Allen-Bradley Kinetix 350, Compact GuardLogix, ControlLogix, CompactLogix, Kinetix 5500 User Manual

...

User Manual

Original Instructions

Integrated Motion on the EtherNet/IP Network: Configuration and Startup

ControlLogix, CompactLogix, GuardLogix, Compact GuardLogix, Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 527, PowerFlex 755

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 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.

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 will 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).

Table of Contents

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9

Summary of Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Chapter 1

Components of a Motion System Controller, Communication, Drive, and Software Options . . . . . . . 11

Controller and Ethernet Communication

Module Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Integrated Motion on EtherNet/IP Drive

Software Options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Integrated Motion on EtherNet/IP Drives . . . . . . . . . . . . . . . . . . . . . . 13

Options for PowerFlex 755 Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Configuration and Startup Scenarios. . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Help for Selecting Drives and Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Chapter 2

Create a Project for Integrated Motion on the EtherNet/IP Network

Create a Controller Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Set Time Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Add an Ethernet Communication Module . . . . . . . . . . . . . . . . . . . . . . 26

Configure Integrated Motion Control Using Kinetix Drives

Chapter 3

Add a Kinetix EtherNet/IP Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Configure the Safety Category - Kinetix 5500 Drives . . . . . . . . . 36

Configure the Power Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Configure Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Create an Associated Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Create an Axis for a Kinetix Drive . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Establish Feedback Port Assignments . . . . . . . . . . . . . . . . . . . . . . . 41

Create a Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Set the Base Update Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Configure the Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Configure the Associated Axis and Control Mode . . . . . . . . . . . . . . . 47

Specify the Motor Data Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Choose the Catalog Number as the Motor Data Source. . . . . . . 51

Choose Nameplate as the Motor Data Source . . . . . . . . . . . . . . . . 52

Choose Motor NV as the Motor Data Source . . . . . . . . . . . . . . . . 53

Display Motor Model Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Assign Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Configure the Load Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Configure the Master Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Configure Feedback Only Axis Properties . . . . . . . . . . . . . . . . . . . . . . . 57

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Table of Contents

Chapter 4

Configure Integrated Motion Control Using Kinetix 5700 Drives

Add a Kinetix 5700

EtherNet/IP Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Configure the DC-bus Power Supply and Associate an Axis . . . 60

Configure the Regenerative Bus Supply. . . . . . . . . . . . . . . . . . . . . . 64

Continue Inverter Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Configure the Inverter Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Create an Associated Axis and Establish Feedback

Assignments for an Inverter Drive . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Create a Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Set the Base Update Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Configure the Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Configure the Associated Axis and Control Mode . . . . . . . . . . . . . . . 88

Specify the Motor Data Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Choose the Catalog Number as the Motor Data Source. . . . . . . 91

Choose Nameplate as the Motor Data Source . . . . . . . . . . . . . . . . 93

Choose Motor NV as the Motor Data Source . . . . . . . . . . . . . . . . 94

Display Motor Model Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Assign Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Configure the Load Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Configure the Master Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Configure Integrated Motion Using a PowerFlex 755 Drive

Chapter 5

Add a PowerFlex 755 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Select a Peripheral Feedback Device and Slot Assignment . . . . 101

Select an I/O Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

Assign a Power Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Configure Power Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Configure Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Configure Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

Create an Associated Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

Create an Axis for a PowerFlex 755 Drive. . . . . . . . . . . . . . . . . . . 109

Establish Feedback Port Assignments . . . . . . . . . . . . . . . . . . . . . . 110

Create a Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Set the Base Update Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Configure the Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

Configure the Associated Axis and Control Mode . . . . . . . . . . . . . . 116

Specify the Motor Data Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

Choose Catalog Number as the Motor Data Source . . . . . . . . . 119

Choose Nameplate as the Motor Data Source . . . . . . . . . . . . . . . 121

Choose Drive NV as the Motor Data Source. . . . . . . . . . . . . . . . 122

Display Motor Model Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Assign Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

4 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Chapter 6

Table of Contents

Configure Integrated Motion Using a PowerFlex 527 Drive

Set the Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Add a PowerFlex 527 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

Configure the PowerFlex 527 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

Configure the Drive with Hard-wired Safety Connections . . . 132

Configure the Drive with Integrated Safety Connections . . . . 134

Configure Power Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

Configure Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

Create an Axis for a PowerFlex 527 Drive . . . . . . . . . . . . . . . . . . . . . . 138

Create the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

Configure the Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

Configure the Associated Axis and Control Mode . . . . . . . . . . . . . . 142

Chapter 7

Axis Scheduling About Axis Scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

Timing Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

One Cycle Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

Two Cycle Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Axis Scheduling Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

Configure the Update Periods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

Motion Utilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

Configuration Examples for a Kinetix Drive

Axis Configuration Examples for the PowerFlex 755 Drive

Chapter 8

Example 1: Position Loop with Motor Feedback Only. . . . . . . . . . . 159

Example 2: Position Loop with Dual Feedback . . . . . . . . . . . . . . . . . 163

Example 3: Feedback Only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

Example 4: Kinetix 5500 Drive, Velocity Loop

with Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Example 5: Kinetix 350 Drive, Position Loop

with Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

Example 6: Kinetix 5700 Drive, Frequency Control

with No Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

Example 7: 842E-CM Integrated Motion Encoder

with Master Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

Chapter 9

Example 1: Position Loop with Motor Feedback Via a

UFB Feedback Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

Example 2: Position Loop with Dual Motor Feedback Via a

UFB Feedback Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Example 3: Velocity Loop with Motor Feedback Via a

UFB Feedback Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

Example 4: Velocity Loop with No Feedback . . . . . . . . . . . . . . . . . . . 199

Example 5: Frequency Control with No Feedback . . . . . . . . . . . . . . 202

Example 6: Torque Loop with Feedback . . . . . . . . . . . . . . . . . . . . . . . 206

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Chapter 10

Axis Configuration Examples for the PowerFlex 527 Drive

Example 1: Frequency Control with No Feedback . . . . . . . . . . . . . . 210

Example 2: Velocity Control with Motor Feedback . . . . . . . . . . . . . 214

Example 3: Position Control with Motor Feedback . . . . . . . . . . . . . 217

Chapter 11

Commission an Axis Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

Direct Coupled Rotary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

Direct Coupled Linear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

Rotary Transmission. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

Linear Actuator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

Changing Scaling Factors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

Hookup Tests. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

Run a Motor and Feedback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

Run a Motor Feedback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

Run a Marker Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

Applying the Commutation Hookup Test . . . . . . . . . . . . . . . . . . . . . 232

Unknown Commutation Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

Verification of Known Commutation Offset . . . . . . . . . . . . . . . 233

Non-standard or Incorrect Wiring . . . . . . . . . . . . . . . . . . . . . . . . . 233

Run a Commutation Test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

Polarity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

Autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

Load Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

Benefits of Load Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

How Load Observer Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

Load Observer Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

Benefits of Adaptive Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244

How Adaptive Tuning Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 244

Adaptive Tuning Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

Load Ratio Data from Motion Analyzer. . . . . . . . . . . . . . . . . . . . . . . . 249

Test an Axis with Motion Direct Commands. . . . . . . . . . . . . . . . . . . 249

Access Motion Direct Commands for an Axis or Group . . . . . 250

Understanding STO Bypass When Using

Motion Direct Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

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Table of Contents

Chapter 12

Homing Guidelines for Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

Active Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

Passive Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

Active Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

Passive Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

Absolute Position Recovery (APR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

APR Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

Position Recovery Considerations for Logix5000

Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

Absolute Feedback Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

SERCOS Versus Integrated Motion on Ethernet Networks . . 263

APR Scenarios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

APR Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

APR Fault Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

APR Fault Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

Scaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

Online Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

Resetting an APR Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

Absolute Position Loss without APR Faults. . . . . . . . . . . . . . . . . 273

Behavior of APR for Incremental Encoders . . . . . . . . . . . . . . . . . 274

Saving an ACD File Versus Upload of a Project . . . . . . . . . . . . . 274

Chapter 13

Manual Tune When to Manually Tune an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

Axis Configuration Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

Current Tuning Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

Loop Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

Motion Generator and Motion Direct Commands . . . . . . . . . . 279

Additional Tune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

Feedforward Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

Compensation Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

Filters Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

Limits Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

Planner Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

Configure Torque Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

Monitor Tags with the Quick Watch Window . . . . . . . . . . . . . . . . . 285

Use Motion Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

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Chapter 14

Status, Faults, and Alarms Faults and Alarms Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

QuickView Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

Data Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

Drive Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

Connection Faults and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

Troubleshoot Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

Manage Motion Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

Configure the Exception Actions for AXIS_CIP_DRIVE . . . . . . . 294

Inhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

Example: Inhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

Example: Uninhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

Digital I/O Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

Appendix A

Parameter Group Dialog Boxes Parameter Dialog-box Listings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

Out of Box Configuration for PowerFlex Drives

Appendix B

Program a Velocity Profile and Jerk Rate . . . . . . . . . . . . . . . . . . . . . . . 305

Definition of Jerk. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

Choose a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

Use % of Time for the Easiest Programming of Jerk. . . . . . . . . . 307

Velocity Profile Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

Jerk Rate Calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

Profile Operand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

Enter Basic Logic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

Example Motion Control Program. . . . . . . . . . . . . . . . . . . . . . . . . 317

Download a Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318

Choose a Motion Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318

Troubleshoot Axis Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

Why Does My Axis Accelerate When I Stop It? . . . . . . . . . . . . . 321

Why Does My Axis Overshoot Its Target Speed?. . . . . . . . . . . . 322

Why Is There a Delay When I Stop and

Then Restart a Jog? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

Why Does The Axis Reverse Direction

When Stopped and Started? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

Programming with the MDSC Function . . . . . . . . . . . . . . . . . . . . . . . 329

PowerFlex Out-of-Box Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . 332

Recommended Out-of-Box Settings. . . . . . . . . . . . . . . . . . . . . . . . 332

Setting the ACO/AVO Attributefor PF527 Drives Only. . . . . . . . 336

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

8 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Preface

Use this manual to configure an integrated motion on the EtherNet/IP™ network application and to start up your motion solution with a Logix controller-based system.

This manual is designed to give you a straightforward approach to an integrated motion control solution. If you have any comments or suggestions, see Documentation Feedback

on the back cover of this manual.

Summary of Changes

This manual contains new and updated information as indicated in the following table and the change bars throughout.

Top ic Pag e

Integrated Motion on EtherNet/IP Drives 13

Add a Kinetix EtherNet/IP Drive 36

Configure the Regenerative Bus Supply 64

Additional Resources

Create an Associated Axis and Establish Feedback Assignments for an Inverter Drive

Absolute Position Recovery (APR) 262

These resources contain information about related products from Rockwell

Automation®.

Table 1 - Publications About Related Products

Resource Description

842E-CM Integrated Motion Encoder on EtherNet/IP User Manual, publication 842E-UM002

ControlLogix 5580 Controllers Migration Guide, publication 1756-RM100 Provides information about the features and functions of the ControlLogix® 5580

ControlLogix 5580 and GuardLogix 5580 Controllers User Manual, publication 1756-UM543

CompactLogix 5380 and Compact GuardLogix 5380 Controllers User Manual, publication 5069-UM001

ControlLogix System User Manual, publication 1756-UM001 Describes the necessary tasks to install, configure, program, and operate a

EtherNet/IP Network Configuration User Manual, publication ENET-UM001

GuardLogix 5570 Controllers User Manual, publication 1756-UM022

GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety Reference Manual, publication 1756-RM099

GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety Reference Manual, publication 1756-RM012

Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003

Kinetix 350 Single-axis EtherNet/IP Servo Drive User Manual, publication 2097-UM002

Describes the necessary tasks to install, wire, and troubleshoot your encoder.

controllers.

Provides information on how to install, configure, program, and operate ControlLogix 5580 and GuardLogix® 5580 controllers.

Provides information on how to install, configure, program, and operate CompactLogix™ 5380 and Compact GuardLogix 5380 controllers.

ControlLogix system.

Describes Ethernet network considerations, networks, and setting IP addresses.

Provides information on how to install, configure, and operate GuardLogix 5570 controllers in Studio 5000 Logix Designer® projects, version 21 or later.

Provides information on how to meet safety application requirements for GuardLogix 5570 controllers in Studio 5000 Logix Designer projects, version 21 or later.

Describes the necessary tasks to install, configure, program, and operate a ControlLogix system.

Provides a programmer with details about the Integrated Motion on the EtherNet/IP network Control Modes, Control Methods, and AXIS_CIP_DRIVE Attributes.

Provides detailed information on wiring, power, troubleshooting, and integration with ControlLogix, or CompactLogix controller platforms.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 9

Preface

Table 1 - Publications About Related Products (continued)

Resource Description

Kinetix 5500 Servo Drives Installation Instructions, publication 2198-IN001 Provides installation instructions for the Kinetix® 5500 Integrated Axis Module and

Kinetix 5500 Servo Drives User Manual, publication 2198-UM001

Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 Provides information on installing, configuring, start up, troubleshooting, and

Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual, publication 2094-UM002

Logix 5000 Controllers Motion Instructions Reference Manual, publication MOTION-RM002

Logix 5000 Controllers Common Procedures, publication 1756-PM001

Logix 5000 Controllers General Instructions Reference Manual, public ation 1756-RM003 Provides a programmer with details about general instructions for a Logix-based

LOGIX 5000 Controllers Advanced Process Control and Drives and Equipment Phase and Sequence Instructions Reference Manual, publication 1756-RM006

Logix 5000 Controllers Quick Start, publication 1756-QS001

Motion System Tuning Application Technique, publication MOTION-AT005 Provides detailed information on motion system tuning.

PowerFlex 527 Adjustable Frequency AC Drive User Manual, publication 520-UM002 Provides information on installation, configuration, start up, troubleshooting, and

PowerFlex 750-Series AC Drives Programming Manual, publication 750-PM001

PowerFlex 750-Series AC Drives Reference Manual, publication 750-RM002 Provides detailed drive information including operation, parameter descriptions, and

PowerFlex 755 Drive Embedded EtherNet/IP Adapter User Manual, publication 750COM-UM001

PowerFlex 750-Series Safe Speed Monitor Option Module Safety Reference Manual, publication 750-RM001

PowerFlex 750-Series Safe Torque Off Option Module User Manual, publication 750-UM002

PowerFlex 755 Integrated Safety - Safe Torque Off Option Module User Manual, publication 750-UM004

PowerFlex 755/755T Integrated Safety Functions Option Module User Manual, publication 750-UM005

The Integrated Architecture and CIP Sync Configuration Application Technique, publication IA-AT003

Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1

Product Certifications website, www.rok.auto/certifications

Network specifications details, http://www.odva.org

Axis Module components.

Provides information on installation, configuration, start up, troubleshooting, and applications for the Kinetix 5500 servo drive systems.

applications for the Kinetix 5700 servo drive systems.

Provides information on installation, configuration, start up, troubleshooting, and applications for the Kinetix 6200 and Kinetix 6500 servo drive systems.

Provides a programmer with details about motion instructions for a Logix-based controller.

Provides detailed and comprehensive information about how to program a Logix 5000™ controller.

controller.

Provides a programmer with details about process and drives instructions for a Logixbased controller.

Describes how to get started programming and maintaining Logix5000 controllers.

applications for the PowerFlex® 527 drive.

Provides information that is necessary to install, start-up, and troubleshoot PowerFlex 750-Series Adjustable Frequency AC Drives.

programming of the AC drive.

Provides information on installation, configuration, start up, troubleshooting, and applications for the PowerFlex 755 Drive Embedded EtherNet/IP Adapter.

These publications provide detailed information on installation, setup, and operation of the 750-Series safety option modules.

Provides detailed configuration information on CIP™ Sync technology and time synchronization.

Provides general guidelines for installing a Rockwell Automation® industrial system.

Provides declarations of conformity, certificates, and other certification details.

ODVA is the organization that supports network technologies that are built on the Common Industrial Protocol (CIP) — DeviceNet™, EtherNet/IP, CompoNet™, and ControlNe t™.

You can view or download publications at

http://www.rockwellautomation.com/literature/. To order paper copies of

technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative

10 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Components of a Motion System

Top ic Pag e

Controller, Communication, Drive, and Software Options 11

Integrated Motion on EtherNet/IP Drives 13

Configuration and Startup Scenarios 18

Help for Selecting Drives and Motors 20

Chapter 1

Controller, Communication, Drive, and Software Options

You need a Logix 5000™ controller with a connection to the EtherNet/IP™ network (either via an embedded Ethernet port or an Ethernet communication module). You also need an Ethernet adapter for the controller (if the controller does not have embedded Ethernet), an Integrated Motion drive (see Ta b l e 4

and configuration and programming software.

TIP ControlLogix® 5560 and GuardLogix® 5560 controllers are not supported in

Studio 5000 Logix Designer® application, version 21.00.00 and later.

Controller and Ethernet Communication Module Options

A GuardLogix or Compact GuardLogix safety controller is required for motion and safety applications.

Ta b l e 2

Studio 5000 Logix Designer application.

Table 2 - Controllers and Required Software Versions

lists the available controllers and minimum required version of the

Controller Studio 5000 Logix Designer Version

ControlLogix 5580 controllers Version 28 or later

GuardLogix 5580 controllers Version 31 or later

CompactLogix 5380 controllers Version 30 or later

Compact GuardLogix 5380 controllers

ControlLogix 5570 controllers Version19 or later

GuardLogix 5570 controllers Version 20 or later

CompactLogix 5370 controllers Version 20 or later

Compact GuardLogix 5370 controllers

Vers ion 3 1 or la ter

Vers ion 2 8 or la ter

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 11

Chapter 1 Components of a Motion System

Ta b l e 3 provides information on how many motion axes are supported

depending on the hardware that is used in your application and the configuration of your axes. For example, you can have eight Position Loop axes per 1756-EN2T module. Each drive requires one TCP and one CIP™ connection. If you have other devices that consume TCP connections on the module, it reduces the number of drives you can support. Only the drives and axes that are configured for Position Loop are limited. Frequency Control, Velocity Loop, and Torque Loop configured drives and axes are not limited.

Table 3 - Supported Axes by Controller Type

Controller Communication

ControlLogix 5560, GuardLogix 5560, ControlLogix 5570,GuardLogix 5570 Armor™ ControlLogix 5570, Armor™ GuardLogix 5570 ControlLogix 5580, GuardLogix 5580

ControlLogix 5580, GuardLogix 5580

CompactLogix 5380, Compact GuardLogix 5380

CompactLogix 5370, Compact GuardLogix 5370, Armor CompactLogix 5370, Armor Compact GuardLogix 5370

1756-L81E, 1756-L81ES Embedded Ethernet 1756-L82E, 1756-L82ES Embedded Ethernet 1756-L83E, 1756-L83ES

1756-L84E, 1756-L84ES 1756-L85E Embedded Ethernet 256 Up to 256 300 max nodes 5069-L306ERM, 5069-L306ERMS2 Embedded Ethernet 2 Up to 256 16 max nodes 5069-L310ERM, 5069-L310ERMS2 Embedded Ethernet 4 Up to 256 24 max nodes 5069-L320ERM, 5069-L320ERMS2 Embedded Ethernet 8 Up to 256 40 max nodes 5069-L330ERM, 5069-L330ERMS2 Embedded Ethernet 16 Up to 256 Version 30 and earlier: 50 max

5069-L340ERM, 5069-L340ERMS2 Embedded Ethernet 20 Up to 256 Version 30 and earlier: 55 max

5069-L350ERM, 5069-L350ERMS2 Embedded Ethernet 24 Up to 256 Version 30 and earlier: 60 max

5069-L380ERM, 5069-L380ERMS2 Embedded Ethernet 28 Up to 256 Version 30 and earlier: 70 max

5069-L3100ERM, 5069-L3100ERMS2

1769-L18ERM Embedded Ethernet 2 Up to 100 8 max nodes 1769-L27ERM Embedded Ethernet 4 Up to 100 16 max nodes 1769-L30ERM, 1769-L30ERMS Embedded Ethernet 4 Up to 100 16 max nodes 1769-L33ERM, 1769-L33ERMS

1769-L33ERMO, 1769-L33ERMOS 1769-L36ERM, 1769-L36ERMS

1769-L36ERMO, 1769-L36ERMOS 1769-L37ERM, 1769-L37ERMS,

1769-L37ERMO, 1769-L37ERMOS, 1769-L38ERM, 1769-L38ERMS

1769-L38ERM0, 1769-L38ERM0S

(1)

Modules

1756-EN2T and 1756-EN2TF 8 Up to 100 — 1756-EN3TR 100 Up to 100 — 1756-EN2TR 8 Up to 100 — 1756-EN2T and 1756-EN2F 8 Up to 100 — 1756-EN2TP 8 Up to 100 — 1756-EN3TR 100 Up to 256 — 1756-EN2TR 8 Up to 256 —

Embedded Ethernet

Embedded Ethernet 32 Up to 256 Version 30 and earlier: 80 max

Embedded Ethernet 8 Up to 100 32 max nodes

Embedded Ethernet 16 Up to 100 64 max nodes

Embedded Ethernet 16 Up to 100 80 max nodes

Supported Axes Position Loop

(2)

256 Up to 256 100 max nodes 256 Up to 256 175 max nodes 256 Up to 256 250 max nodes

(3)

(4)

Other Loop Types Integrated Motion Drives

nodes Version 31 and later: 60 max nodes

nodes Version 31 and later: 90 max nodes

nodes Version 31 and later: 120 max nodes

nodes Version 31 and later: 150 max nodes

nodes Version 31 and later: 180 max nodes

(5)

12 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Components of a Motion System Chapter 1

(1) For more information on Ethernet communication modules, see 1756 ControlLogix Communication Modules Specifications Technical Data, publication 1756-TD003. (2) ControlLogix 5580 and GuardLogix 5580 can also use Ethernet communication modules to communicate on the EtherNet/IP network. (3) Multiple controllers can control drives on a common 1756-ENxTx module, so based on the TCP connection limit, up to 128 can be supported. (4) Only the drives/axes configured for Position Loop are limited. Frequency Control, Velocity Loop, and Torque Loop configured drives/axes are not limited. (5) If more than the maximum number of I/O modules are configured under the embedded Ethernet Port, a Project Verify error notifies you that the maximum number of nodes on the local Ethernet Port

has been exceeded.

Integrated Motion on EtherNet/IP Drive Software Options

The following software is required for use with your system:

• Studio 5000 Logix Designer application (see Table 2 on page 11 minimum versions for controllers and Ta b l e 4

for minimum versions for

drives)

•RSLinx® Classic software, version 3.51.00 or later

• For PowerFlex® 755 drives, you need the Add-on Profile, V18 or later.

for

Integrated Motion on

Ta b l e 4 lists the EtherNet/IP drives available for integrated motion.

EtherNet/IP Drives

Table 4 - Integrated Motion EtherNet/IP Drives

Drive Description Supported Axis

842E-CM The 842E-CM is an ultra-high

Kinetix®

(1)

350

Kinetix

(1)

5500

resolut ion encoder with EtherNet/IP interface with time synchronization for motion control. These encoders provide 18-bit single-turn resolution and 30-bit multi-turn resolution.

The Kinetix 350 drive is a singleaxis EtherNet/IP servo drive with Safe Torque Off (STO) functional safety that supports the Integrated Motion on EtherNet/IP network.

The Kinetix 5500 servo drives support the Integrated Motion on EtherNet/IP network. Singleaxis and multi-axis, AC, DC, AC/DC, and AC/DC hybrid bu ssharing configurations are possible.

2198-Hxxx-ERS servo drives support hardwired STO with connections to safety inputs.

2198-Hxxx-ERS2 servo drives support integrated STO with connections to the safety controller.

Configurations

Feedback Only 10…30V 21.00.00

Posi tion Velo cit y Tor qu e

Frequency Control Posi tion Velo cit y Tor qu e

Power Ratings Minimum Version of the

(3)

Voltag e Ranges

100V AC 1-phase 200V AC 1-phase 200V AC 3-phase 400V AC 3-phase

Voltag e Ranges

195…264V AC rms 1-phase 195…264V AC rms 3-phase 324…528V AC rms 3-phase

Output Power

0.4…0.8 kW

0.5…3 kW

0.5…3 kW 1…3 kW

Output Power

0.2…1.0 kW

0.3…7.2 kW

0.6…14.9 Kw

Studio 5000 Logix Designer Application

21.00.00

24.00.00

(4)

(5)

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 13

Chapter 1 Components of a Motion System

Table 4 - Integrated Motion EtherNet/IP Drives (continued)

Drive Description Supported Axis

Configurations

Kinetix 5700

(1)

2198-Sxxx-ERS3 (single-axis) and 2198-Dxxx-ERS3 (dual-axis) series A support hardwired and integrated STO with connections to the safety controller (Version26). Series B also

Frequency Control Feedba ck Only Position Loop Velo city Loop Tor que Loo p

support integrated Timed SS1 safety function and (Version 31).

2198-Pxxx Non-Regenerative

AC/DC Conver ter

2198-Sxxx-ERS4 (single-axis) and 2198-Dxxx-ERS4 (dual-axis) (Version 31) support integrated safe monitor functions with connection to the safety controller.

Frequency Control Feedba ck Only Position Loop Velo city Loop Tor que Loo p

2198-RPxxx Regenerative AC/DC

Converter

Power Ratings Minimum Version of the

(3)

Studio 5000 Logix Designer Application

Input Voltage Range

324…528V AC rms,

Output Voltage Range

3-phase

Output Power

1.6…112 kW

For 1.6…60kW

26.00.00

For 90…112kW

32.00.00

480V AC rms nominal

Current Range

2.5…192 A

Input Voltage Range

26.00.00

324…528V

Current Range

10…69 A

Input Voltage Range

324…506V AC rms,

Output Voltage Range

3-phase

Output Power

1.6…112 kW

For 1.6…60kW

31.00.00

For 90…112kW

32.00.00

480V AC nominal

Current Range

2.5…192 A

Input Voltage Range

324…528V

Output Power

24…140 kW

32.00.00

Current Range

35.3/88.0…207.0/312.0 A

(6)

(7)

14 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Table 4 - Integrated Motion EtherNet/IP Drives (continued)

Components of a Motion System Chapter 1

Drive Description Supported Axis

Configurations

Kinetix 6500

(1)

The Kinetix 6500 drive is a closed-loop modular servo drive. It consists of an integrated axis (IAM) power module and up to seven axis (AM) power modules,

Feedba ck Only Posi tion Velo cit y Tor qu e

Power Ratings Minimum Version of the

(3)

Voltag e Range

324…528V AC rms 3-phase

each coupled with a Kinetix 6500 control module.

The IAM and AM power modules provide power for up to eight axes.

The 2094-EN02D-M01-S0 control modules support Safe Torque Off and 2094-EN02D-M01-S1 control modules support safe-speed monitoring.

Power Flex

(2)

527

The PowerFlex 527 is a singleaxis EtherNet/IP AC drive with STO feature that supports the Integrated Motion on

Frequency Control Posi tion Velo cit y

Input Power

100…600V AC

EtherNet/IP network. Hardwired STO and Integrated STO are supported.

It consists of an integrated axis power module and incremental encoder feedback (sold separately).

Power Flex

(2)

755

The PowerFlex 755 Drive EtherNet/IP AC drive is a closed loop drive. It consists of an integrated axis power module with five option slots for communication, I/O, feedback,

Frequency Control Posi tion Velo cit y Tor qu e

Input Power 400V AC 480V AC 600V AC

690V AC safety, and auxiliary control power (sold separately).

The PowerFlex 755 drive can control a motor in closed loop and open loop mode.

(1) For more information on Kinetix servo drives, see Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003. (2) For more information on PowerFlex drives, see PowerFlex Low Voltage Drives Selection Guide, publication PFLEX-SG002 (3) For more information about the configuration types, see Configure the Associated Axis and Control Mode on page 47

publication MOTION-RM003 (4) Drives with catalog numbers ending in ERS. (5) Drives with catalog numbers ending in ERS2. (6) Drives with catalog numbers ending in ERS3. (7) Drives with catalog numbers ending in ERS4.

and the Integrated Motion on the EtherNet/IP Network Reference Manual,

Continuous Output Power

6.0…45 kW

Output Power

0.4...22 kW/0.5...30 Hp /

0.9...62.1 A

Output Power:

0.75…1250 kW/2.1…2150 A

1...1750 Hp/2.1...2070 A

1...1400 Hp/1.7...1430 A

7.5...1400 kW/12...1400 A

Studio 5000 Logix Designer Application

21.00.00

24.00.00

RSLogix 5000

®, version

19.00.00 or later Studio 5000 Logix Designer

application, version 21.00.00 or later

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 15

Chapter 1 Components of a Motion System

Options for PowerFlex 755 Drives

When a PowerFlex 755 drive is used in Integrated Motion on EtherNet/IP mode, the Logix controller and Studio 5000 Logix Designer application are the exclusive owners of the drive (same as Kinetix). An HIM or other drive software tools, such as DriveExplorer™ and DriveTools™ SP, cannot be used to control the drive or change configuration settings. These tools can only be used for monitoring.

The PowerFlex 755 drive contains an EtherNet/IP adapter that is embedded on the main control board. This embedded adapter lets you easily configure, control, and collect drive data over Ethernet networks. The drive can operate also in the integrated motion mode or the existing I/O mode.

The PowerFlex 755 drive has five option ports that can accept a combination of options for control, communication, I/O, feedback, safety, and auxiliary control power. Only one safety option module can be installed on a drive.

There are seven types of peripherals:

•HIM

•I/O

• Communications, Ethernet Standard

•Aux Power

•Safety

•Encoder Interface

•Universal Feedback

(1)

(2)

(3)

Ta b l e 5 lists valid peripheral devices and ports for various PowerFlex 755

drives.

(1) Aux power is not supported for Integrated Motion.

(2) Only one safety option module can be installed on a drive.

(3) See Tab le 6

for supported feedback module combinations.

16 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Components of a Motion System Chapter 1

Table 5 - Peripheral Devices and Ports for PowerFlex 755 Devices That Support Integrated Motion on Ethernet Networks

Drive Catalog Number Description Ports

PowerFlex 755-EENET-CM PowerFlex 755 AC Drive via Embedded Ethernet 4, 5, 6, 7, 8

PowerFlex 755-EENET-CM-S PowerFlex 755 AC Drive via Embedded Ethernet - Safe Torque Off Option 4 and 5

6 is reserved for safety

PowerFlex 755-EENET-CM-S1 PowerFlex 755 AC Drive via Embedded Ethernet - Safe Speed Monitor Option 4 and 5

6 is reserved for safety

PowerFlex 755-EENET-CM-S3

PowerFlex 755-HiPwr-EENET-S4

(1)

PowerFlex 755 AC Drive via Embedded Ethernet - Integrated Safe Torque Off Option

(1)

PowerFlex 755 AC Drive via Embedded Ethernet - Integrated Safety Functions Option

PowerFlex 755-HiPwr-EENET-CM PowerFlex 755 High-power AC Drive via Embedded Ethernet 4, 5, 6, 7, 8

PowerFlex 755-EENET-CM-S PowerFlex 755 High-power AC Drive via Embedded Ethernet - Safe Torque Off Option 4 and 5

PowerFlex 755-EENET-CM-S1 PowerFlex 755 High-power AC Drive via Embedded Ethernet - Safe Speed Monitor Option 4 and 5

PowerFlex 755-HiPwr-EENET-CM-S3 PowerFlex 755 High-power AC Drive via Embedded Ethernet - Integrated Safe Torque Off Option 4 and 5

(1) PowerF lex Drive firm ware revision 1 4 or later requ ired.

(2) Safe Torque Off option module is only available when used with GuardLogix 5580 and Compact GuardLogix 5380 safety controllers.

(3) Integrated Motion support of the Integrated Safety Functions option module is only available when used with GuardLogix 5580 and Compact GuardLogix 5380 safety controllers.

(2)

4 and 5 6 is reserved for safety

(3)

4 and 5 6 is reserved for safety

6 is reserved for safety

See the manual for your PowerFlex 755 AC Drive safety or communication option for more information on using your specific peripheral device.

Ta b l e 6

Table 6 - Supported Feedback Module Combinations

(1) The safe speed monitor option module must be used with the 20-750-DENC-1 Dual Incremental Encoder module or the

shows the feedback module combinations that are supported.

Option Supported Module Catalog Number Valid Ports

Two Feedback Options Single Incremental Encoder 20-750-ENC-1 4…8

Dual Incremental Encoder 20-750-DENC-1 4…8

Universal Feedback Card 20-750-UFB-1 4…6

Two Feedback Options and One Safe Torque Off Option

Two Feedback Options and One Safe Speed Monitor

(1)

Option

20-750-UFB-1 Universal Feedback module.

Single Incremental Encoder 20-750-ENC-1 4 and 5

Dual Incremental Encoder 20-750-DENC-1 4 and 5

Universal Feedback 20-750-UFB-1 4 and 5

Safe Torque Off 20-750-S 6

Single Incremental Encoder 20-750-ENC-1 4 and 5

Dual Incremental Encoder 20-750-DENC-1 4 and 5

Universal Feedback 20-750-UFB-1 4 and 5

Safe Speed Monitor 20-750-S1 6

For more information, see the Installation Instructions for your PowerFlex 750-Series AC Drive.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 17

Chapter 1 Components of a Motion System

4 - Commission

• Download project.

• Follow steps in Chapter 11, Commission an Axis on page 221

Connect Hardware First

5 - Program

• Follow steps in Appendix B, Out of Box Configuration for

PowerFlex Drives on page 305.

3 - Configure the drive module and an axis.

Check drive firmware for the latest revisions and update if needed.

• For Kinetix drives, follow the steps in Chapter 3,Configure Integrated Motion Control

Using Kinetix Drives on page 31 or Chapter 4, Configure Integrated Motion Control Using Kinetix 5700 Drives on page 59.

• For a PowerFlex 755 drive, follow the steps in Chapter 5, Configure Integrated Motion

Using a PowerFlex 755 Drive on page 99.

If you are using a PowerFlex 755 drive and are unfamiliar with the integrated motion interface and attributes, see the Integrated Motion on EtherNet/IP appendix in the PowerFlex 750-Series AC Drives Programming Manual, publication 750-PM001.

• For a PowerFlex 527 drive, follow the steps in Chapter 6, Configure Integrated Motion

Using a PowerFlex 527 Drive on page 129.

2 - Configure the controllers and communication modules.

• Open the Logix Designer application.

• Check software and firmware for the latest revisions and update if needed.

• You must configure the controllers and communication modules for time synchronization and motion.

• To configure a project and enable time synchronization, follow the steps in

Chapter 2, Create a Project for Integrated Motion on the EtherNet/IP Network on page 21.

1 - Connect

• Install modules and drives.

• Check software and firmware for the latest revisions.

Configuration and Startup Scenarios

The two ways to get an integrated motion on the EtherNet/IP network solution to run are to connect the hardware first or configure the software first.

18 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Configure Software First

3 - Program

• Follow steps in Appendix B, Out of Box Configuration for

PowerFlex Drives on page 305.

4 - Connect

• Install modules and drives.

• Check software and firmware for the latest revisions.

1 - Configure the controllers and communication modules.

• Open the Logix Designer application.

• Check software and firmware for the latest revisions and update if needed.

• You must configure the controllers and communication modules for time synchronization and motion.

• To build a project and enable time synchronization, follow the steps in Chapter 2, Create a

Project for Integrated Motion on the EtherNet/IP Network on page 21.

2 - Configure the drive module and configure an axis.

Check drive firmware for the latest revisions and update if needed.

• For Kinetix drives, follow the steps in Chapter 3,Configure Integrated Motion Control Using

Kinetix Drives on page 31 or Chapter 4, Configure Integrated Motion Control Using Kinetix 5700 Drives on page 59.

• For a PowerFlex 755 drive, follow the steps in Chapter 5, Configure Integrated Motion Using

a PowerFlex 755 Drive on page 99.

For a PowerFlex 527 drive, follow the steps in Chapter 6, Configure Integrated Motion Using

a PowerFlex 527 Drive on page 129.

5 - Commission

• Download project.

• Follow steps in Chapter 11, Commission an Axis on

page 221.

Components of a Motion System Chapter 1

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 19

Chapter 1 Components of a Motion System

Help for Selecting Drives and Motors

Motion Analyzer helps you select the appropriate Allen-Bradley® drives and motors that are based on your load characteristics and typical motion application cycles. The software guides you through wizard-like screens to collect information specific to your application.

After you enter the information for your application, such as, load inertia, gearbox ratio, feedback device, and brake requirements, the software generates an easy-to-read list of recommended motors, drives, and other support equipment.

You can access Motion Analyzer at

https://motionanalyzer.rockwellautomation.com

20 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Chapter 2

Create a Project for Integrated Motion on the EtherNet/IP Network

Top ic Pag e

Create a Controller Project 21

Set Time Synchronization 24

Add an Ethernet Communication Module 26

This chapter describes how to configure an integrated motion project in the Logix Designer application.

Create a Controller Project

IMPORTANT For Motion and Safety applications, you must use a GuardLogix® or Compact

GuardLogix controller.

Follow these instructions to create a project.

1. On the Studio 5000® dialog box, choose Create New Project.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 21

Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network

2. Choose a controller, type a name, and click Next.

3. Type a Name for the controller.

4. Assign a location (optional).

5. Click Next.

The Project Configuration dialog box appears.

6. Choose the chassis type.

7. Assign the slot location of the controller.

8. Assign the Security Authority.

9. Type a description (optional).

10. Click Finish.

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Create a Project for Integrated Motion on the EtherNet/IP Network Chapter 2

The Logix Designer application opens with new project.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 23

Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network

EtherNet/IP™

Logix5563

EtherNet/IP™

SOE INTPUTSOE INTPUT SOE INTPUT SOE INTPUT SOE INTPUT SOE INTPUT

EtherNet/IP™

SOE INTPUTSOE INTPUT SOE INTPUT SOE INTPUT SOE INTPUT SOE INTPUT

Logix5563

EtherNet/IP™

SOE INTPUT SOE INTPUT SOE INTPUT SOE INTPUT

P2=1

P2=2

CIP Sync

L 7 X

S O E

E N 2 T

S O E

E N 2 T

S O E

E N 2 T

D I O

L 7 X

CIP Sync

S S S

CIP Sync

Com

IN2

IN1

Ref

NTP

MOD

NET

MOD

NET

MOD

NET

MOD

NET

1 4

I/O

I/O-A

510

I/O-B

510

I/O-A61I/O-B

510510

UFB

UFB-A UFB-B

D+D-D+

D-

D+ D-

MF-A MF-B MF-A MF-B

D+ D-

MBRK

MOD

NET

I/O-A61I/O-B

510510

UFB-A UFB-B

D+ D-

MF-A MF-B

D+ D-

5700

350

MEM

A=ENABLE B= REGEN C=DATA ENTRY D=FAULT E=COM ACTIVITY

24VDC INPUT

BRAKE/ DC BUS

AB D

ETHERNET

MORTOR FEEDBACK

CIP Sync

Com

IN2

IN1

Ref

GM = Grandmaster (time source) M = Master S = Slave P1 and P2 = Priorities Priorities are automatically assigned based on their clock quality, which the Best Clock Algorithm determines. In this example, P2=1 is the

best quality so it becomes the Grandmaster. If the P2=1 device loses clock quality for some reason, then P2=2 would become the Grandmaster for the system.

Supervisory

Stratix® 5700

Stratix 5700

HMI

PowerFlex 527

Kinetix® 350

EtherNet/IP

Kinetix 5500

PowerFlex® 755

Kinetix® 5700

Set Time Synchronization

This technology supports highly distributed applications that require time stamps, sequence of events records, distributed motion control, and increased control coordination. All controllers and communication modules must have time synchronization that is enabled for applications that use integrated motion on the EtherNet/IP™ network.

Time synchronization in the Logix system is called CIP Sync. CIP Sync provides a mechanism to synchronize clocks between controllers, I/O, and other devices that are connected over CIP™ networks and the ControlLogix® or CompactLogix™ backplane. The device with the best clock becomes the Grandmaster time source for your system.

Figure 1 - Star Topology with the ControlLogix Controller as the Grandmaster

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Create a Project for Integrated Motion on the EtherNet/IP Network Chapter 2

The Best Master Clock algorithm determines what device has the best clock. The device with the best clock becomes the Grandmaster time source for your system. All controllers and communication modules must have time synchronization that is enabled to participate in CIP Sync.

See the Integrated Architecture and CIP Sync Configuration Application Te ch ni qu e , p ub lica ti o n

IA-AT003

, for detailed information.

You must enable time synchronization for motion applications. Follow these instructions to enable time synchronization.

1. In the Controller Organizer, right-click the controller and choose Properties.

2. Click the Date/Time tab.

3. Check Enable Time Synchronization.

4. Click OK.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 25

Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network

Add an Ethernet Communication Module

Although ControlLogix 5580 and GuardLogix 5580 controllers can use Ethernet communication modules, only ControlLogix 5560 and 5570 and GuardLogix 5560 and 5570 controllers require an Ethernet communication module for connection to the Ethernet network. See Controller,

Communication, Drive, and Software Options on page 11 for more

information.

Follow these instructions to add an Ethernet communication module to your project if needed.

IMPORTANT For all communication modules, use the firmware revision that goes with

the firmware revision of your controller. See the release notes for the firmware of your controller.

1. To add a module, right-click the backplane and choose New Module.

2. Clear the Module Type Category Filters select all checkbox.

3. Check the Communication checkbox.

On the Select Module Type dialog box, you can filter to the exact type of module you are looking for, which makes your search faster.

4. Under Communications, select the Ethernet module and click Create.

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Create a Project for Integrated Motion on the EtherNet/IP Network Chapter 2

The New Module configuration tabs appear.

5. Type a name for the module.

6. If you want, type a description.

7. Assign the EtherNet/IP address of the Ethernet module.

For information on how to create an Ethernet network and setting IP addresses for the communication and motion modules, see these manuals:

– EtherNet/IP Network Configuration User Manual,

publication

ENET-UM001

– PowerFlex® 755 Drive Embedded EtherNet/IP Adapter User

Manual, publication, 750COM-UM001

– Knowledgebase Technote

# 66326

– Converged Plantwide Ethernet (CPwE) Design and Implementation

Guide, publication

ENET-TD001

8. Assign the slot for the module.

9. In the module definition area, click Change.

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Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network

10. Choose an Electronic Keying option.

ATT EN TI ON : The electronic keying feature automatically compares the expected module, as shown in the configuration tree, to the physical module before communication begins. When you are using motion modules, set the electronic keying to either `Exact Match‘ or `Compatible Keying‘.

Never use `Disable Keying’ with Ethernet communication and motion modules.

For more information about electronic keying, see the ControlLogix Controller User Manual, publication 1756-UM001

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Create a Project for Integrated Motion on the EtherNet/IP Network Chapter 2

11. Choose Time Sync and Motion.

IMPORTANT For CIP Sync time coordination to work in motion control, you must set the

Time Sync Connection to Time Sync and Motion on all Ethernet communication modules. The CIP Sync protocol is what enables motion control on the EtherNet/IP network.

The Time Sync and Motion selection is available only for firmware revision 3 and later. You must be offline to change the Time Sync and Motion selection.

If you are online at a major revision of 1 or 2, you can only change the revision to a 1 or 2. You must go offline to change the module to revision 3 or 4 and return to revision 1 or 2.

IMPORTANT For CompactLogix 5370 and Compact GuardLogix 5370 controllers, the

embedded dual-port Ethernet is automatically set with Time Sync Connection= Time Sync and Motion.

To enable Integrated Motion, check the `Enable Time Synchronization’ checkbox on the controller time/date tab.

12. Click OK.

IMPORTANT If you have not enabled time synchronization, you get errors when you try to

associate an axis.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 29

Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network

Notes:

30 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Chapter 3

Configure Integrated Motion Control Using Kinetix Drives

Top ic Pag e

Add a Kinetix EtherNet/IP Drive 32

Create an Associated Axis 40

Create a Motion Group 42

Configure the Axis Properties 46

Configure the Associated Axis and Control Mode 47

Specify the Motor Data Source 50

Display Motor Model Information 54

Assign Motor Feedback 54

Configure the Load Feedback 55

Configure the Master Feedback 57

This chapter provides procedures on how to configure integrated motion control by using the Kinetix® 350, Kinetix 5500, and Kinetix 6500 drives. The basic configuration for an integrated motion solution is to associate a drive with motor feedback and an axis configuration type.

For the examples in this chapter, the Kinetix 6500 drive is used and the exceptions for the Kinetix 350, Kinetix 5500 drives noted. See Chapter 4

Configure Integrated Motion Control Using Kinetix 5700 Drives

, for Kinetix

5700 configuration information.

See Chapter 8

, Configuration Examples for a Kinetix Drive, for examples of

axis and feedback configurations.

For information about what attributes are replicated in the drive, see the Integrated Motion on the EtherNet/IP™ network Reference Manual, publication MOTION-RM003

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 31

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

Add a Kinetix EtherNet/IP Drive

See Tab le 2 o n p ag e 11 to determine the minimum version of the Studio 5000 Logix Designer® application that is required for your drive.

IMPORTANT • For complete information on how to configure Kinetix 5500 drives,

including drives with integrated safety connections, see the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001

• For complete information about how to configure the Kinetix 350 drives, see the Kinetix 350 Single-axis EtherNet/I/P Servo Drive User Manual, publication 2097-UM002

• For complete information about to configure the Kinetix 6500 drives, see the Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual, publication 2094-UM002

Follow these instructions to add a Kinetix drive your project.

1. Right-click the Ethernet network (node) and choose New Module.

2. To filter the selections, check the Motion checkbox.

3. Choose the Kinetix 350, Kinetix 5500, or Kinetix 6500 drive.

4. Click Create.

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Configure Integrated Motion Control Using Kinetix Drives Chapter 3

5. Type a Name for the module.

6. Type a description, if desired.

7. Assign an EtherNet/IP address.

You can establish the Node address of the drive by entering a private IP address via a thumbwheel switch on the drive for Private Network segments. Use the format 192.168.1.xxx, where the last octet, xxx, is the switch setting.

See the EtherNet/IP Network Configuration User Manual, publication

ENET-UM001

, for information on setting IP addresses and other

Ethernet network considerations.

8. Under Module Definition, click Change.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 33

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

9. Choose an Electronic Keying option.

The Module Definition dialog box appears.

ATTENTION: The electronic keying feature automatically compares the expected module, as shown in the configuration tree, to the physical module before communication begins. When you are using motion modules, set the electronic keying to either `Exact Match‘ or `Compatible Keying‘.

Never use `Disable Keying’ with motion modules.

For more information about electronic keying, see the Electronic Keying in Logix 5000™ Control Systems Application Technique, publication

LOG IX-AT 001

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Configure Integrated Motion Control Using Kinetix Drives Chapter 3

10. Assign the appropriate Power Structure.

When you select a Kinetix 6500 drive catalog number, you are specifying only a Control Module. To specify the drive, you must assign a power structure. Some of the drives do not require a power structure.

TIP You can locate the power-structure reference numbers by doing the

following:

• Check the hardware

• See the device documentation

• Reviewing the purchase order or the bill of materials.

You assign the power structure for the Kinetix 6500 drive only. Kinetix 350 and Kinetix 5500 drives auto-populate the only power structure available.

11. Check the checkbox if you want to verify the power rating on connection.

12. Click OK.

When you change the Module Definition, related parameters also change. By changing the major revision or power structure, the identity of the drive changes. If your drive is associated to an axis, these changes disassociate the axis.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 35

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

Configure the Safety Category - Kinetix 5500 Drives

The Safety tab provides you with information about the connection between the owner and the 2198-Hxxx-ERS2 servo drive. The information comes from the controller.

The connection between the owner and the 2198-Hxxx-ERS2 servo drive is based on the following:

• Servo drive catalog number must be 2198-Hxxx-ERS2 (integrated)

• Servo drive safety network number

•GuardLogix® slot number

• GuardLogix safety network number

• Path from the GuardLogix controller to the 2198-Hxxx-ERS2 drive

• Configuration signature

The connection between the GuardLogix controller and the 2198-Hxxx-ERS2 drive is lost if any differences are detected. The yellow yield icon also appears in the controller project tree after you download the program.

For complete information on how to configure a drive with integrated safety connections, see the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001

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Configure Integrated Motion Control Using Kinetix Drives Chapter 3

Configure the Power Options

1. Click the Power tab.

IMPORTANT Single-phase operation is possible only when Module Properties >

Power tab > Bus Configuration is configured as Standalone and Voltage is configured as 200…240V AC.

IMPORTANT The Logix Designer application enforces shared-bus configuration rules

for Kinetix 5500 drives, except for shared AC configurations.

2. From the pull-down menus, choose the power options appropriate for your actual hardware configuration.

ATTENTION: To avoid damage to equipment, make sure the AC input voltage that is configured in the Logix Designer application matches the actual hardware being configured.

Attribute Menu Description

Vol tag e

AC Input Phasing

Bus Configuration

(1)

400-480 VAC 324…528 AC rms input voltage

200-240 VAC 195…264 AC rms input voltage

• Three Phase

• Single Phase

Standalone

Shared AC/DC

Shared DC

Input power phasing. Kinetix 5500 drives with single-phase operation is limited to 2198-H003ERSx, 2198-H008-ERSx, and 2198-H015-ERSx.

Applies to single-axis drives and drives with Shared AC input configurations.

Applies to converter drives with Shared AC/DC and Shared AC/DC Hybrid input configurations.

Applies to inverter drives with Shared DC input (common-bus) configurations.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 37

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

Attribute Menu Description

Standalone Applies to standalone bus configurations.

Bus-sharing Group

•Group1

•Group2

Applies to any bus-sharing configuration.

(2)

•Group3…

Disables the internal shunt resistor and external shunt option.

Shunt Regulato r Action

Disabled

Shunt Regulator Enables the internal and external shunt options.

Internal

Shunt Regulator Resistor Type

External

External Shunt

(3)

•None

• 2097-R6

• 2097-R7

(1) Bus Configuration selection is not applicable to all EtherNet/IP drives. (2) All drives physically connected to the same shared-bus connection system must be part of the same bus-sharing

group in the Logix Designer application.

(3) See the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003

Bulletin 2097 external shunt resistors.

Enables the internal shunt (external shunt option is disabled).

Enables the external shunt (internal shunt option is disabled).

Selects external shunt option. Only the shunt model that is intended for the drive model is shown.

, for more information on the

3. Click OK.

You can change the overload and voltage limits when you are offline. You cannot change settings while online but the values are displayed.

Figure 2 - Kinetix 5500 Offline Display of the Advanced Limits Dialog Box

(1)

See publication 2198-UM001, Kinetix 5500 Servo Drives, for more information.

(1) Not applicable to the Kinetix 350 drive.

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Configure Integrated Motion Control Using Kinetix Drives Chapter 3

Configure Digital Inputs

Use the Digital Input tab to enter digital input values for the drive module. These offline displays are the default values for the Kinetix 6500 and PowerFlex® 755 Ethernet drives. The appearance of the Digital Input tabs of the PowerFlex 755 drives can vary dependent upon the peripheral device configuration. The Kinetix 350 drive does not have a Digital Input tab.

Figure 3 - Digital Input Tab for the Kinetix 5500 Drive

Table 7 - Module Properties: Kinetix 5500 Digital Input Tab Descriptions

Parameter Description

Digital Input 1 Digital Input 2

Choose one of these values for Digital Input 1 and 2:

• Unassigned

•Enable

•Home

• Registration 1

• Registration 2

• Positive Overtravel

• Negative Overtravel

• Home and Registration 1

Figure 4 - Digital Input Tab for the Kinetix 6500 Drive

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 39

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

Table 8 - Module Properties: Kinetix 6500 Digital Input Tab Descriptions

Parameter Description

Digital Input 1 Digital Input 2 Digital Input 3 Digital Input 4

Choose one of these values for Digital Input 1, 2, 3, and 4:

• Unassigned

•Enable

• Home

• Registration 1

• Registration 2

• Positive Overtravel

• Negative Overtravel

• Regeneration OK

Create an Associated Axis

There are two approaches that you can take to create and configure an axis. You can create an axis first and then add the axis to your motion group or you can create your motion group and then add an axis.

The procedure that is outlined in this section takes the approach to create your axis first, add it to your motion group, and then configure the axis.

Create an Axis for a Kinetix Drive

Follow these steps to create an axis.

1. To open the Module Properties dialog box, double-click the drive in the Controller Organizer.

2. Click the Associated Axes tab.

3. Click New Axis.

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Configure Integrated Motion Control Using Kinetix Drives Chapter 3

The New Tag dialog box appears.

Notice that the fields in the next steps are automatically entered for the AXIS_CIP_DRIVE data type.

4. Type a Tag name.

5. Type a Description, if desired.

6. Choose the Tag Type.

7. Choose the Data Type AXIS_CIP_DRIVE.

8. Choose the Scope.

9. Choose the External Access.

For more information about External Data Access Control and Constants, see the Logix5000 Controllers I/O and Tag Data Programming Guide, publication 1756-PM004

10. Click Create.

Establish Feedback Port Assignments

Kinetix 350 and Kinetix 5500 drives have one Motor Feedback Port, which is automatically assigned.

The Kinetix 6500 drive has two feedback ports. Port 1 is reserved for Motor Feedback on the primary axis (Axis_1). Port 2 can be used either as Load Feedback for the primary axis or as a Master Feedback for a secondary feedback only axis (Axis_2).

To establish feedback port assignments for Kinetix 6500 drives, follow these steps.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 41

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

1. To access Module Properties, double-click the Kinetix 6500 drive in the

2. Click the Associated Axes tab.

3. From the Load Feedback Device pull-down menu, choose AUX

Controller Organizer.

Notice that the motor feedback is already configured by default.

The AUX Feedback Port (Port 2) of the drive can be optionally used for load feedback of the primary axis (Axis 1) to support Load or Dual Feedback Configuration.

Feedback Port.

Create a Motion Group

42 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

All axes must be added to the Motion Group in your project. If you do not group the axes, they remain ungrouped and unavailable for use. You can only have one Motion Group per Logix controller.

To determine how many axes are supported by your controller system, see

Ta b l e 3

To create a motion group, follow these instructions.

on page 12, Supported Axes by Controller Type.

1. In the Controller Organizer, right-click Motion Groups and choose New Motion Group.

The New Tag dialog box appears.

Configure Integrated Motion Control Using Kinetix Drives Chapter 3

2. Type a Tag name.

3. Type a description, if desired.

4. Choose the Tag Type.

5. Choose the Scope.

6. Choose the External Access.

7. Click Create.

Your new motion group appears in the Controller Organizer under the Motion Groups folder.

8. Right-click the new motion group and choose Properties.

The Motion Group Properties dialog box appears.

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 43

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

9. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned.

Set the Base Update Period

The Base Update Period is basically the RPI rate for Ethernet communication between the controller and the motion module, a Unicast connection.

There are two alternate update periods that you can configure when using the Axis Scheduling function. See Axis Scheduling on page 145

The Base Update Period determines how often the Motion Task runs. When the Motion Task runs, it interrupts most other tasks regardless of their priority. The Motion Task is the part of the controller that takes care of position and velocity information for the axes.

for details.

44 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019

Configure Integrated Motion Control Using Kinetix Drives Chapter 3

Motion Task

Scans of Your Code, System

Overhead, and so on

0 ms 10 ms

20 ms 30 ms 40 ms

In this example, the Base Update Period = 10 ms. Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner.

To set the Base Update Period, follow these steps.

1. Click the Attribute tab in the Motion Group Properties dialog box.

2. Set the Base Update Period to 2.0…32.0 ms.

TIP Check the Last Scan time values. Typically, the value is less than

50% of the Base Update Period.

For the Kinetix 6500 drive, the minimum Base Update Rate is 1 ms.

Figure 5 - Base Update Period Example

The Base Update Period is a trade-off between updating positions of your axes and scanning your code. In general, you do not want the Motion Task to take more than 50% of the overall Logix controller time on average. The more axes that you add to the Motion Group, the more time it takes to run the Motion Ta s k .

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 45

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

For the ControlLogix® 5570 controller, the incremental impact on the Motion Task is roughly at 6…8 drives/ms. Actual impact can vary depending on axis configuration.

For detailed information on the Axis Scheduling function, Axis Assignment tab, and Alternate Update Period Scheduling, see Axis Scheduling on

page 145.

Integrated Architecture Builder

To help you determine motion system performance, use the motion performance calculator in the Integrated Architecture Builder (IAB).

The IAB is a graphical software tool for configuring Logix-based automation systems. It helps you select hardware and generate bills of material for applications that include controllers, I/O, networks, PowerFlex drives, OnMachine™ cabling and wiring, motion control, and other devices.

You can find the software at

http://www.rockwellautomation.com/en/e-tools/configuration.html

Configure the Axis Properties

After you add the drive to your project and create the axes, use the Axis Properties dialog boxes to configure the drive. Notice that the dialog boxes change based on your configuration choices, for example, feedback configuration.

Ta b l e 9

Table 9 - Category Dialog Boxes to Configure Drives

lists the basic tasks necessary configure a drive.

Category Dialog Box Perform These Tasks Page

General • Assign the axis configuration.

• Choose the feedback configuration.

• Choose the application type, if applicable.

• Choose the loop response (low, medium, or high), if applicable.

• If you have not already done so, you can create and associate an axis to a new Motion Group and associate a drive module to the axis.

Motor • Specify a motor with the Data Source = Nameplate data sheet.

• Specify a motor with the Data Source = Catalog Number.

• Select a motor with the Data Source = Motor NV.

Motor Feedback • Select the Motor Feedback Type. 54

Load Feedback • Select the Load Feedback Type, if applicable. 55

Scaling • Configure feedback by choosing the load t ype, by entering the scaling units,

and by choosing the Travel mode.

• Enter the Input Transmission and Actuator ratio, if applicable.

222

The parameters that you configure on the General category dialog box result in the presentation of attributes and parameters that are available for the combination of your selections.

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Configure Integrated Motion Control Using Kinetix Drives Chapter 3

IMPORTANT All AXIS_CIP_DRIVE Axis Properties dialog boxes are dynamic. Optional

attributes and dialog boxes that are related to each integrated motion axis you create come and go based on what combination of axis characteristics you define.

See the Integrated Motion Reference Manual, publication MOTION-RM003, for complete information on Axis Attributes and how to apply Control Modes.

IMPORTANT Be sure to associate the drive and axis before configuring the axis

because the drive determines what optional attributes are supported for the axis.

If you have already created an axis and associated it with a drive, the Associated Module and Axis are shown on the General category of the Axis Properties dialog box. Otherwise, you can select them here.

Figure 6 - General Category Dialog Box

Configure the Associated Axis and Control Mode

Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019 47

The Axis Number field corresponds to the axes listed on the Associated Axes tab of the Module Properties dialog box. Any feedback port assignments that you made on the Associated Axes tab are also mapped to the drive when you associate an axis and a drive.

Now that the axis is associated to the drive module, meaningful values are available for other axis properties.

For more information on Control Modes, see the Integrated Motion Reference Manual, publication MOTION-RM003

1. In the Controller Organizer, double-click the Axis that you want to configure.

Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

2. Choose an Axis Configuration type. For this example, choose Position

The Axis Properties General dialog box appears.

Loop.

TIP The associated drive determines what Axis and Feedback

Configuration choices are presented.

Ta b l e 1 0

Table 10 - Compare the Axis Configuration Types for the Drives

Axis Type Kinetix 350 Kinetix 5500 Kinetix 6500

Position Loop (P) Yes Yes Yes

Velocity Loop (V) Yes Yes Yes

Torque Loop (T) Yes Yes Yes

Feedback Only (N) No Yes Yes

Frequenc y Control (F) No Yes No

compares the axis configuration types for the drives.

3. In the Feedback Configuration pull-down menu, choose Motor Feedback.

TIP The Kinetix 350 and Kinetix 5500 drives support only Motor

Feedback.

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Ta b l e 1 1 compares the feedback configuration types for the Kinetix

drives.

Table 11 - Compare the Feedback Configuration Types for the Drives

Feedback Type Axis Type Kinetix 350 Kinetix 5500 Kinetix 6500

Motor Feedback Position Loop (P),

Velocity Loop (V), Tor que Lo op ( T)

Load Feedback Position Loop (P),

Velocity Loop (V), Tor que Lo op ( T)

Dual Feedback Position Loop (P) No No Yes

Dual Integrator Position Loop (P) No No No

Master Feedback Feedback Only (N) No Yes Yes

No Feedback Velocity Loop (V),

Frequenc y Control (F)

Yes Yes Ye s

No No Yes

No Yes No

4. Choose an Application Type, if applicable.

TIP Application Type defines the servo loop configuration

automatically. These combinations determine how the calculations are made that can minimize the need for you to perform an Autotune or a Manual Tune.

The Application Type determines the type of motion control application. This attribute is used to set the Gain Tuning Configuration Bits. Ta b l e 1 2

Table 12 - Customize Gains to Tune

Application Type Kpi Kvi ihold Kvff Kaff torqLPF

(1)

Custom

Basic (V20 and later) No No No Yes No Yes

Basic (V19 and earlier) No No No No No -

Tracking No Yes No Yes Yes Yes

Po i nt - to - Po in t Ye s N o Ye s No No Ye s

Constant Speed No Yes No Yes No Yes

(1) If you set the type to Custom, you can control the individual gain calculations by changing the bit settings in the Gain Tuning

Configuration Bits Attribute.

illustrates the gains established based on application type.

-----

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Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

5. Choose a Loop Response, if applicable.

TIP Loop Response settings also impact the calculations that are made that

can minimize the need for you to perform an Autotune or a Manual Tune. The loop response impacts the spacing between the position and velocity loops and the proportional and integral gains. This response impacts how aggressively a given profile is tracked.

Specify the Motor Data Source

The Motor Data Source is where you tell the axis where the motor configuration values are originating. You can select a motor by catalog number from the Motion Database. You can enter motor data from a nameplate or data sheet, or use the motor data that is contained in the drive or motor nonvolatile memory.

On the Motor dialog box you specify what motor you want to use and where the data is coming from:

• Specify a motor with the Data Source = Nameplate data sheet.

• Specify a motor with the Data Source = Catalog Number.

• Select a motor with the Data Source = Motor NV.

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The asterisk nex t to a categor y means that you have not applied changes.

To reduce the size of the list, use these filters.

Choose the Catalog Number as the Motor Data Source

To choose a motor from the Motion Database, follow these steps.

1. If the Axis Properties dialog box is not open, double-click the axis.

2. Go to the Motor dialog box of Axis Properties.

3. From the Data Source pull-down menu, choose Catalog Number.

4. Click Change Catalog.

5. Select a motor.

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Chapter 3 Configure Integrated Motion Control Using Kinetix Drives

6. Click Apply.

The Motor category dialog box is now populated with all information that is related to the motor you selected from the Motion Database.

TIP When you use a motor catalog number as the data source, default

values are automatically set based on the Application Type and Loop Response settings from the General dialog box.

Choose Nameplate as the Motor Data Source

The Nameplate option requires you to enter the motor specification information from the motor nameplate and the motor data sheet.

1. On the Motor dialog box of Axis Properties, from the Data Source pulldown menu, choose Nameplate data sheet.

2. Choose a motor type.

Ta b l e 1 3

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shows the motor types and drives that are compatible.

Configure Integrated Motion Control Using Kinetix Drives Chapter 3

Table 13 - Compatible Motor Types

Motor Type Kinetix 350 Kinetix 5500 Kinetix 6500

Surface Mount Permanent Magnet

Linear Permanent Magnet

Rotary Induction No Yes No

Interior Permanent Magnet No No No

Ye s Yes Ye s

Ye s Ye s

Notice that the motor information fields are initialized to defaults.

3. Enter the parameter information from the motor Nameplate data sheet and click Apply.

Choose Motor NV as the Motor Data Source

When you choose Motor NV as the data source, the motor attributes are derived from nonvolatile memory of a motor-mounted smart feedback device that is equipped with a serial interface. Only a minimal set of motor and motor feedback (Feedback 1) attributes are required to configure the drive.

1. From the Motor dialog box of Axis Properties, choose Motor NV.

2. Choose the Motor Units that are associated with the motor, either Rev for rotary motor or Meters for linear motor.

No other motor information is needed.

3. Click Apply.

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The aster isk next to a category means that you have not applied changes.

Display Motor Model Information

The Motor Model category displays more information that is based on the motor type you select.

• If the motor data source is Catalog Number, this information is populated automatically.

• If the motor data source is Nameplate data sheet, this information must be entered manually, or by running the optional Motor Analyzer.

• If the motor data source is Motor NV, this dialog box is blank.

Assign Motor Feedback

What appears on the Motor Feedback dialog box is dependent on what you select on the General dialog box for Feedback Configuration.

The Motor Feedback dialog box represents the information for the feedback device that is directly coupled to the motor. This dialog box is available if the feedback configuration that is specified on the General dialog box is anything other than Master Feedback.

If the motor that you select has Catalog Number as the data source, all information on this dialog box with be entered automatically. Otherwise you have to enter the information yourself.

Attributes that are associated with the Motor Feedback dialog box are designated as Feedback 1.

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For you r convenien ce, you can use this link to the Module Properties dialog box for the associated drive.

If a permanent magnet motor is selected from the Motion Database, the Commutation Alignment is set to Controller Offset. However, if a permanent magnet motor is specified from Nameplate data sheet, you must specify the Commutation Alignment method. The default is set to Not Aligned.

Table 14 - Commutation Alignment Settings

Type Des cript ion

Not Aligned Not Aligned indicates that the motor is not aligned, and that the

Commutation Offset value is not valid. If the Commutation Offset is not valid, the drive cannot use it to determine the commutation angle. Any attempt to enable the drive with an invalid commutation angle results in a Start Inhibit condition.

Controller Offset Controller Offset applies the Commutation Offset value from the

controller to determine the electrical angle of the motor.

Motor Offset The drive derives the commutation that is offset directly from the motor.

Self-Sense The drive automatically measures the commutation that is offset when it

transitions to the Starting state for the first time after a power cycle. This alignment type generally applies to a PM motor equipped with a simple incremental-feedback device.

Configure the Load Feedback

In most cases, the Commutation Alignment is set to Controller Offset and the Commutation test is run during commissioning to determine the Commutation Offset and Polarity.

See the Integrated Motion Reference Manual, publication MOTION-RM003 for more information on axis attributes.

The Load Feedback category contains the information from the feedback device that is directly coupled to the load-side of a mechanical transmission or actuator.

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The Load Feedback category is available if the Feedback Configuration that is specified on the General dialog box is Load or Dual.

Attributes that are associated with the Load Feedback category are designated Feedback 2.

Unlike the Motor Feedback category, you must explicitly enter load feedbackdevice information on the Load Feedback category, including the Feedback Type. This entry is required because the Load Feedback device is not built into the motor.

Default values are displayed based on the Feedback Type selected.

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Configure the Master Feedback

The Master Feedback category is available if the Feedback Configuration that is specified in the General category is Master Feedback. The attributes that are associated with the Master Feedback category are associated with Feedback 1. Again, like the Load Feedback category, you must enter all information.

To verify that motor and feedback device are functioning properly, download to the controller, and continue on to Hookup Tests on page 226

Configure Feedback Only Axis Properties

To create your external encoder module and configure feedback-only axis properties if you are using the 842E-CM integrated motion encoder on the EtherNet/IP network, see Example 7: 842E-CM Integrated Motion Encoder

with Master Feedback on page 183.

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Chapter 4

Configure Integrated Motion Control Using Kinetix 5700 Drives

Top ic Pag e

Add a Kinetix 5700 EtherNet/IP Drive 60

Create a Motion Group 83

Configure the Axis Properties 86

Configure the Associated Axis and Control Mode 88

Specify the Motor Data Source 91

Display Motor Model Information 95

Assign Motor Feedback 95

Configure the Load Feedback 97

Configure the Master Feedback 98

This chapter provides procedures on how to configure integrated motion control by using the Kinetix® 5700 drive. The basic configuration for an integrated motion solution is to associate a drive with motor feedback and an axis configuration type.

For information about what attributes are replicated in the drive, see the Integrated Motion on the EtherNet/IP™ network Reference Manual, publication MOTION-RM003

See Chapter 8 configuration information.

For complete information on how to configure Kinetix 5700 drives, including drives with integrated safety connections, see the Kinetix 5700 servo drives User Manual, publication 2198-UM002

, Configuration Examples for a Kinetix Drive, for Kinetix 5700

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

Add a Kinetix 5700 EtherNet/IP Drive

See Integrated Motion on EtherNet/IP Drive Software Options on page 13 to determine the minimum required version of the Studio 5000 Logix Designer® application for your drive.

Configure the DC-bus Power Supply and Associate an Axis

Follow these steps to configure the DC-bus power supply.

1. Below the controller you created, right-click Ethernet and choose New Module.

The Select Module Type dialog box appears.

2. By using the filters, check Motion and Allen-Bradley, and select your 2198-Pxxx DC-bus power supply as appropriate for your actual hardware configuration.

This example uses a 2198-P208 DC-bus power supply.

3. Click Create.

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The New Module dialog box appears.

4. Configure the new drive. a. Type the drive Name. b. Select a EtherNet/IP address option.

In this example, the Private Network address is selected.

c. Enter the address of your 2198-P208 DC-bus power supply.

In this example, the last octet of the address is 1.

5. Click the Power category.

IMPORTANT The Studio 5000 Logix Designer application enforces shared-bus

configuration rules for Kinetix 5700 drives.

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6. From the pull-down menus, choose the power options appropriate for your actual hardware configuration.

Attribute Menu Description

Bus Configuration Shared AC/DC

Bus-sharing Group

Bus Regulator Action

Shunt Regulator Resistor Type

External Shunt

(1) Shared AC/DC bus configuration is the default selection for DC-bus power supplies. (2) For more information on bus-sharing groups, refer to Kinetix 5700 servo drives User Manual, publication 2198-UM002 (3) See the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003

(2)

(3)

•Group1

•Group2

•Group3…

Disabled Disables the internal shunt resistor and external shunt option.

Shunt Regulator Enables the internal and external shunt options.

Internal Enables the internal shunt (external shunt option is disabled).

External Enables the external shunt (internal shunt option is disabled).

•None

• 2198-R004, 2198-R014

• 2198-R031, 2198-R127

(1)

Applies to 2198-Pxxx DC-bus power supply (converter) modules.

Applies to any bus-sharing configuration.

Selects external shunt option. Only the shunt catalog number intended for the specific DC-bus power supply is shown.

, for more information on the Bulletin 2198 external passive shunt resistors.

ATT EN TI ON : To avoid damage to equipment all modules that are physically connected to the same shared-bus connection system must be part of the same Bus-sharing Group in the Studio 5000 Logix Designer application.

7. To close the New Module dialog box, click OK.

8. To close the Select Module Type dialog box, click Close.

9. Right-click the DC-bus power supply that you created in the Controller Organizer and choose Properties.

The Module Properties dialog box appears.

10. Click the Digital Input category.

11. From the Digital Input pull-down menu, choose Bus Capacitor OK to monitor your capacitor module status. Alternately, choose Thermal Switch OK to monitor your shunt thermal switch. You can also choose Bus Conditioner OK to monitor your conditioner monitor status, but this option is only available in major revision 10 or later.

In this example, Bus Capacitor OK is chosen.

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12. Click the Associated Axes category.

13. Click New Axis.

The New Tag dialog box appears.

14. Type the axis Name.

AXIS_CIP_DRIVE is the default Data Type.

15. Click Create.

16. Click Apply.

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Enter 2198-RP here to

refine yo ur search.

Configure the Regenerative Bus Supply

Follow these steps to configure the regenerative bus supply.

1. Below the controller you created, right-click Ethernet and choose New Module.

The Select Module Type dialog box appears.

2. By using the filters, check Motion and Allen-Bradley, and select your 2198-RPxxx regenerative bus supply as appropriate for your hardware configuration.

3. Click Create.

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The New Module dialog box appears.

4. Configure the new module.

a. Type the module Name. b. Select a EtherNet/IP address option.

In this example, the Private Network address is selected.

c. Enter the address of your 2198-RPxxx regenerative bus supply.

In this example, the last octet of the address is 1.

5. Click the Power category.

IMPORTANT The Logix Designer application enforces shared-bus configuration rules

for Kinetix 5700 drives.

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6. From the pull-down menus, choose the power options appropriate for your hardware configuration.

Attribute Menu Description

Bus Configuration Shared AC/DC

Bus-sharing Group

(1) Shared AC/DC bus configuration is the default selection for regenerative bus supplies.

7. To close the New Module dialog box, click OK.

8. Your 2198-RPxxx regenerative bus

supply appears in the Controller Organizer under the Ethernet network in the I/O Configuration folder.

(1)

Applies to 2198-RPxxx regenerative bus supply modules.

•Group1

•Group2

•Group3…

Applies to any bus-sharing configuration.

ATT EN TI ON : To avoid damage to equipment all modules that are physically connected to the same shared-bus connection system must be part of the same Bus-sharing Group in the Logix Designer application.

9. Click Close to close the Select Module Type dialog box.

10. Right-click the regenerative bus supply that you created in the

Controller Organizer and choose Properties.

The Module Properties dialog box appears.

TIP To configure the remaining regenerative bus supply properties, you

must close the New Module dialog box and reopen it as the Module Properties dialog box.

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11. Click the Digital Input category.

12. From the Digital Input pull-down menu choose Bus Conditioner OK or AC Line Contactor OK to monitor your DC-bus conditioner module status or the M1 contactor status, respectively, depending on your application.

In this example, Bus Capacitor OK is chosen. For descriptions of the digital inputs, see Table 22 on page 79

13. Click the Associated Axes category.

14. Click New Axis.

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

The New Tag dialog box appears.

15. Ty pe th e a xis Na me .

AXIS_CIP_DRIVE is the default Data Type.

16. Click Create.

The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1.

17. Click Apply.

18. Repeat step 1

through step 17 if you have more than one 2198-RPxxx

regenerative bus supply.

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Continue Inverter Configuration

After you have established your Kinetix 5700 inverters in the Logix Designer application, the feedback options must be defined for each axis. Each physical axis supports motor and auxiliary feedback.

Table 15 - Kinetix 5700 Feedback Axis Summary

Kinetix 5700 Inverter Inverter Cat. No. Motor Feedback Auxiliary Feedback

Single-axis Inverters

Dual-axis Inverters

Follow these steps to configure the axes for your Kinetix 5700 drive system.

1. Right-click the 2198-xxxx-ERS4 inverter that you just created and choose Properties.

The Module Properties dialog box appears.

2. Select the Associated Axes category.

2198-Sxxx-ERS3 or 2198-Sxxx-ERS4

2198-Dxxx-ERS3 or 2198-Dxxx-ERS4

1 (axis 1) 1 (axis 2)

2 (axis 1 and 3) 2 (axis 2 and 4)

In this 2198-D006-ERS4 (dual-axis inverter) example, four axes are possible. Single-axis inverters support only two axes.

• Axis 1 and Axis 2 apply to Motor (DSL) Feedback Connector A

(Port 1) and Universal Feedback Connector A (Port 1).

• Axis 3 and Axis 4 apply to Motor (DSL) Feedback Connector B

(Port 2) and Universal Feedback Connector B (Port 2).

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I/O-A

I/O-B

UFB-A

UFB-B

D+D-D+

D-

MF-A

MF-B

MOD–

NET–

UFB-A

UFB-B

D+D-D+

D-

MF-A

MF-B

Kinetix 5700

Dual-axis Inverter

Universal and DSL Hiperface

Feedback Connectors

See Detail A

Motion Safety 1

Associated Axes - Axis 1

Detail A

Motion Safety 2 Associated Axes - Axis 3

UFB-B MF-B

UFB-A

MF-A

Figure 7 - Dual-axis Inverter Feedback

The Feedback Devices are configured for either the DSL Feedback Port or the Universal Feedback Port.

Motor Feedback Options Description

DSL Feedback Port

Universal Feedback Port

Applies to motors and actuators compatible with the 2198-KITCON-DSL connector kit and 2198-H2DCK converter kit (series B or later). These kits plug into the 2-pin motor feedback (MF) connector.

Applies to motors and actuators compatible with the 2198-K57CK-D15M universal connector kit. These kits plug into the 15-pin universal feedback (UFB) connector.

3. From the Axis x pull-down menu, choose an axis to assign to that motor feedback or auxiliary feedback device.

4. From the Feedback Device pull-down menu, choose either DSL Feedback x Port or Universal Feedback x Port to associate with each axis.

5. Click New Axis.

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The New Tag dialog box appears.

6. Ty pe th e a xis Na me .

AXIS_CIP_DRIVE is the default Data Type.

7. Click Create.

The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1.

8. Click Apply.

9. Repeat step 1

through step 6 for each 2198-xxxx-ERSx servo drive.

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This example shows the

2198-Sxxx-ERSx single-axis inverters

that you can choose from.

This example shows the

2198-Dxxx-ERSx dual-axis inverters

that you can choose from.

Configure the Inverter Drives

This procedure applies to single-axis and dual-axis inverters with hard-wired or integrated safety connections. In this example, a 2198-D006-ERS4 dual-axis inverter is configured.

Follow these steps to configure Kinetix 5700 inverter drives.

1. Above the DC-bus power supply (converter) you created, right-click Ethernet and choose New Module.

The Select Module Type dialog box appears.

2. Enter 2198 to narrow your choices and select your 2198-xxxx-ERS3 or 2198-xxxx-ERS4 inverter as appropriate for your hardware configuration.

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3. Click Create.

The New Module dialog box appears.

4. Configure the new drive. a. Type the drive Name. b. Select an EtherNet/IP address option.

In this example, the Private Network address is selected.

c. Enter the address of your 2198-xxxx-ERSx inverter.

In this example, the last octet of the address is 6.

d. Click Advanced if using network address translation with safety

connection to add drive module configured IP address.

The fields to configure in the Module Definition dialog box are dependent on your drive, Studio 5000 Logix Designer application version, and drive firmware revision. Use the following table to navigate to the series of steps that are intended for your drive system.

Table 16 - How to Navigate Module Definition

For Drive Cat. No. Studio 5000

2198-xxxx-ERS3 30 or earlier 7 or earlier Configure Module Definition on page 74

2198-xxxx-ERS3 (Series B) 2198-xxxx-ERS4

Logix Designer Application Versi on

31 or later 9 or later Configure Module Definition on page 74

Drive Firmware Revision

Go to:

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Configure Module Definition

1. Under Module Definition click Change.

The Module Definition dialog box appears.

Depending on the Module Definition revision selection, alternate product features and feedback types can be selected. However, 2198xxxx-ERS4 drives only appear in drive firmware revision 9.001 or later.

2. From the Safety Application pull-down menu, choose between Hardwired for Hardwired STO mode or Networked for an integrated safety application (see Ta b l e 1 7

for definitions).

IMPORTANT If the STO bypass jumper wires were applied during machine

commissioning or maintenance, they must be removed before the drive can operate in Integrated (Networked) safety mode.

Table 17 - Safety Application Definitions

Safety Application Mode

Hardwired Hardwire d STO 2198-xxxx-ERS3 Motion Only • ControlLogix® 5570

Networked Integrated STO 2198-xxxx-ERS3 • Motion and Safety

(1) For 2198-Dxxx-ERS4 (dual-axis) inverters, you must configure axis 1 and 3 as Networked or Hardwired, they cannot be mixed. (2) Where a ControlLogix or CompactLogix (non-safety) controller is specified, a GuardLogix or Compact GuardLogix controller is backwards compatible, but not necessary for the specified safety

application, function, and connection. Also, GuardLogix 5580 and Compact GuardLogix 5380 controllers are backwards compatible with GuardLogix 5570 and Compact GuardLogix 5370 controllers.

(1)

Safety Functions Minimum Drive Module

•Integrated STO

• Timed SS1

•Integrated STO

• Timed SS1

• Monitored SS1

• Controller-based safety functions

Required

2198-xxxx-ERS3 • Motion and Safety

2198-xxxx-ERS4 • Motion and Safety

(2)

Drive Module Connection Options

•Motion Only

• Safety Only

•Motion Only

• Safety Only

•Motion Only

• Safety Only

Minimum Controller

(2)

Required

• CompactLogix™ 5370

• GuardLogix® 5570

• CompactLogix 5370

• GuardLogix 5570

• CompactLogix 5370

• GuardLogix 5580

• CompactLogix 5380

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3. From the Connection pull-down menu, choose the Connection mode for your motion application (see Ta b l e 1 8

for

definitions).

TIP When ‘Safety’ appears in the Connection mode, integrated safety is

implied.

Table 18 - Module Connection Definitions

Connection Mode Safety Options Description

Motion and Safety Integrated mode This controller manages the motion connections and

Motion Only • Hard-wired STO mode

• Integrated mode if there is a secondary safety controller

Safety Only Integrated mode • This controller manages the integrated STO.

integrated STO.

• This controller manages the motion connections.

• The hard-wired safety inputs control the hard-wired STO. Another controller that has a Safety-only connection to the drive manages the integrated STO.

• Another controller that has a Motion-only connection to the drive manages the motion connections.

Motion Safety Mode

STO Only

Safe Stop Only No Feedback

Single Feedback Monitoring

Dual Feedback Monitoring

Safety Application Mode

Networked

4. From the Motion Safety x pull-down menu, choose the integrated safety type (see

Ta b l e 1 9

for definitions).

'Motion Safety' applies to 2198-Sxxx-ERS4 (single-axis) inverters. 'Motion Safety 1' and 'Motion Safety 2' applies to 2198-Dxxx-ERS4 (dual-axis) inverters.

Motion Safety and Motion Safety 1 align with Axis 1 configured in Associated Axes. Motion Safety 2 aligns with Axis 3 configured in Associated Axes.

Table 19 - Motion Safety Definitions

Module Connection Options

• Motion and Safety

•Safety Only

Description

2198-xxxx-ERS3 (series A and B): STO function only.

• 2198-xxxx-ERS4: STO function and Timed SS1 safe stop functions are available.

• 2198-xxxx-ERS3 (series B): STO function and Timed SS1 safe stop functions are available.

Primary feedback is used in the safety object for safe monitoring. The feedback can be a SIL rated Hiperface DSL encoder, for example, a VPL-B1003P-Q or W motor used in the DSL Feedback port. This can also be a Sine/Cosine or EnDat device, for example, an MPL-B310P-M motor used in the Universal Feedback port. See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication

2198-RM001

In addition to primary feedback, an external feedback device is used to improve SIL levels. For example, the Bulletin 842HR type encoder can be used in the Universal Feedback port as a Sine/ Cosine device. See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication

2198-RM001

, to evaluate SIL levels possible with one feedback device.

, to evaluate SIL levels possible with two feedback devices.

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The Safety Network Number (SNN) field populates automatically when the Connection mode includes an integrated Motion and Safety or Safety-only connection. For a detailed explanation of the safety network number, refer to the appropriate GuardLogix controller publication as defined in Additional Resources on page 9

5. To close the Module Definition dialog box, click OK.

6. Click Apply.

Configure the Power and Safety Options

1. Click the Power category.

IMPORTANT The Logix Designer application enforces shared-bus configuration rules for

Kinetix 5700 drives.

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2. From the pull-down menus, choose the power options appropriate for your hardware configuration.

Table 20 - Power Configuration Options

Attribute Menu Description

(2)

Shared DC

Bus Configuration

Bus Sharing Group

(1) For more information on bus-sharing groups, refer to the Kinetix 5700 servo drives User Manual, publication 2198-UM002. (2) Shared DC bus configuration is the default selection for single-axis and dual-axis inverters. (3) Because the 8720MC-RPS unit is not an EtherNet/IP network device, the Logix 5000™ controller does not communicate with it.

The designated inverter, configured as the Shared DC - Non-CIP Motion Converter, monitors the 8720MC-RPS unit status through a digital input (Regen OK) and communicates with the other inverters to signal when the DC-bus voltage is present.

Shared DC - Non-CIP Motion Conver ter

(1) (3)

•Group1

•Group2

•Group3…

(3)

Applies to 2198-Sxxx-ERSx and 2198-Dxxx-ERSx inverter drives.

Applies to the designated inverter in drive systems that are powered by the 8720MC-RPS regenerative power supply.

Applies to any bus-sharing configuration.

3. To close the Module Properties dialog box, click OK.

4. To close the Select Module Type dialog box, click close.

Your 2198-xxxx-ERS4 inverter appears in the Controller Organizer under the Ethernet network in the I/O Configuration folder.

5. Right-click the drive that you created in the Controller Organizer and choose Properties.

The Module Properties dialog box appears.

If Then

Your application includes integrated safety

Your application includes hard-wired safety or has no safety connections

Go to step 6 on page 77.

Go to Create an Associated Axis and Establish

Feedback Assignments for an Inverter Drive on page

80.

6. Click the Safety category.

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

7. The connection between the owner and the 2198-xxxx-ERSx inverter is based on the following:

• Servo drive safety network number

•GuardLogix slot number

• GuardLogix safety network number

• Path from the GuardLogix controller to the 2198-xxxx-ERSx drive

• Configuration signature

If any differences are detected, the connection between the GuardLogix controller and the 2198-xxxx-ERSx inverter is lost, and the yellow yield icon appears in the controller project tree after you download the program.

8. Click Advanced.

The Advanced Connection Reaction Time Limit Configuration dialog box appears.

Analyze each safety channel to determine the appropriate settings. The smallest Input RPI allowed is 6 ms. The selection of small RPI values consumes network bandwidth and can cause spurious trips because other devices cannot get access to the network.

For more information about the Advanced Connection Reaction Time Limit Configuration, refer to the appropriate GuardLogix or Compact GuardLogix Controllers User Manual, which is listed in Additional

Resources on page 9.

9. To close the Advanced dialog box, click OK.

10. To save the Safety category parameters, click apply.

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Configure Digital Inputs

Figure 8 - Digital Input Tab for the Kinetix 5700 Drive

Table 21 - Module Properties: Kinetix 5700 Digital Input Tab Descriptions

Parameter Description

Digital Input 1 Digital Input 2 Digital Input 3 Digital Input 4

Choose one of these values for Digital Input 1 and 2:

• Unassigned

•Enable

• Home

• Registration 1

• Registration 2

• Positive Overtravel

• Negative Overtravel

• Regeneration OK

• AC Line Contactor OK

•Bus Capacitor OK

• Bus Conditioner OK

•Shunt Thermal Switch OK

Table 22 - Understand Digital Input Functions

Drive Module

Functions Description

2198-Pxxx

2198-xxxx-ERSx

2198-RPxxx

Enable A 24V DC input is applied to this terminal as a condition to enable each module. X X X

Home

Registration 1

Registration 2 –X–

Positive Overtravel Negative Overtravel

Regeneration OK

AC Line Contactor OK An active indicates that the AC Line Contactor is working correctly and is capable of charging the DC bus. X

An active state indicates to a homing sequence that the referencing sensor has been seen. Typically, a transition of this signal is used to establish a reference position for the machine axis.

An inactive-to-active transition (also known as a positive transition) or active-to-inactive transition (also known as a negative transition) is used to latch position values for use in registration moves.

The positive/negative limit switch (normally closed contact) inputs for each axis require 24V DC (nominal). – X –

In the active state the inverters can be enabled. An inactive state indicates that the Bulletin 8720MC-RPS un it is not ready to supply DCbus power. The inverters cannot be enabled.

When a bus group is supplied by an 8720MC-RPS unit, one inverter in the bus group must be configured in the Logix Designer application as Shared-DC Non-CIP Motion™ Converter and assigned to Regeneration OK. This signal is wired from RDY on the 8720MC-RPS unit and indicates to the Kinetix 5700 drive system that the 8720MC-RPS unit is ready to supply power. Enabled inverters enumerate a Bus Power Sharing fault if the Regeneration OK input goes inactive.

–X–

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

Functions Description

Bus Capacitor OK

Shunt Thermal Switch OK

Bus Conditioner OK

You can configure this input in the Logix Designer application and wire the module status (MS) output from the 2198-CAPMOD-2240 capacitor module to indicate to the inver ter that a major fault is present on the capacitor module.

When the 2198-R014, 2198-R031, or 2198-R127 external shunt resistor is wired to the DC-bus power supply, this input must be configured in the Logix Designer application to monitor the status of the external shunt module thermal switch and assigned to Shunt thermal switch OK. This function does not apply to the 2198-R004 shunt resistor. You can also use this input to monitor the status of an active shunt module in the system that is connected via the capacitor module or an extension module.

You can configure this input in the Logix Designer application and wire the module status (MS) output from the 2198-DCBUSCONDRP312 conditioner module to indicate to the inverter that a major fault is present on the conditioner module.

Create an Associated Axis and Establish Feedback Assignments for an Inverter Drive

Drive Module

2198-Pxxx

2198-xxxx-ERSx

2198-RPxxx

XXX

After you establish your Kinetix 5700 inverters in the Studio 5000 Logix Designer application, the feedback options must be defined for each axis. Each physical axis supports motor and auxiliary feedback.

Table 23 - Kinetix 5700 Feedback Axis Summary

Kinetix 5700 Inverter Inverter Cat. No. Motor Feedback Auxiliary Feedback

Single-axis Inverters

Dual-axis Inverters

2198-Sxxx-ERS3 or 2198-Sxxx-ERS4

2198-Dxxx-ERS3 or 2198-Dxxx-ERS4

1 (axis 1) 1 (axis 2)

2 (axis 1 and 3) 2 (axis 2 and 4)

Follow these steps to configure the axes for your Kinetix 5700 drive system.

1. Right-click the 2198-xxxx-ERS4 inverter that you created and choose Properties.

The Module Properties dialog box appears.

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2. Select the Associated Axes category.

3. Click New Axis.

The New Tag dialog box appears.

4. Ty pe th e a xis Na me .

AXIS_CIP_DRIVE is the default Data Type.

5. Click Create.

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1.

6. Click Apply.

Feedback options must be defined for each axis. Each physical axis supports motor and auxiliary feedback.

The Kinetix 5700 drive has two or four feedback ports. The single-axis inverters support two ports and the dual-axis inverters support four ports. Port 1 is reserved for Motor Feedback on the primary axis (Axis_1). Port 2 can be used either as Load Feedback for the primary axis or as a Master Feedback for a secondary feedback only axis (Axis_2).

Feedback Devices are configured for either the DSL Feedback Port or the Universal Feedback Port.

To establish Feedback Port assignments for K5700 drives, follow these steps.

1. To access the Module Properties, double-click the Kinetix 5700 drive in the Controller Organizer.

2. Click the Associated Axes category.

3. From the Feedback Device pull-down menus, choose either a DSL feedback port or universal feedback port to associate with your axis.

4. Click Apply.

For more information on configuration of Feedback Properties, refer to the Kinetix 5700 servo drives User Manual, publication 2198-UM002

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. Chapter 8,

Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4

Configuration Examples for a Kinetix Drive, also includes a Frequency

Control with No Feedback example on page 180

Create a Motion Group

To determine how many axes your controller system supports, see Table 3 on

page 12.

All axes must be added to the Motion Group in your project. If you do not group the axes, they remain ungrouped and unavailable for use.

You must create a Motion Group for an axis to be configured properly.

Follow these steps to configure the motion group.

1. In the Controller Organizer, right-click Motion Groups and choose New Motion Group.

The New Tag dialog box appears.

2. Type a Tag name.

3. Type a description, if desired.

4. Choose the Tag Type.

5. Choose the Scope.

6. Choose the External Access.

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

7. Click Create.

Your new motion group appears in the Controller Organizer under the Motion Groups folder.

8. Right-click the new motion group and choose Properties.

The Motion Group Properties dialog box appears.

9. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned.

Set the Base Update Period

The Base Update Period is the RPI rate for Ethernet communication between the controller and the motion module, a Unicast connection.

There are two alternate update periods that you can configure when using the Axis Scheduling function. See Axis Scheduling on page 145

To set the Base Update Period, follow these steps.

1. Click the Attribute tab in the Motion Group Properties dialog box.

for details.

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Motion Task

Scans of Your Code, System

Overhead, and so on

0 ms 10 ms

20 ms 30 ms 40 ms

In this example, the Base Update Period = 10 ms. Every 10 ms the controller stops scanning your code and whatever else it is doing and runs the motion planner.

2. Set the Base Update Period to 6.0…32.0 ms.

TIP Check the Last Scan time values. Typically, the value is less than

50% of the Base Update Period.

For the Kinetix 5700 drive, the minimum Base Update Rate is 1 ms.

Figure 9 - Base Update Period Example

For the ControlLogix 5560 controller, the incremental impact on the Motion Task is roughly at 2…3 drives/ms. For the ControlLogix 5570 controller, the incremental impact on the Motion Task is roughly at 6…8 drives/ms. Actual impact can vary depending on axis configuration.

For detailed information on the Axis Scheduling function, Axis Assignment tab, and Alternate Update Period Scheduling, see Axis Scheduling on

page 145.

Integrated Architecture Builder

To help you determine motion system performance, use the motion performance calculator in the Integrated Architecture Builder (IAB).

The IAB is a graphical software tool for configuring Logix-based automation systems. It helps you select hardware and generate bills of material for applications that include controllers, I/O, networks, PowerFlex® drives, OnMachine™ cabling and wiring, motion control, and other devices.

You can find the software at

http://www.rockwellautomation.com/en/e-tools/configuration.html

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

Configure the Axis Properties

Ta b l e 2 4

Table 24 - Category Dialog Boxes to Configure Drives

Category Dialog Box Perform These Tasks Page

General • Assign the axis configuration.

Motor • Specify a motor with the Data Source = Nameplate data sheet.

Motor Feedback • Select the Motor Feedback Type. 95

Load Feedback • Select the Load Feedback Type, if applicable. 97

Scaling • Configure feedback by choosing the load t ype, by entering the scaling units,

lists the basic tasks necessary configure a drive.

• Choose the feedback configuration.

• Choose the application type, if applicable.

• Choose the loop response (low, medium, or high), if applicable.

• If you have not already done so, you can create and associate an axis to a new Motion Group and associate a drive module to the axis.

• Specify a motor with the Data Source = Catalog Number.

• Select a motor with the Data Source = Motor NV.

and by choosing the Travel mode.

• Enter the Input Transmission and Actuator ratio, if applicable.

222

The parameters that you configure on the General category dialog box result in the presentation of attributes and parameters that are available for the combination of your selections.

IMPORTANT All AXIS_CIP_DRIVE Axis Properties dialog boxes are dynamic. Optional

attributes and dialog boxes that are related to each integrated motion axis you create come and go based on what combination of axis characteristics you define.

See the Integrated Motion Reference Manual, publication MOTION-RM003 for complete information on Axis Attributes and how to apply Control Modes.

IMPORTANT Be sure to associate the drive and axis before when configuring the axis

because the drive determines what optional attributes are supported for the axis.

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If you have already created an axis and associated in with a drive, the Associated Module and Axis are shown on the General category of the Axis Properties dialog box. Otherwise, you can select them here.

Figure 10 - General Category Dialog Box

^^ for an inverter

ss for a converter

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

Configure the Associated Axis and Control Mode

Now that the axis is associated to the drive module, meaningful values are available for other axis properties.

For more information on Control Modes, see the Integrated Motion Reference Manual, publication MOTION-RM003

1. In the Controller Organizer, double-click the Axis that you want to configure.

The Axis Properties General dialog box appears.

2. Choose an Axis Configuration type. For this example, choose Position Loop.

TIP The associated drive determines what Axis and Feedback

Configuration choices are presented.

Ta b l e 2 5

Table 25 - Compare the Axis Configuration Types for the Drives

Axis Type

Position Loop (P) Yes Yes N o N o

Vel ocit y Loo p (V ) Yes Yes N o No

Tor qu e Lo op (T ) Yes Ye s N o N o

Feedback Only (E)

Frequenc y Control (F)

Non-Regenerative AC/DC Converter (N)

Regenerative AC/DC Conver ter (G)

compares the axis configuration types for the drives.

Kinetix 5700 Dual-axis Inverter

Yes Yes N o N o

No No Yes No

No No No Yes

Kinetix 5700 Single-axis Inverter

Kinetix 5700 DC Bus Supply

Kinetix 5700 Regenerative Bus Supply

3. In the Feedback Configuration pull-down menu, choose Motor Feedback.

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Ta b l e 2 6 compares the feedback configuration types for the Kinetix

drives.

Table 26 - Compare the Feedback Configuration Types for the Drives

Feed back Type

Kinetix 5700 Dual-axis Inverter Type

Motor Feedback Position Loop (P),

Load Feedback Posi tion Loop (P) ,

Dual Feedback Position Loop (P) Position Loop (P)

Dual Integrator — — — —

Master Feedback Feedba ck Only (E) Feedback Only (E) — —

No Feedback

Velo city Loop ( V), Tor que Loo p ( T)

Velo city Loop ( V)

Frequency Control (F)

Kinetix 5700 Single-axis Inverter Type

Position Loop (P), Veloc ity Loo p(V ), Torque Loop (T)

Position Loop (P), Veloc ity Loo p(V )

Frequenc y Control (F)

Kinetix 5700 DC Bus Power Supply

— —

Non-regenerative AC/DC Converter (N)

4. Choose an Application Type, if applicable.

TIP The following General Options are available in an inverter configuration.

Kinetix 5700 Regenerative Bus Supply

Regenerative AC/DC Converter (G)

The Application Type determines the type of motion control application. This attribute is used to set the Gain Tuning Configuration Bits. Ta b l e 2 7

Table 27 - Customize Gains to Tune

Application Type Kpi Kvi ihold Kvff Kaff torqLPF

(1)

Custom

Basic No No No Yes No Yes

Tracking No Yes No Yes Yes Yes

Po i nt - to - Po in t Ye s N o Ye s No No Ye s

Constant Speed No Yes No Yes No Yes

(1) If you set the type to Custom, you can control the individual gain calculations by changing the bit settings in the Gain Tuning

Configuration Bits Attribute.

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illustrates the gains established based on application type.

——————

Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

5. Choose a Loop Response, if applicable.

6. Choose a Converter Configuration, if applicable.

TIP Loop Response settings also impact the calculations that are made

that can minimize the need for you to perform an Autotune or a Manual Tune. The loop response impacts the spacing between the position and velocity loops and the proportional and integral gains. This response impacts how aggressively a given profile is tracked.

TIP The following General Options are available in an converter configuration.

7. Choose a Converter Startup Method, if applicable.

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Specify the Motor Data Source

On the Motor dialog box you specify what motor you want to use and where the data is coming from:

• Specify a motor with the Data Source = Catalog Number.

• Specify a motor with the Data Source = Nameplate data sheet.

• Select a motor with the Data Source = Motor NV.

Choose the Catalog Number as the Motor Data Source

To choose a motor from the Motion Database, follow these steps.

1. If the Axis Properties dialog box is not open, double-click the axis.

2. Go to the Motor dialog box of Axis Properties.

3. From the Data Source pull-down menu, choose Catalog Number.

4. Click Change Catalog.

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

To reduce the size of the list, use these filters.

5. Select a motor.

6. The Motor dialog box is now populated with all information that is related to the motor you selected from the Motion Database.

7. Click Apply.

TIP When you use a motor catalog number as the data source, default

values are automatically set based on the Application Type and Loop Response settings from the General dialog box.

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Choose Nameplate as the Motor Data Source

The Nameplate option requires you to enter the motor specification information from the motor nameplate and the motor data sheet.

1. On the Motor dialog box of Axis Properties, from the Data Source pulldown menu, choose Nameplate data sheet.

2. Choose a motor type. The following motor types are compatible:

• Surface Mount Permanent Magnet

•Linear Permanent Magnet

•Rotary Induction

• Interior Permanent Magnet

Notice that the motor information fields are initialized to defaults.

3. Enter the parameter information from the motor Nameplate data sheet and click Apply.

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

Choose Motor NV as the Motor Data Source

1. From the Motor dialog box of Axis Properties, choose Motor NV.

2. Choose the Motor Units that are associated with the motor, either Rev for rotary motor or Meters for linear motor.

No other motor information is needed.

3. Click Apply.

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The asterisk nex t to a category means that you have not applied changes.

Display Motor Model Information

The Motor Model category displays more information that is based on the motor type you select.

• If the motor data source is Catalog Number, this information is populated automatically.

• If the motor data source is Nameplate data sheet, this information must be entered manually, or by running the optional Motor Analyzer.

• If the motor data source is Motor NV, this dialog box is blank.

Assign Motor Feedback

What appears on the Motor Feedback dialog box is dependent on what you select on the General dialog box for Feedback Configuration.

If the motor that you select has Catalog Number as the data source, all information on this dialog box with be entered automatically. Otherwise you have to enter the information yourself.

Attributes that are associated with the Motor Feedback dialog box are designated as Feedback 1.

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

Table 28 - Commutation Alignment Settings

Type Des cript ion

Not Aligned Not Aligned indicates that the motor is not aligned, and that the

Controller Offset Controller Offset applies the Commutation Offset value from the

Motor Offset The drive derives the commutation that is offset directly from the motor.

Self-Sense The drive automatically measures the commutation that is offset when it

controller to determine the electrical angle of the motor.

transitions to the Starting state for the first time after a power cycle. This setting generally applies to a PM motor equipped with a simple incremental-feedback device.

In most cases, the Commutation Alignment is set to Controller Offset and the Commutation test is run during commissioning to determine the Commutation Offset and Polarity.

See the Integrated Motion Reference Manual, publication MOTION-RM003 for more information on axis attributes.

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For you r convenien ce, you can use this link to the Module Properties dialog box for the associated drive.

Configure the Load Feedback

The Load Feedback category contains the information from the feedback device that is directly coupled to the load-side of a mechanical transmission or actuator.

The Load Feedback category is available if the Feedback Configuration that is specified on the General dialog box is Load or Dual.

Attributes that are associated with the Load Feedback category are designated Feedback 2.

Default values are displayed based on the Feedback Type selected.

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Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives

Configure the Master Feedback

To verify that motor and feedback device are functioning properly, download to the controller, and continue on to Hookup Tests on page 226

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Chapter 5

Configure Integrated Motion Using a PowerFlex 755 Drive

Top ic Pag e

Add a PowerFlex 755 Drive 99

Create an Associated Axis 109

Configure the Axis Properties 115

Configure the Associated Axis and Control Mode 116

Specify the Motor Data Source 119

Display Motor Model Information 123

Assign Motor Feedback 125

Add a PowerFlex 755 Drive

This chapter provides procedures on how to configure integrated motion on the EtherNet/IP™ network control by using a PowerFlex® 755 Embedded EtherNet/IP drive. For PowerFlex 755 configuration examples, refer to Axis

Configuration Examples for the PowerFlex 527 Drive on page 209.

Follow these instructions to add the PowerFlex 755 drive to your project.

1. Right-click the Ethernet network (node) and choose New Module.

2. Clear the small ‘select all’ checkboxes, Module Type Category, and Ven do r F il te rs .

3. In the Module Type Vendors Filters window, check Allen-Bradley.

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Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive

4. In the Module Type Category Filters window, check Drive.

5. Choose the drive and click create.

6. Type a Name for the module.

7. Type a description, if desired.

8. Assign an EtherNet/IP address.

See these manuals for information about how to configure IP addresses:

• PowerFlex 755 Drive Embedded EtherNet/IP Adapter User Manual,

publication 750COM-UM001

• EtherNet/IP Network Configuration User Manual,

publication ENET-UM001

9. Under Module Definition, click Change.

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Allen-Bradley Kinetix 350, Compact GuardLogix, ControlLogix, CompactLogix, Kinetix 5500 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Integrated Motion on the EtherNet/IP Network: Configuration and Startup

Important User Information

Table of Contents

Preface

Summary of Changes

Additional Resources

Controller, Communication, Drive, and Software Options

Controller and Ethernet Communication Module Options

Integrated Motion on EtherNet/IP Drive Software Options

Options for PowerFlex 755 Drives

Configuration and Startup Scenarios

Help for Selecting Drives and Motors

Create a Controller Project

Set Time Synchronization

Add an Ethernet Communication Module

Add a Kinetix EtherNet/IP Drive

Configure the Safety Category - Kinetix 5500 Drives

Configure the Power Options

Configure Digital Inputs

Create an Associated Axis

Create an Axis for a Kinetix Drive

Establish Feedback Port Assignments

Create a Motion Group

Set the Base Update Period

Configure the Axis Properties

Configure the Associated Axis and Control Mode

Specify the Motor Data Source

Choose the Catalog Number as the Motor Data Source

Choose Nameplate as the Motor Data Source

Choose Motor NV as the Motor Data Source

Display Motor Model Information

Assign Motor Feedback

Configure the Load Feedback

Configure the Master Feedback

Configure Feedback Only Axis Properties

Add a Kinetix 5700 EtherNet/IP Drive

Configure the DC-bus Power Supply and Associate an Axis

Configure the Regenerative Bus Supply

Continue Inverter Configuration

Configure the Inverter Drives

Create an Associated Axis and Establish Feedback Assignments for an Inverter Drive

Create a Motion Group

Set the Base Update Period

Configure the Axis Properties

Configure the Associated Axis and Control Mode

Specify the Motor Data Source

Choose the Catalog Number as the Motor Data Source

Choose Nameplate as the Motor Data Source

Choose Motor NV as the Motor Data Source

Display Motor Model Information

Assign Motor Feedback

Configure the Load Feedback

Configure the Master Feedback

Add a PowerFlex 755 Drive