensation Drive Parameters Parameter List Torque Offset 0 0 Rated Status Faults amp Alarms Tag Table 12 Load Inertia Mass Parameter Descriptions Parameter Description Load Coupling Lets you control how tightly the system is physically coupled Your choices are the following e Rigid default Compliant Load Coupling appears dimmed when the axis is Servo On Inertia Compensation Inertia compensation controls relate to rotary motors Load Ratio The Load Ratio attribute s
275. ts Sec Desired Decel Jerk in Units Sec else Instruction faceplate Decel jerk in Units Sec Desired Decel Jerk in Units Sec k Unique Program Considerations If you program a move by using the of Time units the programming software computes an Accel Jerk a v where a the programmed Accel Rate and v programmed Speed Therefore the higher the programmed speed the lower the computed Jerk The system has a Jerk priority planner In other words Jerk always takes priority over acceleration and velocity Therefore you always get the programmed Jerk If a move is velocity limited the move does not reach the programmed acceleration and or velocity Once you reach the velocity limit for the length of the move as the velocity is increased the move takes longer and longer to complete Decel Jerk is computed similarly to the Accel Jerk described above The only difference is that instead of a v Decel Jerk d v where d the programmed Decel Rate Rockwell Automation Publication MOTION UM003D EN P October 2012 203 Chapter 9 204 Program EXAMPLE EXAMPLE Example 1 Start Speed 8 0 in sec Desired Speed 5 0 in sec Desired Decel Rate 2 0 in sec Desired Decel Jerk 1 0 in sec Temporary Speed Desired Decel Rate Desired jerk value in Units Sec 2 0 1 0 4 0 in sec k 8 0 5 0 max 5 0 4 0 3 0 5 0 0 6 Because k lt 1 we can enter the desired Decel jerk directly in the
276. tton on and the axis off My_Axis_X ServoActionStatus off then the MSO instruction turns on the axis Initialize_Pushbutton My Axis_ ServodctionStatus MSO Motion Servo On Axis My_Axis_X E Motion Control My Axis x _On If Home_Pushbutton on and the axis hasn t been homed My_Axis_X AxisHomedStatus off then the MAH instruction homes the axis Home_Pushbutton My Axis _ gt AxisHomedStatus Ss If Jog_Pushbutton on and the axis on My_Axis_X ServoActionStatus on then the MAJ instruction jogs the axis forward at 8 units s Jog Pushbutton My Axis ServadctionStatus fp Motion Axis Jog Axis My Axis x E Motion Control My Axis _Jog Direction My Asis Jog Direction oe Speed My_Axis_X _SetUp ManuallogSpeed 80e Speed Units Units per sec MAH Motion Axis Home Axis My_Axis_X E Motion Control My_Axis_X Home More gt gt If Jog_Pushbutton off then the MAS instruction stops the axis at 100 units s Make sure that Change Decel is Yes Otherwise the axis decelerates at its maximum speed Jog_Pushbutton Fi Motion Axis Stop Axis My Axis x ij Motion Control My Axis x _MAS Stop Type Jog Change Decel Yes Decel Rate My Axis x_SetUp ManuallogDecel 100 06 Decel Units Units per sec2 If Move_Command on and the axis on My_Axis_X ServoActionStatus on then the MAM instruction moves the axis The axis moves to the position of 10 units at 1 unit s Move_Command My Axis gt Serva
277. tune Dialog Box on page 148 for details e Ifthe Autotune results are not acceptable perform a Manual Tune Rockwell Automation Publication MOTION UM003D EN P October 2012 181 Chapter8 Manual Tune Axis Configuration Types Manual Tune applies to Position Loop and Velocity Loop axis configurations Manual Tune is not available for any other axis configurations If you change the axis configuration to a value other than Position Loop or Velocity Loop while Manual Tune is open the contents of the Manual Tune expander becomes disabled This also applies to the Additional Tune functions Current Tuning Configuration Manual Tune displays the current tuning configuration All parameters on the Manual Tuning dialog box are available while online TIP In the RSLogix 5000 software version 20 and later you can make edits when online In the RSLogix 5000 software version 19 and earlier changes can only be made when online and the SERVO is enabled When you adjust the sliders it tells you what gains you need to update When servo is on the left area of the dialog box will light up This gives you real manual tuning capability When you expand the Tuning Configuration you are reminded of the application type and coupling loop response affects the system damping you selected These values are governing the displayed values There are three Loop Response settings on the General dialog box Loop Response relates to th
278. tware scaling calculator generates Scaling Factor values that are suitable for the application But in rare cases like applications that require online product recipe changes the Scaling Source attribute can be set to Direct Scaling Factor Entry thereby allowing you to directly enter the Scaling Factors Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 CIPAxis General Motion Axis Parameters Motor Feedback Scaling Position Loop Velocity Loop Acceleration Loop Torque Current Loop Planner kabs kakek kaa aee h e TIP In a sercos application the Scaling Factors are Conversion Constant Drive Resolution and Position Unwind Direct Coupled Rotary For a Direct Coupled Rotary load type you can express Scaling Units for the rotary motor for example Degrees Here is an example of Direct Coupled Rotary load scaled in Degrees and the resulting values for the Conversion Constant and Motion Resolution Direct Coupled Rotary Rockwell Automation Publication MOTION UM003D EN P October 2012 135 Chapter6 Commission Direct Coupled Linear For a Direct Coupled Linear load type you can express Scaling Units for the linear motor for example Inches Here is an example of Direct Coupled Linear load scaled in Inches and the resulting values for the Conversion Constant and Motion Resolution Direct Coupled Linear For more information about Conversion Constant an
279. twork considerations see the Ethernet User Manual publication ENET UM001 Rockwell Automation Publication MOTION UM003D EN P October 2012 239 AppendixA CIP Drive Module Properties 240 Connection Tab The Connection tab provides you with information about the connection condition between the controller and a module The information comes from the controller Figure 13 Connection Tab W Module Properties To_K6K 2094 ENO2D M01 S1 1 1 iol xj General Connection Time Sync Module Info Internet Protocol Port Configuration Network Associated Axes Power pisl gt T Inhibit Module Requested Packet Interval RPI 0 0 a ne I Major Fault On Controller If Connection Fails While in Run Mode IV Use Unicast Connection over Etherneti Table 27 Module Properties Connections Tab Parameter Descriptions Parameter Description Requested Packet Each controller has its own RPI setting The Connection tab for each module will display its own Interval RPI value This is also true for a virtual adapter Inhibit Module Check to inhibit your connection to the module Inhibiting the module causes a disconnection to the module When you go online an icon appears on the fs 2094 NG2D Mot s1K 101 module stating that the module is inhibited Inhibit Online If you inhibit the module while you are online and connected to the module the connection to the module is closed and the outputs go to the last con
280. ublication MOTION UM003D EN P October 2012 5 Table of Contents Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 About the PowerFlex 755 Drives cccccecceceececeeenens Add a PowerFlex 755 Drive tis sen ceed eeeeascbeotaaaind exeasnes Select a Peripheral Feedback Device and Slot Assignment Assign a Power Structure 305 axse warns iano Ravamiawetaawews ae Create an Axis for a PowerFlex 755 Drive ccccececcecees Establish Feedback Port Assignments for the Powe rFlex 755 LEVER onc euitet ia ear aka r a a eens Configure the Associated Axis and Control Mode Create a Motion Group wascsdes dics den eds see dubs dslenateedees Associate the Axis to the Motion Group 0000s eee eee Set the Coarse Update Period i330 cide gewencoeine kes he Choose Catalog Number as the Motor Data Source Motor Model Dialog Box vies cocicaiversus ah ahen cewek eases Motor Analyzer Dialog Box shccsxotiway dex cheung vets ean ptnees Choose Nameplate as the Motor Data Source 04 Choose Drive NV as the Data Source ccc eee e cence nee Motor Model Dialog Box csus970 2 ac sescseinig penis sre tick tabula wd Gocwiens Motor Analyzer Dialog Boxee scccvinid nideesew bus bacuatdieed Feedback Configuration Options for the PowerFlex 755 Drive Chapter 5 Axis Configuration Examples forthe Example 1 Position Loop with Motor Feedback PowerFlex 755 Drive Comm
281. uency as shown as X1 in the IEEE motor model Motor Torque Constant Specifies the torque constant of a rotary permanent magnet motor in Newton meters per RMS amp Motor Rotor Leakage Reactance Specifies the Y circuit phase neutral equivalent stator referenced leakage inductance of the rotor winding at rated frequency as shown as X2 in the IEEE motor model Motor Flux Current Id Current Reference that is required to generate full motor flux This value is closely approximated by the No Load Motor Rated Current commonly found in Induction Motor data sheets The Kinetix 350 does not support this parameter Rated Slip Represents the amount of slip at motor rated current full load and motor rated frequency See the Integrated Motion on the EtherNet IP Network Reference Manual publication MOTION RMO003 for complete information on Axis Attributes Rockwell Automation Publication MOTION UM003D EN P October 2012 103 Motor Feedback Configure Integrated Motion by Using a PowerFlex 755 Drive The PowerFlex 755 drive requires a peripheral feedback device As with all parameters the types of feedback available are dependent on what you select on the General dialog box for Feedback Configuration Axis Configuration Type Frequency Control Parameters No Feedback Position Loop Motor Feedback one mounted device e Dual Feedback two mounted devices Dual Integral Feedback two mounted devices
282. ults and Alarms Drive Status Indicators For complete information on drive status indicators see the following publications Kinetix 6500 drive e Kinetix 6500 Control Modules Installation Instructions publication 2094 IN014 e Kinetix 6000 Multi Axis Drive User Manual publication 2094 UM001 Kinetix 350 drive e Kinetix 350 Single axis EtherNet IP Servo Drives User Manual publication 2097 UM002 Kinetix 5500 drive e Kinetix 5500 Servo Drives User Manual publication 2198 UM001A EN P PowerFlex 755 drive e PowerFlex 755 Drive Embedded EtherNet IP Adapter Installation Instructions publication 750 IN001 e PowerFlex 755 Drive Embedded EtherNet IP Adapter User Manual publication 750COM UMO001 e PowerFlex 750 Series AC Drives publication 750 PM001 The controller has these types of motion faults Type Description Example Instruction Caused by a motion instruction A Motion Axis Move error Instruction errors do not impact controller operation MAM instruction with a Look at the error code in the motion control tag to see why an parameter out of range instruction has an error Fix instruction errors to optimize execution time and make sure that your code is accurate See Error Codes ERR for Motion Instructions publication MOTION RMO002 Fault Caused by an anomaly with the servo loop Loss of feedback You choose whether motion faults give the controller major faults e Actual position e Can
283. value represents the ratio of the load inertia or mass to the motor inertia or mass Motor Inertia The Motor Inertia attribute is a float that specifies the unloaded inertia of a rotary motor This control is calculated based on the load inertia ratio Generally it is not equal to 0 for Kinetix drives and equal to 0 for PowerFlex 755 drives Rockwell Automation Publication MOTION UM003D EN P October 2012 Commission Chapter 6 Table 12 Load Inertia Mass Parameter Descriptions Parameter Description Total Inertia Total Inertia represents the combined inertia of the rotary motor and load in engineering units Inertia Mass Inertia compensation controls relate to rotary motors Mass compensation controls relate Compensation to linear motors System Acceleration System Inertia is recalculated anytime the System Acceleration changes System Inertia 0 if System Acceleration 0 System Inertia 1 System Acceleration Units are Rev sA2 100 Rated System Inertia The torque or force scaling gain value converts commanded acceleration into equivalent rated torque force Properly set this value represents the total system inertia or mass System Inertia is a read only field based on Total Inertia The software recalculates System Acceleration anytime the dependent attributes change e Ifthe data Source is Motor Catalog Number the System Acceleration value is read directly from the motion database Ifthe Da
284. work Associated Axes Powe 1 2094 EN02D M01 S0 Kinetix 6500 Single Axis Ethemet Safe Torque Off Drive Allen Bradley Motion_1 Ethemet Address CIP_K6K Private Network 192 168 1 21 IP Address Host Name Module Definition Revision Hectronic Keying Connection Power Structure 5 Type a description if desired 6 Assign an EtherNet IP address For Private Network segments you can establish the Node Address of the drive by entering a private IP address via a thumbwheel switch on the drive using the format 192 168 1 xxx where the last octet xxx is the switch setting Rockwell Automation Publication MOTION UM003D EN P October 2012 29 Chapter2 Configure Integrated Motion Control by Using Kinetix Drives See the EtherNet IP Modules in Logix5000 Control Systems User Manual publication ENET UMO001 for information on setting IP addresses and other Ethernet network considerations 7 Under Module Definition click Change Module Detinition Change N Revision eal Electronic Keying Compatible Module Connection Motion Power Structure 2094 4C09 M02 M The Module Definition dialog box appears Module Definition x Revision 2 Mi TEE Electronic Keying Compatible Module H Connection Motion O Power Structure zo9sAcosMmom IV Verify Power Rating on Connection Cancel Help 8 Choose an Electronic Keying o
285. xes RD My Axis Y Ungrouped Axes 3 Trends 5 Data Types E 1 0 Configuration DREK Before you inhibit or uninhibit an axis be aware that inhibit uninhibit of an axis will also affect any half axes in the same drive 1 Stop all motion in the axis 2 Use an instruction such as the Motion Servo Off MSF for the axis This lets you stop motion under your control Otherwise the axes turn off on their own when you inhibit or uninhibit one of them CIP only connections to the drive with the affected axis are shutdown Connections and motion on all other drives axes will continue uninterrupted Kinetix 6500 Ethernet Drives Ethernet Switch Controller 1756 ENxT The controller automatically restarts the connections To inhibit all of the axes inhibit the communication module Do you want to inhibit all of the Integrated Motion on the EtherNet IP network axes e YES Inhibit the 1756 ENxT communication modules e NO Inhibit the individual axes You can inhibit all of the axes of a module on an individual basis However it is more efficient to inhibit all axes at once by inhibiting the module Important If you inhibit an axis on a drive you inhibit all action on the drive including any half axes Make sure you are aware of all action on a drive before inhibiting the axis Rockwell Auto
286. xis 1 Categories General Motor Device Specification Model Data Source Catalog Number z p Motor Feedback Catalog Number MPL B310P M Scaling Hookup Tests Motor Type agnet Polarity 4 Autotune loe Load Nameplate Datasheet Phase to Phase parameters Backlash Compliance Rated Power 0 77 kW p Friction Rated Voltage 460 0 Volts RMS Observer Position Loop Rated Speed 5000 0 RPM Velocity Loop Rated Curent 17 Amps RMS Acceleration Loop Tore OA DOO Rated Torque 1 58 Nm Planner Homing Actions Drive Parameters Parameter List Status Faults amp Aams Tag Manual Tune 7 Click Apply Motor Model Dialog Box Ee Parameters Change Catalog Pole Count 8 Max Speed 5000 0 RPM Peak Curent 5 02 Amps RMS Motor Overload Limit 100 0 Rated ok camca aw Hep The Motor Model dialog box displays the Motor Model Phase to Phase parameters The parameters that are available depends on the Motor Data Source Nameplate Datasheet is the only Motor Data Source that lets you input the values The Motor Analyzer is helpful when configuring the Motor Model dialog box parameters See Motor Model Dialog Box on page 102 Motor Analyzer Dialog Box The Motor Analyzer provides the Dynamic Motor Test for an AC drive such as the PowerFlex 755 drive See Motor Analyzer Dialog Box on page 102 Rockwell Automation Publication MOTION UM003D EN P October 2012 99
287. xis on the Associated Axis tab in the Module Properties dialog box e The second way is to assign the axis to the drive on the General Category dialog box Unlike a Kinetix 6500 drive where the motor feedback association is automatic you must manually establish the motor feedback Port Channel assignment for the PowerFlex 755 drive Follow these instructions to associate an axis to the drive by using the drive s Module Properties dialog box 1 Right click the PowerFlex 755 and choose Properties Rockwell Automation Publication MOTION UM003D EN P October 2012 Configure Integrated Motion by Using a PowerFlex 755 Drive Chapter 4 2 Click the Associated Axes tab General Connection Time Sync Module Info Intemet Protocol Port Configuration Axis 1 PF_Axis_1 fal Motor Feedback Device Load Feedback Device 3 From the Axis 1 pull down menu choose the axis to associate the drive to When you select the axis the power structure of the drive is verified If you have not assigned a power structure this message appears on the General dialog box Y Unable to perform calculations in axis until Power Structure is defined for Associated Module Define sa yew Click the hyperlink to go to the drive s Module Properties dialog boxes so you can assign a Power Structure 4 From the Motor Master Feedback Device pull down menu choose the port and channe
288. y is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations WARNING 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 ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD 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 al al bale IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley Rockwell Automation ControlLogix RSLinx RSLogix Rockwell Software Kinetix PowerFlex Logix5000 Integrated Architecture PhaseManager DriveExecutive ControlFLASH Stratix 8000 POINT I O CompactLogix Guar
289. y uploads the tags not the changed attributes IMPORTANT You must upload the project for the changed attributes to be saved and to prevent an APR fault on a subsequent download 180 Rockwell Automation Publication MOTION UM003D EN P October 2012 Manual Tune an Axis Chapter 8 Manual Tune The Manual Tune function lets you manually improve motion performance by adjusting system bandwidth damping factor and drive loop gains filters and compensations via direct online control Perform a manual tune when you are online with a controller to get a real time tune of an axis Topic Page Manual Tune an Axis 181 Axis Configuration Types 182 Current Tuning Configuration 182 Additional Tune for the Kinetix 6500 Module 187 Additional Tune for the PowerFlex 755 Drive 190 Motion Generator and Motion Direct Commands 185 If Autotune does not meet your system specifications the manual tuning feature lets you customize your tuning parameters Perform a manual tune when you are online with the controller to perform real time adjustments to an axis The default Application Type is Basic which implies manual tune modifies proportional gains If you are not sure if you need to Manual Tune use this process e Ifthe software calculation defaults are acceptable tuning is complete e Ifthe software calculation defaults are not acceptable perform an Autotune If the Autotune results are acceptable tuning is complete See Auto
290. ys to use active homing Description This sequence sets the axis position to the Home Position without moving the axis If feedback isn t enabled this sequence enables feedback Active home to switch in forward bidirectional The switch homing sequence is useful for multi turn rotary and linear applications Active Bidirectional Home with Switch then Marker Homing Vel Axis Position Axis Velocity Return Vel 1 Home Limit Switch Detected 2 Home Limit Switch Cleared 3 Home Position These steps occur during the sequence 1 The axis moves in the Home Direction at the Home Speed to the home limit switch and stops 2 The axis reverses direction and moves at the Home Return Speed until it clears the home limit switch and then stops 3 The axis moves back to the home limit switch or it moves to the Offset position The axis moves at the Home Return Speed If the axis is a Rotary Axis the move back to the Home Position takes the shortest path that is no more thana half revolution If the axis is past the home limit switch at the start of the homing sequence the axis reverses direction and starts the return leg of the homing sequence Use a Home Return Speed that is slower than the Home Speed to increase the homing accuracy The accuracy of this sequence depends on the return speed and the delay to detect the transition of the home limit switch Uncertainty Home Return Speed x delay to detect the home limit switch
291. yzer Feedback Configuration MotorFeedback ao Application Type Basic x Hookup Tests Loop Response Medium z aes Motion Group Motion_Group_101 z E New Group 5 Load Backlash Associated Module see Module Poner This shows you the type of Position Loop Module Type PowetFlex 755 EENET CM S drive you selected and power Tene Coment Loop Poner Stucture 200V 4 84 Nomal Duy structure you assigned to via Planner ASAE fi the PowerFlex 755 drive H 2 vied gt Module Properties PER The newly created PowerFlex 755 drive module See Add a Powerflex 755 eras name should be the default The Axis Number Drive on page 79 tatus Brive on page 2 Faults amp Alarms defaults to 1 indicating the primary axis of the Tag drive Axis Number 2 would be used only for configuring a Feedback Only axis cow ao 3 From the Feedback Configuration pull down menu choose Motor Feedback TIP After you have configured the axis and you change the Axis Configuration type or the Axis Number some of the configuration information will be set to default values This may cause some previously entered data to be reset back to its default setting Now that you defined the axis as being a Position Loop with Motor Feedback the Motor and Motor Feedback dialog boxes become available Rockwell Automation Publication MOTION UM003D EN P October 2012 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 5 Exampl

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