CC-QS018A - Rockwell Automation
Contents
1. The MotionView OnBoard screen is displayed Mi MotionView OnBoard 3 25 Allen Bradley Kinetix 300 Load Configuration 5 To attach to your drive click Connect The Connection dialog box is displayed 6 Enter the IP address for the drive and click Connect Connection x Connected Connect to drive Discover JE Name Find by name When connected the drive will appear in the Drive Organizer on the left side of the MotionView OnBoard window and you will be able to browse the drive s parameters 14 Publication CC QSO18A EN P June 2010 Kinetix 300 Drive Integration Chapter 1 Reset the Drive to Factory Settings To be sure that the Kinetix 300 drive is at a known starting point you must reset the drive to its factory settings To reset the Kinetix 300 drive to factory settings perform the following steps 1 Click on the Restore Defaults button Mi Motionview OnBoard 3 25 Allen Bradley Kinetix 300 an E an CCE Load Configuration 2 Atthe confirmation dialog box click Yes Important Message xi A Are you sure you want to set all parameters to default values The dialog box below will display if successful i All parameters succescfully set to default values Publication CC 0 S018A EN P June 2010 15 Chapter 1 Kinetix 300 Drive Integration Drive Commissioning For the Kinetix 300 drive to operate properly the following items must be c2. Preface Kinetix 300 Drive Integration System Validation and Application Tips Control Program Integration Table of Contents NAS Oe tetra Noa in Un ne is Ci nee 5 Introd cton cao sash senate et estat anata Meek tie eS 7 Conventions Used in This Manual 8 Additional Resources ie es RE booted 9 toutou 11 Before You B ton Ta e e nr era 11 What You Need ut eat ecat ee dau ete sean 12 Follow These SDS ete Rire nn NE made he 12 Connect to the Kinetix 300 Drive vic cede ds bakes ent 13 Reset the Drive to Factory Settings ts ap ominench 15 Drive Commissioning AR non niakioues ne aren amass 16 Configure Drive Home and Index Settings 17 Configure the Drive Operating Mode 19 Additional Resources en aka tanta MR RONDS mens 19 OUR saris hoa ered cea area ora ane Ea aA 21 Before You Begin iin 0e vol MR en tn 21 What You Need za a Ardenne re ei 21 Eolow These Steps ner ee pons ne ae atlas 22 Multiple Drive Consid rationsss fete tonte dan beac 22 Messaging IP Address Change slot dr tele 23 Configure Controller to drive Communication 25 Configure PVc Terminal to controller Communication 27 Understanding the Network Overview Screen Functionality 29 Test the Simple Motion Control Functionality 30 Additional Resouces cise sie nd pi aot a ee deena Mees te Rie 39 Introductionis askew A Mera
3. e Start the drive will begin executing the index defined by the Starting Index setting when this button is pressed e Stop the drive will abort the executing index and decel to zero velocity when this button is pressed The drive will remain enabled Pressing the x button in the top right corner will return you to the Network Overview screen 32 Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 Navigate the Index Setup Screen Follow this procedure to understand the Index Setup functionality 1 Press the Index Setup button on the Program mode screen to edit any of the 32 indexes for the selected axis The Index Setup screen is displayed AXIS 1 x Current Values New Values index 0 CEE 7 Intex Type Ineremental Incremental eee kd a ae User Units User Units ass 7 User Units s 10000 User Units 52 ae BON User units s2 Next Index ST a Action ster ser The Index Setup screen displays the currently selected index parameters in two different columns e Current Values for the selected index the parameter values are read back from the drive and displayed in this column The values are read on transition to the Index Setup screen after selecting a new index or after the Apply New Values button is pressed e New Values for the selected index allows you to edit the parameters associated with that index Each value can be changed as needed To
4. MicroLogix 1400 controller is in RUN mode by verifying that the RUN status indicator next to the LCD screen is ON solid green If not you can change the controller to RUN mode by using either the programming software or the Mode Switch function of the MicroLogix 1400 LCD display The Kinetix 300 Control ladder logic should now be constantly communicating with the drive via Message MSG instructions IMPORTANT It is critical the Kinetix 300 drive is communicating to the MicroLogix 1400 controller when the controller is put in RUN mode to ensure that the POWER UP routine executes and initializes program values 2 Make sure that the Kinetix 300 drive is ready and communicating by verifying that the Kinetix 300 drive front panel display is scrolling the drive s IP address shows diS for disabled and the E status indicator is flashing green to indicate communication activity C A D lt Drive is faulted solid B E lt Communication is happening flashing Do not worry if the Kinetix 300 drive is faulted status indicator D is solid red we can clear the fault from the HMI once communication to the PVc is established If the drive is faulted the fault should be E91 user watchdog has timed out The watchdog function in the drive is set up in the controller POWER UP routine which causes the drive to fault when communication to the controller is lost TIP Publication CC OS018A EN P June 2010 25 C
5. Mode Functionality and Test the Program Mode Functionality sections for all Kinetix 300 drives in your system Additional Resources Refer to page 9 for a listing of product and information resources Publication CC OS018A EN P June 2010 39 Chapter 2 System Validation and Application Tips 40 Publication CC OS018A EN P June 2010 Chapter 3 Control Program Integration Introduction In this chapter you will explore the Simple Motion Control ladder logic structure the modes of operation and the program commands You will learn that there are hooks for the various commands that let you create your own Axis User Program routine for axis control as well as use the Machine Control Program routine for simultaneous control of all your axes Before You Begin Verify the following e You have completed all steps in Chapter 1 and Chapter 2 e All of the devices are connected per the Simple Motion Control CAD wiring diagram e The MicroLogix 1400 controller Kinetix 300 drive and PanelView terminal have power applied to them e The MicroLogix 1400 controller Kinetix 300 drive and PanelView terminal are all properly configured and communicating correctly as explained in Chapter 2 What You Need e PanelView Component terminal e Kinetix 300 drives e MicroLogix 1400 controller e Previously loaded software e Standalone EtherNet switch so that you can connect your personal computer to both the MicroLogix 1400 controller an
6. Setup button to prompt the Axis screen shown below Current Values New Values User Units Reg dist D DSSS User units 1 Velocity iia a User Units s Accel woo User Units s2 Decel HTD GHD User units 52 4 Enter values for Index 0 similar to those shown above Make any necessary changes for your system 38 Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 5 Press Apply when you have finished entering index parameters Pressing the x button in the top right corner will return you to the previous screen 6 Press the Starting Index numeric entry button and enter 0 for the starting index 7 Press the Start button to execute Index 0 Verify the motor rotates 20 user units at the set speed and then stops You will also notice the Index Setup and Start buttons are no longer visible They are hidden while the drive is executing an index profile move You can also press the Stop button at any time an index profile is executing The Indexing status indicator will be solid green while the drive is running an index profile TIP When the index profile is complete or the Stop button is pressed the axis will decelerate to a stop but will not disable To disable the drive you would need to switch to Operator Mode and then disable the drive You have now completed testing all the Simple Motion Control Program mode functionality IMPORTANT Be sure to complete the Test the Operator
7. all of the axis faults at the same time It executes when the MACHINE_CLEAR_FAULTS bit is set I 0 1 This bit can be used as needed to control when the machine faults are cleared The Axis command functionality could also be used to clear each axis fault individually providing the ability to customize your machine s clear fault process Machine Start Example The Machine Start example in the Machine Control routine uses the Axis command functionality to clear each axis fault if faulted and start each Axis User Program It executes when the MACHINE_START bit is set I 0 2 This bit can be used as needed to control when the entire machine is started Additionally by using the Axis commands you can control the Machine Start process and start optional Axis User Programs simultaneously one at a time or based upon some other predefined condition The Broadcast command functionality could also be used to start all of the Axis User Programs at the same time Machine Stop Example The Machine Stop example in the Machine Control routine uses the Broadcast command functionality to stop all of the axes simultaneously It executes when the MACHINE_STOP bit is set 1 0 3 This bit can be used as needed to control when the machine is stopped The Axis command functionality could also be used to stop each axis individually providing the ability to customize your machine s stopping process Change the operation of the Machine Control to reflect your a
8. released e Home active when the drive is enabled and inactive when the drive is disabled When pressed the controller program sends a home command to the drive and the drive will execute the homing method that was set in the MotionView configuration e Stop lets you terminate homing if homing is active TIP The drive must be enabled to jog or home the axis Pressing the x button in the top right corner will return you to the Network Overview screen Publication CC OS018A EN P June 2010 35 Chapter 2 System Validation and Application Tips Test the Operator Mode Functionality Follow this procedure to test your axis by using the Simple Motion Control Operator mode functionality 1 Verify that the motor is disconnected from the load open shaft and it is safe to turn the motor 2 Navigate to the Operator Mode screen 3 Enable the Kinetix 300 drive by pressing Enable The Kinetix 300 drive should now be enabled and maintaining position The Enabled status indicator should be green and the Jog and Home buttons should now be active As a check the status light on the front panel display should also be on and the scrolling display should show the IP address and the word run If not then go back to the beginning of this chapter and verify the MicroLogix 1400 controller communication to this drive 4 Click the Jog Velocity SP button and enter a valid jog speed Ute Verify that the speed you choose is safe for yo
9. ues cb ew enn cae ees 41 Before You BefiNec alanin etena EA E e a 41 What Vou Need ere M a e a 41 Follow These Steps ae ec an hawt carie 42 Review the Ladder Logic Structure es foss tits ire 43 Review the Modes of Operations sister 43 Review the Program Mode Commands 44 Axis User Program Ladder Logic optional 46 Customize the Machine control Ladder Logic 48 Additional Resoutees 2e its teens 49 Rockwell Automation Supports ee tie eee ites 52 Installation ASsistance ee M a ne en 52 New Product Satisfaction Return 52 Rockwell Automation Publication CC OS018A EN P June 2010 3 Notes 4 Rockwell Automation Publication CC OS018A EN P June 2010 Where to Start Follow the path below to complete your Simple Motion Control application Connected Components Building Blocks publication CC 0S001 Chapter 1 Kinetix 300 Drive Integration Settings Communication Screens Security Recipes Languages VOHRA RBUYSBxBage Application Language Engisn Unted Sates 1033 3 Protocol Csen D se G Ememet Allen Bradley MicroLogoyEN Chapter 2 System Validation and Application Tips om CER PanelView Component Settings No configurable properses at protocol level Controller Settings Contr etet Typo MeroLoga 1400 yab Scope Description BDCST_CHD_VORD Global BROADCAST COMMAND WORD BDCST_CMD_ENBL Glo
10. BROADCAST DISABLE COMMAND BDCST_CMD_RESET Global BROADCAST CLEAR FAULTS COMMAND BDCST_CMD_START Global BROADCAST START COMMAND BDCST_CMD_STOP Global BROADCAST STOP COMMAND BDCST_CHD_J0G Global BROADCAST JOG COMMAND BDCST_CMD_FWwD Global BROADCAST FORWARD COMMAND BDCST_CMD_REV Global BROADCAST REVERSE COMMAND BDCST_CMD HOME Global BROADCAST HOME COMMAND BDCST_CMD_URT_IDX Global BROADCAST WRITE INDEX COMMAND BDCST_CMD_PG_DSBL_OM Global BROADCAST DISABLE OPERATOR MODE 0 NOT DISABLED 1 DISABLED Kl_CMD_PRG WORD Global AXIS1 COMMAND WORD FOR USER PROGRAM K1_CMD_PRG_ENBL Global AXIS ENABLE COMMAND Kl_CMD_PRG_DSBL Global AXI31 DISABLE COMMAND K1_CMD_PRG_RESET Global AXIS1 CLEAR FAULTS COMMAND K1_CMD_PRG_START Global AXISL START COMMAND K1_CMD_PRG_STOP Global AXIS1 STOP COMMAND KL_CMD_PRG_JOG Global AXIS1 JOG COMMAND K1_CMD_PRG_FUD Global AXIS1 FORVARD COMMAND Kl_CMD PRG REV Global AXIS1 REVERSE COMMAND K1_CMD_PRG_HOME Global AXIS HOME COMMAND EL CMD PRG WRT IDX Global AXIS1 WRITE SELECTED INDEX 48 Publication CC OS018A EN P June 2010 Control Program Integration Chapter 3 Although the Machine Control routine can be structured as desired it contains sample ladder logic for Machine Clear Faults Machine Start and Machine Stop operations Table 2 Ladder Logic Examples Example Description Machine Clear Faults Example The Machine Clear Fault example in the Machine Control routine uses the Broadcast command functionality to clear
11. ORD FOR USER PROGRAM Kl_CMD_PRG_ENBL Global ENABLE COMMAND Kl_CMD_PRG_DSBL Global DISABLE COMMAND K1_CMD_PRG_RESET Global CLEAR FAULTS COMMAND K1_CMD_PRG_START Global START COMMAND K1_CMD_PRG_STOP Global STOP COMMAND Kl_CMD_PRG_JOG Global JOG COMMAND Kl_CMD_PRG_FwD Global FORWARD COMMAND Kl_CMD_PRG_REV Global REVERSE COMMAND Kl_CMD_PRG_HOME HOME COMMAND Kl CMD PRG WRT IDX WRITE SELECTED INDEX 46 Publication CC OS018A EN P June 2010 Control Program Integration Chapter 3 The Axis User Program can be structured as desired but a state machine sequencer is strongly recommended for more complicated motion control In general state machines provide an easier approach to motion control programming and troubleshooting because of their step by step nature A sample state machine program is available in the CCBB common folder BE D ASTEN THINK solve RON CETTE Terms and Conditions Folder dir CCBB Version Changes and Updates VX wzi CCBB Common Folder CCBB State Based Program Example for Machine Control Building Blocks Folder Folder Power Circuit Products Folder MicroLogix Folder Sensor Products Folder PanelView Component Folder If you want to use a state machine use the K _CMD_PROG_SEO as your state machine value in the Axis User Program This value is cleared set to zero when the Axis Stop command is executed or when the axis is in Operator mode Verify that the initial state of your state machi
12. OST The feedback wiring is open shorted or missing gt Check motor encoder wiring gt Ensure that motor is recognized from drive s Web based configuration motor screen The fault code should also be scrolling across the Kinetix 300 drive front panel display If the fault code displayed does not match the HMI or the HMI display not fault code then the fault is not recognized or is unlisted Contact Rockwell Tech Support for assistance Publication CC OS018A EN P June 2010 37 Chapter 2 System Validation and Application Tips 10 Reconnect the motor feedback cable and press Clear Fault After doing so the fault clears as indicated by the fault display button disappearing along with the Clear Fault button 11 Enable the drive again 12 Press the Home button to start the homing method you configured in MotionView TIP If your configured homing method uses a home switch then homing may not work if the motor is not connected to the system You have now completed testing the Simple Motion Control Operator mode functionality Pressing the x button in the top right corner will return you to the previous screen lest the Program Mode Functionality Follow this procedure to test your axis by using the Simple Motion Control Program mode functionality 1 Press the Operator button to return to Program mode 2 Verify the motor is disconnected from the load open shaft and it is safe to turn the motor 3 Press the Index
13. Simple Motion Control g via EtherNet IP with Kinetix 300 Drives ee Allen Bradley Connected Components Building Block Quick Start 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 liability is assumed by Rockwell Automation Inc with respect to use of information c
14. a specific option Select the New Module folder Enter What you type Enter your choice Press Pressing a specific key on the keyboard Press Enter gt Use this symbol to indicate the sub menu name Choose File gt Menu gt Options Publication CC OS018A EN P June 2010 Additional Resources Resource Connected Components Building Blocks Quick Start publication CC 0S001 Preface Description Provides information about how to select products and gain access to panel and wiring information Connected Component Building Blocks Overview CD publication CC QR001 Provides files for the Connected Component Building Blocks MicroLogix 1400 Programmable Controllers User Manual publication 1766 UM001 Provides information about using the MicroLogix 1400 programmable controller MicroLogix 1400 Programmable Controllers Installation Instructions publication 1766 IN001 Provides information about using the MicroLogix 1400 programmable controller MicroLogix 1400 Programmable Controllers Instruction Set Reference Manual publication 1766 RM001 Provides information about using the MicroLogix 1400 programmable controller RSLogix 500 instruction set PanelView Component Operator Terminals User Manual publication 2711C UM001 Kinetix 300 EtherNet IP Indexing Servo Drives User Manual publication 2097 UM001 Provides information about using the PanelView Component HMI terminals Provides in
15. bal BROADCAST ENABLE COMMAND BDCST_CHD_DSBL Global BROADCAST DISABLE COMMAND BDCST_CMD_RESET Global BROADCAST CLEAR FAULTS COMMAND BDCST_CMD_START Global BROADCAST START COMMAND BDCST_CHD_STOP Global BROADCAST STOP COMMAND BDCST_CMD_JOG Global BROADCAST JOG COMMAND BDCST_CHD_FUD Global BROADCAST FORWARD COMMAND BDCST_CMD_REV Global BROADCAST REVERSE COMMAND i BDCST_CMD_HOME Global BROADCAST HOME COMMAND Chapter 3 Control Prog ram Integration f BDCST_CHD_VRT_IDX Global BROADCAST WRITE INDEX COMMAND BDCST_CMD_PG_DSBL_OM Global BROADCAST DISABLE OPERATOR MODE O NOT DISABLED 1 DISABLED K1_CMD_PRG_WORD Global AXIS1 COMMAND WORD FOR USER PROGRAM K1_CHD_PRG_ENBL Global AXISL ENABLE COMMAND K1_CHD_PRG_DSBL Global AXTS1 DISABLE COMMAND K1_CHD_PRG_RESET Global AXISL CLEAR FAULTS COMMAND KL_CMD_PRG_START Global AXISL START COMMAND Kl_CHD_PRG_ STOP Global AXTS1 STOP COMMAND K1_CHD_PRG_J0G Global AXIS1 JOG COMMAND K1_CMD_PRG_FUD Global AXTS1 FORWARD COMMAND K1_CHD_PRG_REV Global AXIS1 REVERSE COMMAND K1_CHD_PRG_HOME Global AXISL HOME COMMAND Kl CHD PRG WRT IDX Global AXIS1 WRITE SELECTED INDEX Publication CC OS018A EN P June 2010 5 Where to Start Notes 6 Publication CC OS018A EN P June 2010 Introduction Publication CC OS018A EN P June 2010 Preface This quick start is designed to provide a way to implement a connected component for simple motion control The Simple Motion Control Connected Component Buildin
16. bject that is tied to K1_DESCRIPTION tag ST199 24 in the RSLogix 500 file Axis 2 is tag ST199 125 and Axis 3 is tag ST199 26 This axis description can be changed for an axis name more appropriate to your application Once the axis description string is changed the updated axis description will show on the axis buttons in the Network Overview screen as well as in the Simple Motion Control screens The indicators on the left side show e Enabled The servo loop is enabled e Homed The drive has been successfully homed e Motion Complete The drive has completed a position based move e Indexing The drive is currently operating out of the indexing table The solid green color indicates on or active Publication CC OS018A EN P June 2010 31 Chapter 2 System Validation and Application Tips The numeric displays in the middle show e Current Index 0 31 when drive is indexing displays the currently executing index e Actual Position User Units current position of the motor e Actual Velocity User Units sec current velocity of the motor The control buttons show e Starting Index 0 31 defines the first index the drive should execute on Start command transition This value can be changed by the user at anytime but will not take effect until the next Start command transition e Index Setup takes you to the Index Setup screen where the user can edit parameters for any of the 32 drive indexes
17. contained within the drive itself To access the MotionView OnBoard software the Kinetix 300 drive and your personal computer must be configured to operate on the same EtherNet network The IP addresses of the Kinetix 300 drive the personal computer or both drive and personal computer may require configuring to enable EtherNet communication between the two devices Consult the Kinetix 300 user manual for information on how to configure the drives IP address settting 1 Connect your personal computet s EtherNet communication port to the Kinetix 300 drive s 10 100 Mbps EtherNet communication port with a standard EtherNet cable Kinetix 300 drive EtherNet communication lt a Personal computer running MotionView OnBoard software 2 Runa Java enabled web browser and enter the drive s IP address into the browser A File Download dialog box will prompt you to Open or Save the MotionView jnlp file File Download xj Do you want to open or save this file Name MotionView inip Type JNLP File 489 bytes From 192 168 1 3 ee _ se Cons While fes kom the Irtemet can be uselul some Hes can potential haem pour computer If you do not trust the source do nol open or What s the risk save thes file 3 Click Open 4 Read the Hazard of Unexpected Motor Starting warning and answer Yes I have to the prompt Publication CC 0S018A EN P June 2010 13 Chapter 1 Kinetix 300 Drive Integration
18. could be used to start an optional Axis User Program if it is not already in process Fault Reset Command e K _CMD_PRG_RESET e BDCST_CMD_START One time command that clears the Kineitx 300 drive s fault via software This resets the axis Home Command e K _CMD_PRG_HOME e BDCST_CMD_PROG_FWD One time command that starts the homing sequence configured in the Kinetix 300 drive Write Index Command e K _CMD_PRG_WRT_IDX e BDCST_CMD_PROG_REV Publication CC OS018A EN P June 2010 One time command that writes index parameters to the Kinetix 300 s Index Assembly object 45 Chapter3 Control Program Integration Axis User Program Ladder Logic optional The Simple Motion Control via EtherNet IP CCBB does not include an Axis User Program An Axis User Program could be added as a routine in the controller program and with some small modifications could be executed by the HMI Start command the Axis Start command or the Broadcast Start command An example of when you might use an Axis User Program would be when the axis needs to move to a predefined position before executing the starting index You could have that happen in a user program triggered by the Start command Any of the Simple Motion Control Program mode commands can be executed in an optional Axis User Program by using the Axis commands as shown below Address syabo scope sya Group Description _ Kl_CMD_PRG_WORD Global COMMAND W
19. creen once the PVc application is running Disabled indicates that the drive is responding when the MicroLogix 1400 controller attempts to communicate with it via explicit messaging and indicates that the drive is not enabled but is ready and not faulted If you get a yellow banner message like the one at right then the PVc application cannot communicate with the MicroLogix 1400 controller over the EtherNet network at the configured IP address Publication CC OS018A EN P June 2010 29 Chapter 2 System Validation and Application Tips If these cases use RSLogix programming software and your web browser to verify that the MicroLogix 1400 controller s IP address configured for channel 1 matches the one in the PVc application If your personal computer can communicate with both devices over the EtherNet network then the PVc terminal should be able to communicate with the MicroLogix 1400 controller over the EtherNet network Once the PVc terminal is successfully communicating with the MicroLogix 1400 controller you may observe a drive status other than Disabled The other possibilities are e Disabled The drive is ready but not enabled e Enabled The drive is enabled e Faulted The drive is faulted e No Comms The EtherNet communication connection has been broken You can now review the status of each axis in your system from the Network Overview screen TIP On this screen Axis xis a text object that is
20. ctions may not be configured with the correct drive IP address if drive status data is not correctly representing a Kinetix 300 drive and values are not updating See Messaging IP Address Change in this chapter for more information on correctly configuring the message instructions 4 Perform steps 2 and 3 for each Kinetix 300 drive in your system Review the correct Kinetix 300 drive front panel display in step 2 and the correct Axis Input Assembly data monitor in step 3 for the specific drive you are verifying 26 Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 Configure PVc Terminal to controller Communication The PanelView Component PVc terminal communicates with the MicroLogix 1400 controller over an EtherNet network The PVc application reads from and writes to the data table of the MicroLogix 1400 controller When the PVc application writes to the MicroLogix 1400 controller the controller program detects the value change and interacts with the Kinetix 300 drive appropriately via explicit messaging Since the controller program is continually updating status data from the Kinetix 300 drives into its data table via explicit messaging the PVc application is monitoring the latest drive status data The sample Simple Motion Control CCBB programs for the controller and PVc terminal assumes the static IP address for the MicroLogix 1400 controller is 192 168 1 2 If you are using a different IP addres
21. d Panel View terminal over an isolated EtherNet network Publication CC OS018A EN P June 2010 y Chapter3 Control Program Integration Follow These Steps Follow these steps to integrate your control program into the Simple Motion Control ladder logic Review the Ladder Logic Structure page 43 Review the Modes of Operation page 43 Review the Program Mode Commands page 44 Axis User Program Ladder Logic optional page 46 Customize the Machine control Ladder Logic page 48 42 Publication CC OS018A EN P June 2010 Control Program Integration Chapter 3 Review the Ladder Logic Structure The Simple Motion Control CCBB consists of four core ladder routines Main Power up Machine Control and STI Control that are specific to CCBB functionality as well as an additional four ladder routines Axis Calculation Axis Command Axis Monitor and Axis User Program for each Kinetix 300 drive axis These routines are briefly described below Consult the ladder logic comments for further information Routine Description Main Routine Main Calls all other routines Power up Routine POWER UP Clears Axis Command Axis Data and Axis Status values and sets program constant values Use this to set initial program values for all axes Machine Control Routine MCHN CNTRL Use this routine to control all of the axes in the system at the same time This control can be done by using the Broadcast command funct
22. egister Distance Wa User Units Batch Count 1 Dwell 0 ms Velocity 32 0000 User Units Sec Accel 1000 0000 User Units Sec Decel 1000 0000 User Units Sec Next Index 1 Action Next Index Index 01 Index 02 The Simple Motion Control CCBB can configure any index from the HMI but it is preferred that you configure indexes within MotionView and make adjustments from the HMI Publication CC OS018A EN P June 2010 Kinetix 300 Drive Integration Chapter 1 Configure the Drive Operating Mode Kinetix 300 drives can be configured to run in a variety of operational modes The Simple Motion Control CCBB requires the Kinetix 300 drives to be set to Indexing mode To configure the Kinetix 300 Drive Mode parameter perform the following steps 1 Select General from the Controller Organizer 2 Set the Drive Mode to Indexing from the drop down list 192 168 1 3 DISABLED ommunication Drive Mode Indexing nt Repeat the steps in this chapter for each Kinetix 300 drive in your application that will use the Kinetix 300 Control Building Block Additional Resources Refer to page 9 for a listing of product and information resources Publication CC 0S018A EN P June 2010 19 Chapter 1 Kinetix 300 Drive Integration Notes 20 Publication CC 0S018A EN P June 2010 Chapter 2 System Validation and Application Tips Introduction In this chapter you confirm that communication is occurring as in
23. formation about using the Kinetix 300 drive http www ab com Provides access to the Allen Bradley website http www rockwellautomation com knowledgebase Provides access to self service support http Awww rockwellautomation com components connected Publication CC OS018A EN P June 2010 Provides access to the Connected Components website Preface Notes 10 Publication CC OS018A EN P June 2010 Chapter 1 Kinetix 300 Drive Integration Introduction In this chapter you configure the Kinetix 300 drive parameters as necessary for the MicroLogix 1400 controller to communicate and control the drive Configuration is done by using your personal computer connected to the drive The Kinetix 300 drive communicates with the MicroLogix 1400 controller via an EtherNet IP connection Each Kinetix 300 drive must have a unique IP address and needs to be configured with MotionView OnBoard software contained within the drive This chapter provides step by step instructions for configuring required settings whether you are using the 1 axis 2 axis or 3 axis Simple Motion Control Connected Component Building Block CCBB solution This chapter also specifies the minimum number of parameters that need to be changed from the factory default settings for the Kinetix 300 drive to be controlled by the MicroLogix 1400 controller For your machine application there may also be other drive parameters that need to be ad
24. g Block CCBB uses predefined configurations in the Kinetix 300 drive and the MicroLogix 1400 controller to create a functional connected component solution Altering or failing to correctly configure the settings and parameters explained in Chapter 1 Chapter 3 or failure to use the pre configured RSLogix 500 files provided with the Simple Motion Control Building Block may result in unexpected behavior and potentially unexpected motion If you want to alter the Simple Motion Control Connected Component configurations or application code consult the user manuals for each related product to understand the ramifications of your desired changes Use this Quick Start in conjunction with the Connected Components Building Blocks Quick Start publication CC 0S001 Refer to Additional Resources on page 9 for a listing of other related documents To assist in the design and installation of your system application files and other information are provided on the Connected Component Building Blocks Overview CD publication CC QRO001 The CD provides bills of materials BOM CAD drawings for panel layout and wiring control programs Human Machine Interface HMI screens and more With these tools and the built in best practices design the system designer is free to focus on the design of their machine control and not on design overhead tasks The beginning of each chapter contains the following information Read these sections carefully before beg
25. hapter 2 System Validation and Application Tips 3 Examine the MicroLogix 1400 data files to make sure that the Kinetix 300 drive and MicroLogix 1400 controller are communicating correctly via explicit messaging a Expand the Custom Data Monitors section located in the Project tree in RSLogix 500 software and double click CDM 0 AX1 INPUT ASSBLY as shown below J CDM 1 AX1 OUTPUT ASSBLY CDM 3 AX1 INDEX ASSBLY CDM 4 AX1 INDEX READ b Verify that the Drive Status is as expected by examining some of the data bits CDM 0 AX1 INPUT ASSBLY i 1S fal x Address Value Description ssid L208 0 0 L208 0 1 0 amp X151 PHYSICAL AXIS FAULT L208 0 2 0 AXIS1T AXIS IS WITHIN POSITION TOLERANCE WINDOW L208 0 5 0 4XIS1 CURRENT LIMIT REACHED L208 0 6 0 AXIS1 REGISTRATION CAPTURED L208 1 0 0 AXIS1 INDEXING STATUS L208 1 1 L208 143 0 8 151 POS LIMIT SWITCH ENGAGED L208 1 4 0 AxIS1 NEG LIMIT SWITCH ENGAGED L208 1 5 0 x151 HOMING ACTIVE L208 1 6 0 AXIS 1 AXIS HOMED L208 2 0 L208 2 1 0 AXIST IN SPEED WINDOW L208 2 2 0 AXIS1 POWER STRUCTURE ENABLED READY L208 5 0 AXIS ACTIVE INDEX DINT F209 0 F209 1 F209 2 07984875 AXIST COMMAND POSITION IN UU REAL Te lhis next step is not be possible for all applications c If possible verify that the Axis Actual Velocity and Actual Position signals are functioning as expected by manually turning your motor and watching the values change TIP Explicit message Instru
26. idation and Application Tips Now that the drive IP address has been changed you must adjust the controller program to modify the IP address parameter in the message instructions to communicate with the Kinetix 300 drive To modify the drive s IP address in the controller program complete the following steps 1 Open the Simple Motion Control controller program you will be using 2 Open Data File ST199 and change the string value to match the IP address of your drive gt 2Data File ST199 AXIS DATA 10 x Offset LEN String Text Symbol Description ST199 0 12 IEA TEN ST199 1 11 192 168 1 6 ST199 2 11 192 168 1 7 0 You have the choice of one two or three axis configurations in this building block The string address ST199 0 corresponds to Axis 1 ST199 1 to Axis 2 and ST199 2 to Axis 3 When you run the program code the message instructions will be updated when the power up routine is executed For additional information see Review the Program Mode Commands in Chapter 3 and the rung comments in the controller program 24 Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 Configure Controller to drive Communication Once you have the correct RSLogix control program downloaded to the MicroLogix 1400 controller you are ready to validate the controller to drive communication Perform the following steps to complete this validation for each Kinetix 300 drive 1 Make sure that the
27. inning work in each chapter e Before You Begin This section lists the steps that must be completed and decisions that must be made before starting that chapter The chapters in this quick start do not have to be completed in the order in which they appear but this section defines the minimum amount of preparation required before completing the current chapter e What You Need This section lists the tools that are required to complete the steps in the current chapter This includes but is not limited to hardware and software e Follow These Steps This illustrates the steps in the current chapter and identifies which steps are required to complete the examples Preface Conventions Used in This Manual This manual uses the following conventions Convention Example Check or uncheck To activate or deactivate a checkbox Check Disable Keying Click the left mouse button once while the cursor is positioned Click Click Browse on object or selection Double click Clic the left mouse button twice in quick succession while the Double click the application icon cursor is positioned on object or selection Expand Click the to the left of a given item folder to show its Expand 1768 Bus under 1 0 Configuration contents Right click Clic the right mouse button once while the cursor is positioned Right click the 1768 Bus icon on object or selection Select Using the mouse to highlight
28. ion page 25 Configure PVc Terminal to controller Communication page 27 Test the Simple Motion Control Functionality page 30 Multiple Drive Considerations The Kinetix 300 Control Building Block supports one axis two axis and three axis configurations When completing Chapter 3 of the Connected Components Building Blocks Quick Start publication CC QS001 be sure to use the correct RSLogix Control and PanelView Component HMI Programs for your particular application Additionally Chapter 1 of this document should be completed for each of your Kinetix 300 drives IMPORTANT Mama RSLogix Control and PanelView Component HMI Programs must be the same version one axis two axis or three axis for the Simple Motion Control Building Block to function correctly 22 Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 Messaging IP Address Change The MicroLogix 1400 controller communicates to the Kinetix 300 drive via EtherNet IP Information is read from and written to the Kinetix 300 drive by using MicroLogix CIP Generic MSG instruction Explicit messaging lets DINT REAL and String data pass back and forth to and from the drive Each message instruction is configured with a drive s IP address so it knows with which drive to communicate Depending on the IP address you configured your Kinetix 300 drive s with you may have to modify the IP address parameter of the various Me
29. ionality or by controlling each axis independently with separate Axis commands Executes the custom user machine control code Message Instruction IP Address Called by the POWER UP routine IP CONVERT Converts a string value representing an IP address into an equivalent integer value This value is then copied to the message instructions used to communicate with the Kinetix 300 drives AX1 Command Routine AX CMD Executes the commands requested in Operator mode by using the HMI and in Program mode by using the Axis User Program routine or the Machine Control routine AX1 Monitor Routine AX MNTR Monitors the axis status as well as the HMI status The axis status is used throughout the CCBB for axis and drive control The HMI Status is used for HMI screen control by using visibility functionality IMPORTANT It is critical that the Kinetix 300 drives be communicating to the MicroLogix 1400 controller when the controller is put in RUN mode so the POWER UP routine executes and initializes program values Review the Modes of Operation As explained in the previous chapter the Simple Motion Control CCBB has two modes of operation Program mode and Operator mode Each mode has its own Status and Command PLC tags and ladder logic and HMI interlocking keeps each mode mutually exclusive Operator mode lets you jog home enable disable clear faults and adjust the jog speed strictly through the HMI The HMI sends HMI comma
30. ircuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss IMPORTANT Identifies information that is critical for successful application and understanding of the product 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 o A A A A Rockwell Automation Rockwell Software Allen Bradley Kinetix MicroLogix PanelView RSLogix 500 and TechConnect are either trademarks or registered trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Where to Start
31. justed Consult the drive documentation for information on all other drive parameters The Kinetix 300 drive the personal computer the MicroLogix 1400 controller and the PV component must all be configured to operate on the same EtherNet network All devices will require configuring to enable EtherNet communication between them Consult the devices documentation for information on configuring EtherNet communications Before You Begin e Review the Connected Components Building Blocks Quick Start publication CC QS001 e Apply power to your drive Publication CC OS018A EN P June 2010 11 Chapter 1 Kinetix 300 Drive Integration What You Need e Personal computer with EtherNet connection e Kinetix 300 drive s e EtherNet switch e MicroLogix 1400 controller e RSLogix 500 software e Java enabled web browser e Connected Components Building Blocks Overview CD publication CC QRO001 Follow These Steps Follow these steps to configure each of your Kinetix 300 drives Connect to the Kinetix 300 rive page 1 Reset the Drive to Factory ettings page 1 Drive Commissioning page 16 Configure Drive Home and Index Settings page 17 Configure the Drive Operating Mode page 19 12 Publication CC OS018A EN P June 2010 Kinetix 300 Drive Integration Chapter 1 Connect to the Kinetix 300 Drive Kinetix 300 drives are configured by using MotionView OnBoard software a web based configuration tool
32. nds to the PLC and it responds accordingly Publication CC OS018A EN P June 2010 43 Chapter3 Control Program Integration In Program mode you interact with the axis via the HMI or optional PLC application code The HMI can be used to configure indexes set the starting index and start or stop an index Other Program mode interaction can be done via an optional PLC Axis User Program routine or Machine Control routine by using the Program mode commands that are explained in the next section An optional Axis User Program routine is not provided in this Simple Motion Control via EtherNet IP CCBB It is discussed here as another way to control the Simple Motion Control program besides through the HMI An Axis User Program would need to be created by the user Review the Program Mode Commands There are two types of Simple Motion Control Program mode commands Axis commands and Broadcast commands Axis commands are executed on a particular axis and each axis has its own control tags status tags routine and so forth Broadcast commands are executed on all of the axes in the Simple Motion Control CCBB and can be implemented by using the Machine Control Program Axis commands can be executed via an optional Axis User Program routine and affect only that particular axis Broadcast commands are executed in the Machine Control routine and affect all of the axes in the Simple Motion Control CCBB This provides the flexibility to independently co
33. ne is when AX _CMD_PROG_SEQ 0 and then your state machine will execute every time the Axis Start command is executed TIP Be sure to initialize or set the Axis command parameters before you execute each Axis command This will help make sure that each command is always executed using the expected parameters Now that you know how to integrate your individual axes into the Simple Motion Control CCBB and control them individually you will explore how to control all the axes simultaneously Publication CC OS018A EN P June 2010 47 Chapter3 Control Program Integration Customize the Machine control Ladder Logic The optional Axis User Program could control each axis independently while in Program mode while the Machine Control routine is used to control all of the axes simultaneously while in Program mode Unlike an Axis User Program there is not a start command Instead the Machine Control routine will always be scanned when the MACHINE_ENB_USR_CTRL I O 1 0 0 is set which can be removed if not needed or it can be tied to an input or other conditions as needed The Machine Control routine can use any of the Program mode commands including the Axis commands and the Broadcast commands as shown below This means that you can control axes independently in groups or sections or simultaneously B195 0 BDCST_CMD_WORD Global BROADCAST COMMAND WORD B195 0 0 BDCST_CMD_ENBL Global BROADCAST ENABLE COMMAND B195 0 1 BDCST_CMD_DSBL Global
34. nformation that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running United States 1 440 646 3434 Monday Friday 8 a m 5 p m EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning it may need to be returned United States Contact your distributor You must provide a Customer Support case number see phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for States return procedure Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication CC OS018A EN P June 2010 Copyright 2010 Rockwell Automation Inc All rights reserved Pri
35. nted in the U S A
36. ntrol an axis or to consolidate machine control code when possible Program mode commands provide pre defined basic motion control functionality and can be executed as an Axis command or a Broadcast command and the functionality remains the same The only difference is whether the function is executed on one axis Axis command or all axes Broadcast command Program mode commands include the following Disable Enable Stop Start Fault Reset Home Write Index All Program mode commands are one time instructions 44 Publication CC OS018A EN P June 2010 Control Program Integration Chapter 3 The commands are briefly explained in the table below For further detail on each command consult the ladder logic comments Table 1 Commands Command Disable Command e K _CMD_PRG_DSBL e BDCST_CMD_DSBL Description One time command that turns OFF the Kinetix 300 drive s enable and software enable This disables the axis Enable Command e K _CMD_PRG_ENBL e BDCST_CMD_ENBL One time command that turns ON the Kinetix 300 drive s enable and software enable This enables the axis Stop Command e K _CMD_PRG_STOP e BDCST_CMD_STOP One time command that stops the axis and clears the necessary Axis Command data The Stop command will be executed automatically if the axis is not ready or not enabled Start Command e K _CMD_PRG_START e BDCST_CMD_START One time command that starts the axis indexing or
37. numeric entry button is displayed Jog Vel SP UU esc The indicators on the left side show Enabled The servo loop is enabled Homed The drive has been successfully homed Motion Complete The drive has completed a position based move Homing The drive is currently executing the homing method The solid green color indicates on or active The numeric displays in the middle show 34 Jog Vel SP User Units sec enter the velocity at which you want to jog the motor Enter a positive value for forward direction and a negative value for reverse direction Actual Position User Units current position of the motor Actual Velocity User Units sec current velocity of the motor Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 The control buttons show e Enable and Disable enable or disable the drive s servo loops depending on the current state If the drive is disabled the Enable button is active and the Disable button is inactive grayed out If the drive is enabled the Disable button is active and the Enable button is inactive e Jog active when the drive is enabled and inactive when the drive is disabled When pressed the controller program sends a jog command to the drive at the speed currently entered in the Jog Velocity Setpoint numeric entry The Jog button is a momentary button and therefore the jog will stop executing when the button is
38. onfigured for your setup Consult the Kinetix 300 Drive User Manual publication 2097 UM001 for additional information on configuration parameters Motor Motor window displays motor information and lets you change the motor e Allen Bradley motors and actuators with intelligent feedback devices will automatically be populated into the motor configuration e For Allen Bradley motors and actuators with incremental encoders click Change Motor and choose the device from the provided list User Units Set the units your system will be using under the General tab EtherNet Communication The EtherNet window displays the IP address configuration which is where you can manually set the drive IP address Digital and Analog 1 0 Configure any additional I O you will be using Auto tune Auto tune the drive motor system The drive will need to be in Auto Tune mode General tab The Dynamics tab contains the auto tuning interface and gain values 16 Publication CC OS018A EN P June 2010 Kinetix 300 Drive Integration Chapter 1 Configure Drive Home and Index Settings The Simple Motion Control CCBB includes the ability to home an axis and run any of the Kinetix 300 drive s 32 indexes To configure the homing parameters complete the following steps 1 Select Homing from the Controller Organizer 192 168 1 3 DISABLED Motor General Communication Ethernet EtherNet IP CIP 10 Digital O Analog IO Limi
39. pplication needs If simultaneous control is needed consider using Broadcast commands If individual or step by step control is needed consider using Axis commands and controlling each axis individually TIP Be sure to initialize or set the Axis command parameters before you execute each Axis command to ensure each command is always executed with the expected parameters Additional Resources Refer to page 9 for a listing of product and information resources Publication CC OS018A EN P June 2010 49 Chapter3 Control Program Integration Notes 50 Publication CC OS018A EN P June 2010 Rockwell Automation Support www rockwellautomation com 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 use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http wwwrockwellautomation com support Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the i
40. s for the controller you must modify the MicroLogix 1400 IP address in the PVc application Follow this procedure if you need to modify the MicroLogix 1400 IP address in the PVc application 1 Connect to the PVc terminal with your Internet Explorer or Firefox web browser by entering the terminal IP address in the web browser location bar and pressing Enter 2 Select the application name in the PVc dashboard screen and then click Edit PanelView Component Terminal Settings Fe Transfer Heip Sign ON Application Dashboard Applicatons Status Name MOTION_CONTROL_C600c_ENET_1Axis_K300_v1_1 Location internal Mode Loaded 9 ini al_T6C Yes internal K300_CONTROL_C600 _ENET_1Axis_v1_0 Yes internal Terminal PanelView C600 Color Status Connected to Terminal via Ethernet New Application Create amp Edit The PVc Edit dialog box is displayed Publication CC 0S018A EN P June 2010 27 Chapter 2 System Validation and Application Tips 3 From the Edit dialog box click on the Communication tab 4 Change the Address field populated automatically with the static IP address 198 168 1 2 by typing your correct IP address Communication Tags Screens Security Alarms Recipes Languages roOUWP DT Bxaaie Application Language Engish rod Sas 1030 2 Load Last Saved Driver Configuration Protocol Cserna OI z Ethemet Allen Bradley MicroLogo ENI ove SR PanelView Component Settings Vinte Opteniza
41. ssage MSG instructions used in the controller program to match those of each drive A controller program routine has been created to help streamline the process of changing the IP address parameter of the Message MSG instructions used throughout the Simple Motion Control via EtherNet IP CCBB The default IP addresses of the three Kinetix 300 drives are as follows e Axis 1 192 168 1 5 e Axis 2 192 168 1 6 e Axis 3 192 168 1 7 If your system setup requires you to modify the default IP address perform the following steps to complete the IP address change for the Kinetix 300 drive You must use the MotionView OnBoard configuration software to modify the IP address for the Kinetix 300 drive 1 In the MotionView OnBoard configuration software select Ethernet from the Controller Organizer 192 168 1 5 DISABLED Some parameter s change will take an eftect after REBOOT Motor General Configure IP Address Communication Ethernet Obtain IP Address using DHCP EtherNetlP CIP 10 DigitatlO Subnet Mask 255 255 255 0 IP Address 192 168 1 10 Analog 10 Detault Gateway 192 168 1 0 Limits Velocity Limits 2 Make the necessary changes to the IP address configuration 3 You will need to cycle power to the drive for the new settings to take effect Consult the Kinetix 300 drive user manual 2097 UM001 for additional information Publication CC OS018A EN P June 2010 23 Chapter 2 System Val
42. tended between the MicroLogix 1400 controller and the Kinetix 300 drives as well as between the MicroLogix 1400 controller and the Panel View terminal The operation of the sample screens for Simple Motion Control Program mode and Operator mode is described as well Before You Begin e Verify that you have completed all of the steps in Chapter 1 e Verify that all of the devices are connected per the Simple Motion Control CAD wiring diagram e Verify that the MicroLogix 1400 controller Kinetix 300 drive and PanelView Component terminal have power applied to them e Review the Connected Components Building Blocks Quick Start publication CC QS001 verifying that you have completed all of the steps in Chapter 3 of that quick start What You Need e Personal computer with Internet Explorer or Firefox web browser e PanelView Component terminal e Kinetix 300 drives e MicroLogix 1400 controller e Previously loaded software e EtherNet switch so that you can connect your personal computer to both the MicroLogix 1400 controller and PanelView terminal over an isolated EtherNet network e Connected Component Building Blocks Overview CD publication CC QRO01 Publication CC OS018A EN P June 2010 21 Chapter 2 System Validation and Application Tips Follow These Steps Follow these steps to verify that communication is occurring between your devices Messaging IP Address Change page 23 Configure Controller to drive Communicat
43. tied to AX1_DESCRIPTION tag ST199 0 in the RSLogix 500 file This axis description can be changed to give the axis a name that is more appropriate to your application Once the axis description string is changed the updated axis description will show on the axis buttons in the Network Overview screen as well as in the Simple Motion Control screen Pressing the x button in the top right corner will return you to the Network Overview screen Test the Simple Motion Control Functionality Now that the PVc terminal is successfully communicating with the MicroLogix 1400 controller you are ready to navigate the screens and then test the Simple Motion Control functionality first in Operator mode and then in Program mode 30 Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 Navigate the Program Mode Screen Follow this procedure to understand the Simple Motion Control Program mode functionality 1 Press the Axis x button on the Network Overview screen to select an axis that is ready to test The Simple Motion Control screen will appear and will be in Program mode default Your screen will be similar to the one shown below x Enabled 7 Homed D Motion Complete HG Indexing C7 Actual Position UU 65 34 Actual Yel UU sec 00 2 The Program button in the lower right corner indicates the Simple Motion Control CCBB is currently in Program mode TIP On this screen Axis 1 is a text o
44. tion No configurable propertes at protocol level Controller Settings Add Coetroller Delete Selected Controter s Sort by 5 Once you have added the correct IP address click on the Screens tab Screens Settings Communication Tags 28h x agile Save Validate 6 Click on the Validate icon so the new IP address is recognized and validated 7 Once it is validated click on the Save icon to save your entered information 28 Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 8 From the Application Dashboard screen click Run to run the PVc Kinetix 300 Control application PanelView Component Terminal Settings Fide Transfer Help Sign Off Application Dashboard Applicatons Status Name MOTION_CONTROL_C600c_ENET_tfxds_K300_v1_1 Location Internal Mode Loaded 9 inial_T6C Yes internal K300_CONTROL_C600 _ENET_1Axis_vi_0 Yes internal Terminal PanelView C600 Color Status Connected to Terminal via Ethernet Edit Test New Application Create amp Edit Understanding the Network Overview Screen Functionality Since you have already verified that communication between the MicroLogix 1400 controller and the Kinetix 300 drive is working each axis in your Network Overview application one axis two axis or three axis depending he on your configuration should display as being Disabled or Faulted on the Network Overview s
45. ts Velocity Limits Position Limits Dynamics ools Monitor Faults 2 Set the homing parameter values based on your system requirements Description Units Home Accel Decel 10 0000 User Units Sec Home Offset 0 0000 User Units Home Velocity Fast 1 0000 User Units Sec Home Velocity Slow 1 0000 User Units Sec Home Switch Input B1 3 Select the Home Method from the drop down list based on your system requirements ID Home Method Direction Logix Type Home Sensor Polarity 34 Marker Forward Home to marker n a ih 25 Switch Slow Forward Home to sensor Inactive Falling E 27 Switch Slow Reverse Home to sensor Inactive Falling 29 Switch Fact Reverse Home to censor Active Rising 33 Marker Reverse Home to marker nla 134 Marker Forward Home to marker n a 35 Immediate nla nla nla l Publication CC QS018A EN P June 2010 Chapter 1 Kinetix 300 Drive Integration To configure the Indexing parameters complete the following steps 1 2 5 18 Select the Indexing tab from the Controller Organizer Verify the AutoStart Index is set to Disable Description AutoStart Index Disable Start Index 0 Current Index 0 Expand the Indexes and configure as required for your application Below is an example of a configured index 00 that will transition to the next index 01 on completion Index Type Incremental Move S Curve Distance 20 0000 User Units R
46. ur setup 5 Press and hold the Jog button You should see the motor accelerate and rotate at the set velocity Verify that the actually position value is also changing 6 Release Jog The drive should decelerate back to stop 7 Enter a negative value for the Jog Velocity SP and repeat steps 5 and 6 verifying that the motor spins in the opposite direction 8 Unplug the motor feedback cable and verify that an Axis Fault E7 is displayed 36 Publication CC OS018A EN P June 2010 System Validation and Application Tips Chapter 2 Notice that the Kinetix 300 drive is now disabled and the screen indicators and screen buttons have responded appropriately Your screen will be similar to the one shown AXIS 1 x Drive Fault E7 clear Faun Enabled C d Homing C7 Dis Jog Yel SP UUssec _ 550 Actual Position UU 65 34 L Stop f Actual Yel UU sec o Operator Note that two new buttons have appeared on the screen The Clear Fault button will clear the Kinetix 300 drive fault as long as the fault condition is no longer present The long white button flashing Drive Fault Ex provides more diagnostic information for the displayed fault condition when it is pressed 9 Press the long white button that is flashing to see more diagnostic information As shown here the fault is displayed along with a fault description and possible solutions following the gt symbol Drive Fault E7 X FEEDBACK L
47. write the new values to the drive press the Apply button The control buttons show e Up down allow you to scroll through the selectable items for three of the index parameters The parameters are Index Type Move Type and Next Action e Apply for the selected index writes the parameter in the New Values column to the selected drive IMPORTANT When the parameter values for the selected drive are read back from the drive they are not only displayed in the Current Values column but are also copied to the New Values column This allows for minimal input when making minor adjustments to an index s parameters Pressing the x button in the top right corner will return you to the Program mode screen Publication CC OS018A EN P June 2010 33 Chapter 2 System Validation and Application Tips Navigate the Operator Mode Screen Follow this procedure to understand the Simple Motion Control Operator mode functionality 1 To manually control the drive press Program to change the Simple Motion Control screen to Operator mode The Simple Motion Control screen will be displayed and will be in Operator mode ER Homing C Jog Yel SP UUjsec C sso Actual Position UU 65 34 _ sto f Actual Yel UU sec ox 2 The Operator button in the lower right corner indicates the Simple Motion Control CCBB is currently in Operator mode The Enable Disable Home and Jog buttons have become visible and a Jog Velocity setpoint
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