Rockwell Automation 2098 User Manual

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CompactLogix Indexing Motion Accelerator Toolkit

Quick Start

Hardware Selection

Plan System Layout

Plan System Wiring

Motion Logix Integration

Motion FactoryTalk View Integration

Motion System Application Guide

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls ( from your local Rockwell Automation sales office or online at http://literature.rockwellautomation.com) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with 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.

publication SGI-1.1 available

WARNING

IMPORTANT

ATTENTION

SHOCK HAZARD

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.

Identifies information that is critical for successful application and understanding of the product.

Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

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.

Allen-Bradley, CompactLogix, Ultra3000, Kinetix, PanelView, RSNetWorx for DeviceNet, RSLogix, RSLogix 5000, FactoryTalk, RSLinx, RSLinx Enterprise, RSLinx Classic, TechConnect, and Rockwell Automation are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

Where to Start

Follow the path below to complete your CompactLogix Indexing Motion application.

Chapter 1

CD Installation

Chapter 5

Motion Logix

Integration

Chapter 2

Hardware Selection

Chapter 6

Motion FactoryTalk View Integration

Chapter 3

Plan System Layout

Chapter 4

Plan System Wiring

Chapter 7

Motion System

Application Guide

Publication IASIMP-QS011B-EN-P — January 2009 3

Where to Start

Notes:

4 Publication IASIMP-QS011B-EN-P — January 2009

CD Installation

Hardware Selection

Preface

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Required Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . 10

Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Chapter 1

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Install the Kinetix Accelerator Toolkit Program . . . . . . . . . . . 14

Open the Kinetix Accelerator Toolkit Program . . . . . . . . . . . 14

Chapter 2

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Installing Motion Analyzer Software . . . . . . . . . . . . . . . . . . . 19

Review Basic Panel Component Listings . . . . . . . . . . . . . . . . 23

Verify Base System Performance Specifications . . . . . . . . . . . 26

Select Add-In Components. . . . . . . . . . . . . . . . . . . . . . . . . . 28

Plan System Layout

Plan System Wiring

Motion Logix Integration

Chapter 3

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Load Basic System CAD Drawings . . . . . . . . . . . . . . . . . . . . 31

Verify Your Basic Panel Layout . . . . . . . . . . . . . . . . . . . . . . 32

Modifying Your Motion Panel Layout . . . . . . . . . . . . . . . . . . 33

Downloading Other Allen-Bradley CAD Drawings. . . . . . . . . 34

Chapter 4

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Load Basic System CAD Diagrams . . . . . . . . . . . . . . . . . . . . 37

Route Cables for Your Motion Panel. . . . . . . . . . . . . . . . . . . 39

Lay Out DeviceNet and Ethernet Cables . . . . . . . . . . . . . . . . 40

Chapter 5

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Configure Your Servo Drives . . . . . . . . . . . . . . . . . . . . . . . . 43

Configure Your Logix DeviceNet Module . . . . . . . . . . . . . . . 46

Select Your Logix Application File . . . . . . . . . . . . . . . . . . . . 52

Publication IASIMP-QS011B-EN-P — January 2009 5

Table of Contents

Motion FactoryTalk View Integration

Load and Open Logix Application File . . . . . . . . . . . . . . . . 52

Configure Your Logix System . . . . . . . . . . . . . . . . . . . . . . . 53

Using the DeviceNet Tag Generator . . . . . . . . . . . . . . . . . . 55

Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Configure Logix Communications . . . . . . . . . . . . . . . . . . . . 61

Save and Download Your Program . . . . . . . . . . . . . . . . . . . 62

Chapter 6

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Select Your FactoryTalk View ME Application File. . . . . . . . 67

Load and Restore the FactoryTalk View ME Application. . . . 67

Configure Local Communications . . . . . . . . . . . . . . . . . . . . 69

Configure Target Communications . . . . . . . . . . . . . . . . . . . 71

Adding Axes to the Project . . . . . . . . . . . . . . . . . . . . . . . . . 72

Modifying Axis Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Test the Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Download Fonts to the Terminal . . . . . . . . . . . . . . . . . . . . 80

Download the Project to a Terminal . . . . . . . . . . . . . . . . . . 81

Run the Project on a Terminal . . . . . . . . . . . . . . . . . . . . . . 83

Motion System Application Guide

CompactLogix Base Program Overview

Chapter 7

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Startup Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Use the Manual Control Display . . . . . . . . . . . . . . . . . . . . . 88

Use the Auto Control Display . . . . . . . . . . . . . . . . . . . . . . . 89

Use the Trend Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Use the Axis Status Display. . . . . . . . . . . . . . . . . . . . . . . . . 92

Use the Fault Log Display. . . . . . . . . . . . . . . . . . . . . . . . . . 93

Use the Security Display. . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Shut Down Application . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Appendix A

Basic Program Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Main Machine Control (P00_Control) . . . . . . . . . . . . . . . . . 96

Axis/Equipment Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

Add Your Application Code . . . . . . . . . . . . . . . . . . . . . . . . 101

User-defined Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . 103

Add-On Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

PhaseManager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

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PhaseManager for S-88 Users

Troubleshooting

Table of Contents

Appendix B

Making Changes to the Program Template . . . . . . . . . . . . . 107

Making Changes to Operator Interface Screens . . . . . . . . . . 112

Appendix C

Troubleshooting the Manual Cycle . . . . . . . . . . . . . . . . . . . 115

Troubleshooting the Automatic Cycle . . . . . . . . . . . . . . . . . 122

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Table of Contents

Notes:

8 Publication IASIMP-QS011B-EN-P — January 2009

Preface

Introduction

This quick start provides examples of using a CompactLogix controller to connect to multiple devices (servo drives, motors, and HMI) over the Ethernet/IP network in a CompactLogix Indexing Motion application. These examples were designed to get devices installed and communicating with each other in the simplest way possible. The programming involved is not complex, and offers easy solutions to verify that devices are communicating properly.

To assist in the design and installation of your CompactLogix Indexing Motion system, application files and other information are provided on the Kinetix Accelerator Toolkit CD, publication IASIMP-SP004. The CD provides CAD drawings for panel layout and wiring, base Logix control programs, FactoryTalk View (HMI) application files, and more. For a copy of the CD, contact your local Rockwell Automation distributor or sales representative. With these tools and the built-in best-practices design, the system designer is free to focus on the design of machine control and not on design overhead tasks.

To download the program files, CAD files, and other selected CompactLogix Indexing Motion Accelerator Toolkit information, refer to the Rockwell Automation Integrated Architecture Tools website,

http://www.ab.com/go/iatools.

IMPORTANT

The beginning of each chapter contains the following information. Read these sections carefully before beginning work in each chapter.

• Before You Begin - This section lists the steps that must be

completed and decisions that must be made before starting that chapter. The chapters in this quick start do not have to be completed in the order in which they appear, but this section defines the minimum amount of preparation required before completing the current chapter.

• What You Need - This section lists the tools that are required to

complete the steps in the current chapter. This includes, but is not limited to, hardware and software.

• Follow These Steps - This illustrates the steps in the current

chapter and identifies which steps are required to complete the examples using specific networks.

Before using this quick start and the contents of the Kinetix Accelerator Toolkit CD, read the Terms and Conditions READ ME.pdf on the CD.

Publication IASIMP-QS011B-EN-P — January 2009 9

Preface

Required Software

Conventions Used in This Manual

To complete this quick start, the following software is required.

Rockwell Automation Software Cat. No. Minimum

Version

RSLogix 5000 Mini Edition 9324-RLD200ENE 17 FactoryTalk View Studio for Machine Edition

(Includes RSLinx Enterprise and RSLinx Classic)

Ultraware Drive Configuration Software for the Ultra3000/5000

RSNetWorx for DeviceNet 9357-DNETL3 8.00.02 RSLogix 5000 DeviceNet Tag Generator Tool Provided on Toolkit CD Build 87

Motion Analyzer/Motion Selector CD

Kinetix Accelerator Toolkit CD IASIMP-SP004

9701-VWSTMENE 5.00

2098-UWCPRG 1.64

Download from

http://ab.com/e-tools

4.x

⎯

This manual uses the following conventions.

Convention Meaning Example

click

double-click

right-click

drag and drop

Select Click to highlight a specific option. Select H1-1 from the list.

check/uncheck Click to activate/deactivate a checkbox.

expand Click the + to the left of a given item/folder to show its contents. In the H1-1 window, expand the FFLD.

Click left mouse button once (assumes cursor is positioned on object or selection). Click button to initiate action.

Click left mouse button twice in quick succession. (Assumes cursor is positioned on object or selection.)

Click right mouse button once. (Assumes cursor is positioned on object or selection.)

Click and hold the left mouse button on an object, move the cursor to where you want to move the object, and release the mouse button.

Shows nested menu selections as menu name followed by menu choice.

Click Browse.

Double-click the H1 icon.

Right-click the Fieldbus Networks icon.

Drag and drop the desired block into the Strategy window.

Check the Do not show this dialog again checkbox.

Choose Programs>Rockwell Automation >Simplification>Kinetix Accelerator Toolkit.

Note: The path sequences given in this manual are for a typical system installation. If your system was installed in a different directory, use the appropriate path.

10 Publication IASIMP-QS011B-EN-P — January 2009

Additional Resources

Resource Description

http://www.ab.com Provides access to the Allen-Bradley website. http://rockwellautomation.com/knowledgebase Provides access to self-service support. http://www.rockwellautomation.com/components/connected Provides access to the Connected Components website.

Preface

Publication IASIMP-QS011B-EN-P — January 2009 11

Preface

Notes:

12 Publication IASIMP-QS011B-EN-P — January 2009

Chapter

CD Installation

In this chapter, you install the Kinetix Accelerator Toolkit program CD to your personal computer. All of the necessary files are transferred to the personal computer for ease of use.

What You Need

• The Kinetix Accelerator Toolkit CD, publication IASIMP-SP004

• Personal computer with:

– an Intel Pentium II or greater microprocessor – 128 MB of RAM for Windows NT, Windows 2000, Windows 2003, Windows 2003 R2, or

Windows XP (64 MB for Windows 98) operating systems

– 300 MB of available hard-disk space

Follow These Steps

Complete the following steps to install the Kinetix Accelerator Toolkit program.

Start

Install the Kinetix

Accelerator Toolkit Program

page 14

Open the Kinetix

Accelerator Toolkit Program

page 14

Publication IASIMP-QS011B-EN-P — January 2009 13

Chapter 1 CD Installation

Install the Kinetix Accelerator Toolkit Program

Follow these steps to download and install the Kinetix Accelerator Toolkit program from the CD.

1. Place the Kinetix Accelerator Toolkit CD, publication IASIMP-SP004, in your CD tray.

2. The installation program should run automatically. If not, browse to the CD and run the file

Setup.exe.

3. Follow the on-screen instructions to complete the program installation.

Open the Kinetix Accelerator Toolkit Program

Follow these steps to begin using the Kinetix Accelerator Toolkit program.

From the Start menu, choose Programs>Rockwell Automation>Simplification>Kinetix Accelerator Toolkit.

14 Publication IASIMP-QS011B-EN-P — January 2009

The Kinetix Accelerator Toolkit program starts.

CD Installation Chapter 1

Follow the steps in the remaining chapters of this manual to complete your system configuration.

Publication IASIMP-QS011B-EN-P — January 2009 15

Chapter 1 CD Installation

Notes:

16 Publication IASIMP-QS011B-EN-P — January 2009

Chapter

Hardware Selection

In this chapter, you make your motion application hardware selection. You can select from the basic motion control panels, or use Motion Analyzer software to size your servo drive and motor.

The basic motion control panels can be modified with up to four axes, a different PanelView Plus terminal, and other optional equipment.

Before You Begin

• Determine your base motion system input voltage.

– 400/460V – 200/230V

• Verify that your computer meets the software requirements of Motion Analyzer software,

version 4.x.

• Complete the Kinetix Accelerator Toolkit CD installation (Refer to Chapter 1).

What You Need

• Kinetix Accelerator Toolkit CD, publication IASIMP-SP004. For a copy of the CD, contact your

local Rockwell Automation distributor or sales representative.

• Personal computer with Internet access for downloading software.

• Motion Analyzer software, version 4.x is available from:

– the Kinetix Accelerator Toolkit CD, publication IASIMP-SP004 – http://ab.com/e-tools

• Kinetix Motion Control Selection Guide, publication GMC-SG001.

Publication IASIMP-QS011B-EN-P — January 2009 17

Chapter 2 Hardware Selection

Follow These Steps

Complete the following steps to select your motion system hardware.

Start

Verify Base System

Performance

Specifications (230V)

page 26

Review Basic Panel Component Listings

page 23

230V 460V

230V or

460V input

voltage?

Yes No

Verify Base System

Performance

Specifications (460V)

Start with

Basic Motion Control

Panels?

page 26

Installing Motion

Analyzer Software

page 19

Yes

Installing Motion

Analyzer Software

page 19

18 Publication IASIMP-QS011B-EN-P — January 2009

Further verify

or change motion

selections?

Select Add-In

Components

page 28

Hardware Selection Chapter 2

Installing Motion Analyzer Software

Motion Analyzer software is a comprehensive motion control tool with application analysis software used for sizing your application. You can download and install Motion Analyzer software from the Web, or install Motion Analyzer software from the Kinetix Accelerator Toolkit CD, publication IASIMP-SP004.

Download Motion Analyzer Software From the Web

Follow these steps to download and install Motion Analyzer software.

1. Open your Web browser and go to http://ab.com/e-tools.

The Configuration and Selection Tools webpage opens.

2. Select Motion Analyzer from

the System Configuration tab.

3. Click Download.

The Motion Analyzer webpage opens.

4. Click the Motion Analyzer

software download link and follow the instructions provided.

5. Use Motion Analyzer software

to size your motor/drive combinations.

Publication IASIMP-QS011B-EN-P — January 2009 19

Chapter 2 Hardware Selection

Install Motion Analyzer Software from the Kinetix Accelerator Toolkit CD

Follow these steps to install Motion Analyzer software from the CD.

1. From the Start menu, choose Programs>Rockwell Automation>Simplification>Kinetix

Accelerator Toolkit.

The Kinetix Accelerator Toolkit program starts.

2. From the toolkit menu, choose KAT Common Info>Required Program Software.

3. Open the 2 - Motion Analyzer folder.

20 Publication IASIMP-QS011B-EN-P — January 2009

Hardware Selection Chapter 2

4. Double-click MotionAnalyzer 4.x.exe.

5. Follow the on-screen instructions to complete the program installation.

Open Motion Analyzer Software

Follow these steps to run the Motion Analyzer software.

1. From the Start menu, choose Programs>Rockwell Automation>Motion Analyzer>Motion

Analyzer.

The starting selection window opens.

Publication IASIMP-QS011B-EN-P — January 2009 21

Chapter 2 Hardware Selection

2. Use the Product Family drop-down menu to select Ultra3000. (Kinetix 6000 is the default

selection.)

3. Click Application Data.

4. Complete the system profile for your application.

TIP

For motor/drive performance specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001.

For Motion Analyzer labs, refer to the Motion Analyzer Training Folder on the Kinetix Accelerator Toolkit CD, publication IASIMP-SP004. For a copy of the CD, contact your local Rockwell Automation distributor or sales representative.

22 Publication IASIMP-QS011B-EN-P — January 2009

Hardware Selection Chapter 2

Review Basic Panel Component Listings

The tables in this section include servo drives and motors, CompactLogix controller, PanelView Plus terminal (HMI), and accessory components for 400/460V and 200/230V systems. Review the basic component listings and compare with your specific application needs.

CompactLogix L31, 400/460V Base System

# Used Components Cat. No. Description

1 Enclosure and panel (HxWxD, approx.)

Input power

1 140U-H-RVM12R Through-the-door disconnect 1 Line Filter 2090-XXLF-X330B 3-phase, 30 A AC line filter

Ultra3000 Servo

Drive System

Line Interface Module (LIM)

Servo Drive 2098-DSD-HV030X-DN

Hoffman Rittal 2094-BL50S 460V, 50 A LIM module

1524 x 914 x 304 mm (60 x 36 x 12 in.)

3 kW output, indexing, DeviceNet communication option

3 Motors MP-Series Low Inertia MPL-B310P-MK22AA 0.77 kW output with absolute, multi-turn feedback

3 3 Motor Feedback 2090-XXNFMP-S03 3 m (9.8 ft), MPL-B310P

Cables

1 HMI Communication 2711-NC13 5 m (16 ft), 9-pin to 9-pin 1 DeviceNet Media 1485C-P1A50 Trunk cable, round 50 m spool 3 Connector kit Feedback 2090-UXBB-DM15 Connector kit for motor feedback 3 Connector kit Control I/O 2090-U3BB2-DM44 Connector kit for control I/O signals 1 HMI PanelView Plus 2711P-T6C5D PanelView Plus 600, 24V DC, serial comms 1 1 1769-IQ16 16-point 24V DC input module 1 1769-OB16 16-point 24V DC sourcing output module

Logix controller

1 1769-PB2 Power supply, 24V DC 1 1769-SDN DeviceNet interface module 1 1769-ECR End cap 1

Software

1 HMI Programming 9701-VWSTMENE FactoryTalk View Studio Machine Edition 1 Drive Configuration 2098-UWCPRG Ultraware Software

Motor Power 2090-XXNPMP-16S03 3 m (9.8 ft), MPL-B310P

1769-L31 Controller, dual-serial comms, 512k memory

CompactLogix with Serial Configuration

Controller Programming 9324-RLD200ENE RSLogix 5000 Mini Edition

Publication IASIMP-QS011B-EN-P — January 2009 23

Chapter 2 Hardware Selection

CompactLogix L31, 200/230V Base System

# Used Components Cat. No. Description

1 Enclosure and panel (HxWxD, approx.)

Input power

1 140U-H-RVM12R Through-the-door disconnect 1 Line Filter 2090-XXLF-X330B 3-phase, 30 A AC line filter

Ultra3000 Servo

Drive

3 Motors MP-Series Low Inertia MPL-A310P-MK22AA

3 3 Motor Feedback 2090-XXNFMP-S03 3 m (9.8 ft), MPL-A310P

Cables

Line Interface Module (LIM)

Servo Drive 2098-DSD-010X-DN

Motor Power 2090-XXNPMP-16S03 3 m (9.8 ft), MPL-A310P

Hoffman Rittal 2094-AL50S 230V, 50 A LIM module

1769-L31 Controller, dual-serial comms, 512k memory

1219 x 609 x 304 mm (48 x 24 x 12 in.)

1 kW output, indexing, DeviceNet communication option

0.73 kW output with absolute, multi-turn feedback

1 1769-OB16 16-point 24V DC sourcing output module

Logix controller

1 1769-PB2 Power supply, 24V DC 1 1769-SDN DeviceNet interface module 1 1769-ECR End cap 1

Software

1 HMI Programming 9701-VWSTMENE FactoryTalk View Studio Machine Edition 1 Drive Configuration 2098-UWCPRG Ultraware Software

CompactLogix with Serial Configuration

Controller Programming 9324-RLD200ENE RSLogix 5000 Mini Edition

24 Publication IASIMP-QS011B-EN-P — January 2009

CompactLogix L23E, 200/230V Base System

# Used Components Cat. No. Description

Hardware Selection Chapter 2

1 Enclosure and panel (HxWxD, approx.)

Input power

1 140U-H-RVM12R Through-the-door disconnect 1 Line Filter 2090-XXLF-X330B 3-phase, 30 A AC line filter

Ultra3000 Servo

Drive

1 Motors MP-Series Low Inertia MPL-A310P-MK22AA

1 1 Motor Feedback 2090-XXNFMP-S03 3 m (9.8 ft), MPL-A310P

Cables

1 HMI Communication 2711P-CBL-EX04 4 m (14 ft), Ethernet crossover 1 DeviceNet Media 1485C-P1A50 Trunk cable, round 50 m, spool 1 Connector kit Feedback 2090-UXBB-DM15 Connector kit for motor feedback 1 Connector kit Control I/O 2090-U3BB2-DM44 Connector kit for control I/O signals 1 HMI PanelView Plus 2711P-T6C20D PanelView Plus 600, 24V DC, Ethernet comms

Logix controller

1 1769-SDN DeviceNet interface module 1

Line Interface Module (LIM)

Servo Drive 2098-DSD-010X-DN

Motor Power 2090-XXNPMP-16S03 3 m (9.8 ft), MPL-A310P

CompactLogix with Serial Configuration

Controller Programming 9324-RLD200ENE RSLogix 5000 Mini Edition

Hoffman Rittal 2094-AL50S 230V, 50 A LIM module

1769-L23E-QB1B

1219 x 609 x 304 mm (48 x 24 x 12 in)

1 kW output, indexing, DeviceNet communication option

0.73 kW output with absolute, multi-turn feedback

Controller, serial and Ethernet/IP comms, 512k memory, 16 DC in, 16 DC out, 24V DC power supply

Software

1 HMI Programming 9701-VWSTMENE FactoryTalk View Studio Machine Edition 1 Drive Configuration 2098-UWCPRG Ultraware Software

Publication IASIMP-QS011B-EN-P — January 2009 25

Chapter 2 Hardware Selection

Verify Base System Performance Specifications

This section provides system combination information for the Ultra3000 drives when matched with MP-Series low-inertia motors. Included are motor power, feedback, and brake cable catalog numbers, system performance specifications, and torque/speed curves. Refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001, for additional motor/drive performance specifications.

Refer to the following table to determine the appropriate cables needed for your Ultra3000 drive and motor combination.

Ultra3000 Servo Drive Motor Type Motor Power Cable Motor Feedback Cable Motor Brake Cable

2098-DSD-HV030X-DN MPL-B310P

2098-DSD-010X-DN MPL-A310P

(1)

Use connector kit (catalog number 2090-UXBB-D15M) or panel-mounted breakout components on drive end. Refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001, for catalog numbers.

(2)

Premolded (drive end) feedback cables (catalog number 2090-UXNFBMP-Sxx) are also available for Ultra3000 drives.

Motor end connector kits are available for motor power, feedback, and brake cables. Refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001 numbers.ttt Cable length xx is in meters.

2090-XXNPMF-16Sxx

2090-XXNFMF-Sxx Absolute High-resolution

Feedback

(1) (2)

2090-UXNBMP-18Sxx

, for catalog

400/460V System Performance Specifications

Motor

MPL-B310P 5000 2.4 1.58 (14) 7.1 3.61 (32) 0.72 2098-DSD-HV030X-DN

Max Speed

rpm

System Continuous Stall Current

A 0-pk

System Continuous Stall Torque

N•m (in•lb)

System Peak Stall Current

A 0-pk

System Peak Stall Torque

N•m (in•lb)

Motor Rated Output

Ultra3000 460V Drives

200/230V System Performance Specifications

Motor

MPL-A310P 5000 4.85 1.58 (14) 14 3.61 (32) 0.73 2098-DSD-010X-DN

Max Speed

rpm

System Continuous Stall Current

A 0-pk

System Continuous Stall Torque

N•m (in•lb)

System Peak Stall Current

A 0-pk

System Peak Stall Torque

N•m (in•lb)

Motor Rated Output

Ultra3000 230V Drives

26 Publication IASIMP-QS011B-EN-P — January 2009

Ultra3000 Drives/MP-Series Low Inertia Motor Curves

Hardware Selection Chapter 2

Publication IASIMP-QS011B-EN-P — January 2009 27

Chapter 2 Hardware Selection

Select Add-In Components

Follow these steps to add components to your base system.

1. From the toolkit menu, choose KAT Common Info>Add-In Application Packages.

2. Identify additional components listed in the Add-In Application Packages folder that you

would like to add to your system.

3. If necessary, identify additional components not listed in the Add-In Application Packages

folder. Contact your local Allen-Bradley representative for more information.

28 Publication IASIMP-QS011B-EN-P — January 2009

Chapter

Plan System Layout

In this chapter, you layout the system components selected in Chapter 2. Use the CAD drawings supplied on the Kinetix Accelerator Toolkit CD, publication IASIMP-SP004, to add or remove components to and from the basic motion control panel system. For a copy of the CD, contact your local Rockwell Automation distributor or sales representative.

Before You Begin

• Complete the Kinetix Accelerator Toolkit CD installation. (Refer to Chapter 1.)

• Complete your system hardware selection. (Refer to Chapter 2.)

What You Need

• Kinetix Accelerator Toolkit CD, publication IASIMP-SP004

• System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

• System Design for Control of Electrical Noise Video, publication GMC-SP004

• Ultra3000 Digital Servo Drive Installation Manual, publication 2098-IN003

• Ultra3000 Digital Servo Drive with DeviceNet Reference Manual, publication 2098-RM004

Publication IASIMP-QS011B-EN-P — January 2009 29

Chapter 3 Plan System Layout

Follow These Steps

Complete the following steps to plan your system layout within the enclosure.

Start

Load Basic System

CAD Drawings

page 31

Verify Your Basic Panel

Layout

page 32

Yes

Use

Basic Motion Control

Panel as is?

Modifying Your

Motion Panel Layout

page 33

Downloading Other

Allen-Bradley CAD

Drawings

page 34

30 Publication IASIMP-QS011B-EN-P — January 2009

Plan System Layout Chapter 3

Load Basic System CAD Drawings

The Kinetix Accelerator Toolkit CD provides CAD drawings, in DXF format, to assist in planning the layout of your system. The drawings are designed to optimize panel space and to minimize electrical noise.

Follow these steps to locate the CAD files from the Kinetix Accelerator Toolkit CD.

1. Open the Kinetix Accelerator Toolkit program. From the Start menu, choose

Programs>Rockwell Automation>Simplification>Kinetix Accelerator Toolkit.

2. From the Toolkit menu, choose

DeviceNet Based Motion Applications>Enclosure CAD Files.

3. Use your CAD program to open

these and other enclosure CAD files:

• CIMAT_L23_230_PANEL_LAYOUT.dwg

• CIMAT_L31_460_PANEL_LAYOUT.dwg

4. Identify additional layout needs specific to your application.

Publication IASIMP-QS011B-EN-P — January 2009 31

Chapter 3 Plan System Layout

Verify Your Basic Panel Layout

The basic motion control panel layout is shown below. Included is a three-axis Ultra3000 drive system with Line Interface Module (LIM), PanelView Plus 600 terminal, and CompactLogix controller with DeviceNet interface module. Verify that your system matches this diagram. If it does not match, follow the instructions in Modifying Your Motion Panel Layout on page 33.

Sample Information from Enclosure Files

PanelView Plus 600 Terminal (HMI)

Through-the-door

LIM Module

Disconnect

IMPORTANT

Bulletin 800EP

Push Buttons

Ultra3000 Indexing Servo Drives with DeviceNet (230V AC shown)

CompactLogix Controller

1769-SDN DeviceNet Module

Optional Equipment Includes:

• Line Filter (required for CE)

• PowerFlex 40 AC Drive

• Ethernet Modem

• Point IO System

• Safety Relay

Enclosure 1219 x 609 x 304 mm (48 x 24 x 12 in)

The enclosure CAD drawings were designed using best-practices techniques as shown in the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

. Refer

to this publication when making modifications to the basic motion control panel layout. Refer to the Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003, for panel

layout instructions specific to the Ultra3000 drives.

32 Publication IASIMP-QS011B-EN-P — January 2009

Plan System Layout Chapter 3

Modifying Your Motion Panel Layout

Follow the steps in this section if you do not use the basic motion control panel as is and want to modify your motion panel layout.

1. From the basic motion control panel CAD drawing, remove the equipment you do not need

for your application.

2. Open the CAD drawings of optional equipment you would like to add to your system. From

the Toolkit menu, choose KAT Common Info>Add-In Application Packages.

3. Copy and paste objects from the optional equipment CAD drawings to the basic motion

control panel drawing.

4. Select other hardware as needed.

Refer to Downloading Other Allen-Bradley CAD Drawings on page 34. Refer to the Literature Library (http://literature.rockwellautomation.com) for access to publications.

5. Determine if your duty cycle and selected components require additional cooling.

Refer to Enclosure Selection in the Ultra3000 Digital Servo Drive Installation Manual, publication 2098-IN003

, for an enclosure sizing example.

Publication IASIMP-QS011B-EN-P — January 2009 33

Chapter 3 Plan System Layout

Downloading Other Allen-Bradley CAD Drawings

Follow these steps if you want to download other Allen-Bradley product CAD drawings.

1. Open your browser and go to http://ab.com/e-tools.

The Configuration and Selection Tools webpage opens.

2. Enter the Catalog

Number of the product.

3. Click Submit.

The Configuration Results dialog opens.

4. Click DXF, AutoCad Drawing 2-D.

5. Download and save the file.

34 Publication IASIMP-QS011B-EN-P — January 2009

Chapter

Plan System Wiring

In this chapter, you plan the cable layout for your system components placed in Chapter 3. Use the CAD drawings supplied with the Kinetix Accelerator Toolkit CD to assist in the routing of wires and cables for your system components. For a copy of the CD, contact your Rockwell Automation distributor or sales representative.

Before You Begin

• Complete the Kinetix Accelerator Toolkit CD installation. (Refer to Chapter 1.)

• Complete your system hardware selection. (Refer to Chapter 2.)

• Complete your system layout. (Refer to Chapter 3.)

What You Need

• Kinetix Accelerator Toolkit CD, publication IASIMP-SP004

• CAD files typical of those included on the Kinetix Accelerator Toolkit CD:

CAD file name Description

CIMAT_Lxx_xxx_PANEL_LAYOUT.dwg

CIMAT_Lxx_xxx_1_POWER_DISTRIBUTION.dwg Power Distribution Connection Diagram for 230V AC or 460V AC Systems CIMAT_Lxx_xxx _2_CONTROL_POWER.dwg 120V AC and 24V DC Power Distribution CIMAT_Lxx_xxx _3_LIM_DISTRIBUTION.dwg Line Interface Module Connections CIMAT_Lxx_xxx _4_DRIVE1_IO.dwg Ultra3000 I/O Connections for CN1 - Drive 1 CIMAT_Lxx_xxx _5_DRIVE2_IO.dwg Ultra3000 I/O Connections for CN1 - Drive 2 CIMAT_Lxx_xxx _6_DRIVE3_IO.dwg Ultra3000 I/O Connections for CN1 - Drive 3 CIMAT_Lxx_xxx _7_NETWORK_CONNECTIONS.dwg DeviceNet Network Communication and Power Supply Connections

CIMAT_Lxx_xxx _8_PLC_IO.dwg

CIMAT_Lxx_xxx _9_TERMINAL_DETAIL.dwg Terminal Blocks within Enclosure CIMAT_Lxx_xxx _10_CONNECTOR_DETAIL_CN1.dwg Ultra3000 Drive I/O Connector Detail for 230V AC and 460V AC Drives CIMAT_Lxx_xxx _11_CONNECTOR_DETAIL_CN2.dwg Ultra3000 Drive Feedback Connector Detail

Base CompactLogix System Enclosure and 230V AC or 460V AC Drive Layout and Diagram

1769-IQ16, 16-Point, Sink/Source, 24V DC Input Wiring Diagram and 1769-OB16, 16-Point, Sourcing, 24V DC Output Wiring Diagram

Publication IASIMP-QS011B-EN-P — January 2009 35

Chapter 4 Plan System Wiring

• Ultra3000 Digital Servo Drive Installation Manual, publication 2098-IN003

• Line Interface Module Installation Instructions, publication 2094-IN005

• System Design for Control of Electrical Noise, publication GMC-RM001

• System Design for Control of Electrical Noise Video, publication GMC-SP004

• Documentation that came with your other Allen-Bradley products

Refer to the Literature Library (http://literature.rockwellautomation.com) for access to publications.

Follow These Steps

Complete the following steps to plan the installation and wiring of your system components within the enclosure.

Start

Load Basic System

CAD Diagrams

page 37

Route Cables for Your

Motion Panel

page 39

Lay Out DeviceNet and

Ethernet Cables

page 40

36 Publication IASIMP-QS011B-EN-P — January 2009

Plan System Wiring Chapter 4

Load Basic System CAD Diagrams

The Kinetix Accelerator Toolkit CD, publication IASIMP-SP004, provides CAD diagrams, in DWG format, to assist in planning your system wiring. The diagrams are designed to optimize panel space and to minimize electrical noise.

Follow these steps to locate the CAD files for the Kinetix Accelerator Toolkit CD.

1. Open the Kinetix Accelerator Toolkit program. From the Start menu, choose

Programs>Rockwell Automation>Simplification>Kinetix Accelerator Toolkit.

2. From the toolkit menu, choose DeviceNet Based

Motion Applications>Enclosure CAD Files.

3. Use your CAD program to open these and other

enclosure CAD files.

• CIMAT_L23_230_PANEL_LAYOUT.dwg

• CIMAT_L31_460_PANEL_LAYOUT.dwg

4. From the Toolkit menu, choose DeviceNet

Based Motion Applications>Wiring Diagram CAD Drawings North/Latin America.

Publication IASIMP-QS011B-EN-P — January 2009 37

Chapter 4 Plan System Wiring

5. Use your CAD program to open these and other wiring diagram CAD files.

• CIMAT_Lxx_xxx_1_POWER_DISTRIBUTION.dwg

• CIMAT_Lxx_xxx_2_CONTROL_POWER.dwg

• CIMAT_Lxx_xxx_3_LIM_DISTRIBUTION.dwg

• CIMAT_Lxx_xxx_4_DRIVE1_IO.dwg

• CIMAT_Lxx_xxx_5_DRIVE2_IO.dwg

• CIMAT_Lxx_xxx_6_DRIVE3_IO.dwg

• CIMAT_Lxx_xxx_7_NETWORK_CONNECTIONS.dwg

• CIMAT_Lxx_xxx_8_PLC_IO.dwg

• CIMAT_Lxx_xxx_9_TERMINAL_DETAIL.dwg

• CIMAT_Lxx_xxx_10_CONNECTOR_DETAIL_CN1.dwg

• CIMAT_Lxx_xxx_11_CONNECTOR_DETAIL_CN2.dwg

TIP

The term ‘CIMAT’ refers to the CompactLogix Indexing Motion Accelerator Toolkit.

6. Identify additional wiring needs specific to your application.

38 Publication IASIMP-QS011B-EN-P — January 2009

Plan System Wiring Chapter 4

Route Cables for Your Motion Panel

The base system enclosure diagrams for the three-axis motion control panel, including noise zones, is shown below. The enclosure CAD drawings are provided as examples of best-practices techniques used to minimize electrical noise, as covered in the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.

The enclosure diagram provides designators that coordinate with the wiring diagrams, illustrating where to route your power and I/O cables.

Sample Information from Enclosure Files

Noise Zone Legend

CLEAN wireway for noise-sensitive device circuits.

DIRTY wireway for noise-generating device circuits.

Line Filter (optional)

PowerFlex 40

(optional)

Ethernet Modem (optional)

LIM Module

Ultra3000 Digital Servo Drives (230V AC shown)

CompactLogix Controller (L23E shown)

IMPORTANT

Refer to the Ultra3000 Digital Servo Drives Installation Manual, publication 2098-IN003, for installation and wiring instructions specific to the Ultra3000 drives. For other equipment shown in your CAD drawings, refer to the installation instructions that came with those products.

Publication IASIMP-QS011B-EN-P — January 2009 39

Chapter 4 Plan System Wiring

Lay Out DeviceNet and Ethernet Cables

A sample DeviceNet and Ethernet cable diagram is shown below. The diagram provides designators that coordinate with the panel layout diagram, indicating where to route your DeviceNet and Ethernet cables.

Sample Cable Diagram

40 Publication IASIMP-QS011B-EN-P — January 2009

Chapter

Motion Logix Integration

In this chapter, you configure your servo drives, your DeviceNet network, and your RSLogix 5000 application file. Logix application files (.acd) are included in the Controller Program Files folder on the Kinetix Accelerator Toolkit CD.

You can choose a:

• 1-axis pre-configured CompactLogix L2x file.

• 1-, 2-, 3-axis pre-configured CompactLogix L3x file.

After file selection, you configure the CompactLogix modules and drives, add axes if needed, and download the program. Refer to Logix programming manuals for additional device configuration and programming requirements.

Before You Begin

• Complete the Kinetix Accelerator Toolkit CD installation. (Refer to Chapter 1.)

• Complete your system hardware selection. (Refer to Chapter 2.)

• Complete your system layout. (Refer to Chapter 3.)

• Complete your system wiring. (Refer to Chapter 4.)

What You Need

• Kinetix Accelerator Toolkit CD, publication IASIMP-SP004

• RSLogix 5000 software, version 17.0 or later

• RSLinx Classic software, version 2.54 or later

• Logix application file: CIMLxx_xaxis_v00x.acd

Logix files are available on the Kinetix Accelerator Toolkit CD. For a copy of the CD, contact your local Rockwell Automation distributor or sales representative.

• Ultra3000 Digital Servo Drive Installation Manual, publication 2098-IN003

• Ultra 3000 Digital Servo Drive with DeviceNet Reference Manual, publication 2098-RM004

• DeviceNet Modules in Logix5000 Control Systems User Manual, publication DNET-UM004

Publication IASIMP-QS011B-EN-P — January 2009 41

Chapter 5 Motion Logix Integration

Follow These Steps

Complete the following steps to configure your CompactLogix Indexing Motion application.

Start

Configure Your

Servo Drives

page 43

Configure Your Logix

DeviceNet Module

page 46

Select Your Logix

Application File

page 52

Load and Open Logix

Application File

page 52

Configure Your

Logix System

page 53

Configure Axis

Properties

page 59

Drives

start at

DeviceNet node

address 01

in order?

Yes

Configure Logix

Communications

page 61

Using the DeviceNet

Tag Generator

page 55

Save and Download

Your Program

page 62

42 Publication IASIMP-QS011B-EN-P — January 2009

Configure Your Servo Drives

Follow these steps to configure your Servo Drives.

Motion Logix Integration Chapter 5

IMPORTANT

Before applying power to the Ultra3000 servo drive, you must set the node addresses for the DeviceNet network. If you have already applied power to the drive, you must cycle power after changing the network settings.

1. Use the rotary switches on the front of the Ultra3000 servo drive (labeled MSD and LSD) to set

the desired DeviceNet node address. Keep the addresses below 7 (use 01…06) if possible.

TIP

Keeping the addresses below 7 allows you to use RSNetWorx for DeviceNet, the DeviceNet configuration software in demo mode. Demo mode does not require the software to be purchased, but limits functionality to addresses under 7. Contact your Rockwell Automation representative if addresses above 00…06 are required.

Each DeviceNet device must have a unique address. To set your address to 01, set the MSD (most significant digit) to 0 and the least LSD

(least significant digit) to 1. Notice the line that runs down one side of the rotary switch, indicating your choice.

2. Make sure that the drive is not enabled (terminal 31 on the CN1 connector) and apply power

to the drive at this point.

3. Connect the serial programming cable (catalog number 2090-UXPC-D09xx) between your

workstation and the Ultra3000 servo drive.

4. Open Ultraware programming software using the

Start menu or the desktop shortcut.

5. Select Create new file.

6. Click OK.

Ultraware will attach to the servo drive.

Publication IASIMP-QS011B-EN-P — January 2009 43

Chapter 5 Motion Logix Integration

7. Double-click the drive symbol in the On-Line section to

view its current settings.

You may wish to click Reset EEPROM to Factory Settings if you are not sure what parameters have been previously changed in the drive.

IMPORTANT

Verify that you removed the ‘Enable’ input in the steps above. The drive may enable and run if the Enable signal is present.

8. Carefully use the pull-down menu to select the

proper Motor Model from the list.

9. Expand the drive’s Explorer window by clicking the ‘+’ sign

next to the drive symbol.

10.Double-click the DeviceNet folder.

11.Select Assembly Instance 9 for the I/O Receive

Select entry.

12.Set the Poll Transmit Select to Assembly

Instance 12.

13.Verify that the COS/Cyclic Transmit Select

is set to Assembly Instance 10.

These settings allow us to get the most data and diagnostics out of the drive.

44 Publication IASIMP-QS011B-EN-P — January 2009

14.For the Logic Command Mask, click the

down arrow to view the pull-down list.

15.Check all the boxes all the way down to

the bottom. Use the scroll bar on the right to reach them all.

Checking these boxes gives access to all the commands to the drive over the DeviceNet network. This eliminates the need for additional I/O wiring, drive configuration, and PLC programming.

Motion Logix Integration Chapter 5

16.Change the Enable Behavior selection to

Both.

This requires us to provide a 24V DC ‘drive enable’ input to the drive (on terminal 31 of the CN1 connector) but also allows us to command the drive to enable/disable from the CompactLogix controller over the DeviceNet network.

17.(Optional) You may choose to tune your servo axis at this point.

IMPORTANT

To reduce the possibility of unpredictable motor response, disconnect all loads from your motors until initial axis tuning is complete. For tuning procedure, refer to the Ultra3000 Digital Servo Drive Installation Manual, publication 2098-IN003

18.Save your drive setup file.

19.Click ‘Yes’ to the prompt to copy the

on-line values from the drive.

Publication IASIMP-QS011B-EN-P — January 2009 45

Chapter 5 Motion Logix Integration

20.Exit Ultraware.

IMPORTANT

Repeat all steps in this section for additional Ultra3000 servo drives.

Configure Your Logix DeviceNet Module

Follow these steps to configure your Logix DeviceNet module.

Commission an Out-of-Box DeviceNet Module

IMPORTANT

1. Be sure that all of your CompactLogix controller modules (processor, I/O modules, scanner,

and power supplies) are properly seated on the DIN rail and that the bus interconnect is properly slid over to the previous module and seated.

2. Apply power to the CompactLogix power supply and wait for the components to power up.

This section is for commissioning an out-of-box DeviceNet scanner module. You do not need to perform the steps in this section if your scanner is already configured.

3. Connect your workstation to the CompactLogix controller.

• If you are using a serial connection, make sure that you have connected the 1756-CP3 (or

similar) cable between your workstation and one of the 9-pin serial ports on the controller.

• If you are using an Ethernet connection, make sure that you have connected a twisted-pair

cable between your workstation and the controller’s RJ45 connection.

4. Create a communication driver in RSLinx Classic software. If needed, refer to the

CompactLogix System Quick Start Manual, publication IASIMP-QS001

5. Open the DeviceNet Node Commissioning Tool by choosing Start>Programs>Rockwell

Software>RSNetWorx>DeviceNet Node Commissioning Tool.

46 Publication IASIMP-QS011B-EN-P — January 2009

6. Click Browse to begin browsing to your

DeviceNet module.

7. Select the appropriate RSLinx Classic

driver and browse to your controller.

8. Under Backplane, expand the Local

1769 Bus Adapter and the 1769 Bus.

9. Expand the 1769-SDN scanner module.

10.Expand Port2 until you see the

available DeviceNet nodes.

Motion Logix Integration Chapter 5

11.Highlight Node 63, the DeviceNet

module.

12.Click OK (not shown) located at the top right of the window.

13.Click Yes for any additional prompts.

14.After the scanner’s Module Settings appear,

change the Address to ‘00’ and select the desired network Data rate.

15.Click Apply.

16.After you receive confirmation of the changes, click Close.

Configure the DeviceNet Module

1. Open RSNetWorx for DeviceNet programming

software using the Start menu or the desktop shortcut.

Publication IASIMP-QS011B-EN-P — January 2009 47

Chapter 5 Motion Logix Integration

2. When the software opens,

click the Online button to go online to your network.

3. Browse to your controller.

4. Under Backplane, expand the Local 1769 Bus

Adapter and the 1769 Bus.

5. Under the 1769-SDN, highlight Port2.

6. Click OK to go online.

7. Click OK again to begin searching for all available network nodes.

8. Click Cancel after all available nodes have been identified. You don’t have to wait for it to

search for nodes you don’t have in your system.

9. Your network should look similar to this.

This reflects a single-axis system. Refer to the information in Additional Information for Single and Multi-Axis Systems on

page 50 for using additional axes and for

more detailed information.

10.Right-click Ultra3000 and select Upload

from Device to upload existing parameters for the Ultra3000 servo drive.

Since there are over 1000 parameters in the drive, this takes a while.

11.Repeat step 10 to upload parameters for all

additional Ultra3000 drives.

48 Publication IASIMP-QS011B-EN-P — January 2009

12.Double-click the 1769-SDN scanner

module to begin configuring the DeviceNet module.

13.Click the Module tab and select Download if prompted.

This erases any settings in the scanner if it was ever previously used.

14.Set the 1769-SDN scanner module settings

at the bottom of the dialog box as appropriate for your system.

15.Click Apply.

Motion Logix Integration Chapter 5

16.Click the Scanlist tab.

17.Automap all available devices into the

scanner by using the >> button.

This allows the controller to connect to the devices and control the servo drives.

18.Verify that the DeviceNet scanner is in IDLE mode and not in RUN mode.

19.Click OK and click Yes to confirm downloading these changes to the scanner.

20.Save your work.

21.Exit RSNetworx for DeviceNet software.

Publication IASIMP-QS011B-EN-P — January 2009 49

Chapter 5 Motion Logix Integration

Additional Information for Single and Multi-Axis Systems

The following information about DeviceNet is for reference only. No action is required. However, if you do map additional axes, be sure to close RSNetWorx for DeviceNet software before proceeding.

Additional axes (drives) can be automapped as shown in step 17 into the DeviceNet module’s Scanlist.

The Input tabs look similar, but contain more data.

Single-Axis System Double-Axis System

50 Publication IASIMP-QS011B-EN-P — January 2009

The Output tabs also look similar, but contain more data.

Motion Logix Integration Chapter 5

Single-Axis System

Double-Axis System

Notice that no custom data mapping is required of the data. Even though the words of data overlap and multiple drives share the same word boundary, this is handled by the Logix application code provided on the toolkit with no manual action required.

TIP

The limiting factor for how many drives can be used is based on the module’s available memory (90 words for the 1769-SDN scanner module) and how much data your devices are configured to require (2.75 words here). This example would mathematically lead to answer of about 30 drives, but the network performance would have to be considered before using 30 drives.

Be sure to close RSNetWorx for DeviceNet software before proceeding.

Publication IASIMP-QS011B-EN-P — January 2009 51

Chapter 5 Motion Logix Integration

Select Your Logix Application File

Choose the correct file for your system.

Logix Platform Logix File Name Description

CompactLogix L2x CIML2x_1axis_v00x.acd

CIML3x_1axis_v00x.acd

CompactLogix L3x File for Axis Count

CIML3x_2axis_v00x.acd

CIML3x_3axis_v00x.acd

CompactLogix L2x file pre-configured for single-axis Ultra3000 drive system.

CompactLogix L3x file pre-configured for single-axis Ultra3000 drive system.

CompactLogix L3x file pre-configured for two-axis Ultra3000 drive system.

CompactLogix L3x file pre-configured for three-axis Ultra3000 drive system.

Load and Open Logix Application File

Follow these steps to load and open the Logix application file from the Kinetix Accelerator Toolkit CD.

1. Open the Kinetix Accelerator Toolkit program. From the Start menu, choose

Programs>Rockwell Automation>Simplification>Kinetix Accelerator Toolkit.

2. From the Toolkit menu, choose DeviceNet Based

Motion Applications>Controller Program Files.

3. Choose between the V16 and V17

CompactLogix Indexing Files folders based on your current version of RSLogix 5000 software.

4. Double-click your selected Logix (.acd) application file.

TIP

If your Logix platform is a CompactLogix L2x, select the L2x application file (CIML2x_1axis_v00x.acd).

If your Logix platform is a CompactLogix L3x, select one of the pre-configured files for axis count (CIML3x_xaxis_v00x.acd).

52 Publication IASIMP-QS011B-EN-P — January 2009

The RSLogix 5000 software launches and your application file opens.

Configure Your Logix System

Follow these steps to configure your Logix system to your needs.

Motion Logix Integration Chapter 5

Select Your CompactLogix Controller

1. Choose Edit>Controller Properties.

The Controller Properties window opens.

2. Select the General tab.

3. Verify that the controller Type matches your system.

If not, perform the following steps.

a. Click Change Controller to select the controller

type to match your actual hardware.

b. Click OK.

4. Modify the controller Name as appropriate.

5. Click OK.

Publication IASIMP-QS011B-EN-P — January 2009 53

Chapter 5 Motion Logix Integration

Changing the Slot Number of the DeviceNet Module

(Optional) If you are using a pre-configured CompactLogix application file (CIMLxx_xaxis_v00x.acd), your Logix DeviceNet module is configured in slot 5. If this does not match your actual hardware configuration, follow the steps in this section to change the assigned slot number.

1. Scroll down to the bottom left of the RSLogix 5000 Explorer window and locate the I/O

Configuration folder.

2. Double-click the 1769-SDN scanner module.

3. Verify the Slot address for this module and change it if

necessary.

4. Click OK to close the properties window.

(Optional) To add additional I/O modules, right-click the CompactBus Local icon and select New Module.

Changing Controller Tag Names to Match Your Needs

The CompactLogix Indexing Motion application file (CIMLxx_xaxis_v00x.acd) provided in this toolkit uses generic names for many of the controller tags. Providing useful names for these tags can aid in troubleshooting your machine. Follow these steps to rename the generic tags in your RSLogix 5000 program to reflect your needs.

1. In RSLogix 5000 software, expand the

Explorer window to gain access to the controller tags.

2. Double-click Controller Tags.

3. Make sure the Edit Tags tab is in front.

4. Click the tag GenericMachine_COND and enter a name that better describes the main function

of this machine.

54 Publication IASIMP-QS011B-EN-P — January 2009

Motion Logix Integration Chapter 5

In this example, GenericMachine_COND is renamed SorterMachine_COND.

Using the DeviceNet Tag Generator

IMPORTANT

You do NOT need to perform the steps in this section if the Ultra3000 drives were automapped to the DeviceNet scanner module in order, starting at node address 01.

Follow the steps in this section to enable communications to the axes of motion.

Open the DeviceNet Tag Generator

Follow these steps to open the DeviceNet Tag Generator.

1. From the menu in RSLogix 5000, choose

Tools>DeviceNet Tag Generator.

2. Step 1 of the wizard

prompts you to locate the RSLogix 5000 file that you are presently using. Browse to the location of your Logix application file and double-click it. This selects the file and moves to the next step of the wizard.

Publication IASIMP-QS011B-EN-P — January 2009 55

Chapter 5 Motion Logix Integration

3. For wizard Step 2, locate

and double-click the DeviceNet scanner configured earlier in this chapter.

4. For wizard Step 3, locate

and double-click the DeviceNet configuration file saved earlier in this chapter.

5. For wizard Step 4, locate

and double-click the DeviceNet scanner node.

6. For wizard Step 5, click

Generate Tags to finalize the process.

56 Publication IASIMP-QS011B-EN-P — January 2009

Motion Logix Integration Chapter 5

7. Click Yes to the prompt

about inserting tags and logic.

8. There may be a warning that tags were created, but close the DeviceNet Tag Generator tool

and return to your RSLogix 5000 project.

9. The program logic that was created can be found in the

Tasks folder of the project.

Do not make any changes to these programs or logic, as your DeviceNet nodes may quit responding.

Link the New Tags to the DeviceNet Drives

These steps link the tags created by the tool to the axes programmed in the logic.

1. Double-click Controller Tags in the controller

Explorer window to open the tag editor.

2. At the bottom of the editor window that

opens, click the Edit Tags tab to enable editing.

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3. Scroll to the

bottom of the tag editor and locate the tags created by the Tag Generator tool. The name of the tags will start with the name you gave the DeviceNet scanner, ‘Scanner’ in our case.

TIP

• The ‘Nxx’ indicates the DeviceNet node address assigned to each component.

• The ‘I’ or ‘O’ indicates whether the data is an Input or an Output in reference to

the DeviceNet scanner module.

• Scanner Inputs are the status coming back from the DeviceNet components.

• Scanner Outputs are the commands being issued to the DeviceNet components.

4. You will need to associate

these tags to the existing axis logic provided in the Logix application file. In the ‘Alias For’ column next to the Scanner_N01_POL_I tag, click inside the box to enable the tag browser.

5. Open the tag browser by clicking the

arrow.

6. The axes of motion provided

in the RSLogix 5000 sample file are named ‘AXIS_01’ (’AXIS_02’ for the 2-axis version and so on). Expand the AXIS_01 entry and locate the Status tag. Double-click it to select it and close the tag browser.

This links the Status of the Ultra3000 drive at DeviceNet node 01 to the AXIS_01 programming logic and controller tag in the RSLogix 5000 sample file.

7. Similarly, alias the

Scanner_N01_POL_O tag to the ‘Commands’ tag of AXIS_01.

8. If you have more than one servo drive, repeat this process to alias the remaining nodes to the

axis programming. Be sure to alias the ‘I’ input data to the Status tag and the ‘O’ output data to the Commands tag for each device.

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Configure Axis Properties

Follow these steps to configure the axes of motion.

Modify Axis Names

The CompactLogix Indexing Motion application file (CIMLxx_xaxis_v00x.acd) contains program code for up to three axes, however, you may want to rename the axes from AXIS_0x to something more meaningful for your application. Providing useful names for these axes can aid in troubleshooting your machine. Follow these steps to rename the generic axes in your RSLogix 5000 program to reflect your needs.

1. In RSLogix 5000 software, expand the

Explorer window to gain access to the controller tags.

2. Double-click Controller Tags.

3. Make sure the Edit Tags tab is in front.

4. Click AXIS_01 and enter a name that

better describes the main function of this axis.

In this example, AXIS_01 is renamed CONVEYOR.

5. There are additional tags associated with each

axis. With the Controller Tag dialog box still open, choose Search>Replace.

6. Rename all tags with Axis_01 with

your new axis name.

7. Click Replace All.

8. When the process has completed,

click Close.

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9. Repeat step 4…step 8 for each additional axis.

The result might look like this.

Set the Axis k Constant

The CompactLogix Indexing Motion application file (CIMLxx_xaxis_v00x.acd) allows you to program all motion instructions in user units (inches or degrees, for example) instead of encoder counts. You will need to set the conversion factor (or k constant) from user units to encoder counts to allow the drive to be commanded properly. Follow these steps to set the k constant for each axis in your RSLogix 5000 program.

1. In RSLogix 5000 software, expand the

Explorer window to gain access to the controller tags.

Double-click Controller Tags.

2. Make sure the Monitor Tags tab is in

front.

3. Locate and expand the tag for each axis in your system. You may have renamed them from

their original AXIS_0x name.

The third tag element in the list for each axis is the name.SET_CountsPerUnit tag. This is where the k constant is entered.

4. If needed, consult the documentation for your

mechanical system components and your servo motor to calculate your k constant. Enter the number of encoder counts per desired user unit in the space provided.

All values entered in your Logix motion instructions will now be scaled by this value.

IMPORTANT

Please note this scaling effect when entering your desired speeds, positions, and acceleration rates in your motion instructions.

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5. Repeat step 3 and step 4 for each additional axis.

Motion Logix Integration Chapter 5

TIP

For a better understanding of the code provided in the sample file, as well as the benefits of PhaseManager, refer to Appendix A, CompactLogix Base Program Overview on page 95.

Configure Logix Communications

This procedure assumes that your communication method to the Logix controller is using the Ethernet protocol. It is also assumed that your Logix Ethernet module has already been configured. For additional information, refer to the CompactLogix Controllers User Manual, publication 1769-UM011.

Follow these steps to configure Logix Communications.

1. Apply power to your Logix chassis/personal computer containing the DeviceNet interface

module.

2. Open the RSLinx Classic software and choose Communications>Configure Drivers.

The Configure Drivers window opens.

3. Choose the Ethernet Devices

driver from the pull-down list.

4. Click Add New.

The Add New RSLinx Classic Driver window opens.

5. Name the new driver.

6. Click OK.

The Configure driver window opens.

7. Enter the IP address of your Logix Ethernet

Module.

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The IP address shown is an example. Yours will be different.

TIP

If your Logix Ethernet module is already configured, the IP address is displayed on the module.

8. Click OK.

9. Click Close in the Configure Drivers window.

10.Choose Communication>RSWho.

The RSWho window opens.

11.Expand the 1769 Ethernet Port and then

expand the Backplane.

12.Verify that you can browse to your Logix

controller. If not, repeat step 1…step 11, checking for any errors.

13.Minimize the RSLinx Classic application

window and return to the RSLogix 5000 project window.

Save and Download Your Program

After completing the Logix configuration, you must download your program to the Logix controller.

Follow these steps to save and download your program.

1. On the RSLogix 5000 toolbar, click Verify Controller.

The system verifies your Logix controller program and displays errors/warnings, if any.

TIP

2. Choose File>Save As to save the file.

If you receive warnings related to AXIS_Servo_Generic, they are due to the Fault Event Log configuration and can be ignored.

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3. Choose Communications>Who Active.

The Who Active window opens.

4. Browse to your Logix controller

and click Set Project Path.

5. Verify that the key switch on your

controller module is in the REM (remote) position.

6. Click Download.

The Download window opens.

Motion Logix Integration Chapter 5

7. To send the program to the Logix

controller, click Download.

8. Verify that the three Logix DeviceNet module indicators are green. (Some may be flashing.)

9. Verify that the Ultra3000 servo drive LED indicators are both green. (Some may be flashing.)

If steps 8 or 9 fail, refer to the Ultra3000 Digital Servo Drive Installation Manual, publication

2098-IN003

, for troubleshooting tables.

10.Choose Communications>Run Mode.

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Notes:

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Chapter

Motion FactoryTalk View Integration

In this chapter, you configure your FactoryTalk View ME application file. FactoryTalk View ME application files (.apa) are included in the Kinetix Accelerator Toolkit.

You can choose:

• 1-, 2-, or 3-axis pre-configured FactoryTalk View ME application file for PanelView Plus 600

terminals.

• 2-axis generic base application file for a variety of PanelView Plus terminals.

After file selection, you configure the communications, add axes if needed, test the project, download the program, and run the application.

Before You Begin

• Complete the Kinetix Accelerator Toolkit CD installation. (Refer to Chapter 1.)

• Complete your system hardware selection. (Refer to Chapter 2.)

• Complete your system layout. (Refer to Chapter 3.)

• Complete your system wiring. (Refer to Chapter 4.)

• Complete your Logix Integration procedures. (Refer to Chapter 5.)

What You Need

• Kinetix Accelerator Toolkit CD, publication IASIMP-SP004

• FactoryTalk View Studio software, version 5.00 or later

• RSLinx Enterprise software, version 2.54 or later

• FactoryTalk View ME application files (CIMME_xaxis_U3k_PVP600_v00x.apa)

FactoryTalk View ME files are available on the Kinetix Accelerator Toolkit CD. For a copy of the CD, contact your local Rockwell Automation distributor or sales representative.

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Follow These Steps

Complete the following steps to configure your FactoryTalk View ME Indexing Motion application.

Start

Select Your FactoryTalk

View ME Application File

page 67

Load and Restore the FactoryTalk View ME

Application

page 67

Configure Local

Communications

page 69

Configure Target Communications

page 71

Adding Axes to

the Project

page 72

Test the Project

page 79

Download Fonts to

the Terminal

page 80

Download the Project

to a Terminal

page 81

Run the Project on

a Terminal

page 83

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Select Your FactoryTalk View ME Application File

PanelView Terminal FactoryTalk View ME File Name Description

CIMME_1axis_U3k_PVP600_v00x.apa

PanelView Plus 600

PanelView Plus 700/1000 CIMME_ U3k_PVP700_1000_v00x.apa

PanelView Plus 1250 CIMME_ U3k_PVP1250_v00x.apa

PanelView Plus 1500 CIMME_ U3k_PVP1500_v00x.apa

CIMME_2axis_U3k_PVP600_v00x.apa

CIMME_3axis_U3k_PVP600_v00x.apa

PanelView Plus 600 terminal pre-configured for single-axis Ultra3000 drive system.

PanelView Plus 600 terminal pre-configured for two-axis Ultra3000 drive system.

PanelView Plus 600 terminal pre-configured for three-axis Ultra3000 drive system.

FactoryTalk View ME file for generic base application. Can be configured for any Ultra3000 drive configuration and PanelView Plus terminal.

Load and Restore the FactoryTalk View ME Application

Follow these steps to load and restore the FactoryTalk View ME application file from the Kinetix Accelerator Toolkit CD.

1. Open the Kinetix Accelerator Toolkit program. From the Start menu, choose

Programs>Rockwell Automation>Simplification>Kinetix Accelerator Toolkit.

2. From the Toolkit menu, choose

DeviceNet Based Motion Applications >HMI Application Files.

3. Select the appropriate HMI directory

based on the table above.

4. Double-click your selected FactoryTalk View ME (.apa) application file.

TIP

If you are using any PanelView Plus terminal with any axis count, select the generic base application file (CIMME_PVPxxxx_v00x.apa).

If you are using the PanelView Plus 600 terminal for a specific axis count (up to three axes), select one of the pre-configured files for axis count (CIMME_xaxis_PVP600_ v00x.apa).

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Chapter 6 Motion FactoryTalk View Integration

The Application Manager window opens.

5. Select Restore the FactoryTalk View Machine

Edition application.

6. Click Next.

Another Application Manager window opens.

IMPORTANT

Selecting Restore the FactoryTalk View Machine Edition application and FactoryTalk Local Directory will cause the local security settings on your personal computer to substitute for the security setting from the pre-configured application.

In this example the CIMME_1axis_U3k_PVP600_v001.apa file is selected. Yours could be different.

7. Click Finish.

After file restoration is complete, the application closes.

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Configure Local Communications

The Local tab in Communications Setup reflects the view of the topology from the RSLinx Enterprise server on the development computer. In this example application, the development computer is communicating to the CompactLogix L32E controller via Ethernet network. Other CompactLogix controllers and communication networks can also be selected.

Follow these steps to configure local communications.

1. Apply power to your CompactLogix controller.

2. Connect your motion system communication network cable to your CompactLogix controller

and personal computer.

3. Open the FactoryTalk View Studio software.

The New/Open Machine Edition Application window opens.

4. Click the Existing tab.

5. Select your FactoryTalk View ME

application file.

CIMME_1axis_U3k_PVP600_v001 is used in this example.

6. Click Open.

The FactoryTalk View Studio - Machine Edition window opens.

7. Expand RSLinx Enterprise in the Explorer

window.

8. Double-click Communications Setup.

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The Communications Setup window opens.

9. Click the Design (Local) tab.

10.Select the CLX device shortcut.

11.Expand the RSLinx Enterprise tree to

gain access to your CompactLogix controller.

12.Select your CompactLogix controller.

0, 1769-L32E is used in this example. The slot number is 0. Yours could be different.

IMPORTANT

RSLinx Enterprise will autobrowse to the controller if the controller is available on the network. If RSLinx Enterprise fails to find your controller, refer to CompactLogix System Quick Start manual, publication IASIMP-QS001.

13.In the Device Shortcuts section, click Apply.

TIP

If you select the device shortcut (CLX), the 1769-L32E CompactLogix controller is highlighted. This indicates that the shortcut is correctly mapped to the controller, and communication exists between the controller and your application on the development computer.

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Configure Target Communications

The Target tab displays the offline configuration from the perspective of the device that is running the application and comprises the topology that is loaded into the PanelView Plus terminal. In this example application, the PanelView Plus terminal communicates to the same CompactLogix L32E controller via Ethernet.

Follow these steps to configure target communications.

1. Click the Design (Local) tab in the

Communication Setup window.

2. Click Copy from Design to Runtime.

This RSLinx Enterprise message window opens.

3. Click Yes.

4. Click the Runtime (Target) tab and

expand the RSLinx Enterprise tree.

5. Verify that your controller and

shortcut name are both highlighted.

This indicates that communication is established.

In this example, 1769-L32E is the controller and CLX is the shortcut.

6. Click OK.

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Adding Axes to the Project

IMPORTANT

If you have selected a pre-configured application with a specific axis count and it fits your application needs, skip this section and go to Modifying Axis Names beginning on page 77.

The CIMME_U3k_PVPxxxx_v00x.apa file has two pre-configured axes for use. In this section you will add additional axes to your Ultra3000 drive system and the project file.

All the displays in the project file are parameterized to facilitate quick editing and reuse throughout the application. The following Axis Status display contains faults and status information that is common to all configured axes (Axis1…Axisx).

Axis Status Display

Add the Parameter File

Follow these steps to add a parameter file to your FactoryTalk View ME application.

1. Expand the FactoryTalk View ME Explorer window to gain access to

Parameters.

The parameters list contains the pre-configured axes within the application. Each parameter file is associated with a specific axis. When opening the Axis Status display, the tag information loads from the axis currently selected.

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2. Right-click Axis x Status and select Duplicate.

The Save component name window opens.

3. Name the new parameter file.

In this example, there are two existing pre-configured axes. We are duplicating and renaming the Axis 1 Status parameter file. The new name is Axis 3 Status. Yours could be different.

4. Click OK.

5. Double-click the Axis 3 Status parameter file created in step 3.

The Axis x Status - CIMME_U3k_PVPxxxx_v00x/Parameters window opens.

In each parameter file, there are three references to specific tags or partial strings. The # before a number indicates a parameterized tag. (The ! before any text indicates that line is a comment.)

Parameter #1 contains the shortcut name (CLX in this example). This should match the shortcut name used in step 10 on page 70.

Parameter #2 represents the specific axis from which you will be requesting data.

Parameter #3 is a string memory tag that exists in the tag database editor. A new tag must be created each time a new axis is created so that the displays are updated correctly.

IMPORTANT

All pre-configured application files have four SelectedAxisx memory tags created for them. New tags must be created for axis counts of five or more.

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Chapter 6 Motion FactoryTalk View Integration

6. Edit parameters 2 and 3.

In this example: #2 = AXIS_02

becomes #2 = AXIS_03

#3 = SelectedAxis2 becomes #3 = SelectedAxis3

7. Choose File>Save.

8. Repeat step 2…step 7 as necessary for your axis count.

9. The pre-configured application files include HMI tags for up to four axes.

If your axis count is Then go to

Four or less Edit Display Files Five or more Add an HMI Tag on page 74

on page 75

Add an HMI Tag

In this section, you create an HMI string tag for each parameter file (for Axis 5 or greater) created

Add the Parameter File.

Follow these steps to add an HMI tag to your FactoryTalk View ME application.

1. Expand your application file in the Explorer

window.

2. Double-click Tags.

The Tags editor window opens.

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Motion FactoryTalk View Integration Chapter 6

3. Click the first empty row in the Tags editor

window.

Row 14 is used in this example. Yours could be different.

4. Enter ‘SelectedAxisx’ in the Name field.

SelectedAxis5 is used in this example. Yours could be different.

5. Select String from the pull-down menu in the Tag

Type field.

6. Select Memory in the Data Source Type field.

7. Enter ‘Axis x’ in the Initial Value field.

Axis 5 is used in this example. Yours could be different. This is the text that is displayed on the graphic display.

8. Click Accept. (Leave default values for Description and Length as is.)

9. Repeat step 3…step 8 for each newly created parameter file (for Axis 5 or greater).

10.Click the Close button <X> in the Axis x Status parameter file window to close the window.

Edit Display Files

Follow these steps to edit the display files.

1. Return to the Explorer window and expand the Displays

editor.

In this example, these are the displays that are visible. Yours could be different.

IMPORTANT

All displays containing the text ‘AxisSelect’ require updating for each new parameter file created in Add the Parameter File on page 72.

2. Double-click the S100_AxisSelect_ManualControl display, or the first AxisSelect display in the

list of displays.

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Chapter 6 Motion FactoryTalk View Integration

The Axis Selection display dialog box opens.

3. Right-click the last axis shown (Axis 2

for this example.)

4. Select Copy.

5. Right-click under Axis 2 (or the last

axis shown) and select Paste.

6. Click the pasted axis (new Axis 2 in this example), drag and drop the axis in line beneath the

others.

7. Right-click the new axis

and select Properties.

New Axis

The Goto Display Button Properties window opens.

8. Click … to browse for the parameter file.

The Component Browser window opens.

9. Select the new axis (in this example, Axis 3

Status).

10.Click OK.

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Motion FactoryTalk View Integration Chapter 6

11.Return to the Goto Display Button Properties window and select the Label tab.

12.Edit the text in the Caption field.

In this example Axis 2 becomes Axis 3.

13.Click OK to close the Goto Display Button

Properties window.

14.Verify that Axis Selection now includes your new

axis (Axis 3 in this example.)

15.Repeat step 1…step 14 for each new axis and each of the AxisSelect displays identified in step

Modifying Axis Names

Your FactoryTalk View ME application file (CIMME_U3k_PVPxxxx_v00x) now contains program code for three axes. However, you may want to rename the axes from AXIS_01, AXIS_02, and AXIS_03 to something more meaningful for your application, like Conveyor, for example.

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Chapter 6 Motion FactoryTalk View Integration

Edit Axis Shortcuts

IMPORTANT

Follow these steps to rename the axes in your FactoryTalk View ME program if you changed the names of the axes in your CompactLogix application file.

In this example, AXIS_01 is renamed CONVEYOR and GenericMachine_COND is renamed SorterMachine_COND to match the changes in our Logix application in Chapter 5 Motion Logix Integration.

1. In FactoryTalk View ME software, expand the Explorer window to gain access to Parameters.

If needed, refer to Add the Parameter File on page 72 to see how that was done.

2. Double-click the Axis 1 Status file.

3. Rename the #2 and the #4 shortcut to match the axis and machine names used in your

RSLogix 5000 program file.

4. Repeat step 2…step 3 for each axis to rename the shortcuts.

Edit Axis Display Names

Follow these steps to provide meaningful names to the axes as they are displayed on the operator interface. You will change the Initial Value field for the HMI tags. In this example, Axis 1 is renamed Conveyor.

1. In FactoryTalk View ME software, expand the Explorer window to gain access to HMI tags.

If needed, refer to Add an HMI Tag

2. Rename the Initial Value field to match the axis name used in your RSLogix 5000 program file.

on page 74 to see how that was done.

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Motion FactoryTalk View Integration Chapter 6

3. Repeat step 2 for each SelectedAxisx HMI tag.

Test the Project

FactoryTalk View Studio lets you create and test individual displays or the entire project, so that you can navigate and test all the functionality before downloading your project to a terminal.

IMPORTANT

To test run the project, all communications must be configured first.

Follow these steps to test your FactoryTalk View Studio project.

1. Choose Application>Test Application.

2. If prompted to save changes, click Yes.

3. The FactoryTalk View Studio software compiles the

project and runs it as if it were executing on the desired terminal.

4. Press ‘x’ to end testing and shut down the application.

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Chapter 6 Motion FactoryTalk View Integration

Download Fonts to the Terminal

Because PanelView Plus terminals do not include the Arial Bold font when shipped but the FactoryTalk View ME applications require this font, it is necessary to download Arial Bold from your personal computer to the PanelView Plus terminal.

Follow these steps to download fonts to the PanelView Plus terminal.

1. Apply power to the PanelView Plus terminal.

2. Connect your Ethernet cable between your PanelView Plus terminal and personal computer.

3. Choose Tools>Transfer Utility.

The Transfer Utility window opens.

4. Click … to browse for the source

font file.

The Select File to Download window opens.

5. Navigate to C:\WINDOWS\Fonts.

6. Select True Type Font Files in the

Files of type field.

7. Enter ‘Arialbd.ttf’ in the File name

field.

8. Click Open.

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Motion FactoryTalk View Integration Chapter 6

The Transfer Utility window returns.

9. Expand the Ethernet, Ethernet

driver.

10.Select your PanelView Plus

terminal.

11.Click Download.

The font transfers to the terminal.

Download the Project to a Terminal

Follow these steps to download your FactoryTalk View Studio project.

1. Choose Application>Create Runtime Application.

The Create Runtime Application window opens.

2. For Save as type:, select Runtime 5.0

Application (*.mer).

3. For Filename, enter a file name for

the application.

CIMME_U3k_PVP1250_v001.mer is used in this example.

4. Click Save.

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5. Click the File Transfer Utility button on the tool

bar. The Transfer Utility window opens.

6. Click … to browse for the

runtime file.

7. Select

CIMME_U3k_PVP1250_v001.mer.

8. Click Open.

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9. Browse for your PanelView

Plus terminal.

10.Select Download.

The file transfers to the PanelView Plus terminal.

11.Click OK.

12.Click Exit to close the Transfer Utility window.

13.Choose File>Close to close the application.

Motion FactoryTalk View Integration Chapter 6

Run the Project on a Terminal

Follow these steps to run your project on the PanelView Plus terminal.

1. Apply power to the PanelView Plus terminal.

2. Connect your motion system communication network cable to your PanelView Plus terminal

and personal computer.

The FactoryTalk View ME Station window opens.

3. Click Load Application.

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Chapter 6 Motion FactoryTalk View Integration

The Load Application window opens.

4. Scroll through the list of application files by

using the up/down arrows and select the .mer file you intend to run.

CIMME_U3k_PVP1257000_v001.mer is used in this example.

5. Click Load.

The Replace Communications window opens.

6. Click Yes.

If you click No, the communications settings from the project run previously will be used instead.

The FactoryTalk View ME Station window returns.

7. Verify that the

CIMME_U3k_PVP1257000_v001.mer file appears in the current application field.

8. Click Run Application.

9. Verify the functionality of the application.

Refer to Chapter

7 for a basic understanding of how to run a general motion system

application.

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Chapter

Motion System Application Guide

In this chapter, you are guided through the pre-configured FactoryTalk View ME application that interfaces with the pre-configured Logix program that controls your base motion system. You will run your motion system in Manual mode and Auto mode, and use the built-in axis status and diagnostics.

Before You Begin

• Complete your system hardware selection. (Refer to Chapter 2.)

• Complete your system layout. (Refer to Chapter 3.)

• Complete your system wiring. (Refer to Chapter 4.)

• Complete your Logix Integration procedures (refer to Chapter 5) and download the Logix

program to your controller.

• Complete your FactoryTalk View ME Integration procedures (refer to Chapter 6) and

download the FactoryTalk View program to your HMI.

ATTENTION

What You Need

• Kinetix Accelerator Toolkit CD, publication IASIMP-SP004. For a copy of the CD, contact your

local Rockwell Automation distributor or sales representative.

• Hardware installation and wiring complete, with power applied.

• Logix application file (CIMLxx_xaxis_v00x.acd) downloaded to CompactLogix controller.

Controller is set to run.

• FactoryTalk View ME runtime application file (IMME_PVPxxxx_v00x.mer) downloaded to the

PanelView Plus terminal. Run Application activated on terminal.

• Ultra3000 Digital Servo Drive Installation Manual, publication 2098-IN003.

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Chapter 7 Motion System Application Guide

Follow These Steps

Complete the following display overview steps to run the pre-configured application and gain an understanding the general motion system operation.

Start

Use the Manual

Control Display

page 88

Use the Auto Control

Display

page 89

Use the Trend

Display

page 91

Use the Axis Status

Display

page 92

Use the Fault Log

Display

page 93

Use the Security

Display

page 94

Use the Security

Display

page 94

Shut Down Application

page 94

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Motion System Application Guide Chapter 7

Startup Display

With power applied to your CompactLogix Indexing Motion system, and the Logix controller and PanelView Plus terminal in Run mode, the Auto Control (startup) display automatically opens on your PanelView Plus terminal.

IMPORTANT

If the Auto Control display is not visible or errors are reported on either the CompactLogix controller or PanelView Plus terminal, refer to previous chapters to check system wiring and configuration settings.

Start Button

Stop Button

Application

Navigation Bar

The Auto Control display provides general system status and state machine functions. You see this display at startup and whenever the Auto button is pressed from the Application Navigation Bar. The Application Navigation Bar, at the bottom of all displays, lets you select any application display.

At startup, the system machine state should be Stopped, indicated by the green Stopped indicator. If the system is not stopped, press the Stop button.

ATTENTION

Before running any of the Auto Control (state machine) functions, run the Manual Control functions beginning on page 88

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Chapter 7 Motion System Application Guide

Use the Manual Control Display

Follow these steps to home and jog the selected axis using the Manual Control display.

1. Press Manual on the Application Navigation Bar.

The Manual Control display opens.

When pressed, Assume Manual

Control toggles with

Release Manual Control.

Actual Position and Actual Velocity indicators are present to assist you

in your initial axis setup.

Application Navigation Bar

2. Press Assume Manual Control to provide Jog Forward, Jog Reverse, and Define Home button

manual control functionality.

3. Press Release Manual Control to disable Jog Forward, Jog Reverse, and Define Home button

functionality and enable Auto Control.

Change the Axis Selection

Follow these steps to select a specific axis and give it jog and home commands.

1. Press Axis Select Axis 1 in the center of the Manual Control display. The Axis Selection display

opens.

2. Press Axis 2.

The Axis Selection display closes, the Manual Control display returns.

3. Jog (forward/reverse) or home Axis 2 from Manual Control display.

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Use the Auto Control Display

The Auto Control display lets you start, stop, hold, and restart the motion system. The state machine section provides the status of the current motion system phase state.

Press Auto on the Application Navigation Bar. The Auto Control display opens.

Start Button

Stop Button

Application

Navigation Bar

Start and Run State Actions

Follow these steps to start your motion system and proceed to Run state.

If System Status Then

The Release Manual Control button is flashing Manual control was not released. Go to step 1. The (green) Stopped state moves to Resetting and

then to Idle

1. Press Release Manual Control to release manual control.

ATTENTION

Pressing Start will cause the system to jog. Do not press Start if motion will cause personal injury or damage to

equipment.

Your system is ready to start. Go to step 2.

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Chapter 7 Motion System Application Guide

2. Press Start.

If System Status Then

The (green) Stopped state moves to Resetting and then to Aborted

The (green) Stopped state moves to Resetting and then to Idle

The system failed to reset. Go to step 3.

Your system is ready to start. Go to step 4.

3. Check for power to drives, verify that you have provided a Drive Enable input to each of the

drives and try the Start command again. Refer to the Troubleshooting section on page 115 for additional assistance.

4. Press Start again.

Stop State Actions

To stop your motion system, press Stop.

The state moves (green) from Running to Stopping and then to Stop.

ATTENTION

The Start and Stop buttons on your PanelView Plus terminal display do not replace a hardwired start/stop control circuit for safety purposes. Your motion system should also have an emergency start/stop control circuit.

Adjust the Speed

Follow these steps to adjust the relative speed of your motion system.

1. Press Speed.

The numeric keypad opens.

2. Enter a new speed value from the keypad.

3. Press the Enter button.

The keypad closes and motor speed is updated with the new value.

Enter button

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Use the Trend Display

The Trend display lets you view current, actual velocity, and actual position trends of your motion system axes over time.

Follow these steps to view torque feedback, actual velocity, and actual position trends.

1. Press Trend on the Application Navigation Bar.

The trend selector display opens.

2. Select your trend of choice.

The trend display opens.

The Command Actual Velocity trend (shown) operates similarly to the other trend displays.

3. Press Axis 1 to view trends of other axes. (Refer to Change the Axis Selection on page 88.)

The Axis Selection display opens and lets you change the axis trend to view as shown in the Manual Control section.

In this example, two axes are trended, but based on your axis configuration, other axes can also be viewed.

4. Press Y-Scale Min or Max to

change values.

The numeric keypad opens. (Refer to Adjust the Speed view the keypad.)

on page 90 to

5. Enter a new value and press Enter.

The keypad closes and the Y-Scale (Min or Max) is updated with the new value.

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Chapter 7 Motion System Application Guide

Use the Axis Status Display

The Axis Status display shows general motion, axis, and drive status, and faults.

Follow these steps to view status and fault indicators and to select the axis.

1. Press Status on the Application Navigation Bar. The Axis Status display opens.

2. Select a system Status or Fault

category from the axis (left) window.

The green indicator confirms your status/faults selection.

3. Monitor the status or fault

indicators (right side and below.)

In this example, Axis Status indicators are shown. Servo Enabled, Servo Faulted, and Network Fault status indicators are always present.

Axis Status, Drive Status, Axis Faults, and Drive Faults indicators show the corresponding status/faults of the axis displayed on the Axis Select button.

The ON/OFF and Faulted/Non-Faulted states are described in the tables below.

Status Indicators

Status Indicators ON State OFF State Fault Indicators

Axis Status

Green Grey

Drive Status Drive Faults

Module Faults

Faulted State

Red Grey

Non-faulted State

4. Press Axis Select Axis (1) to select another axis for status and fault viewing. (Refer to Change

the Axis Selection on page 88 for axis selection operation.)

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Use the Fault Log Display

The Fault Log display lets you monitor and/or log motion group, module, axis, or drive fault events.

Follow these steps to monitor and/or log fault events.

1. Press Fault on the Application Navigation Bar.

The Fault Log display opens.

2. Select a system Fault category

from the Fault window (left).

The green indicator confirms your fault selection.

3. Monitor the Fault Indicators

(right).

In this example, Axis Fault indicators are shown. Red indicators represent a faulted state. Grey indicators represent a non-faulted state.

The Logix controller stores the last 50 fault events for each axis. A fault event is triggered by any non-fault to fault transition for any given axis. The 50 faults are stored on a first-in/ first-out basis.

The indicators displayed correspond to the selected axis.

4. Press the up/down arrows to the left of the selected axis to change the axis.

5. Press the up/down arrows to the right of the selected axis to change the fault event.

Fault events number 0…49. When the fault event number changes, the fault event date/time and indicators also change.

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Chapter 7 Motion System Application Guide

Use the Security Display

The security feature of FactoryTalk View ME lets you limit privileges to the individuals that use the FactoryTalk View ME application. Refer to FactoryTalk View Machine Edition User’s Guide, Volume 1, publication VIEWME-UM004, for more information.

The security display adds login and logout functions to the application. User names and passwords have not been setup in the FactoryTalk View ME application files, but using FactoryTalk ViewStudio software, you can edit the base application files to add user names and passwords for your specific needs.

1. Press Security on the Application Navigation Bar.

The Current User window opens.

2. Press Login.

Shut Down Application

To shut down the application, press Shutdown Application on the Application Navigation Bar. The FactoryTalk View ME application shuts down.

The PanelView Plus terminal returns to the FactoryTalk View ME Station display.

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Appendix

CompactLogix Base Program Overview

The pre-configured CompactLogix program is a Rockwell Automation solution that helps machine builders and end users streamline their motion control programming. This application template provides a basis for using motion control, understanding the principles of state programming, and creating a consistent program structure.

The CompactLogix program template does the following:

• Incorporates a simple state machine sequencing programming.

• Provides a base structure, making it easier to write, use, and manage the code for your

machine or equipment.

• Streamlines the development of application programs.

• Can be optionally sequenced with PhaseManager for S-88 compatibility (L3x only), but

PhaseManager is not required.

Basic Program Flow

P01_AXIS_01 P01_AXIS_02 Pxx_AXIS_xx

Automatic Machine Cycle Diagram

Main Machine Control

P00_Control

Machine

Status

Axis/Equipment Control

...

Axis

Command

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Appendix A CompactLogix Base Program Overview

TIP

If you are familiar with the full S-88 functionality of the Kinetix Accelerator Toolkit sample code, note that the CompactLogix Indexing Motion Accelerator Toolkit provides a reduced set of functionality. It does not use PhaseManager.

Main Machine Control (P00_Control)

All machine control is initiated from the P00_Control program within the T00_Main task. The sequencing of the machine state (Resetting, Idle, Running, Stopping, or Stopped) is handled in routines in this main control program. This is done based on user input from the HMI and machine conditions.

Main Machine Control Flow

The R03_Commands_AUTO routine controls the automatic cycle of the machine and the R04_Commands_MANUAL routine controls the manual functions of the servo axes.

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CompactLogix Base Program Overview Appendix A

Overall Program Flow

The automatic cycle and the manual cycle are controlled by a state sequencer. The sequencer has an index register (for example, AutoCycle.StepIndex) that can only be at one value at a time, so the states of the machine are unique. The sequencer changes states based on the commands and conditions of the machine.

In the P00_Control rung example below, if the conditions (not manual, auto cycle idle state, and user start request) are met, a machine start command is initiated.

Start Command Rung

There is logic in the main machine control P00_Control program for the automatic cycle as well as manual machine control.

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Appendix A CompactLogix Base Program Overview

Automatic Machine Cycle Commands

The diagram above shows the automatic cycle flow provided in the application template. As the commands are issued (Reset, Start, Stop, or Abort) by the user or the application logic, the action items shown inside the Action States are issued from the P00_Control routine to each of the Pxx_AXIS_xx programs. The actual axis commands (Fault Reset, Enable, Jog, Stop, etc.) exist in the routines of the Pxx_AXIS_xx programs and not in the P00_Control program.

Command Issued

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Action Taken

Should any of these command action states fail to complete, the application template issues an abort command which stops the running cycle and disables the servo drives.

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Appendix A CompactLogix Base Program Overview

Axis/Equipment Control

The individual axis actions are controlled based on the machine state. Any of the states will issue commands that will initiate actions programmed within routines in the individual axis programs. In the rungs of code below, within the Auto-Running phase state logic, a sequence word is set to a value of 1 to initiate a run sequence in P01_AXIS_00…R06_AutoMotion routine.

In this case, a Jog command is issued on AXIS_01.

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Rockwell Automation 2098 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Where to Start

Table of Contents

Preface

Introduction

Required Software

Conventions Used in This Manual

Additional Resources

What You Need

Follow These Steps

Install the Kinetix Accelerator Toolkit Program

Open the Kinetix Accelerator Toolkit Program

Before You Begin

What You Need

Follow These Steps

Installing Motion Analyzer Software

Review Basic Panel Component Listings

Verify Base System Performance Specifications

Select Add-In Components

Before You Begin

What You Need

Follow These Steps

Load Basic System CAD Drawings

Verify Your Basic Panel Layout

Modifying Your Motion Panel Layout

Downloading Other Allen-Bradley CAD Drawings

Before You Begin

What You Need

Follow These Steps

Load Basic System CAD Diagrams

Route Cables for Your Motion Panel

Lay Out DeviceNet and Ethernet Cables

Before You Begin

What You Need

Follow These Steps

Configure Your Servo Drives

Configure Your Logix DeviceNet Module

Select Your Logix Application File

Load and Open Logix Application File

Configure Your Logix System

Using the DeviceNet Tag Generator

Configure Axis Properties

Configure Logix Communications

Save and Download Your Program

Before You Begin

What You Need

Follow These Steps

Select Your FactoryTalk View ME Application File

Load and Restore the FactoryTalk View ME Application

Configure Local Communications

Configure Target Communications

Adding Axes to the Project

Modifying Axis Names

Test the Project

Download Fonts to the Terminal

Download the Project to a Terminal

Run the Project on a Terminal

Before You Begin

What You Need

Follow These Steps

Startup Display

Use the Manual Control Display

Use the Auto Control Display

Use the Trend Display

Use the Axis Status Display

Use the Fault Log Display

Use the Security Display

Shut Down Application

Basic Program Flow

Main Machine Control (P00_Control)

Axis/Equipment Control