Rockwell Automation 5730 User Manual
DriveLogix™ 5730
Controller
for PowerFlex® 700S Drives
with Phase II Control
Firmware Version
15.04
User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Safety Guidelines for the Application, Installation
and Maintenance of Solid State Controls (Publication SGI-1.1 available from your
local Rockwell Automation sales office or online at http://
www.rockwellautomation.com/literature) describes some important differences
between solid state equipment and hard-wired electromechanical devices. Because
of this difference, and also because of the wide variety of uses for solid state
equipment, all persons responsible for applying this equipment must satisfy
themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or
consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with any
particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of
information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written
permission of Rockwell Automation, Inc. is prohibited.
Throughout this manual, when necessary we use notes to make you aware of safety
considerations.
WARNING: Identifies information about practices or
circumstances that can cause an explosion in a hazardous
!
environment, which may lead to personal injury or death, property
damage, or economic loss.
Important: Identifies information that is critical for successful application
and understanding of the product.
ATTENTION: Identifies information about practices or
circumstances that can lead to personal injury or death, property
!
damage, or economic loss. Attentions help you:
• identify a hazard
• avoid the hazard
• recognize the consequences
Shock Hazard labels may be located on or inside the equipment
(e.g., drive or motor) to alert people that dangerous voltage may
be present.
Burn Hazard labels may be located on or inside the equipment
(e.g., drive or motor) to alert people that surfaces may be at
dangerous temperatures.
PowerFlex is a registered trademark of Rockwell Automation, Inc.
DriveExplorer, DriveExecutive, and SCANport are trademarks of Rockwell Automation, Inc.
PLC is a registered trademark of Rockwell Automation, Inc.
Summary of Changes
Manual Updates
This information summarizes the changes to the DriveLogix5730 Controller
for PowerFlex 700S Drives with Phase II Control, publication 20D-UM003,
since the July 2004 release.
Change See Page...
Added information for contacting Technical Support and updated Controller Firmware
Revision information
Updated information and example for specifying task priorities 1-7
Updated information on controller fault response settings 3-2, 3-6, 3-8,
Updated the System Requirements for configuring DriveLogix Motion 4-1
Updated the Coarse Update Period setting from 4ms to 2ms 4-9
Updated the tables for parameter links and parameter settings for configuring
DriveLogix Motion
Updated the Communicating with Devices on an EtherNet/IP Link procedures to reflect
the support of duplicate IP address detection.
Added information regarding updated MSG packet size. 6-19
Added information regarding updated MSG packet size. 7-9
Added a new Appendix for application restrictions C-1
Preface-2
and 3-12
4-18 and
4-19
6-4
soc-2
Table of Contents
Important User Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Summary of
Changes
Preface Overview
Chapter 1 What is DriveLogix5730?
Chapter 2 Placing and Configuring the Drive
Manual Updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i-1
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-1
Related Documentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Contacting Tech Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-2
Controller Firmware Revision. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P-3
Loading Controller Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Using CompactFlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Developing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Selecting a System Overhead Percentage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Understanding the Virtual Backplane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 2-1
Understanding the Interface to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Determining When the Controller Updates the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Placing and Configuring the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Inhibiting the Drive Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Using DriveExecutive Lite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
Accessing Drive Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Monitoring Drive Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Configuring the Controller’s Response to a Connection Failure . . . . . . . . . . . . . . . . . . 2-22
Recommended Programming Techniques. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Chapter 3 Placing and Configuring Local I/O
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 3-1
Understanding How the DriveLogix5730 Supports
I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Placing Local I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Validating I/O Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Estimating RPI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Determining When the Controller Updates I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Configuring the CompactBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Configuring Local I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Accessing I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
Direct Connections for I/O Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Monitoring I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Configuring I/O Modules Using the Generic 1769-MODULE . . . . . . . . . . . . . . . . . . . 3-17
ii
Chapter 4 Configuring DriveLogix Motion
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 4-1
About this Chapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Programming the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Launching DriveExecutive from RSLogix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
Configuring the Drive with DriveExecutive Software. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Downloading the Settings and Links to the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Additional Testing and Programming is Necessary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Supported Motion Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
Chapter 5 Communicating with Devices on a Serial Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 5-1
Configuring Your System for a Serial Link. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Example 1: Workstation Directly Connected to a DriveLogix Controller. . . . . . . . . . . . . 5-6
Example 2: Workstation Remotely Connected to a DriveLogix Controller . . . . . . . . . . . 5-7
Example 3: DriveLogix Controller to a Bar Code Reader. . . . . . . . . . . . . . . . . . . . . . . . 5-10
Chapter 6 Communicating with Devices on an EtherNet/IP Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 6-1
Communicating Through the Embedded EtherNet/IP Option. . . . . . . . . . . . . . . . . . . . . . 6-2
Controller Connections Over EtherNet/IP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Configuring Distributed I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Adding a Remote Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
Producing and Consuming Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
Using a MSG Instruction to Send an Email. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Example 1: DriveLogix5730 Controller and
Distributed I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
Example 2: Controller to Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
Chapter 7 Communicating with Devices on a ControlNet Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 7-1
Configuring Your System for a ControlNet Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Configuring Distributed I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Scheduling the ControlNet Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
Sending Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Producing and Consuming Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
Chapter 8 Communicating with Devices on a DeviceNet Link
Guidelines for Configuring Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
Example 1: DriveLogix Controller and Remote I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
Example 2: DriveLogix5730 Controller to DriveLogix5730 Controller . . . . . . . . . . . . . 7-19
Example 3: DriveLogix Controller to Other Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 8-1
Example: Controlling I/O Over DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
Chapter 9 Communicating with Devices on a DH485 Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 9-1
Understanding How the DriveLogix5730 Controller Supports DH485 Communications 9-1
Configuring Your System for a DH-485 Link. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
Planning a DH-485 Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
Installing a DH-485 Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
Browsing a DH-485 Network Remotely. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
Appendix A DriveLogix5730 Controller Specifications
DriveLogix5730 Controller Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
DriveLogix5730 Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
DriveLogix5730 Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Real-Time Clock Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Controller LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
Embedded EtherNet/IP Option LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Battery Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
Appendix B Access Procedures
Removing Power from Drive and Compact I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-1
Opening Door Over Power Structure and Main Control Board . . . . . . . . . . . . . . . . . . . . B-2
Removing the Control Cassette from Frame 1-6 Size Drives. . . . . . . . . . . . . . . . . . . . . . B-2
Removing the Outside Covers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Removing the Inside Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-3
Connecting the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-4
Replacing the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-5
Installing the Embedded EtherNet/IP Option Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
Installing the DriveLogix5730 Expansion Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-7
Installing the Compact I/O Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-8
Installing the Communications Daughtercard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B-9
iii
Appendix C Application Restrictions
Additional Memory Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Hold Last State and User-Defined Safe State Not Supported. . . . . . . . . . . . . . . . . . . . . . C-3
Index
iv
Overview
Preface
Who Should Use This Manual
Purpose of this Manual
This manual is intended for qualified personnel. You must be able to
program and operate Adjustable Frequency AC Drive devices and
programmable controllers.
This manual guides the development of projects for DriveLogix controllers.
It provides procedures on how to establish communications:
• with the following networks
– ControlNet
– DeviceNet
– EtherNet/IP
– serial
• with the following devices
– PowerFlex® 700S drive
– controllers
– I/O
– workstations
– PanelView terminals
p-2 Overview
Related Documentation
If you are: Use this publication:
a new user of a Logix5000 controller
This quick start provides a visual, step-by-step overview of the basic steps
you need to complete to get your controller configured and running.
an experienced user of Logix5000 controllers
This system reference provides a high-level listing of configuration
information, controller features, and instructions (ladder relay, function
block diagram, and structured text).
any user of a Logix5000 controller
This common procedures manual explains the common features and
functions of all Logix5000 controllers.
For Read this document Document number
Information on the DriveLogix Instruction Set Logix5000 Controllers General Instruction Set Reference
Information on function block programming Logix controllers. Logix5000 Controllers Process Control/Drives Instruction
Execution times and memory use for instructions Logix5000 Controllers Execution Time and Memory Use
Information on selecting CompactLogix and Compact I/O
components and modules
Information on installing, configuring, and using Compact
Analog I/O modules
Information on installing, configuring and using PowerFlex
700S drives
Information on the DriveLogix Motion Control Instruction Set Logix Controller Motion Instruction Set 1756-RM007…
Information on installing an ControlNet communications
daughtercard (Coax)
Information on installing an ControlNet communications
daughtercard (Fiber)
Information on installing an EtherNet/IP communications
daughtercard
Information on installing an DeviceNet communications
daughtercard
Information on installing 1769-SDN DeviceNet Scanner
Module
Information on using 1769-SDN DeviceNet Scanner Module Compact I/O 1769-SDN DeviceNet Scanner Module 1769-UM009…
Information on converting from Phase I PowerFlex 700S and
DriveLogix5720 to Phase II PowerFlex 700S and
DriveLogix5730
Information on the basic installation of PowerFlex 700S drives
and DriveLogix5730 controllers
Allen-Bradley publications are available on the internet at
www.rockwellautomation.com/literature.
These core documents address the Logix5000 family of controllers:
Logix5000 Controllers Quick Start
publication 1756-QS001
Logix5000 Controllers System Reference
publication 1756-QR107
Logix5000 Controllers Common Procedures
publication 1756-PM001
DriveLogix-specific information is also available:
1756-RM003…
Manual
1756-RM006…
Set Reference Manual
Reference Manual
Compact I/O Selection Guide 1769-SG001…
Compact I/O Analog Modules User Manual 1769-UM002…
®
PowerFlex 700S Phase II User Manual 20D-UM006…
ControlNet Communications Daughtercard Installation
Instructions
ControlNet Communications Daughtercard Installation
Instructions
EtherNet/IP Communications Daughtercard Installation
Instructions
DeviceNet Communications Daughtercard Installation
Instructions
Compact I/O 1769-SDN DeviceNet Scanner Module 1769-IN060…
PowerFlex 700S Conversion Guide
Phase I to Phase II Control
Quick Start - PowerFlex 700S High Performance AC Drive 20D-QS001…
1756-RM087…
1788-IN002…
1788-IN005…
1788-IN054…
1788-IN053…
20D-AT001…
Contacting Tech Support
For Automation and Control Technical Support:
Title Online at…
Rockwell Automation Technical Support http://support.rockwellautomation.com/knowledgebase
Overview p-3
Controller Firmware Revision
General Precautions
This revision on the DriveLogix 5730 User Manual corresponds to the
following:
• Version 15.04 and later controller firmware
• Version 15.xx and later RSLogix 5000 programming software
• Version 3.02 and later DriveExecutive programming software
Class 1 LED Product
ATTENTION: Hazard of permanent eye damage exists when
using optical transmission equipment. This product emits intense
!
light and invisible radiation. Do not look into module ports or
fiber optic cable connectors.
ATTENTION: This drive contains ESD (Electrostatic
Discharge) sensitive parts and assemblies. Static control
!
precautions are required when installing, testing, servicing or
repairing this assembly. Component damage may result if ESD
control procedures are not followed. If you are not familiar with
static control procedures, reference A-B publication 8000-4.5.2,
“Guarding Against Electrostatic Damage” or any other applicable
ESD protection handbook.
ATTENTION: Only qualified personnel familiar with the
PowerFlex 700S Drive and associated machinery should plan or
!
implement the installation, start-up and subsequent maintenance
of the system. Failure to comply may result in personal injury
and/or equipment damage.
ATTENTION: To avoid an electric shock hazard, verify that the
voltage on the bus capacitors has discharged before performing
!
any work on the drive. Measure the DC bus voltage at the +DC &
–DC terminals of the Power Terminal Block. The voltage must be
zero.
p-4 Overview
Notes:
Chapter 1
What is DriveLogix5730?
The DriveLogix controller is part of the Logix environment. The
DriveLogix controller provides a distributed control system built on these
components:
• The DriveLogix5730 controller has one RS-232 port. The controller
supports the Logix instructions.
• RSLogix 5000 programming software that supports every Logix
controller.
• Direct connection to host PowerFlex 700S drive.
• Compact I/O modules that provide a compact, DIN-rail or panel
mounted I/O system.
• Embedded EtherNet/IP option provides communication over an
EtherNet/IP network.
• 1788 communication daughtercard that provides communication over a
standards-based ControlNet, EtherNet/IP, DeviceNet or third party
network.
ControlLogix
Controller
The newer DriveLogix5730 controller offers significant performance and
capacity improvements over the DriveLogix5720 controller. It offers:
• increased user memory up to 1.5 Mbytes
• CompactFlash for non-volatile memory storage
• extended I/O capacity up to 16 I/O modules
• integrated EtherNet/IP support, including control of distributed I/O
• Run/Rem/Prog switch
ahw0783.eps
EtherNet/IP
DriveLogix
with
Local I/O
ControlNet
Remote
Work
Station
PanelView
Flex I/O
1-2 What is DriveLogix5730?
Loading Controller Firmware
De-energizing the Drive to Connect or Disconnect a Cable
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
!
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of loading controller firmware you will need to connect
or disconnect a programming or network cable at the controller. You should
do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with loading firmware.
Loading Firmware
The controller ships with working firmware. You may decide to upgrade the
firmware. To load firmware, you can use:
• ControlFlash utility that ships with RSLogix 5000 programming
software.
• AutoFlash that launches through RSLogix 5000 software when you
download a project to a controller that does not have the current
firmware.
• a 1784-CF64 CompactFlash card with valid memory already loaded.
The firmware is available with RSLogix 5000 software or you can
download it from the support website:
1. Go to: http://support.rockwellautomation.com/
2. In the left column (frame), select “Firmware Updates” under “Technical
Support.”
3. Select the desired firmware revision.
The download process will require you to enter the serial number of your
RSLogix 5000 programming software.
If you load (flash) controller firmware via the ControlFlash or AutoFlash
utilities, you need a serial or EtherNet/IP connection to the controller.
Flashing via an EtherNet/IP connection is faster than the serial connection.
What is DriveLogix5730? 1-3
The controller’s EtherNet/IP configuration settings are maintained during a
flash process.
If you load firmware via an EtherNet/IP connection, browse through the
network port, across the virtual backplane, and select the appropriate
controller.
Using ControlFlash to load firmware
You can use ControlFlash to load firmware through either an Ethernet
connection (an IP address must already be assigned to the Ethernet port) or
a serial connection.
1. Make sure the appropriate network connection is made before starting.
2. Start the ControlFlash utility. Click Next when the Welcome screen
appears.
3. Select the catalog number of the controller and click Next.
4. Expand the network until you see the controller. If the required network
is not shown, first configure a driver for the network in RSLinx software.
If you use an Ethernet connection to load the firmware (which is much
faster than the serial connection), the utility will require a valid IP
address before connecting to the controller.
5. Select the controller and click OK.
6. Select the revision level to which you want to update the controller and
click Next.
7. To start the update of the controller, click Finish and then click Yes.
8. After the controller is updated, the status box displays Update complete.
Click OK.
9. To close ControlFlash software, click Cancel and then click Yes.
1-4 What is DriveLogix5730?
Using AutoFlash to load firmware
You can use AutoFlash to load firmware through either an Ethernet
connection (an IP address must already be assigned to the Ethernet port) or
a serial connection.
1. Make sure the appropriate network connection is made before starting.
2. Use RSLogix 5000 programming software to download a controller
project. If the processor firmware does not match that project revision,
AutoFlash automatically launches.
3. Select the catalog number of the controller and click Next.
4. Expand the network until you see the controller. If the required network
is not shown, first configure a driver for the network in RSLinx software.
If you use an Ethernet connection to load the firmware (which is much
faster than the serial connection), the utility will ask for a valid IP
address before connecting to the controller.
5. Select the controller and click OK.
6. Select the revision level to which you want to update the controller and
click Next.
7. To start the update of the controller, click Finish and then click Yes.
8. After the controller is updated, the status box displays Update complete.
Click OK.
9. To close AutoFlash software, click Cancel and then click Yes.
Using a CompactFlash card to load firmware
If you have an existing DriveLogix5730 controller that is already configured
and has firmware loaded, you can store the current controller user program
and firmware on CompactFlash and use that card to update other
controllers.
1. Store the controller user program and firmware of a currently configured
DriveLogix5730 controller to the CompactFlash card.
Make sure to select Load Image On Power-up when you save to the card.
2. Remove the card and insert it into a DriveLogix5730 controller that you
want to have the same firmware and controller user program.
3. When you power up the second DriveLogix5730 controller, the image
stored on the CompactFlash card is loaded into the controller.
What is DriveLogix5730? 1-5
Using CompactFlash
The 1784-CF64 CompactFlash card provides nonvolatile memory storage
for the DriveLogix5730 controller. The card stores the contents of the
controller memory (program logic and tag values) and the controller
firmware at the time that you store the project. Storing information to the
CompactFlash card is like storing a snapshot of controller memory at a
given time.
ATTENTION: If you configured the CompactFlash card to
“restore on power up” and you make changes to a project, such
!
as online edits or changes to tag values, you must store the
project to the CompactFlash card again after you make changes.
Otherwise, your changes are not saved and you will lose those
changes on the next power cycle to the controller.
Tag values stored in flash are a snapshot at the time of the store. During a
program restore the processor tag values will be equal to tag data stored on
flash.
The locking tab on the front of the controller helps hold the CompactFlash
card in its socket.
ATTENTION: Do not remove the CompactFlash card while the
controller is reading from or writing to the card, as indicated by a
!
flashing green CF LED. This could corrupt the data on the card
or in the controller, as well as corrupt the latest firmware in the
controller.
The CompactFlash card supports removal and insertion under power.
ATTENTION: When you insert or remove the card while
backplane power is on, an electrical arc can occur. This could
!
cause an explosion in hazardous location installations.
Be sure that power is removed or the area is nonhazardous before
proceeding. Repeated electrical arcing causes excessive wear to
contacts on both the module and its mating connector. Worn
contacts may create electrical resistance that can affect module
operation.
See the Logix5000 Controllers Common Procedures Programming Manual,
publication 1756-PM001, for steps on storing an image on the
CompactFlash card.
1-6 What is DriveLogix5730?
Developing Programs
The controller operating system is a preemptive multitasking system that is
IEC 1131-3 compliant. This environment provides:
• tasks to configure controller execution
• programs to group data and logic
• routines to encapsulate executable code written in a single programming
control application
task 1
program 1
main routine
language
task 8
program 32
controller fault handler
configuration
status
watchdog
program (local)
tags
fault routine
other routines
controller (global) tags I/O data system-shared data
40012.eps
Defining tasks
A task provides scheduling and priority information for a set of one or more
programs. You can configure tasks as continuous, periodic, or event. Only
one task can be continuous. The DriveLogix5730 controller supports as
many as eight tasks.
A task can have as many as 32 separate programs, each with its own
executable routines and program-scoped tags. Once a task is triggered
(activated), all the programs assigned to the task execute in the order in
which they are grouped. Programs can only appear once in the Controller
Organizer and cannot be shared by multiple tasks.
What is DriveLogix5730? 1-7
Specifying task priorities
Each task in the controller has a priority level. The operating system uses
the priority level to determine which task to execute when multiple tasks are
triggered. You can configure periodic tasks to execute from the lowest
priority of 15 up to the highest priority of 1. A higher priority task will
interrupt any lower priority task. The continuous task has the lowest priority
and is always interrupted by a periodic task.
The DriveLogix5730 controller uses a dedicated periodic task at priority 7
to process I/O data. This periodic task executes at the Requested Packet
Interval (RPI) you configure for the CompactBus, which can be as fast as
once every 1 ms. Its total execution time is as long as it takes to scan the
configured I/O modules.
How you configure your tasks affects how the controller receives I/O data.
Tasks at priorities 1 to 6 take precedence over the dedicated I/O task. Tasks
in this priority range can impact I/O processing time. If you configure the I/
O RPI at 1ms and you configure a task of priority 1 to 6 that requires 500 µs
to execute and is scheduled to run every millisecond, this leaves the
dedicated I/O task 500 µs to complete its job of scanning the configured I/
O.
However, if you schedule two high priority tasks (1 to 6) to run every
millisecond, and they both require 500 µs or more to execute, no CPU time
would be left for the dedicated I/O task. Furthermore, if you have so much
configured I/O that the execution time of the dedicated I/O task approaches
1 ms (or the combination of the high priority tasks and the dedicated I/O
task approaches 2 ms) no CPU time is left for low priority tasks (8 to 15).
TIP: For example, if your program needs to react to inputs and control
outputs at a deterministic rate, configure a periodic task with a priority
higher than 7 (i.e., 1 through 6). This keeps the dedicated I/O task from
affecting the periodic rate of your program. However, if your program
contains a large amount of math and data manipulation, place this logic in a
task with priority lower than 7 (i.e., 8 through 15), such as the continuous
task, so that the dedicated I/O task is not adversely affected by your
program.
Important: When using a DriveLogix5730 controller with Compact I/O, all
application program tasks must have an assigned priority of 8
through 15 in order that they do not interfere with the proper
operation of the Compact I/O.
1-8 What is DriveLogix5730?
The following example shows the task execution order for an application
with two periodic tasks and one continuous task.
Example
Task: Priority Level: Task Type:
1 5 periodic task, executes every 20 ms 2 ms 2 ms
2 7 dedicated I/O task (5 ms RPI) 1 ms 3 ms
3 10 periodic task, executes every 10 ms 4 ms 8 ms
4 none (lowest) continuous task 25 ms 60 ms
Tas k 1
Tas k 2
Tas k 3
Tas k 4
030252015105 454035 50 656055
Time (ms)
Notes:
Execution Time:
A. The highest priority task interrupts all lower priority tasks.
Worst Case
Completion Time:
task_example.eps
B. The dedicated I/O task can be interrupted by tasks with priority levels 1
to 6. The dedicated I/O task interrupts tasks with priority levels 8 to 15.
This task runs at the selected RPI rate scheduled for the DriveLogix5730
system (2ms in this example).
C. The continuous task runs at the lowest priority and is interrupted by all
other tasks.
D. A lower priority task can be interrupted multiple times by a higher
priority task.
E. When the continuous task completes a full scan it restarts immediately,
unless a higher priority task is running.
Defining programs
Each program contains program tags, a main executable routine, other
routines, and an optional fault routine. Each task can schedule as many as
32 programs.
The scheduled programs within a task execute to completion from first to
last. Programs that are not attached to any task show up as unscheduled
programs. You must specify (schedule) a program within a task before the
controller can scan the program.
What is DriveLogix5730? 1-9
Defining routines
A routine is a set of logic instructions in a single programming language,
such as ladder logic. Routines provide the executable code for the project in
a controller. A routine is similar to a program file or subroutine in a PLC or
SLC controller.
Each program has a main routine. This is the first routine to execute when
the controller triggers the associated task and calls the associated program.
Use logic, such as the Jump to Subroutine (JSR) instruction, to call other
routines.
You can also specify an optional program fault routine. The controller
executes this routine if it encounters an instruction-execution fault within
any of the routines in the associated program.
Selecting a System Overhead Percentage
1. View properties for the controller and select the Advanced
The Controller Properties dialog lets you specify a percentage for system
overhead. This percentage specifies the percentage of controller time
(excluding the time for periodic tasks) that is devoted to communication and
background functions.
ahw0757.eps
ahw0758.eps
System overhead functions include:
• communicating with programming and HMI devices (such as RSLogix
5000 software)
• responding to messages
• sending messages
1-10 What is DriveLogix5730?
The controller performs system overhead functions for up to 1 ms at a time.
If the controller completes the overhead functions in less than 1 ms, it
resumes the continuous task.
As the system overhead percentage increases, time allocated to executing
the continuous task decreases. If there are no communications for the
controller to manage, the controller uses the communications time to
execute the continuous task. While increasing the system overhead
percentage decreases execution time for the continuous task, it does
increase communications performance. However, increasing the system
overhead percentage also increases the amount of time it takes to execute a
continuous task - increasing overall scan time.
The following table shows the ratio between the continuous task and the
system overhead functions:
At this time slice: The continuous tasks runs for: And then overhead occurs for up to:
10% 9 ms 1 ms
20% 4 ms 1 ms
33% 2 ms 1 ms
50% 1 ms 1 ms
periodic
system overhead
continuous task
TIP: For typical DriveLogix applications, a setting of 20-33% is
recommended.
At the default time slice of 10%, system overhead interrupts the continuous
task every 9 ms (of continuous task time), as illustrated below.
Legend:
Task executes.
Task is interrupted (suspended).
1 ms 1 ms
9 ms 9 ms
0 5 10 15 20 25
elapsed time (ms)
periodic task
system overhead
continuous task
system overhead
continuous task
What is DriveLogix5730? 1-11
The interruption of a periodic task increases the elapsed time (clock time)
between the execution of system overhead, as shown below.
1 ms 1 ms 1 ms 1 ms 1ms
1 ms 1 ms
9 ms of continuous task time 9 ms of continuous task time
0 5 10 15 20 25
elapsed time (ms)
If you increase the time slice to 20%, the system overhead interrupts the
continuous task every 4 ms (of continuous task time).
1 ms 1 ms 1 ms 1 ms 1 ms
4 ms 4 ms 4 ms 4 ms 4 ms
5 10152025
elapsed time (ms)
system overhead
continuous task
periodic task
system overhead
continuous task
If you increase the time slice to 50%, the system overhead interrupts the
continuous task every 1 ms (of continuous task time).
1 ms
1 ms
5 10152025
elapsed time (ms)
If the controller only contains a periodic task(s), the system overhead
timeslice value has no effect. System overhead runs whenever a periodic
task is not running.
5 10152025
elapsed time (ms)
1-12 What is DriveLogix5730?
Understanding the Virtual Backplane
The DriveLogix5730 system has a five-slot virtual backplane. The
controller, drive and other components occupy different assigned slots on
the backplane.
Virtual Backplane
Slot 0Slot 1Slot 2Slot 3Slot 4
DrvieLogix5730
Controller
Embedded
EtherNet Option
PowerFlex 700S
Drive
Compact I/O NetLinx
Daughtercard
De-energizing the Drive to Connect or Disconnect a Cable
Chapter 2
Placing and Configuring the Drive
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
!
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of placing and configuring the drive you will need to
connect or disconnect a programming or network cable at the controller.
You should do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
Understanding the Interface to the Drive
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with placing and configuring the drive.
The DriveLogix controller supports a direct connection to the drive
consisting of 21 inputs and 21 outputs. The tag names and data types
associated with the inputs and outputs are determined by the
communication format selection. Currently, the following five
communications formats are available:
• Speed Control – for typical speed regulated applications
• Position Control – for typical positioning applications
• Motion Control - for use with Logix motion commands
• User-Defined 1 – for general use as required.
• User-Defined 2 - for general use as required.
Each communication format contains a number of pre-defined tags and
user-defined tags.
The pre-defined tag names and data types correspond with the associated
parameters, within the drive’s firmware, that are necessary to support the
selected communications format. Links must be established in the firmware,
using DriveExecutive software, to support the pre-defined tags. Linking is a
software mechanism that configures data flow within the drive’s firmware.
The links within the firmware to support the pre-defined tags are protected
2-2 Placing and Configuring the Drive
and must be present. If the associated links are not present, or are deleted,
the communication connection between the controller and drive will be lost.
The user-defined tags are made up of a fixed number of REAL (floating
point) and DINT (double integer) data types. Links are not required within
the drive’s firmware to support these tags. Therefore, links may be created
and deleted as desired without having an affect on the communication
connection between the controller and the drive. The user-defined tags may
be used to address application specific data needs not covered by the
pre-defined tags.
Mapping for Inputs and Outputs
For each of the 21 inputs and 21 outputs, there is a dedicated parameter
within the drive, for a total of 42 parameters. Selecting a communication
format defines the data types for each input and output. It also determines
the data type for the dedicated parameter in the drive. The selection also
configures parameters 601 [From DL DataType] and 625 [To DL
DataType], which indicate the data types for each dedicated parameter
within the drive.
Determining When the Controller Updates the Drive
The DriveLogix controller follows a producer/consumer model for the drive
connection, similar to the interface to an I/O module. The drive acts as both
an input module, producing data for the controller; and an output module,
consuming data from the controller. Although the producer/consumer
model multi-casts data, all data in the drive connection is exclusive to the
DriveLogix controller.
The controller updates the input and output data in the drive connection
asynchronously to the logic scan, consistent with the way it handles other I/
O data. All input data from the drive is read in a single block and all output
data is written to the drive in a single block.
You must configure the Requested Packet Interval (RPI) rate for the drive.
This setting affects how fast the controller reads and writes the data in the
drive interface.
TIP: If you want data to remain constant throughout one scan, make a copy
of the data at the beginning of the scan and use the copy throughout the
scan.
The Drive consumes data from the DriveLogix controller every 2
milliseconds, and produces data to the controller every 2 milliseconds. The
drive updates the inputs and outputs to the controller asynchronous to both
the program scan and I/O scan of the controller.
Placing and Configuring the Drive 2-3
Placing and Configuring the Drive
1. In the Controller Organizer, select the I/O Configuration folder. Right-click
the selected folder and select New Module.
When you create a project for the DriveLogix controller in RSLogix 5000,
the Controller Organizer automatically displays the local DIN rail for
Compact I/O. You must add the PowerFlex 700S drive to the configuration,
in a manner similar to adding an I/O module. The Controller Organizer
automatically places the drive in slot two.
2. Select the drive (PowerFlex 700S 2-400V in this example).
ahw0771.tif
ahw0772.tif
Important: You must select the correct voltage rating for the drive, when
adding the drive. You can find this on the drive data nameplate.
2-4 Placing and Configuring the Drive
3. Select the Major Revision.
ahw0773.tif
4. Configure the drive. Use the module properties wizard to specify characteristics for the
module. Click Next to continue through the wizard.
5. Name the drive and specify the Comm Format. Click finish when you are done. The
completed module appears in the Controller Organizer.
ahw0774.tif
The selection you make for the Comm Format
determines the communication format for the
connection to the drive. This determines the
tag names and data types. See page 2-5
Once you complete adding a module, you
cannot change this selection.
Electronic Keying
Electronic keying has no effect on drive module. However, the default
setting (Compatible Module) is recommended.
ahw0775.tif
.
Selecting “Compatible Module” allows you to enter the drive firmware
minor revision.
Placing and Configuring the Drive 2-5
Revision
You must enter the correct drive VPL firmware revision, in order to launch
DriveExecutive and create the appropriate links for the selected
communication format. Determine the firmware revision by viewing
parameter 314 [VPL Firmware Rev] in the drive.
ahw0776.tif
Communication Formats
The communication format determines the data structure, tag names, and
required links for communication to the drive. Each communication format
has been structured to meet the requirements of a specific type of
application (Speed Control, Position Control, or general purpose), and
supports a different data structure. The links within the PowerFlex 700S
required to support the selected format are also different. Any of the
available communication formats create one direct connection to the drive.
You select the communication format when you configure the drive module.
ahw0777.tif
The default communication format for the drive is Speed Control. The tags
are created as controller-scoped tags. The following tag structure shows the
2-6 Placing and Configuring the Drive
ahw0778.tif
Speed Control format. The tag structure for this example’s drive connection
has the tag name of “drive_module”.
The following tables show the tag names and their relationship to
parameters in the drive. These examples use a module name of
“drive_module”.
Table 2.A Mapping for Speed Control Communication Format
Controller Output Tag Element Drive Parameter Linked Parameter
LogicCommand 602 [FromDriveLogix00] 151 [Logic Command]
SpeedRef1 603 [FromDriveLogix01] 10 [Speed Ref 1]
TorqueRef1 604 [FromDriveLogix02] 111 [Torque Ref 1]
SpdTorqModeSelect 605 [FromDriveLogix03] 110 [Speed/TorqueMode]
TorqueStep 606 [FromDriveLogix04] 116 [Torque Step]
SpdRegDroop 607 [FromDriveLogix05] 86 [Spd Reg Droop]
UserDefinedRealData[0] 608 [FromDriveLogix06] User Defined
UserDefinedRealData[1] 609 [FromDriveLogix07] User Defined
UserDefinedRealData[2] 610 [FromDriveLogix08] User Defined
UserDefinedRealData[3] 611 [FromDriveLogix09] User Defined
UserDefinedRealData[4] 612 [FromDriveLogix10] User Defined
UserDefinedRealData[5] 613 [FromDriveLogix11] User Defined
UserDefinedRealData[6] 614 [FromDriveLogix12] User Defined
UserDefinedRealData[7] 615 [FromDriveLogix13] User Defined
UserDefinedRealData[8] 616 [FromDriveLogix14] User Defined
UserDefinedRealData[9] 617 [FromDriveLogix15] User Defined
UserDefinedIntegerData[0] 618 [FromDriveLogix16] User Defined
UserDefinedIntegerData[1] 619 [FromDriveLogix17] User Defined
UserDefinedIntegerData[2] 620 [FromDriveLogix18] User Defined
UserDefinedIntegerData[3] 621 [FromDriveLogix19] User Defined
UserDefinedIntegerData[4] 622 [FromDriveLogix20] User Defined
Controller Input Tag Element Drive Parameter Linked Parameter
LogicStatus 626 [To DriveLogix00] 155 [Logic Status]
FilteredSpdFdbk 627 [To DriveLogix01] 71 [Filtered SpdFdbk]
MotorTorqueRef 628 [To DriveLogix02] 303 [Motor Torque Ref]
OutputCurrent 629 [To DriveLogix03] 308 [Output Current]
MCStatus 630 [To DriveLogix04] 555 [MC Status]
LocalIOStatus 631 [To DriveLogix05] 824 [Local I/O Status]
UserDefinedRealData[0] 632 [To DriveLogix06] User Defined
UserDefinedRealData[1] 633 [To DriveLogix07] User Defined
UserDefinedRealData[2] 634 [To DriveLogix08] User Defined
UserDefinedRealData[3] 635 [To DriveLogix09] User Defined
UserDefinedRealData[4] 636 [To DriveLogix10] User Defined
UserDefinedRealData[5] 637 [To DriveLogix11] User Defined
UserDefinedRealData[6] 638 [To DriveLogix12] User Defined
UserDefinedRealData[7] 639 [To DriveLogix13] User Defined
UserDefinedRealData[8] 640 [To DriveLogix14] User Defined
UserDefinedIntegerData[0] 641 [To DriveLogix15] User Defined
UserDefinedIntegerData[1] 642 [To DriveLogix16] User Defined
UserDefinedIntegerData[2] 643 [To DriveLogix17] User Defined
UserDefinedIntegerData[3] 644 [To DriveLogix18] User Defined
UserDefinedIntegerData[4] 645 [To DriveLogix19] User Defined
UserDefinedIntegerData[5] 646 [To DriveLogix20] User Defined
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