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1. 15 Click OK 16 In the RSLinx toolbar click the RSWho icon to verify that your drive is properly communicating with RSLinx Classic software w RSLinx Classic Lite File View Communications Station ODDEIOPC Sec Rockwell Automation Publication CC QS025D EN P August 2015 17 Chapter1 Kinetix 3 Component class Servo Drive Setup 17 Expand your RS 232 DF1 driver and verify that your drive is displayed It is listed as 01 AB DSI If the drive does not display below the driver check your COM port and driver settings RSLinx Classic Lite RS hho 1 E _ Oj x as File View Communications Station DDEMOPC Security Window Help x jj Workstation SS opie os43 am Z For Help press F1 18 Close RSLinx Classic software Connect to Your Drive To connect to the Kinetix 3 drive follow these steps The Kinetix 3 drive must be Series B or later with firmware revision 3 005 or later 1 From the Connected Components Workbench Device Toolbox expand Discover and click Browse Connections b E s Device Toolbox xo gja ol i fF Discover Browse Connections The Connection Browser dialog box appears 18 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class Servo Drive Setup Chapter 1 2 From the Connection Browser under AB_DF1 1 select your drive 01 AB DSI and click OK 0 x W Autobrowse Befresh workstation WIMF VM Fabs Linx Gateways
2. is limited by motor model Rockwell Automation Publication CC QS025D EN P August 2015 59 AppendixA Kinetix 3 Component class User defined Function Block Table 14 RA_K3_ MBUS_CFG_IndexWriteValues Inputs continued Accel REAL This variable is the acceleration that the drive uses to attempt to reach the maximum velocity 0 21 474 836 47 for the index move in revolutions per second It has seven digits of precision and two decimal places The value is limited by motor model Decel REAL This variable the deceleration that the drive uses to attempt to stop the motor forthe index 0 21 474 836 47 move in revolutions per second It has seven digits of precision and two decimal places The value is limited by motor model NextIndex INT This variable is the value of the index that is acted on next if the NextAction configurationis 0 63 not set to stop Table 15 RA_K3_ MBUS_CFG_IndexWriteValues Outputs FBENO BOOL This variable reflects the state of FBEN 1 0 FB_Q BOOL This variable shows whether the status message has completed After the response from the drive has been received for last configuration message this bit becomes true It stays true until the UDFB sees a rising edge of the enable input CommLoss BOOL This bit signifies a communication timeout between the controller and the drive and it also triggers FB_Error to be true The bit s is cleared only after the UDFB sees a rising edge of the enable
3. cy Disconnected Mode F Connect Micro850 cS Run Controller Mode t 3 a Download Upload Secure Axis Monitor Ethernet Internet Protocol E Controller Eaa Intemet Protocol IP Settings Serial Port O Obtain IP address automatically using DHCP USB Port Configure IP address and settings Ethernet A Internet Protocol IP Address 192 168 1 a o Pot SRE Subnet Mask 255 255 255 0 i Port Diagnostics s Date and Time Gateway Address 192 168 1 1 fe Interrupts a Startup Faults dibae Kia Detect duplicate IP address i Embedded VO Motion Save Settings To Controller oR New Axis gt Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 4 Expand Plug in Modules in the controller configuration list add if not already present and configure the 2080 SERIALISOL port for your controller in slot 1 as shown M icro850 Remote F a Major cas a gy Disconnected Vlode C nect Micro 50 nee Run Controller Mode ane H m ui Secure i Axis Monitor 2080 LC50 240BB on eet an wail gE i Tti y l ssssssssssssssss iil E Plug in Modules 2080 SERIALISOL Controler General Common Settings dd 2080 SERIALISOL Driver Modbus RTU Baud Rate 19200 E Ethernet s Internet Protocol None Port Settings Modbus Role Master z i Port Diagnostics Date and Time Protocol Control
4. Drive Enable Enabled Detaul Motor Mormeal Metric Indexing Mane 0 6 rated motor current 1 57600 bps o Data Mo Party 1 Stop bit ASCH RS232 Enable nable 10 Set the MODBUS Run Function Control to Enable Rockwell Automation Publication CC QS025D EN P August 2015 Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Appendix B Configure Advanced Options To perform absolute moves the drive must be homed The homing parameters are set in the Homing branch within the Mode Configuration branch After the home sequence has been completed you can configure the drive for indexing 1 Double click the Mode Configuration branch 2 Double click the Homing subbranch Parameter Value Units Homing Type Home to Marker Auto Start Homing on Enable Inactive Homing elocity 100 RPM Homing Accel Decel 62 50 Revels Offset Move Distance 0 Courts stop Home Decel 62 50 Revels Home Sensor Polarity Active Gaoing Transition Home Position 0 Counts Creep Yelocity 20 RPh Home Current 100 Jo Moving Distance After Home Sensor 0 Counts Home Current Time 0 ms Homing Timeout BO Sec 3 Set the parameters as your application requires You can configure the indexing parameters through the Indexing branch or at another time through the HMI 4 Set indexing parameters through the Indexing branch a Double click the Indexing subbranch Parameter Value Units
5. Parameter Description Servo Enabled Jog Enabled The box indicates whether the servo loop is active and the drive is maintaining control of the motor The text indicates whether the enabling control is the Standard Operating mode or the Jog Operating mode Homed This indicator displays the home status of the drive When the box is gray the drive is not homed If the box is green the drive has an absolute position reference Homing This indicator displays the homing status of the drive If the drive has started homing but has not attained an absolute position reference the box displays green otherwise it displays gray Motion Complete This box displays gray while the drive is in motion or in dwell The box displays green after the last index in a chain has completed motion In Motion If the drive is moving as part of an index command this indicator is green In Dwell If the drive is not moving as part of an index dwell command this indicator is green Drive Fault If the drive is healthy this indicator is gray If there is a fault on the drive it is red and shows the error number in the text Drive Comm Error If any of the Modbus messages to the drive fail this bit latches on until it is cleared Bad checksums lost connections or an invalid configuration in the drive cause m message failures Rockwell Automation Publication CC QS025D EN P August 2015 43 Chapter 2 System Validation Table 4 Numeric Displays And Inputs Param
6. Bit 0 Modbus Message Communication Error Bit 1 Invalid Channel Bit 2 Invalid Node Address ServoAlarm BOOL This bit is normally true for a healthy drive If the bit changes to false there is a servo alarm within the drive WithinPosn BOOL This bit is true when the motor feedback position is within the specified position tolerance of parameter Pr5 00 In Position Size UpToSpeed BOOL This bit is true when the motor feedback velocity is greater than the value in Pr5 04 Up To Speed 1 0 Active BOOL This bit is true when the drive is disabled and goes false when the drive is enabled This bit operates 1 0 Opposite to the digital output that is associated with the Brake WithinSpeed BOOL This bit is true when motor feedback velocity is within the specified speed tolerance of parameter Pr5 03 1 0 Speed Window PosnValid BOOL This bit is true when the drive is connected to an absolute encoder configured with battery backup and it 1 0 can read a valid position from the encoder Ready BOOL This bit is true when the drive is not faulted and can be enabled 1 0 1 0 CurrentLmt BOOL This bit is true when the current is being limited by the drive The current limits are entered in parameters Pr4 01 Positive Internal Current Limit Pr4 02 Negative Internal Current Limit Pr4 03 Positive External Current Limit and Pr4 04 Negative External Current Limit VelocityLmt BOOL This bit is true when the velocity
7. Interrupts i Startup Faults Media R5485 x Modbus Mapping i Embedded 1 0 poets Motion Stop Bits iv Response Timer 200 ms Broadcast Pause 200 ms RTS Pre Delay O ps Inter Char Timeout ups RTS Past Delay 0 ps 5 From the Project Organizer expand the program that is named K3_01_Indx_StsCmdCfg and open the Local Variables for that program Local Variables k 6 Set Cfg Channel to the same channel as the 2080 SERIALISOL module 7 Set Cfg_NodeAddr to the node address that you assigned to the drive stai JC i 50 C ick TI VS CmdCfg VAR x RISC eames aur EEE Name Alias Data Type Dimension Initial Value Attribute Comment String Size fe gt gf gf 7 gt a p t gt gt fe Cfg_Channel UINT Read Write Cfg_NodeAddr USINT Read Write Cfg Interval UDINT Read Write Rockwell Automation Publication CC QS025D EN P August 2015 33 Chapter2 System Validation Configure PanelView 800 Terminal Communication Settings In the default project the CIP serial communication and controller settings have already been configured The following settings are used Table 2 Default CIP Serial Communication and Controller Settings Driver Configuration Protocol CIP Serial Port RS232 Baud rate 38400 Data format 8 N 1 8 N 1 Flow control None Controller Settings PLC 1 Micro800 Name Controller type Address Follow these steps to modify these settings in the d
8. Units Auto Motor lden Disabled Motor Model L A110P Hxx2 Inertia Ratio MPAS SoxxK ALAMSos A Load i Motor TL 4 110P Beex B TL 4110P Bxx4 TL 4110P Hxx2 TL 4110P Hxx4 TL 4120P Bxx 2 TL 41 20P Bxx4 b Set Auto Motor Iden to Disabled You are prompted to reset the drive 72 Rockwell Automation Publication CC QS025D EN P August 2015 Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Appendix B c Click Yes d From the Motor Model pull down menu choose your motor model Double click the Drive branch 4 Set the Operation Modes Main Override to Indexing None Parameter Value Mame Drive AC Line Loss Check Enable Auto Motor iden Disabled Motor Model TL 4 1170P Hxx2 Command Polarity Normal Displayed Units Metric Operation Modes MainfOverride mesei sl Initial Current Bias Preset Velocity Folloyer Se rate Velocity Limits Preset Velocity 4nalog Velocity Input Acceleration Limits Preset Velocity 4nalog Current Input Analog Velocity InputFollover Analog Current InputFollover Communications Current Limits Position Limits Speed Functions Position Functions Motor Encoder Units Stopping Functions Auxiliary Function Selection 1 Analog Current Inputisnalog Velocity Indexing Mone GA E E A A H E E H 5 Click Yes when prompted to reset the drive 6 Use Autotune for best performance Autotune can also be done later a
9. Choose a motor for the associated online or offline Kinetix 3 drive Once you have chosen a motor the status values associated with the chosen motor appear in the Status pane of this dialog box Monitor the status as related to the chosen motor Perform diagnostics on the motor Configure Velocity and Position Regulator Gains that are used in tuning Monitor Velocity Position and Current loop status Open dialog boxes where you can execute commands for autotuning manual position tuning and manual velocity tuning Use the Encoders branch to configure the motor encoder Assign functionality to digital inputs Monitor the status of digital inputs Assign functionality to digital outputs Set both active and inactive brake delays Monitor the status of digital outputs and the digital relay Assign drive signals to analog outputs Monitor the status of analog outputs View a collection of statuses Open the Monitor Setup dialog box where you can choose the collection of statuses to be displayed in this dialog box Save a monitor for later use Load a monitor that was previously saved Configuring the oscilloscope by choosing the drive signal to trace Executing commands that run the trace function of the oscilloscope continuously or in response to the configured trigger Monitoring the oscilloscope as it traces the chosen drive signal Set fault limits Monitor fault status Execute the Clear Faults command Open a dialog box
10. Ethernet AB_DF1 1 Data Highway Plus lt oo Workstation DF1 COM4 E EE 01 AB DSI Flas AB_ETH 1 Ethernet H E AB_VBP 1 1789 417 4 Virtual Chassis Cancel A drive is added to the Project Organizer and the drive Device Details window appears in the main project workspace Kinetix 3 Disconnect ij t HE i t Download Upload Compare Parameters Properties Wizards Manual Help 1P 230V SOW Series B 3 005 Status Feedback Rockwell Automation Publication CC QS025D EN P August 2015 19 Chapter1 Kinetix 3 Component class Servo Drive Setup Configure Your Drive by Using Connected Components Workbench Software Configure your drive parameters for the Kinetix 3 Motion Control Indexing Device Building Block follow these steps This procedure assumes that your motor is wired to your Kinetix 3 drive 1 Inthe toolbar click the Wizards icon Kinetix 3 Compare Parameters Properties Wizards Control Bar Faults Reset The Available Wizards dialog box appears 2 From the list select the Kinetix3 Startup Wizard and click Select Available Wizards Kinetic Startup Wizan lication Wizards Kinetix3 Configuration SRE Diagnostic Wizards DPI DSI Tech Support Wizard Data Logging Wizard To provide a consistent starting point reset the drive to factory defaults 3 Click Reset to Factory Settings 4 Click Yes Kinetix3 Startup Wizard 1 of 5 Reset
11. your computer mi e Device Manager File Action View e miea em alra A ROCK WELL 413BCE E Batteries E Computer Esa Disk drives m Display adapters Hi DYDICD ROM drives iy Floppy disk controllers alfa Floppy disk drives lta Human Interface Devices Fy IDE ATASATAPI controllers ee Keyboards a t Mice and other pointing devices nE Network adapters ommunications Por vee E Communications Pork OMe oe YF printer Port LPT1 EJ Processors fe SCSI and RAID controllers H D Sound video and game controllers E System devices H Universal Serial Bus controllers 7 Note your COM port name and close the Device Manager window 8 To configure an RS 232 DF1 driver start RSLinx Classic software 9 From the Communication menu choose Configure Drivers RSLinx Classic Lite File view Communications Station DDEfOPC Security Window Help Configure Drivers Configure Client Applications Configure CIP Options Driver Diagnostics IP Diagnostics Rockwell Automation Publication CC QS025D EN P August 2015 15 Chapter1 Kinetix 3 Component class Servo Drive Setup The Configure Drivers dialog box appears 10 From the Available Driver Types pull down menu choose RS 232 DF1 devices 11 Click Add New Configure Drivers l lt 2 x Available Driver Types Close Add New Help p FS 232 DF devices EtherNetllP Driver 1764 PETS D VPCME for DH 0H 485 devices
12. 2015 System Validation Review the System Overview Chapter 2 All drives communicate by using the Modbus RTU protocol The PanelView 800 terminal is configured for CIP Serial communication and communicates to the Micro800 controller via its embedded serial port The Micro800 controller communicates to the Kinetix 3 component class drive from the Isolated Serial Port plug in module The Isolated Serial Port is configured as a Modbus RTU Master and the drive is natively a Modbus RTU Slave device Additional drives or Modbus RTU RS 485 slave devices can be daisy chained from the Isolated Serial Port or from the Kinetix 3 communication port Figure 3 Device and Network Layout Diagram PanelView Component Terminal 1761 CBL PM02 Micro800 2080 Kinetix 3 Other MODBUS Controller SERIALISOL Drive Devices es cee oe eee eae ee ee A ee Soe cee eee RS 485 Modified 2090 CCMDSDS 48AA01 Rockwell Automation Publication CC QS025D EN P August 2015 29 Chapter2 System Validation Configure the Controller Serial Ports The Micro800 controller communicates with the Kinetix 3 drive via Modbus RTU on an RS 485 network Information is read from and written to the drive by using MSG_MODBUS instructions that are embedded within the supplied user defined function blocks UDFBs The MSG_MODBUS instruction requires a channel and a node address for the communication path These parameters are configured outside of the UD
13. COMI Ei Communications Port COM pee deo dee de ae oe ee See ee ee oy System devices Universal Serial Bus controllers 68 Rockwell Automation Publication CC QS025D EN P August 2015 Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Appendix B 7 From the Tools menu in Ultraware software choose Serial Port Fa Workspace File Edit View Insert Program yt Commands Window Help C a A amp P Tt Customize l E i L Rescan Workspace Rescan Options B On Line Drives eo JF Off line Unsawed Recover Commbnications Restore all hidden messages 8 In the PC Communications Setup dialog box configure the serial port as follows Serial Port that is chosen in step 6 Baud Rate 57600 Format 8 Data Bits No Parity PC Communications Setup r Communication Parameters Serial Port COM3 z Baud Aate 57600 Format 8 Data Bits Ho Parity Ultra 5000 only supports 8 Data Bits No Parity Cancel Help 9 Click OK 10 From the Tools menu choose Rescan Fa Workspace File Edit View Insert Program MEWA Commands Window Help n H y Zea OC m P fle Pi Customize Rescan Options Serial Port Off line Uneayved Recover Communications Restore all hidden messages al The drive attaches at Node 1 and is displayed in the On Line Drives tree when the scan is
14. Click Next and continue through the Kinetix 3 Configuration Wizard categories for Encoder Digital Inputs Digital Outputs and Analog Outputs setting the parameters as needed for your application 19 Click Finish Cancel lt Back Next gt Erin Rockwell Automation Publication CC QS025D EN P August 2015 25 Chapter1 Kinetix 3 Component class Servo Drive Setup Configure the Drive for Modbus Communication Protocol When the configuration of your Kinetix 3 drive with Connected Components Workbench software is complete follow these steps to set the drive to Modbus mode 26 v P S a ok oe Me e A Disconnect the serial cable from the personal computer and the drive Press Mode Set until the first two characters of the status indicator display Pr Change the status indicator to display Pr0 09 by using the arrow keys Press Enter The status indicator displays 0005 Change the value to 1102 by using the arrow keys Press Mode Set Press Enter Change the number until the display reads Pr0 07 by using the arrow keys Press Enter Change the node address that is shown to a unique Modbus node address for the drive and press Mode Set By default the node address is 1 Click Enter Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class Servo Drive Setup Rockwell Automation Publication CC QS025D EN P August 2015 Chapter 1 27 Chapter 2 Sy
15. Enable The motor energizes and it attempts to hold its present position The Servo Enable button is no longer active Locate the numeric entry field on the right side of the screen for Jog Speed Enter a value appropriate for your application For a bare motor shaft use 100 rpm Press and hold Jog Forward The motor turns forward Monitor the Position and Speed Fdbk indicators as they show the movement of the motor Release the Jog Forward button Press Jog Enable Servo Enable becomes available Press Servo Enable The motor energizes Press Start Homing The motor moves to the home position If the homing mode was never defined in the Ultraware software the motors turn until the homing input goes active Press Stop Wait until motion has stopped Press Start Index The motor moves the distance that was configured in the previous section Monitor the status bits that change as the motor moves such as In Motion In Dwell and End of Sequence After the motion has stopped disconnect the feedback cable from the drive A drive fault occurs Monitor the Drive Fault indicator It turns red and a fault code displays on the drive status indicator and in Ultraware software Connect the feedback cable Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 14 Press Fault Help K3_01 Fault Help xf Errar Code EOS0 Encoder Cable Open Potential Causes Conmunication not e
16. Ez Kinetic Properties Analog Configuration Preset AC Line Loss Check Enable on ity Normal E Indexing i rao Seca Homing Metric Motor idexing None Tuning li TE g Follower None Encod Analog Velocity None Di Eai i es Analog Current Input None ree ee Ac fans Analog Velocity Input Follower Digital Outputs Analog Current Input Follower Analog Outputs mies ns Analog Curent InputAnalog Velocity Ini f I Preset Velocity None Preset Velocity Analog Velocity Input Po tel ari cit E 00 TET Ini Indexing None 15 Click Communications category a From the MODBUS Input Function Control pull down menu choose Enable b From the MODBUS Run Function Control pull down menus choose Enable VEX Kinetix3 Properties Parameter Value Units Analog Configuration rit Normal Preset Displayed Un Metric Follower cae SE indexing None Indexing 3 P Homing Motor Tuning Encoders Analog Outputs Dau o 19200 bps mat 8 Data No Parity 1 Stop bit MODBUS RTU Enable 16 Click Next to move though the Kinetix 3 Configuration Wizard categories for Analog Configuration Preset and Follower and set the parameters as needed for your application Cancel Finish gt gt Rockwell Automation Publication CC QS025D EN P August 2015 23 Chapter1 Kinetix 3 Component class Servo Drive Setup a Click Next b Set the indexing parameters as needed by your application You can have up to 64
17. Kinetix 3 Host Commands for Serial Communication Reference Manual publication 2071 RM001 Kinetix 3 Component Servo Drives Installation Instruction publication 2071 IN001 Description Provides files for the Connected Component Accelerator Toolkits Provides information on basic Micro800 controller and Connected Components Workbench software functions Provides procedures for completing basic tasks in Connected Components Workbench software and for using Connected Components Workbench software with component class products Provides information on mounting and wiring the optional external power supply Provides information on installing the Micro820 Programmable Controller including wiring and troubleshooting Provides information on installing the Micro830 and Micro850 Programmable Controllers including wiring and troubleshooting Provides information on installing the PanelView 800 HMI terminals including wiring grounding and troubleshooting Provides information about using PanelView 800 HMI terminals Provides a reference guide for Kinetix 3 drive systems and accessories It also contains procedures on how to install wire and troubleshoot your drive Provides information on the serial communication commands both ASCII and ModBus RTU for interfacing a motion controller with the Kinetix 3 drive Provides information on installing your Kinetix 3 drive system You can view or download publications at http www r
18. Publication This quick start is designed to provide instructions for implementing a Kinetix 3 component class drive motion control indexing application by using Connected Components Workbench software and a Micro800 programmable logic controller PLC To help with the design and installation of your system application files and other information are provided by the Connected Components Accelerator Toolkit CC AT The CCAT 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 CCAT is available on the Connected Components Accelerator Toolkit DVD publication CC QRO002 or through the Rockwell Software Download and Registration System SDRS at http www rockwellautomation com rockwellautomation products technologies connected components tools accelerator toolkit page The beginning of each chapter contains the following information Read these sections carefully before you begin work in each chapter e Before You Begin The chapters in this quick start do not have to be completed in the order in which they appear However this section defines the minimum amount of preparation that is required before completing the current chapter e What You Need This section lists the
19. fault code that is registered on the drive When the Clear Faults button is displayed this momentary push button attempts to clear faults on the drive When the Clear Comms button is displayed this momentary push button attempts to unlatch the Drive Comms Error status bit Understand the Index Values Screen 1 To switch to the Index Values screen from the Status and Command screen press Index Values It looks similar to the screen shown 44 Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 The left side of the screen shows the values that are currently programmed in the drive while the blue fields are used for editing Pressing Apply Changes writes the new values to the drive and must be done before switching to another index K3_01 Change Index Yalues xf Mowe Twoes S beodihe bzajt Hext Action FPositior Dwell m m HCL el i These parameters can be changed Index This parameter is the index number 0 63 Move Type This parameter is the move type for that index 0 Absolute 1 Relative Next Action When the index completes this action is taken next 0 Stop 1 Start Next 2 Wait for Start Position Distance If the move type is absolute this field displays as Position If the move type is 2 147 483 648 2 147 483 647 encoder Relative this field displays as Distance counts Dwell This parameter is the dwell time for the axis after the move has bee
20. oft Alto Start Indexing Abort Index Decel 62 50 Revs e 2 El Index 0 Setup Mode Incremental Distance or Position 7000 Count Dwell Oo ITS Velocity Pou RPM Acceleration 62 50 kerga i Deceleration 62 50 Revs e 2 Next Index O Action When Complete Stop Index 1 Setup LI harel mne Th en a b Expand the section for each index by clicking c Modify the index parameters d Repeat for up to 64 indexes e Click Save Parameters Make all other changes to parameters while the drive is connected to the personal computer and Ultraware software is running Rockwell Automation Publication CC QS025D EN P August 2015 75 AppendixB Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software 76 Rockwell Automation Publication CC QS025D EN P August 2015 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 and application notes sample code and links to software service packs You can also visit our Support Center at https rockwellautomation custhelp com for software updates support chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple support programs for installation configuration and troubleshooting For more information contact your local distributor or Rockwell
21. patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations 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 gt gt IMPORTANT Identifies information that is critical for successful application and understanding of the product Labels may also be on or inside the equipment to provide specific precautions 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 ARC FLASH HAZARD Labels may be on or inside the equipment for example a motor control center to alert people to potential Arc Flash Arc Flash wil
22. terminal block Pin A1 RS485 485 Pin B1 RS232 DCD OOl A Pin A2RS232 485 GND Pin B2 RS232 RXD Pin A3 RS232 RTS Pin B3 RS232 TXD Front Pin A4 RS232 CTS Pin B4 RS485 485 36 Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 Download Your Program to the Controller Follow these steps to download your program to the controller 1 Connect the computer to the controller by using either an Ethernet or USB connection If you are prompted to install any drivers use the recommended drivers 2 In your Connected Components Workbench project in the Project Organizer right click your controller icon and choose Build If the build was successful the Output pane at the bottom of your project window displays a success message Or if the build was unsuccessful an error list appears Example Output pane build successful Output Show output From Build F aa SaaS Purila End Build 1 succeeded O failed O up to date O skipped Rockwell Automation Publication CC QS025D EN P August 2015 37 Chapter2 System Validation Example Output pane error list Error List Se m y a 10ers Gowers i omessa Description Column SER see G Rua PFS _MBUS_STS stF D Controller 2 END IFiexpected Ru PFS MBUS STS stf 104 oO Controller 3 expected before this new statement RG PFS MBUS STS stf 104 D Controller 4 ACTI
23. to the drive For this UDFB it is 2 5 6 7 8 and 9 recommended you use a 2080 SERIALISOL module instead of the embedded serial port NodeAddr USINT Each drive has a node address that the Modbus Master uses to reference that drive For each Modbus Tsx 247 network those addresses must be unique Interval UDINT This parameter controls how often the UDFB sends Modbus messages to the device with zero representing 0 65 536 ms the Continuous Operation mode In Continuous mode the drive status updates often limited by the network traffic and buffer Table 7 RA_K3_ MBUS_ STS Outputs Variable Type Description Range FBENO BOOL This variable reflects the state of the Function Block Enable bit FBEN 1 0 FB_Q BOOL This variable shows whether the status message has completed After the response from the drive has been received this bit becomes true It stays true until another message is sent or until the UDFB sees a rising edge of the enable input CommLoss BOOL This bit signifies a communication timeout between the controller and the drive and also triggers FB_Error to be true The bit is cleared after a successful completion of a message to the drive or the UDFB sees a rising edge of the enable input FB Error BOOL This bit shows that an error occurred within the UDFB For a more detailed description of the error code see 1 0 FB_ErrCode FB ErrCode UDINT This variable enumerates the errors that have occurred within the UDFB
24. 00 terminal term for variables Function block instructions that can be used like standard function block instructions within any Connected Components Workbench programming language Anyone using Connected Components Workbench software can write these functions blocks Many UDFBs are posted on the Rockwell Automation sample code website http samplecode rockwellautomation com idc groups public documents webassets sc_home_page hcst A collection of PanelView 800 terminal screen objects that can be pasted into a new screen Rockwell Automation Publication CC QS025D EN P August 2015 Preface Additional Resources These resources contain information about related products from Rockwell Automation Resource Connected Components Accelerator Toolkit DVD publication CC QR002 Micro800 and Connected Components Workbench Getting Started Guide publication 2080 0R001 Micro800 and Connected Components Workbench Application Guide publication 2080 QR002 Micro800 Programmable Controller External AC Power Supply Installation Instructions publication 2080 IN001 Micro820 Programmable Controllers User Manual publication 2080 UM005 Micro830 and Micro850 Programmable Controllers User Manual publication 2080 UM002 PanelView 800 HMI Terminals Installation Instructions publication 2711R IN001 PanelView 800 HMI Terminals User Manual publication 2711R UM001 Kinetix 3 Component Servo Drives User Manual publication 2071 UM001
25. 0303A Download Validate Generate Report Graphic Terminal General Validity False Version 2 010 ae Communication Communication User Accounts Load Last Saved Languages Protocol Ethernet Allen Bradley CIP z Driver Confi z Advanced Controller Settings Add Controller Delete Selected Controller s Controller Type Address Timing Auto Demoti Description Communicat Options Database Tag Hierarchy Micro800 f 19216813 A a a Import Device Expanded Rockwell Automation Publication CC QS025D EN P August 2015 35 Chapter2 System Validation Connect Your Devices Follow these steps to connect your devices 1 Connect the PanelView 800 terminal RS 232 serial port to the embedded serial port on your Micro800 controller by using a 1761 CBL PM02 cable 2 Connect the IEEE1394 plug on your Kinetix 3 component class servo drive to the Isolated Serial Port 2080 SERIALISOL on your Micro800 controller by using a modified 2090 CCMDSDS 48AA01 cable The modified cable can be made by removing one end to expose the conductors See the following wiring diagram but note that the red wire does not need to be connected Comm0A or Comm0B Description Signal Pin 1 RS 232 transmit XMT 2 RS 232 receive RCV 2 fee oo A 4 5V power ground GND 5 RS 485 DX 6 RS 485 DX Red Pin 2 Pin 6 F l a Pin 1 Pin 5 Brown Black Back OOG B View in to
26. Automation representative or visit http www rockwellautomation com services online phone 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 Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help 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 suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Automation maintains current product environmental information on
27. DF1 Polling Master Driver Bhar Configure 1784 PCC for ControlNet devices abies pauses 1764 PCIC S for Control et devices TF4 PIC AIC Driver Startup OFT Slave Driver DH4e5 UIC devices Start Virtual Backplane SoftLogmtex USB DeviceNet Drivers 1 784 PCD PCIDS 1 770 EFD SONPT drivers PLC 5 DH Emulator driver stop SLC 500 DH 485 E mulator driver SmartGuard USE Driver Delete Remote Devices via Lins Gatewa The Add New RSLinx Classic Driver dialog box appears 12 Type a name for your driver You can use the default name if desired 13 Click OK Add New R5SLinx Classic Driver x Choose a name for the new driver 15 characters masimum Cancel i J rs J4B_D F1 1 16 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class Servo Drive Setup Chapter 1 14 Configure the driver settings a From the Comm Port pull down menu choose the port number of your 1203 USB serial adapter b From the Device pull down menu choose PLC CH0 c From the Baud Rate pull down menu choose 115200 baud rate d From the Error Checking pull down menu choose CRC IMPORTANT Do not click auto configure Configure RS 232 DF1 Devices Device Name AB_DF1 1 Comm Fort coms Device Baud Rate 1175200 Station Humber Octal Parity None Error Checking Stop Bits i Frotocal Ful Duplex Auto Contigure Use Modem Dialer Eontigure Maler Cancel Delete Help
28. FB in the program and must be set before communication The slot that contains the plug in module determines the channel In this example the plug in module is in the first slot which is Channel 5 Do not use the embedded port Channel 2 for switching devices because it is not isolated Channel 2 is used for the PanelView 800 terminal In the default project the first expansion port Channel 5 is used for the 2080 SERIALISOL module By default communication is already configured for use For reference the following settings are used for each port Table 1 Serial Port Settings Embedded Serial Port 2080 SERIALISOL Plug in Module Setting Value Setting Value Driver CIP Serial Drive Modbus RTU Baud rate 38400 Baud rate 19200 Parity None Parity None Unit address 1 Modbus role Modbus RTU Master Advanced Setting Advanced Setting Error detection CRC Media RS485 Embedded responses After one received Data bits 8 Duplicate packet detection Yes Stop bits 1 Ack timeout x20 ms 50 Response timer 200 NAK retires 3 Broadcast pause 200 ENQ retires 3 Inter char timeout 0 Transmit retries 3 RST pre delay 0 RTS off delay 0 RTS post delay 0 RST send delay 0 Follow these steps to modify these settings in the default Connected Components Workbench project 1 Open the starting project Starting K3_M850_24QBB 6 You can download project Starting _K3_M850_24QBB_16 from the Sample Code Library at http samplecode rockwellautomation co
29. Majn 40 Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 Validate Your System In this section you review the Machine Functions screen and explore the Status and Command screens to test the manual control of the building block Understand the Machine Functions Screen The Machine Functions screen is the screen that links to all installed building blocks When this screen is first loaded you can complete the following tasks e Return to the Machine Overview screen by pressing the X in the upper right hand corner of the screen e View a device in detail by pressing its button e View the current machine Auto Manual state e Change the current machine Auto Manual state e Clear machine faults start stop the machine while in Auto mode and go to the machine state diagram overview screen Machine Functions Device K3_01 Current Suwitch To The border of the device button changes color to indicate a specific status For the Kinetix 3 drives the button border colors indicate the following status e A green border indicates that the drive is active and running e A gray border indicates that the drive is inactive and stopped e A red border indicates that there is a fault or an alarm is present Rockwell Automation Publication CC QS025D EN P August 2015 41 Chapter2 System Validation Understand the Device Overview Screen The Device Overview screen in the defaul
30. Parameters Configure Drive Parameters Encoder Backup Battery Installed r Emergency Stop Input Disable Cancel ck i Next gt Finish gt gt 20 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class Servo Drive Setup Chapter 1 If you are using a motor with an intelligent encoder and do not want to use a battery to maintain absolute position reference during power off do the following 5 From the Encoder Backup Battery pull down menu select Not Installed and click Next Kinetixd Startup Wizard 1 of 5 Reset Parameters Reset to Factory Settings Configure Drive Parameters Encoder Backup Battery nstalled Installed Emergency Stop Input Not Installed _ 6 Review settings in the Kinetix 3 Startup Wizard 2 of 5 through 4 of 5 dialog boxes and click Next when finished with each If your motor does not have an intelligent encoder to configure your motor in start at step 17 If it does have an intelligent encoder the Kinetix 3 Startup Wizard 4 of 5 dialog box shows the motor that the drive identified Kineti3 Startup Wizard 4 of 5 Motor Identified The drive has automatically identified the following attached motor TL A120P Bhoc Cancel lt Back Next gt Finish gt gt 7 Click Next The Kinetix3 Startup Wizard 5 of 5 Autotuning dialog box is displayed Use Autotune for best performance Autotune can be do
31. Quick Start Allen Bradley Kinetix 3 Motion Control Indexing Device Building Block Connected Components Accelerator Toolkit Mixa a TY ul y dvalir OF i Rockwell Allen Bradley Rockwell Software Automation Important User Information Read this document and the documents listed in the additional resources section about installation configuration and operation of this equipment before you install configure operate or maintain this product Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes laws and standards Activities including installation adjustments putting into service use assembly disassembly and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired 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
32. Speed YYyindow Up to Speed 3 FaultVarning User Parameter Initialization Fault Positive Overtravel 3 Negative Overtravel V Show Status V Show Commands 6 iim Click next to the Kinetix 3 drive to expand the parameter group Double click the Kinetix 3 drive icon in the Ultraware software workspace to display the various drive branches Configure drive parameters for an online drive Monitor the status of an online drive Software Enable icon Disable All Drives icon Execute commands to clear faults reset the drive or reset the EEPROM Rockwell Automation Publication CC QS025D EN P August 2015 Yelocity Control Panel Reset to Factory Settings Seve Permeters Setup Revert Close Help Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Mode Configuration Branch Table 19 Branch Uses Branch Motor Tuning Encoders Digital Inputs Digital Outputs Analog Outputs Monitor Oscilloscope Faults Service Information To select the command source of the drive click the next to Mode Configuration Fa Workspace Drive File Edit view Insert Program Tools Com Deister er Workspace 2 Fe Mode Configuration fell Analog 48 Preset oe Follower Ab rdexing ii Homing EP Motor EOP Turing f Encoders q Digital Inputs Digital Outputs Pona Eh Bit ele Use this branch for the following
33. This UDFB has the following error designations Bit 0 Modbus Message Communication Error Bit 1 Invalid Channel Bit 2 Invalid Node Address This value is the motor feedback velocity in revolutions per minute INT Ts value is the motor command velocity in revolutions per minute This value is the difference between the motor command and motor feedback velocity in revolutions per minute st eee INT This value is the bus This value is the bus voltage in volts in volts E e value is the absolute encoder turn count It is active only when the encoder is using absolute feedback with a battery This value is the most recent alarm code that the drive has registered STRING This value is the alarm message that is associated with the most recent alarm code Rockwell Automation Publication CC QS025D EN P August 2015 53 AppendixA Kinetix 3 Component class User defined Function Block Figure 5 RA_K3_ MBUS_STS_ Extended Function Block Flowchart RA_K3_MBUS_CMD_ Indexing User defined Function Block This UDEB provides basic control of the servo drive while it is in Indexing mode This UDFB compares the current state of the inputs against the previous state of the inputs If there is a difference the new command word is sent to the drive This UDFB does not perform any status checks or interlocks It is possible to send a command that the drive cannot accept and it c
34. This function block uses the internal jog function of the drive The drive parameter Pr0 32 must be set to 0x10 or 0x11 for this function to operate 56 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class User defined Function Block Appendix A Table 12 RA_K3_MBUS_CMD_Jog Inputs FBEN BOOL The Function Block Enable bit FBEN controls the operation of the function On the rising edge of this bit the 1 0 function block initialization takes place During this initialization the jog speed input is written to the drive and the jog function is enabled On a falling edge the jog function is disabled Channel UINT This variable is the port or channel on the controller that is connected to the drive For this UDFB it is 2 5 6 7 8 and 9 recommended to use a 2080 SERIALISOL module instead of the embedded serial port NodeAddr USINT Each drive has a node address that the Modbus Master uses to reference that drive For each Modbus network 1 247 those addresses must be unique Forward BOOL If the jog function is enabled with the rising edge of this bit the drive starts to jog in the forward direction at the specified jog speed Reverse BOOL If the jog function is enabled with the rising edge of this bit the drive starts to jog in the reverse direction at the specified jog speed JogSpeed UINT This variable sets the jog speed for the motor in rpm 0 6000 Table 13 RA_K3_MBUS_CMD_Jog Output
35. VE undeclared identifier Rua PFS_MBUS STS stf 105 0 Controller 5 END IF expected Au PFS MBUS STS stf 105 oO Controller 6 jtexpected before this new statement Ra PFS MBUS_STS stF 105 D Controller i RI Tie ee oe he od ns OOO RAMI OTe L aoe m oe He zi 3 Ifthe build is successful continue to step 4 Otherwise do the following a Double click an error description b Correct error c Repeat step 2 and step 3 until the build is successful and continue with step 4 4 From the Project Organizer right click your controller icon and choose Download Project Organizer Name Starting K3 M850 24068 r connection Browser ATE W Autobrowse Refresh Workstation EUBEBYL ST amp RT een Linx Gateways Ethernet H AB_DF1 1 Data Highway Plus Flay AB_ETHIP 1 Ethernet AB_YBP 1 1789 417 4 Virtual Chassis Q Micro850 Microg50 has no Oo password Cancel 6 If prompted to change the controller mode to Remote Program mode click Yes Download Confirmation x The controller is in Remote Run mode Do you want to change to Remote Program mode 38 Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 Configure the IP Address for Your PanelView 800 Terminal Follow these steps to configure a static IP address on the PanelView 800 terminal 1 From the Main menu press Communication to open the Communication screen Press Set Static IP Address Configure the IP Ad
36. an produce an error depending on the cause of the failed command The drive parameter Pr0 32 must be set to 0x01 or 0x11 for this function to operate 54 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class User defined Function Block Appendix A Table 10 RA_K3_ MBUS_CMD_Indexing Inputs The Function Block Enable bit FBEN controls the operation of the function On the rising edge of this bit 1 0 the function block initialization takes place While this bit is held high the function block continues to FBEN BOOL execute Channel UINT This variable is the port or channel on the controller that is connected to the drive For this UDFB it is 2 5 6 7 8 and 9 recommended to use a 2080 SERIALISOL module instead of the embedded serial port NodeAddr USINT Each drive has a node address that the Modbus Master uses to reference that drive For each Modbus 1 247 network those addresses must be unique IndexInput UINT This value is the starting index that is used when the Startldx bit sees a rising edge This value is broken 0 63 into a binary combination before being sent to the drive Startldx BOOL A rising edge of this bit causes the drive to start the index that is specified at IndexInput The drive must be enabled first If the index uses an absolute position reference the axis must be homed Pauseldx BOOL When this bit is true indexing operations pause On a rising edge the index
37. arting Bill of Material BOM Computer Aided Design CAD drawings Micro800 controller programs PanelView 800 terminal applications and a quick start document A project that consists of these items ProposalWorks based bill of materials Set of CAD drawings dimensions and schematics e Connected Components Workbench project e HMI screens e Set of Quick Start documents e Project document with information about the project components and links to reference materials A computer based system that is developed to facilitate design of mechanical parts Software with application files and other information to speed the design and startup of component based machines Software environment for configuring or programming Micro800 controllers PanelView 800 terminals Kinetix 3 drives and other component level products A project consists of one or more of the following e Micro800 controller configuration e Up to 256 Micro800 controller programs each with program local variables e Micro800 controller global variables e PanelView 800 terminal application e Kinetix 3 drive parameter lists Project variables that any program can access including all 1 0 and system variables Machine logic for coordinating overall machine operation that is based on states The state machine broadcasts commands and receives feedback information from each of the building blocks via user modified application sequence programs A PanelView 8
38. complete Communication Established Then Yes You are prompted to use a wizard to configure the Kinetix 3 drive You are not required to use it but it simplifies configuration No There is an error in the communication setup the drivers or the wiring Rockwell Automation Publication CC QS025D EN P August 2015 69 Appendix B Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Review the Workspace and Drive Branches This section provides a description of the Ultraware software workspace and the drive branches f On Line Drives 1 E Drive 7 2 Mode Configuration EP Motor 3 Tuning ff Encoders Digital Inputs 2 Digital Outputs EA Analog Outputs Monitor Oscilloscope Faults BZ Servicelnfo J Offline Unsaved Table 18 Ultraware Software Environment Item N SE DN A AT Uw 70 Description ja o 5 iw OO J Parameter Value x Name Drive AC Line Loss Check Enable Auto Motor Iden Enabled Motor Model TL 4110P rxx2 Command Polarity Normal Displayed Units Metric Operation Modes Main Override Preset Velocity Analog Velocity Input initial Current Bias 0 i 4 Velocity Limits Acceleration Limits Communications Current Limits Position Limits Speed Functions Position Functions Motor Encoder Units Stopping Functions Auxiliary Function Selection 1 v lt gt Vale Units Current Operating Mode Preset Velocity Within
39. dress and Mask values so they are in the same range as your Micro800 controller pe m To return to the Main menu Press Main Transfer Your HMI Application to the PanelView 800 Terminal Follow these steps to transfer your HMI application to the PanelView 800 terminal by using Connected Components Workbench software 1 In the Project Organizer right click the PanelView 800 terminal icon and choose Download 2 In the Connection Browser dialog box select the PanelView 800 terminal to download to Connection Browser Fi Autobrowse E r AB_ETHIP 2 Ethernet 192 168 1 2 27711R T T 2711R T T 3 Click OK 4 Verify that the download completed successfully Output Show output From Graphic Terminal A tc sh Connecting to graphic terminal Succeeded Preparing device for download This may take some time to execute Succeeded Downloading application 000000 Application downloaded successfully a Rockwell Automation Publication CC QS025D EN P August 2015 39 Chapter2 System Validation 5 From the Main menu of your PanelView 800 terminal press File Manager Fl Manager Current Appication System Information 6 On the File Manager screen select Internal as your Source 7 Select your application 8 Press Run Source To PY vers A lt SINDX TET MESO MEUS r1 Set As Startup Copy Recipe Copy Alarm History Startup Application KJ3INDX_T6T_M830_MBUS_ eset
40. e or an aborted index Figure 4 RA_K3_MBUS_STS Function Block Flowchart Initialize Variables Validate Channel and Node Address are Within Range Set Error Bits No Read Drive Status q Diagnostics Rockwell Automation Publication CC QS025D EN P August 2015 51 AppendixA Kinetix 3 Component class User defined Function Block RA K3 MBUS STS Extended User defined Function Block This UDFB retrieves the extended status information from the drive The drive supports only two analog outputs this function block lets many more values to be updated The outputs are updated at the interval that is specified on the input side of the function block Table 8 RA_K3_ MBUS_STS_Extended Inputs FBEN The Function Block Enable bit FBEN controls the operation of the function On the rising edge of this bit 1 0 the function block initialization takes place While this bit is held high the function block continues to execute 52 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class User defined Function Block Appendix A Table 8 RA_K3_MBUS_STS_ Extended Inputs continued Variable Description Range Channel UINT This variable is the port or channel on the controller that is connected to the drive For this UDFB it is 2 5 6 7 8 and 9 recommended to use a 2080 SERIALISOL module instead of the embedded serial port NodeAddr USINT Each drive has a node add
41. efault Connected Components Workbench project 1 To open the PanelView 800 terminal application editor in the Project Organizer double click the PanelView 800 terminal icon o 5 RA K3 MBUS_ CFG_INDEXREA ae mi Local Variables The PanelView 800 Communication Settings pane appears in the main project window 34 Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 2 Configure the appropriate communication settings e For CIP Serial communication configure the settings that are shown Screens 1 MC_MachineOverview Micro850 Settings X Quick Tips 2711R T7T PV800_PVC_AIIBBsTest150303A 4 O Download Validate Generate Report Graphic Terminal General Validity False Version 2 010 r Communication 4 TITS Languages Protocol Serial Allen Bradley CIP p Advanced Load Last Saved Driver Configuration Use Ethernet Encapsulation Controller Settings Delete Selected Controller s Controller Type Address Timing Auto Demoti Description Communicat Options Database Tag Hierarchy s 5 Micro800 1 uss Import Device Expanded PanelView Component Settings Write Optimization Baud Rate Flow Control Report Errors Station Address Protocol None 0 Full Duplex e For CIP on Ethernet communication configure the settings that are shown Se LO COS Settings EAA 2711R T7T PV800_PVC_AIIBBsTest15
42. en E 4 aueede eer selene a 12 Configure the Kinetic Drive ci xncenieae ane wnu ue adnimaedewe sides 13 Configure Your Kinetix 3 Drive and Personal Computer Conec Ouer ee e ho eh ees reeee bot eaes 14 Connect to Your Diye wie dicts sen ceeds aeuetede ey SAER LIONN 18 Configure Your Drive by Using Connected Components Workbench Software wii stadia ehcccuea tau iadehweees 20 Configure the Drive for Modbus Communication Protocol 26 Chapter 2 System Validation Before Volt Beo seror eoar aan EE AO 27 Wha Yoa Neca iia t aa tilets anita whee Leena hes E aoa ee ene 27 Follow These St6pS nineto eE EE NEE E NE E 28 Review the System Overview aasinesi esta epee EOT NEEE 29 Configure the Controller Serial Ports 0 c eee e eee eee ees 30 Configure PanelView 800 Terminal Communication Settings 34 Connect rour DEVES enerne ra ENANA E E cx susnetee 36 Download Your Program to the Controller 00000 37 Configure the IP Address for Your PanelView 800 Terminal 39 Transfer Your HMI Application to the PanelView 800 Terminal 39 Validate Your System eeren er AE 4 Understand the Machine Functions Screen 00000 4 Understand the Device Overview Screen 2 cece ee eee 42 Understand the Status and Command Screen 02 43 Understand the Index Values Screen 0 0 cece eee eee eee 44 Verify the Manual Operation of the Drive 045 46 Appendix A Kinetix 3 Co
43. eter First Index Current Index Jog Speed Position Speed Fdbk Table 5 Control Buttons Parameter Index Values Servo Enable Start Homing Start Index Stop Jog Reverse Jog Enable Jog Forward Fault Help Clear Faults Clear Comms Description This parameter contains the index that is initiated when the Start Index command is sent The operator can edit the first index only while the drive is stopped and in Manual mode It is in the Edit mode when the background is blue Valid values are 0 63 While indexing this field displays the current index that is executing in the drive If the drive is jogging this editable field lets the operator change the jog speed Valid values for the jog speed are 0 6000 This field displays the position feedback for the motor in encoder counts Homing resets this field to the home value This field displays the speed feedback for the motor in revolutions per minute Description This button takes the operator to another screen to change index parameters It is visible only when the drive is stopped and in Manual mode This maintained push button closes the servo loop and energizes the motor for indexing operation It is visible when the program is in Manual mode and jogging is not active Once enabled the display changes to read Servo Disable This momentary push button starts the homing process for the drive It is available only when the drive is stopped and enab
44. he Function Block Enable FBEN bit starts the operation of the function On the rising edge of this bit the function block initialization takes place After initialization regardless of the status of the enable input the function block begins to send the configuration messages to the drive until it completes or encounters an error Channel UINT This variable is the port or channel on the controller that is connected to the drive For this 2 5 6 7 8 and 9 UDFB it is recommended to use a 2080 SERIALISOL module instead of the embedded serial port NodeAddr USINT Each drive has a node address that the Modbus Master uses to reference that drive Foreach 1 Modbus network those addresses must be unique IndexNumber This variable is the index number that is changed 0 63 Movelype DINT This variable is the move type for that index 0 absolute position reference 1 relative or incremental position reference NextAction DINT This variable is the action that the drive must take upon completing the index 0 stop 1 start next index 2 wait for start before starting next index Position DINT This variable is the position reference in encoder counts 2 147 483 648 2 147 483 647 Dwell UINT This variable is the dwell time in milliseconds the drive holds the position reference after the 0 65 536 move is complete Velocity This variable is the maximum velocity of the index move in revolutions per minute The value 0 6000
45. he Function Block Enable bit FBEN starts the operation of the function On the rising edge of this bit 1 0 the function block initialization takes place After initialization regardless of the status of the enable input the function block begins to read the configuration from the drive for the specified index The function block continues reading until it completes or encounters an error Channel UINT This variable is the port or channel on the controller that is connected to the drive For this UDFB it is 2 5 6 7 8 and 9 recommended to use a 2080 SERIALISOL module instead of the embedded serial port NodeAddr USINT Each drive has a node address that the Modbus Master uses to reference that drive For each Modbus 1 247 network those addresses must be unique IndexNumber This variable is the index number that is read 0 63 Table 17 RA_K3_ MBUS_CFG_IndexReadValues Outputs FBENO BOOL This variable reflects the state of FBEN 1 0 FB_Q BOOL This variable shows whether the status message has completed After the response from the drive has been received for last read message this bit becomes TRUE It stays true until the UDFB sees a rising edge of the enable input CommLoss BOOL This bit signifies a communication timeout between the controller and the drive and it also triggers FB_Error to be true The bit is cleared only after the UDFB sees a rising edge of the enable input FB_ Error BOOL This bit shows that an error has occur
46. indexes Homing Motor Tuning Encoders Digital Inputs Digital Outputs Analog Outputs Z 3 Index 1 Setup p a 4 c Click Next d Set the homing parameters as needed by our application To perform absolute moves the drive must be homed Cc Parameter Value Homing Type Home to Marker w Ez Kinetie3 Properties w E Analog Configuration w E Preset w Ez Follower Motor Tuning Encoders Analog Outputs 24 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class Servo Drive Setup Chapter 1 17 your motor does not have an intelligent encoder follow these steps a Click Next until the Motor category appears b Set Auto motor Iden to Disabled You are prompted to reset the drive c Click Yes d From the Motor Model pull down menu choose your motor model Kinetix3 Configuration P yete Valu Units wE Kinetic Properties th 2 BE f Refresh Data v E Analog Configuration Auto Motor Iden Disable wE Preset Motor Model A120P Poo wl Follower Inertia Ratio TL AT1OP Bioc v E Indexing TL A110P Bx4 B Homin TL A110P Hioe Status TL A110P Hioed TLAIZOP Bo oy je TUNING Motor General TL A120P Phocd Encoders TL A120P Hioe Motor Fl Digital Inputs ag TL A120P Hiocd Analog Outputs Rotary Torque Constant TA 30P L Rotary Inertia TL A130F H4 aes m m 18
47. input FB_ Error BOOL This bit shows that an error has occurred within the UDFB For a more detailed description of the 1 0 error code see FB_ErrCode FB ErrCode UDINT This variable enumerates the errors that have occurred within the UDFB Bit 0 Modbus Message Error all communication errors including loss Bit 0 Channel Invalid Bit 1 Node Address Invalid Bit 2 Index Number Invalid Bit 3 Move Type Invalid Bit 4 Next Action Invalid Bit 5 Position Invalid Bit 6 Dwell Invalid Bit 7 Velocity Invalid Bit 8 Accel Invalid Bit 9 Decel Invalid Bit 10 Next Index Invalid Messages that are sent during the saving process can generate communication errors FB_InProcess BOOL This variable shows that the function block is in the saving process and has not reached an error State Use it to prevent messages from being sent to the drive during the saving process 60 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class User defined Function Block Appendix A Figure 8 RA_K3_ MBUS_CFG_IndexWriteValues Function Block Flowchart Rockwell Automation Publication CC QS025D EN P August 2015 61 AppendixA Kinetix 3 Component class User defined Function Block RA K3 MBUS CFG IndexReadValues User defined Function Block This UDFB reads the index configuration parameters for any of the 64 index points in the drive Table 16 RA_K3_ MBUS_CFG_IndexReadValues Inputs FBEN BOOL T
48. ion CC QS025D EN P August 2015 65 AppendixB Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Follow These Steps Follow these steps to configure your Kinetix 3 Component class drive Verify Drive Communication Configuration on page 67 Connect Your Kinetix 3 Drive to a Personal Computer by Using Ultraware Software on page 67 Review the Workspace and Drive Branches on page 70 Reset the Drive on page 72 Configure Basic Options on page 72 Configure Advanced Options on page 75 66 Rockwell Automation Publication CC QS025D EN P August 2015 Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Appendix B Verify Drive Communication Configuration The Series A Kinetix 3 drives are shipped ready to communicate with Ultraware software Before you connect your drive to your personal computer you can verify the configuration by using the keypad Follow theses steps to verify the communication settings 1 Apply control power to the drive Press Mode Set until the first two characters of the 7 segment status indicator display Pr Press the arrow key until the status indicator displays Pr0 09 To view the setting press Enter The status indicator displays 0005 If 0005 is not displayed do the following a Change the value to 0005 by using the arrow keys b Press Mode Set ON Ye ey oe pP Connect Your Kinetix 3 Drive to a Pers
49. is being limited by the drive The velocity limit can be derived from the analog velocity input or the manual limit that is entered in parameter Pr2 12 Manual Velocity Limit NearPosn BOOL This bit is true when motor feedback position is within the specified position tolerance of parameter Pr5 02 Near Position Size Warning BOOL This bit is true when there is a warning on the drive Warning descriptions can be seen in the Kinetix 3 Component Servo Drives User Manual See the Additional Resources on page 9 Inertion BOOL This bit is true when the drive is moving as part of an index 1 0 50 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class User defined Function Block Appendix A Table 7 RA_K3_ MBUS_ STS Outputs continued InDwell BOOL This bit is true when the drive is holding position for a specified time as part of an index 1 0 Homed BOOL This bit is true when the drive has completed the homing sequence and has a valid home position This bit 1 0 does not clear if the encoder exceeds its range however it does not have a valid absolute position reference IndexSelect UINT This variable is binary combination that represents the current index that is being acted on If an index is in process it represents the value of the last index that was acted on End0fSeq BOOL This bit is true when motion has stopped on the axis in indexing mode It could be due to completion of the motion cycl
50. its website at http www rockwellautomation com rockwellautomation about us sustainability ethics product environmental compliance page Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 Icerenk y Istanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem 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 QS025D EN P August 2015 Supersedes Publication CC QS025C EN P February 2014 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A
51. l cause severe injury or death Wear proper Personal Protective Equipment PPE Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment PPE gt gt gt Allen Bradley Connected Components Workbench Micro800 Micro830 Micro850 PanelView Kinetix Rockwell Software and Rockwell Automation are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Where to Start Follow this path to complete your Connected Components Accelerator Toolkit CCAT project Getting Started Connected Components Accelerator Toolkit with System Design Assistant Quick Start publication CC QS035 1 Kinetix 3 Component class Servo Drive Setup 2 System Validation Rockwell Automation Publication CC QS025D EN P August 2015 3 Where to Start Notes 4 Rockwell Automation Publication CC QS025D EN P August 2015 Table of Contents Preface About This Publication 00 ccc ccc ccc eee cece essence eees T Ternnolo iy roeren aan E E E EA E N ast 8 Additional Resources 00 cece cece cece cece ce eeeeseececssseenes 9 Available Connected Components Accelerator Toolkits 9 Chapter 1 Kinetix 3 Component class Servo Beors Olah Oi at sare asternout ery tera Mata ORe REE 11 Drive Setup Whar Vou Neod nec cuabr sen tnte nl A ved tetmeces cas 11 Follow These Steps iren
52. led while the program is in Manual mode This momentary push button starts the index that is shown in First Index It is available only when the drive is stopped and enabled while the program is in Manual mode The drive does not need to be homed for incremental position moves The drive generates a fault if an absolute move is commanded before an absolute position reference is established This momentary push button stops the homing or indexing process It is available only when the program is in Manual mode It is important to create another button for stopping the drive in Auto mode and by using physical emergency stop buttons This momentary push button jogs the axis in the reverse direction at the specified jog speed This button must be held down to continue jogging It is available only while the drive is enabled for jogging Use this maintained push button to enable the drive for jogging It is available only when the drive is already jogging in Manual mode or when the drive is disabled in Manual mode Once enabled the display changes to read Jog Disable This momentary push button jogs the axis in the forward direction at the specified jog speed This button must be held down to continue jogging It is available only while the drive is enabled for jogging This button takes the operator to another screen that displays information about diagnosing and fixing the drive faults It is always available and displays the information for the last
53. m idc groups public documents webassets sc_home_page hcst or the SDA generated project if either is not already open from Chapter 1 30 Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 2 In the Project Organizer double click the controller icon This example shows a Micro850 controller Mice E il Gl ee The Controller Detail view appears in the Project Organizer 3 Configure the settings for your PanelView 800 terminal communication port a Ifa CIP serial connection is used select the embedded serial port in the controller configuration list and edit the required settings 1 a REMOTE Program Major Fault eve Disconnected Siris Run Controller Mode Controller Serial Port Common Settings i Sa Baud Rate 38400 5 i Port Settings Station Address 1 a Port Diagnostics TA T Protocol Control F DFI Mode DFI Full Duplex 3 eae Control Line No Handshake Motion Error Detection CRC zs Embedded Responses After One Received Duplicate Packet Detection ACK Timeout x20ms 50 ENQ Retries 3 Rockwell Automation Publication CC QS025D EN P August 2015 31 32 Chapter2 System Validation b Ifa CIP on Ethernet connection is used select Ethernet gt Ethernet Protocol check Configure IP address and settings and edit the IP Address Subnet Mask and Gateway Address settings Micro850 sia Program Major Fault
54. move decelerates to a stop and ona falling edge the index resumes Stopldx BOOL A rising edge of this bit stops the current index or dwell 1 0 Table 11 RA_K3_MBUS_CMD_Indexing Outputs FBENO BOOL This variable reflects the state of FBEN 1 0 FB_Q BOOL This variable shows whether the status message has completed After the response from the drive has 1 0 been received this bit becomes true It stays true until another message is sent or until the UDFB sees a rising edge of the enable input CommLoss BOOL This bit signifies a communication timeout between the controller and the drive This bit also triggers 1 0 FB_ Error to be true The bit is cleared after a successful completion of a message to the drive or the UDFB sees a rising edge of the enable input FB_ Error BOOL This bit shows that an error has occurred within the UDFB For a more detailed description of the error 1 0 code see FB_ErrCode FB_ErrCode UDINT This variable enumerates the errors that have occurred within the UDFB Bit 0 Modbus Message Error Bit 1 Channel Invalid Bit 2 Node Address Invalid bit 3 Index Input Invalid Rockwell Automation Publication CC QS025D EN P August 2015 55 AppendixA Kinetix 3 Component class User defined Function Block Figure 6 RA_K3_ MBUS_CMD_Indexing Flowchart RA_K3_MBUS_CMD_Jog User defined Function Block This UDFB lets you jog the motor at a preset speed while in Indexing mode
55. mponent class User RA K3 MBUS STS User defined Function Block 49 defined Functional Block RA_K3_MBUS_STS_Extended User defined Function Block 52 RA_K3_ MBUS_CMD_ Indexing User defined Function Block 54 RA_K3_MBUS_CMD_Jog User defined Function Block 56 RA K3 MBUS_ CFG _ IndexWriteValues User defined Punction Block rerea iaai aan esac eee Bik Means 59 Rockwell Automation Publication CC QS025D EN P August 2015 5 Table of Contents Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software RA K3 MBUS CFG _IndexReadValues User defined Function Block cc ccc cee cece eeceecueeuucueeues Appendix B Before 1 OU Deo pa Bi ranen penance tence es EE tat ee What You Need ccc ccc cece cece cece cece es eeeeeeeeeseees Folow These Steps a6 10a erecavint abas cea poesia eta ababahetada Verify Drive Communication Configuration 0 0 eee ae Connect Your Kinetix 3 Drive to a Personal Computer by Using Ultraware SOttWate 1iscc sear cictenedsicationdenes Review the Workspace and Drive Branches 0 20 eee Mode Configuration Branch 2s sss 0vevaineianivnnniawes evens Reset the Drive 0 0 0 ccc ccc ccc cece eee cece eee ceeeenneeeeees Conngure Bac OPUS dsrs Sat a a eden Sead es ae Configure Advanced Options sisi cncwiasacieeuetervidewsba tives Rockwell Automation Publication CC QS025D EN P August 2015 Preface About This
56. n completed 0 65 536 ms before starting the next or ending the cycle Velocity This parameter is the maximum velocity that the index moves It is limited by the 0 6000 rpm motor selection Accel This parameter is the acceleration rate that is used for the index in rev s2 0 21 474 836 47 Decel This parameter is the deceleration rate that is used for the index in rev s 0 21 474 836 47 Next Index This parameter is the number of the index that is selected next if the next action isset 0 63 to Start Next or Wait for Start 1 Truncated to 311778856 in this release due to a PanelView 800 terminal anomaly To practice changing the values follow these steps a Change the position value for Index 00 to the value needed in your application Foran unloaded motor use the number of counts in your encoder For TL Series motor with an incremental encoder use 8000 counts For TL Series motor with an absolute encoder use 131 072 counts b Change the dwell value for Index 00 ms to 1000 ms c Press Apply To return to the Status and Command screen press X on the top right corner Rockwell Automation Publication CC QS025D EN P August 2015 45 Chapter2 System Validation Verify the Manual Operation of the Drive IMPORTANT This section assumes that your motor is free to move and causes no harm when in motion 10 11 IZ 13 46 Take precautions before enabling and moving the motor Press Jog
57. nd as required a Double click the Tuning branch Copy Main Gains To 2nd Gains Copy Main Gains To ard Gains Copy Main Gains To 4th Gains Copy Main Gains To all Gains save Parameters b Verify that the load is free to move without obstruction and that all personnel and equipment are away from the load and motor shaft or line of motion IMPORTANT The Autotune process causes motion c Click Start Autotuning d Read and acknowledge the warning and prepare the area e Click Yes The drive enables moves the motor and then performs a resonance test When the test is complete the drive disables again 7 Double click the Drive branch Rockwell Automation Publication CC QS025D EN P August 2015 73 Appendix B 74 8 Click Communications Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software 9 Set the MODBUS Input Function Control to Enable Parameter Value Units Mame AC Line Loss Check Auto Motor Iden Motor Model Command Polarity Displayed Units Operation Modes MaintOverride Initial Current Bias Velocity Limits Acceleration Limits Communications Drive Address Baudrate Frame Format Protacal Communication Method MODBUS Run Function Control MODBUS Input Function Control OAH Position Limits Speed Functions Position Functions Motor Encoder Units Stopping Functions Auxiliary Function Selection 1 H A H A A H E
58. ne later and as required Follow these steps to Autotune your drive Rockwell Automation Publication CC QS025D EN P August 2015 21 Chapter1 Kinetix 3 Component class Servo Drive Setup a Verify that the load is free to move without obstruction and that all personnel and equipment are away from the load and motor shaft or line of motion IMPORTANT The autotune process causes motion b Read and acknowledge the warning and prepare the area c Click Start Autotuning The drive enables moves the motor and then performs a resonance test When the test is complete the drive disables again continue once Autotuning is successful Kinetixd Startup Wizard 5 of 5 AutoTuning The motor will be autotuning based on current motor load A Ensure the tuming motor will not ham any person or attached equipment during autotuning O j Status Autotuning Successfully 8 Click Finish 9 Click Yes The drive resets 10 From the tool bar click the Wizards icon 11 Select the Kinetix3 Configuration Application Wizard and click Select Available Wizards Ea Startup Wizards P Kinetix3 Startup Wizard 22 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class Servo Drive Setup Chapter 1 12 Click Kinetix 3 Properties category 13 From the Operations Modes Main Override pull down menu choose Indexing None You prompted to reset the drive 14 Click Yes Parameter w
59. ockwellautomation com literature To order paper copies of technical documentation contact your local Allen Bradley distributor or Rockwell Automation sales representative Available Connected Components Accelerator Toolkits For the most up to date listing of available Connected Components Accelerator Toolkits and related quick starts refer to these resources e Rockwell Automation Connected Components Accelerator Toolkit website at http www rockwellautomation com rockwellautomation products technologies connected components tools accelerator toolkit page e Connected Components Accelerator Toolkit Building Block Project Descriptions Quick Reference publication CC QRO03 Rockwell Automation Publication CC QS025D EN P August 2015 9 Preface Notes 10 Rockwell Automation Publication CC QS025D EN P August 2015 Chapter 1 Kinetix 3 Component class Servo Drive Setup In this chapter you configure the Kinetix 3 drive parameters to enable the drive to send data and receive command from the Micro800 controller The drive is configured by using a personal computer that is connected to the drive The Kinetix 3 drive communicates with the Micro800 controller through a Modbus RTU connection This chapter also specifies the minimum number of parameters that must be changed from factory default settings for the Micro800 controller to control the Kinetix 3 drive You can adjust other drive parameters for your machine application a
60. onal Computer by Using Ultraware Software Follow these steps to connect your Kinetix 3 drive to your personal computer by using Ultraware software 1 From your personal computer start Ultraware software 2 Select Create new file and click OK 3 Ifyou receive a warning that the COM port is not available click OK Ultraware A Unable to initialize serial communications COM port unavailable 4 Connect the IEEE1394 connector of 2090 CCMPCDS 23AA RS 232 serial communication cable to your drive and the serial connector to your personal computer Rockwell Automation Publication CC QS025D EN P August 2015 67 AppendixB Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software 5 Navigate to the Device Manager on your personal computer or use the Run command and enter devmgmt msc Type the name of a program Folder document or Internet resource and Windows will open it For you 6 Determine the COM port that you want to use with Ultraware software The example that is shown uses a serial to USB converter on Port 3 Device Manager File Action View Help hme H a Fe WIR TUASLAP 3e5 17 H Computer See Disk drives E Display adapters lt 4 DYDICD ROM drives 4 Floppy disk controllers H Floppy disk drives IDE ATA ATAFI controllers w Keyboards t Mice and other pointing devices Eg Network adapters Other devices af Ports COM amp LPT F Communications Port
61. red within the UDFB For a more detailed description of the error 1 0 code see FB_ ErrCode 62 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class User defined Function Block Appendix A Table 17 RA_K3_ MBUS_CFG_IndexReadValues Outputs continued FB_ErrCode UDINT This variable enumerates the errors that have occurred within the UDFB Bit 0 Modbus Message Error all communication errors including loss Bit 1 Channel Invalid Bit 2 Node Address Invalid Bit 3 Index Number Invalid Movelype DINT This variable is the move type for that index 0 absolute position reference 1 relative or incremental position reference NextAction DINT This variable is the action that the drive must take upon completing the index 0 stop 1 start next index 2 wait for start before starting next index Position DINT This variable is the position reference in encoder counts 2 147 483 648 2 147 483 647 Dwell UINT This variable is the dwell time in milliseconds the drive holds the position reference after the moveis 0 65 536 complete Velocity INT This variable is the maximum velocity of the index move in revolutions per minute Valid values are 0 6000 limited by the actual motor configuration Accel REAL This variable the acceleration that the drive uses to attempt to reach the maximum velocity for the index 0 21 474 836 47 move in revolutions per second It has seven digi
62. ress that the Modbus Master uses to reference that drive For each Modbus 1 247 network those addresses must be unique Interval UDINT This parameter is used to control how often the UDFB sends Modbus messages to the device Zero 0 65 536 ms representing the continuous operation mode In continuous mode the drive status updates often limited by the network traffic and buffer Table 9 RA_K3_MBUS_STS_ Extended Input Variable FBENO FB Q CommLoss FB_ Error FB ErrCode VelocityFdbk VelocityCmd VelocityErr TorqueCmd PosnFdbk PosnCmd PosnErr PlsCmdFreq ElecAngle MechAngle ShuntLoad BusVoltage EncTurnCount AlarmCode AlarmText BOOL This variable reflects the state of the Function Block Enable bit FBEN 1 0 BOOL This variable shows whether the status message has completed After the response from the drive has been received this bit becomes true It stays true until another message is sent or until UDFB sees a rising edge of the enable input BOOL This bit signifies a communication timeout between the controller and the drive This bit also triggers FB_ Error to be true This bit is cleared after a successful completion of a message to the drive or the UDFB sees a rising edge of the enable input BOOL This bit shows that an error occurred within the UDFB For a more detailed description of the error code see 1 0 FB_ErrCode UDINT This variable enumerates the errors that have occurred within the UDFB
63. s FBENO BOOL This variable reflects the state of FBEN 1 0 CommLoss BOOL This bit signifies a communication timeout between the controller and the drive This bit also 1 0 triggers FB_Error to be true The bit is cleared after a successful completion of a message to the drive or the UDFB sees a rising edge of the enable input FB_ Error BOOL This bit shows that an error has occurred within the UDFB For a more detailed description of the 1 0 error code see FB_ ErrCode FB_ErrCode UDINT This variable enumerates the errors that have occurred within the UDFB Bit 0 Modbus Message Error Bit 1 Channel Invalid Bit 2 Node Address Invalid Bit 3 Jog Speed Invalid JogEnableSts BOOL This bit shows the status of the last message that was sent to the drive If the bit is true the jog function in the drive is enabled If the bit is false the jog function in the drive is disabled Rockwell Automation Publication CC QS025D EN P August 2015 57 AppendixA Kinetix 3 Component class User defined Function Block Figure 7 RA_K3M_BUS_CMD_Jog Function Block Flowchart 58 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class User defined Function Block Appendix A RA K3 MBUS CFG IndexWriteValues User defined Function Block This UDFB writes the index configuration parameters for any of the 64 index points in the drive Table 14 RA_K3_MBUS_CFG_IndexWriteValues Inputs FBEN BOOL T
64. s necessary Consult the drive documentation for information on all other drive parameters Before You Begin Review the Getting Started CCAT with System Design Assistant Quick Start publication CC QS035 What You Need Kinetix 3 Drive Setup e Personal computer with an available USB port e Connected Components Workbench software version 6 or later e RSLinx Classic software e 1203 USB converter e 2090 CCMUDS 48AAxx communication cable e Kinetix 3 drive Series B or later firmware revision 3 005 or later Micro800 Controller Setup e Personal computer with an available USB port e Connected Components Workbench software version 6 or later e USB printer cable A to B for personal computer to Micro800 controller communication e Micro820 Micro830 or Micro850 controller Rockwell Automation Publication CC QS025D EN P August 2015 11 Chapter1 Kinetix 3 Component class Servo Drive Setup Follow These Steps To configure your Kinetix 3 Component class drive follow these steps Configure the Kinetix 3 Drive on page 13 Configure Your Kinetix 3 Drive and Personal Computer Connection on page 14 Connect to Your Drive on page 18 Configure Your Drive by Using Connected Components Workbench Software on page 20 Configure the Drive for Modbus Communication Protocol on page 26 12 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class Servo Drive Setup Chapter 1 Configure the Kineti
65. stablished with intelligent encoder Possible Fixes Check encoder selection and wiring 15 Explore the Fault Help screen 16 To return to the Status and Command screen press X in the top right corner of the screen 17 Press and hold Clear Faults until the Drive Fault indicator clears Rockwell Automation Publication CC QS025D EN P August 2015 47 Chapter2 System Validation Notes 48 Rockwell Automation Publication CC QS025D EN P August 2015 Appendix A Kinetix 3 Component class User defined Function Block Six user defined function blocks UDFBs are included with the Kinetix 3 Building Block All are used in the device module code to return the status of the drive send commands to the drive and configure parameters RA K3 MBUS_ STS User defined Function Block This UDFB provides the basic status word for the Kinetix 3 drive The outputs are updated at the interval that is specified on the input side of the function block Rockwell Automation Publication CC QS025D EN P August 2015 49 AppendixA Kinetix 3 Component class User defined Function Block Table 6 RA_K3_MBUS_STS Inputs FBEN BOOL The Function Block Enable bit FBEN controls the operation of the function On the rising edge of this bit 1 0 the function block initialization takes place While this bit is held high the function block continues to execute Channel UINT This variable is the port or channel on the controller that is connected
66. stem Validation This chapter provides instructions on how to configure connect and validate communication between the devices in your Kinetix 3 Motion Control Indexing system Before You Begin Complete the steps in Chapter 1 Verify that the devices are connected as shown in the assembled wiring diagrams Verify that the Micro800 controller the Kinetix 3 drive and the PanelView 800 terminal have power that is applied to them What You Need Micro820 Micro830 or Mirco850 controller with 2080 SERIALISOL module Kinetix 3 drive 4 in or larger PanelView 800 terminal 2090 CCMDSDS 48AA01 communication cable 1761 CBL PMO02 9 pin to 8 pin MINI DIN RS232 communication cable USB printer cable A to B for personal computer to Micro800 communication USB flash drive for personal computer to PanelView 800 terminal file transfer Rockwell Automation Publication CC QS025D EN P August 2015 27 Chapter2 System Validation Follow These Steps To validate your system follow these steps Configure the Controller Serial Ports on page 30 Configure PanelView 800 Terminal Communication Settings on page 34 Connect Your Devices on page 36 Download Your Program to the Controller on page 37 Configure the IP Address for Your PanelView 800 Terminal on page 39 Transfer Your HMI Application to the PanelView 800 Terminal on page 39 Validate Your System on page 41 28 Rockwell Automation Publication CC QS025D EN P August
67. t project is common among all Building Block projects When this screen is first loaded you can do the following Device Overview Device KS 01 Current Switch To auto e Return to the configuration screen and exit the program e Review a particular device in detail e View the current machine state e Change the current machine state e Add your own buttons to use additional screens for your machine information 42 Rockwell Automation Publication CC QS025D EN P August 2015 System Validation Chapter 2 Understand the Status and Command Screen Follow these steps to understand the Simple Motion Control functionality 1 From the Device Overview screen switch the Operation mode to Manual 2 Press the device The Status and Command screen for the device appears in Manual mode The Auto mode screen is shown here with many of the features disabled K3 01 Status and Command xf SS Serva Enabled First Index l oo Hamed OoOo Homing Current Index Yoo Motion Complete Deitel o O che ea In lotion BE i Dwell Speed Fdbk a rpm Drive Fault rive Comm Error Index Cervo Values Enable Jog Jog Jog Rewerse Enable Forward 3 At any time press X in the top right corner to return to the previous screen lear Comm If the dialog box is opened while the program is in Auto mode some of the commands are inactive and some of the input selectors are unavailable Table 3 Drive Status Indicators
68. tools that are required to complete the steps in the current chapter including but not limited to hardware and software e Follow These Steps This section illustrates the steps in the current chapter and identifies the steps that are required to complete the examples Rockwell Automation Publication CC QS025D EN P August 2015 7 Preface Terminology Term abbreviation Application Sequence Programs Auto manual operation Bill of Materials BOM Building block BB CCAT project Computer Aided Design CAD Connected Components Accelerator Toolkit CCAT Connected Components Workbench Connected Components Workbench project Global variables State Machine control code Tags User defined Function Blocks UDFBs User defined Object UDO Definition User modified programs that work together with the standard state machine logic to control what the machine does while in the abort clear reset run and stop states When the PanelView 800 terminal is in Auto mode the controller logic controls the machine and monitors machine status When the PanelView 800 terminal switches to Manual mode the terminal takes over control Command buttons and numeric entry fields are available only when the machine is in Manual mode A list of components that are needed for your system Tools for accelerating and simplifying the development of a Micro800 controller based application A typical building block includes a st
69. ts of precision and two decimal places The value is limited by motor model Decel REAL This variable is the deceleration that the drive uses to attempt to stop the motor for the index move in 0 21 474 836 47 revolutions per second It has seven digits precision and two decimal places The value is limited by motor model Nextindex This variable is the value of the index that is acted on next if the NextAction configuration is not set to 0 63 stop Rockwell Automation Publication CC QS025D EN P August 2015 63 AppendixA Kinetix 3 Component class User defined Function Block Figure 9 RA_K3_ MBUS_CFG_IndexReadValues Function Block Flowchart 64 Rockwell Automation Publication CC QS025D EN P August 2015 Appendix B Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software This appendix provides the steps for configuring a Series A Kinetix 3 drive with Ultraware software Before You Begin e Apply power to your drive e Kinetix 3 drives are configured by using Ultraware software a standalone program that can be downloaded for free from the Rockwell Automation website What You Need e Personal computer with an available RS232 port If RS232 port is not available you can use a USB port and USB RS232 converter e Ultraware software version 1 82 00 or later e 2090 CCMPCDS 23AAxx communication cable for Kinetix 3 drive e Kinetix 3 drive Rockwell Automation Publicat
70. ware revision 3 005 or later See page 13 for examples 2 Set the following parameters by using the keypad on the front of the drive Parameter Name Setting Drive Address Pr0 07 248 Serial Port Configuration Pr0 09 1102 Where 2 19 200 Kbps Baud Rate 0 8 Data Bits No Parity 1 Stop Bit 1 Modbus RTU protocol 1 RS 485 3 Connect the Kinetix 3 drive to your personal computer by using cables that are shown here rN OO0000 eee OO J AEB leyo Item Description 1 Kinetix 3 drive 1203 USB converter cable catalog number 2090 CCMUSDS 48AAxx 1203 USB converter USB cable i wl N 5 Personal computer with Connected Components Workbench software If you are prompted to install drivers use the recommended drivers 4 Verify the COM port number of the 1203 USB adapter in Device Manager on your computer from the Start menu choose Run The Run dialog box appears 5 Type devmgmt msc in the Open field 14 Rockwell Automation Publication CC QS025D EN P August 2015 Kinetix 3 Component class Servo Drive Setup Chapter 1 6 Expand the Ports COM amp LPT group and locate the Allen Bradley 1203 USB device The COM port is specified in parentheses next to the device name COM3 in this example It can be different on
71. where you can review the fault history of the drive Display and monitor service information about the drive Display the firmware revision of the drive Rockwell Automation Publication CC QS025D EN P August 2015 Appendix B 71 AppendixB Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Reset the Drive To provide a consistent starting point reset the drive to factory defaults 1 From the top level Drive branch click Reset to Factory Settings Velocity Control Panel Reset Drive Reset to Factory Settings Save Parameters 2 Acknowledge the prompt and click Yes The drive resets to its factory defaults Configure Basic Options Follow these steps to configure the drive for your application 1 Ifyou are using a motor with an intelligent encoder and do not want to use a battery to maintain absolute position reference during power off do the following Parameter Value Units Encoder Output Forward Direction 4 Leads G Output Ratio 1 1 Output Counts Motor Counts Wot Installed Installed Mot Installed h Encoder Backup Battery Incremental Feedback Loss a Double click the Encoder branch b Set Encoder Backup Battery to Not Installed You are prompted to reset the drive c Click Yes 2 Follow these steps if your motor does not have an intelligent encoder a Double click the Motor branch Parameter Value
72. x 3 Drive In this section you configure your personal computer and Kinetix 3 drive by using Connected Component Workbench version 6 or later software for hardware Series B and firmware revision 3 005 or later You can find the hardware series identifier on the label that is attached to the side of the product See Figure 1 and Figure 2 to identify the Series of your Kinetix 3 drive Figure 1 Label of a Series B Kinetix 3 Drive That Is Supported by Connected Component Workbench Version 6 or Later Allen Bradley BULLETIN 2071 Kinetix 3 Component Servo Drive 400W CAT NO 2071 AP1 PN 185999 MAX SHORT CIRCUIT 1000 000A INSTRUCTION MANUAL 2071 IN001x EN P FIRMWARE VER V03 01 Figure 2 Label of a Series A Kinetix 3 Drive That Is Supported by Ultraware Software Allen Bradley BULLETIN 2071 Kinetix 3 Component Servo Drive 1 1A CAT NO 2071 AP1 MAX SHORT CIRCUIT 1000 000A INSTRUCTION MANUAL 2071 IN001x EN P FIRMWARE VER V02 00 To configure a Kinetix 3 drive Series A refer to Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software in Appendix B Rockwell Automation Publication CC QS025D EN P August 2015 13 Chapter1 Kinetix 3 Component class Servo Drive Setup Configure Your Kinetix 3 Drive and Personal Computer Connection Follow these steps to configure the connection between your personal computer and your drive 1 Verify that your Kinetix 3 drive is Series B with firm

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