ControlLogix, CompactLogix, GuardLogix,
Compact GuardLogix, iTRAK 5730, Kinetix 350, Kinetix 5300, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 527, PowerFlex 755
User Manual |
Original Instructions |
Integrated Motion on the EtherNet/IP Network: Configuration and Startup User Manual
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.
ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
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Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Download Firmware, AOP, EDS, and Other Files . . . . . . . . . . . . . . . . . . . . 9
Summary of Changes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
|
Chapter 1 |
|
Components of a Motion System |
Controller, Communication, Drive, and Software Options . . . . . . . . . . |
11 |
|
Help for Selecting Drives and Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
14 |
|
Chapter 2 |
|
Configure Drive Properties |
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
16 |
|
Add a Kinetix Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
18 |
|
Add a PowerFlex Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
19 |
|
Add a Peripheral Device for PowerFlex 755 Drives . . . . . . . . . . . . . . . |
20 |
|
Add an iTRAK Section, Mover, or Power Supply . . . . . . . . . . . . . . . . . . . . |
21 |
|
Configure Module Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
23 |
|
Safety Application Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
24 |
|
Connection Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
25 |
|
Safety Instance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
25 |
|
Motion Safety Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
26 |
|
Configure Power Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
26 |
|
Configure Digital Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
29 |
|
Configure Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
31 |
|
Configure Safety Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
31 |
|
Configure Safety Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
32 |
|
Generate the Safety Network Number |
|
|
(Integrated safety drives only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
33 |
|
Configure Track Sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
35 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
3 |
Table of Contents |
|
|
|
Chapter 3 |
|
Configure Axis Properties |
Create an Associated Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
37 |
|
Create an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
37 |
|
Specify Feedback Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
39 |
|
Create a Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
40 |
|
Set the Base Update Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
41 |
|
Associate Axes to the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
43 |
|
Configure an Axis and Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
43 |
|
Specify the Motor Data Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
49 |
|
Choose the Catalog Number as the Motor Data Source . . . . . . . . . . |
50 |
|
Choose Nameplate as the Motor Data Source . . . . . . . . . . . . . . . . . . . |
51 |
|
Choose Motor NV or Drive NV as the Motor Data Source . . . . . . . . |
53 |
|
Display Motor Model Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
53 |
|
Use Motor Analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
54 |
|
Assign Motor Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
55 |
|
Configure Load Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
59 |
|
Configure Master Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
60 |
|
Configure Feedback Only Axis Properties . . . . . . . . . . . . . . . . . . . . . . |
60 |
|
Configure Actions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
60 |
|
Configure Exceptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
62 |
Axis Scheduling
Configuration Examples for a Kinetix Drive
Chapter 4
Timing Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
One Cycle Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Axis Scheduling Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Configure the Update Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Motion Utilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Chapter 5
Example 1: Position Loop with Motor Feedback Only . . . . . . . . . . . . . . . 77 Example 2: Position Loop with Dual Feedback . . . . . . . . . . . . . . . . . . . . . 80 Example 3: Feedback Only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Example 4: Kinetix 5500 Drive, Velocity Loop with
Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Example 5: Kinetix 350 Drive, Position Loop with
Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Example 6: Kinetix 5700 Drive, Frequency Control with
No Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Example 7: 842E-CM Integrated Motion Encoder with
Master Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Axis Configuration Examples for the PowerFlex 755 Drive
Table of Contents
Chapter 6
Example 1: Position Loop with Motor Feedback Via a
UFB Feedback Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Example 2: Position Loop with Dual Motor Feedback Via a
UFB Feedback Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Example 3: Velocity Loop with Motor Feedback Via a
UFB Feedback Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Example 4: Velocity Loop with No Feedback . . . . . . . . . . . . . . . . . . . . . . 114 Example 5: Frequency Control with No Feedback. . . . . . . . . . . . . . . . . . 116 Example 6: Torque Loop with Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Axis Configuration Examples for the PowerFlex 527 Drive
Commission an Axis
Chapter 7
Example 1: Frequency Control with No Feedback . . . . . . . . . . . . . . . . . . 125 Example 2: Velocity Control with Motor Feedback . . . . . . . . . . . . . . . . . 130 Example 3: Position Control with Motor Feedback. . . . . . . . . . . . . . . . . 133
Chapter 8
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Direct Coupled Rotary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 Direct Coupled Linear. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Rotary Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Linear Actuator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Changing Scaling Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Hookup Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 Run a Motor and Feedback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 Run a Motor Feedback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Run a Marker Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Applying the Commutation Hookup Test . . . . . . . . . . . . . . . . . . . . . . . . . 147 Unknown Commutation Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 Verification of Known Commutation Offset. . . . . . . . . . . . . . . . . . . 148 Non-standard or Incorrect Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 Run a Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Load Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 Benefits of Load Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 How Load Observer Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 Load Observer Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Adaptive Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 Benefits of Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 How Adaptive Tuning Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 Adaptive Tuning Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 Command Notch Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Load Ratio Data from Motion Analyzer. . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Test an Axis with Motion Direct Commands . . . . . . . . . . . . . . . . . . . . . . 166 Access Motion Direct Commands for an Axis or Group . . . . . . . . . 167
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
5 |
Table of Contents
|
Understanding STO Bypass When Using |
|
|
Motion Direct Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
169 |
|
Chapter 9 |
|
Homing |
Guidelines for Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
174 |
|
Active Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
175 |
|
Passive Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
175 |
|
Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
176 |
|
Active Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
176 |
|
Passive Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
179 |
|
Absolute Position Recovery (APR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
179 |
|
APR Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
180 |
|
Position Recovery Considerations for Logix5000 Controllers . . . |
180 |
|
Absolute Feedback Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
181 |
|
SERCOS Versus Integrated Motion on Ethernet Networks . . . . . |
181 |
|
APR Scenarios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
181 |
|
APR Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
185 |
|
APR Fault Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
185 |
|
APR Fault Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
186 |
|
APR Fault Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
188 |
|
Resetting an APR Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
190 |
|
Absolute Position Loss without APR Faults . . . . . . . . . . . . . . . . . . . . |
190 |
|
Behavior of APR for Incremental Encoders . . . . . . . . . . . . . . . . . . . . |
190 |
|
Chapter 10 |
|
Manual Tune |
When to Manually Tune an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
191 |
|
Axis Configuration Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
191 |
|
Current Tuning Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
192 |
|
Loop Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
192 |
|
Tune The Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
194 |
|
Motion Generator and Motion Direct Commands . . . . . . . . . . . . . . . . . |
195 |
|
Additional Tune. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
197 |
|
Feedforward Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
197 |
|
Compensation Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
198 |
|
Torque Notch Filters Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
198 |
|
Torque Filters Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
199 |
|
Command Notch Filters Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . |
199 |
|
Adaptive Tuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
200 |
|
Limits Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
201 |
|
Planner Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
202 |
|
Configure Torque Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
202 |
|
Monitor Tags with the Quick Watch Window . . . . . . . . . . . . . . . . . . . . . |
203 |
|
Use Motion Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
204 |
6 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
|
|
Table of Contents |
|
Chapter 11 |
|
Status, Faults, and Alarms |
Faults and Alarms Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . . 207 |
|
QuickView Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 209 |
|
Data Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 209 |
|
Motion Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 210 |
|
Drive Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 211 |
|
Connection Faults and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 211 |
|
Motion Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 212 |
|
Manage Motion Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 212 |
|
Configure the Exception Actions for AXIS_CIP_DRIVE . . . . . . |
. . . . . . 213 |
|
Inhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 215 |
|
Example: Inhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 217 |
|
Example: Uninhibit an Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . |
. . . . . . 218 |
Parameter Group Dialog Boxes
Program a Velocity Profile and
Jerk Rate
Appendix A
Parameter Group Dialog Boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Appendix B
Program a Velocity Profile and Jerk Rate . . . . . . . . . . . . . . . . . . . . . . . . . 221 Definition of Jerk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Choose a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Use % of Time for the Easiest Programming of Jerk . . . . . . . . . . . . 222 Velocity Profile Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Jerk Rate Calculation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 Profile Operand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Enter Basic Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 Example Motion Control Program . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 Download a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 Choose a Motion Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 Troubleshoot Axis Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 Why Does My Axis Accelerate When I Stop It? . . . . . . . . . . . . . . . . . 236 Why Does My Axis Overshoot Its Target Speed? . . . . . . . . . . . . . . . 237 Why Is There a Delay When I Stop and Then Restart a Jog? . . . . . 240
Why Does The Axis Reverse Direction When Stopped
and Started? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 Programming with the MDSC Function . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
7 |
Table of Contents |
|
|
|
Appendix C |
|
PowerFlex Out-of-Box |
Recommended Out-of-Box Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
247 |
Configuration |
Setting the ACO/AVO Attributefor PowerFlex 527 Drives Only . . . . . . |
251 |
|
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
253 |
|
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . |
257 |
8 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Download Firmware, AOP,
EDS, and Other Files
Use this manual to configure an integrated motion on the EtherNet/IP™ network application and to start up your motion solution with a Logix controller-based system.
This manual is designed to give you a straightforward approach to an integrated motion control solution. If you have any comments or suggestions, see Documentation Feedback on the back cover of this manual.
Download firmware, associated files (such as AOP, EDS, and DTM), and access product release notes from the Product Compatibility and Download Center at rok.auto/pcdc.
This publication contains the following new or updated information. This list includes substantive updates only and is not intended to reflect all changes.
Topic |
Page |
Added Information on Kinetix® 5300 servo drives and the iTRAK® 5730 Intelligent Track System |
Throughout |
Restructured Configuration Information into Chapter 1…Chapter 3 |
11…37 |
Updated Drive Function Descriptions |
29 |
Types of Hookup Tests |
143 |
Adaptive Tuning Configuration |
161 |
Revised Descriptions of Command Notch Filters |
165 |
Revised Information on APR Recovery Scenarios |
181 |
Updated Guidance on When to Manually Tune an Axis |
191 |
These documents contain additional information concerning related products from Rockwell Automation.
Resource |
Description |
|
842E-CM Integrated Motion Encoder on EtherNet/IP User Manual, |
Describes the necessary tasks to install, wire, and troubleshoot your encoder. |
|
publication 842E-UM002 |
||
|
||
ControlLogix 5580 and GuardLogix 5580 Controllers User Manual, |
Provides information on how to install, configure, program, and operate |
|
publication 1756-UM543 |
ControlLogix® 5580 and GuardLogix® 5580 controllers. |
|
CompactLogix 5380 and Compact GuardLogix 5380 Controllers User Manual, |
Provides information on how to install, configure, program, and operate |
|
publication 5069-UM001 |
CompactLogix™ 5380 and Compact GuardLogix 5380 controllers. |
|
ControlLogix System User Manual, publication 1756-UM001 |
Describes the necessary tasks to install, configure, program, and operate a ControlLogix system. |
|
|
|
|
EtherNet/IP Network Devices User Manual, publication ENET-UM006 |
Describes how to use EtherNet/IP™ communication modules in Logix 5000™ control systems. |
|
|
|
|
GuardLogix 5570 Controllers User Manual, publication 1756-UM022 |
Provides information on how to install, configure, and operate GuardLogix 5570 controllers in |
|
Studio 5000 Logix Designer® projects, version 21 or later. |
||
|
||
GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety |
Provides information on how to meet safety application requirements for |
|
Reference Manual, publication 1756-RM099 |
GuardLogix 5570 controllers in Studio 5000 Logix Designer projects, version 21 or later. |
|
GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety |
Describes the necessary tasks to install, configure, program, and operate a ControlLogix system. |
|
Reference Manual, publication 1756-RM012 |
||
|
||
Integrated Motion on the EtherNet/IP Network Reference Manual, |
Provides a programmer with details about the Integrated Motion on the EtherNet/IP network |
|
publication MOTION-RM003 |
Control Modes, Control Methods, and AXIS_CIP_DRIVE Attributes. |
|
Kinetix 350 Single-axis EtherNet/IP Servo Drive User Manual, publication 2097- |
Provides detailed information on wiring, power, troubleshooting, and integration with |
|
UM002 |
ControlLogix, or CompactLogix controller platforms. |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
9 |
Preface
Resource |
Description |
|||||
Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198- |
Provides detailed installation instructions to mount, wire, and troubleshoot the Kinetix® 5300 |
|||||
servo drives, and system integration for your drive and motor/actuator combination with a Logix |
||||||
UM005 |
5000 controller. |
|||||
|
|
|
|
|
||
|
|
|
|
|
|
|
Kinetix 5500 Servo Drives Installation Instructions, publication 2198-IN001 |
Provides installation instructions for the Kinetix 5500 Integrated Axis Module and Axis Module |
|||||
components. |
||||||
|
|
|
|
|
||
Kinetix 5500 Servo Drives User Manual, publication 2198-UM001 |
Provides information on installation, configuration, start up, troubleshooting, and applications for |
|||||
the Kinetix 5500 servo drive systems. |
||||||
|
|
|
|
|
||
Kinetix 5700 Safe Monitor Functions User Manual, publication 2198-RM001 |
Explains how the Kinetix 5700 drives can be used in up to Safety Integrity Level (SIL 3), |
|||||
Performance Level (PL e) applications. |
||||||
|
|
|
|
|
||
Kinetix 5700 Servo Drives User Manual, publication 2198-UM002 |
Provides information on installing, configuring, start up, troubleshooting, and applications for the |
|||||
Kinetix 5700 servo drive systems. |
||||||
|
|
|
|
|
||
Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual, |
Provides information on installation, configuration, start up, troubleshooting, and applications for |
|||||
publication 2094-UM002 |
the Kinetix 6200 and Kinetix 6500 servo drive systems. |
|||||
Logix 5000 Controllers Motion Instructions Reference Manual, |
Provides a programmer with details about motion instructions for a Logix-based controller. |
|||||
publication MOTION-RM002 |
||||||
|
||||||
Logix 5000 Controllers Common Procedures, publication 1756-PM001 |
Provides detailed and comprehensive information about how to program a Logix 5000™ |
|||||
controller. |
||||||
|
|
|
|
|
||
Logix 5000 Controllers General Instructions Reference Manual, publication 1756- |
Provides a programmer with details about general instructions for a Logix-based controller. |
|||||
RM003 |
|
|||||
LOGIX 5000 Controllers Advanced Process Control and Drives and Equipment |
Provides a programmer with details about process and drives instructions for a Logix-based |
|||||
Phase and Sequence Instructions Reference Manual, publication 1756-RM006 |
controller. |
|||||
Logix 5000 Controllers Quick Start, publication 1756-QS001 |
Describes how to get started programming and maintaining Logix5000 controllers. |
|||||
|
|
|||||
Motion System Tuning Application Technique, publication MOTION-AT005 |
Provides detailed information on motion system tuning. |
|||||
PowerFlex 527 Adjustable Frequency AC Drive User Manual, publication 520- |
Provides information on installation, configuration, start up, troubleshooting, and applications for |
|||||
UM002 |
the PowerFlex® 527 drive. |
|||||
PowerFlex 750-Series AC Drives Programming Manual, publication 750-PM001 |
Provides information that is necessary to install, start-up, and troubleshoot PowerFlex 750- |
|||||
Series Adjustable Frequency AC Drives. |
||||||
|
|
|
|
|
||
PowerFlex 750-Series AC Drives Reference Manual, publication 750-RM002 |
Provides detailed drive information including operation, parameter descriptions, and |
|||||
programming of the AC drive. |
||||||
|
|
|
|
|
||
PowerFlex 755 Drive Embedded EtherNet/IP Adapter User Manual, |
Provides information on installation, configuration, start up, troubleshooting, and applications for |
|||||
publication 750COM-UM001 |
the PowerFlex 755 Drive Embedded EtherNet/IP Adapter. |
|||||
PowerFlex 750-Series Safe Speed Monitor Option Module Safety Reference |
|
|||||
Manual, publication 750-RM001 |
|
|||||
|
These publications provide detailed information on installation, setup, and operation of the 750- |
|||||
PowerFlex 750-Series Safe Torque Off Option Module User Manual, |
||||||
publication 750-UM002 |
Series safety option modules. |
|||||
PowerFlex 755 Integrated Safety - Safe Torque Off Option Module User Manual, |
|
|||||
publication 750-UM004 |
|
|||||
The Integrated Architecture and CIP Sync Configuration Application Technique, |
Provides detailed configuration information on CIP™ Sync technology and time synchronization. |
|||||
publication IA-AT003 |
||||||
|
||||||
EtherNet/IP Network Devices User Manual, ENET-UM006 |
Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP |
|||||
network. |
||||||
|
|
|
|
|
||
Ethernet Reference Manual, ENET-RM002 |
Describes basic Ethernet concepts, infrastructure components, and infrastructure features. |
|||||
System Security Design Guidelines Reference Manual, SECURE-RM001 |
Provides guidance on how to conduct security assessments, implement Rockwell Automation |
|||||
products in a secure system, harden the control system, manage user access, and dispose of |
||||||
|
|
|
|
|
equipment. |
|
Industrial Components Preventive Maintenance, Enclosures, and Contact Ratings |
Provides a quick reference tool for Allen-Bradley industrial automation controls and assemblies. |
|||||
Specifications, publication IC-TD002 |
|
|||||
Safety Guidelines for the Application, Installation, and Maintenance of Solid-state |
Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides general |
|||||
guidelines for the application, installation, and maintenance of solid-state control in the form of |
||||||
Control, publication SGI-1.1 |
individual devices or packaged assemblies incorporating solid-state components. |
|||||
|
|
|
|
|
||
|
|
|||||
Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1 |
Provides general guidelines for installing a Rockwell Automation industrial system. |
|||||
|
|
|||||
Product Certifications website, rok.auto/certifications. |
Provides declarations of conformity, certificates, and other certification details. |
You can view or download publications at rok.auto/literature.
10 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 1
Components of a Motion System
Controller, Communication,
Drive, and Software Options
Topic |
Page |
|
|
Controller, Communication, Drive, and Software Options |
11 |
|
|
Help for Selecting Drives and Motors |
14 |
|
|
To create an Integrated Motion on EtherNet/IP™ system, you need the following:
•A Logix 5000™ controller with a connection to the EtherNet/IP network, either via an embedded Ethernet port or an Ethernet communication module (See Table 1)
•An Integrated Motion drive (see Table 2)
•Software
-Studio 5000 Logix Designer® application
-RSLinx® Classic software, version 3.51.00 or later
-For PowerFlex® 755 drives, you need the Add-on Profile, V18 or later.
A safety controller is required for motion and safety applications.
When a PowerFlex 755 drive is used in Integrated Motion on EtherNet/IP mode, the Logix controller and Studio 5000 Logix Designer application are the exclusive owners of the drive. A HIM or other drive software tools, such as DriveExplorer™ and Connected Components Workbench software, cannot be used to control the drive or change configuration settings. These tools can only be used for monitoring.
See the Product Compatibility and Download Center (PCDC) for minimum controller, Ethernet module, and drive firmware revisions, Studio 5000 Logix Designer required revisions, and compatibility information.
Table 1 provides information on how many motion axes are supported depending on the hardware that is used in your application and the configuration of your axes. For example, you can have eight Position Loop axes per 1756-EN2T module. Each drive requires one TCP and one CIP™ connection. If you have other devices that consume TCP connections on the module, it reduces the number of drives you can support. Only the drives and axes that are configured for Position Loop are limited. Frequency Control, Velocity Loop, and Torque Loop configured drives and axes are not limited.
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
11 |
Chapter 1 Components of a Motion System
Table 1 - Supported Axes by Controller Type
Controller |
|
Communication Modules(1) |
Supported Axes(2) |
|
|
|
Position Loop |
Other Loop Types |
|||
|
|
|
|||
|
|
1756-EN2T, 1756-EN2TF, |
8 |
Up to 100 |
|
ControlLogix® 5570,GuardLogix 5570 |
|
1756-EN2TP, 1756-EN2TR |
|||
|
|
|
|||
Armor™ ControlLogix 5570, Armor™ GuardLogix® 5570 |
1756-EN3TR |
100 |
Up to 100 |
||
|
|
|
|
|
|
|
|
1756-EN4TR |
100 |
Up to 100 |
|
|
|
|
|
|
|
|
|
1756-EN2T, 1756-EN2F, 1756-EN2TP, |
8 |
Up to 256 |
|
ControlLogix 5580, GuardLogix 5580 |
|
1756-EN2TR |
|||
|
|
|
|||
|
|
1756-EN3TR |
256 |
Up to 256 |
|
|
|
|
|
|
|
|
|
1756-EN4TR |
256 |
Up to 256 |
|
|
|
|
|
|
|
|
1756-L81E, 1756-L81ES |
Embedded Ethernet(3) |
256 |
Up to 256 |
|
ControlLogix 5580, GuardLogix 5580 |
1756-L82E, 1756-L82ES |
Embedded Ethernet(3) |
256 |
Up to 256 |
|
1756-L83E, 1756-L83ES, 1756-L84E, 1756-L84ES |
Embedded Ethernet(3) |
256 |
Up to 256 |
||
|
|||||
|
1756-L85E |
Embedded Ethernet(3) |
256 |
Up to 256 |
|
|
5069-L306ERM, 5069-L306ERMS2 |
Embedded Ethernet |
2 |
Up to 256 |
|
|
5069-L310ERM, 5069-L310ERMS2 |
Embedded Ethernet |
4 |
Up to 256 |
|
|
|
|
|
|
|
|
5069-L320ERM, 5069-L320ERMS2 |
Embedded Ethernet |
8 |
Up to 256 |
|
CompactLogix™ 5380, Compact |
5069-L330ERM, 5069-L330ERMS2 |
Embedded Ethernet |
16 |
Up to 256 |
|
GuardLogix 5380 |
5069-L340ERM, 5069-L340ERMS2 |
Embedded Ethernet |
20 |
Up to 256 |
|
|
|
|
|
|
|
|
5069-L350ERM, 5069-L350ERMS2 |
Embedded Ethernet |
24 |
Up to 256 |
|
|
5069-L380ERM, 5069-L380ERMS2 |
Embedded Ethernet |
28 |
Up to 256 |
|
|
5069-L3100ERM, 5069-L3100ERMS2 |
Embedded Ethernet |
32 |
Up to 256 |
|
|
|
|
|
|
|
|
1769-L18ERM |
Embedded Ethernet |
2 |
Up to 100 |
|
|
1769-L27ERM |
Embedded Ethernet |
4 |
Up to 100 |
|
|
1769-L30ERM, 1769-L30ERMS |
Embedded Ethernet |
4 |
Up to 100 |
|
|
|
|
|
|
|
CompactLogix 5370, Compact |
1769-L33ERM, 1769-L33ERMS |
Embedded Ethernet |
8 |
Up to 100 |
|
1769-L33ERMO, 1769-L33ERMOS |
|||||
GuardLogix 5370, Armor |
|
|
|
||
CompactLogix 5370, Armor Compact |
1769-L36ERM, 1769-L36ERMS |
Embedded Ethernet |
16 |
Up to 100 |
|
GuardLogix 5370 |
1769-L36ERMO, 1769-L36ERMOS |
||||
|
|
|
|||
|
1769-L37ERM, 1769-L37ERMS, 1769-L37ERMO, |
Embedded Ethernet |
16 |
Up to 100 |
|
|
1769-L37ERMOS, |
||||
|
|
|
|
||
|
1769-L38ERM, 1769-L38ERMS |
Embedded Ethernet |
16 |
Up to 100 |
|
|
1769-L38ERM0, 1769-L38ERM0S |
||||
|
|
|
|
(1)For more information on Ethernet communication modules, see 1756 ControlLogix Communication Modules Specifications Technical Data, publication 1756-TD003.
(2)Multiple controllers can control drives on a common 1756-ENxTx module, so based on the TCP connection limit, up to 128 can be supported.
(3)ControlLogix 5580 and GuardLogix 5580 can also use Ethernet communication modules to communicate on the EtherNet/IP network.
12 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 1 Components of a Motion System
|
|
Table 2 describes the EtherNet/IP drives available for integrated motion. |
Table 2 - Integrated Motion EtherNet/IP Drives |
||
|
|
|
|
Drive |
Description |
|
842E-CM Absolute |
The 842E-CM is an ultra-high resolution encoder with EtherNet/IP interface with time synchronization for motion control. These encoders provide 18-bit single- |
|
Encoders |
turn resolution and 30-bit multi-turn resolution. |
|
Kinetix® 350 |
The Kinetix 350 drive is a single-axis EtherNet/IP servo drive with hardwired Safe Torque Off (STO) with connection to safety inputs. |
|
Kinetix 5300 |
The Kinetix 5300 servo drive is an entry-level servo drive integrated on EtherNet/IP. |
|
|
|
|
|
The Kinetix 5500 servo drives support the Integrated Motion on EtherNet/IP network. Single-axis and multi-axis, AC, DC, AC/DC, and AC/DC hybrid bus-sharing |
|
Kinetix 5500 |
configurations are possible. |
|
2198-Hxxx-ERS servo drives support hardwired Safe Torque Off (STO) with connections to safety inputs. |
|
|
|
|
|
|
2198-Hxxx-ERS2 servo drives support integrated Safe Torque Off (STO) with connections to the safety controller. |
|
|
|
|
|
2198-Sxxx-ERS3 (single-axis) and 2198-Dxxx-ERS3 (dual-axis) series A support hardwired and integrated STO with connections to the safety controller. |
|
|
Series B also support integrated Timed SS1 safety function. |
|
Kinetix 5700 |
2198-Sxxx-ERS4 (single-axis) and 2198-Dxxx-ERS4 (dual-axis) inverters support integrated safe monitor functions with connection to the safety controller. |
|
2198-Pxxx DC Bus Supply provides power in a range of 7…46 kW and 10.5…69.2 A output current to Bulletin 2198 single-axis and dual-axis inverters for |
|
|
|
|
|
|
applications. |
|
|
|
|
|
2198-RPxxx Regenerative Bus Supply provides continuous output power and current to Bulletin 2198 single-axis and dual-axis inverters for applications. |
|
|
The Kinetix 6500 drive is a closed-loop modular servo drive. It consists of an integrated axis (IAM) power module and up to seven axis (AM) power modules, |
|
Kinetix 6500 |
each coupled with a Kinetix 6500 control module. |
|
The IAM and AM power modules provide power for up to eight axes. |
|
|
|
|
|
|
The 2094-EN02D-M01-S0 control modules support Safe Torque Off (STO) and 2094-EN02D-M01-S1 control modules support safe-speed monitoring. |
|
PowerFlex 527 |
The PowerFlex 527 is a single-axis EtherNet/IP AC drive with hardwired and Integrated Safe Torque Off (STO). |
|
It consists of an integrated axis power module and incremental encoder feedback (sold separately). |
|
|
|
|
|
PowerFlex 755 |
The PowerFlex 755 Drive EtherNet/IP AC drive can control a motor in closed loop and open loop mode. The PowerFlex 755 drive contains an EtherNet/IP |
|
adapter that is embedded on the main control board. Drive option modules provide I/O, safety(1) (2), and feedback functions to the drive. |
|
|
|
|
|
iTRAK® 5730 |
The iTRAK 5730 system is a modular, scalable, linear motor system. This system provides independent control of multiple movers on straight or |
|
Intelligent Track |
|
|
curvilinear paths. |
|
|
System |
|
|
|
|
|
|
|
|
iTRAK Power |
Catalog number 2198T-W25K-ER, DC-DC converter that generates DC-bus power for iTRAK systems. |
|
Supply |
|
|
|
(1)Integrated Motion support of the Integrated Safety Functions option module (20-750-S4) is only available when used with GuardLogix 5580 and Compact GuardLogix 5380 safety controllers.
(2)PowerFlex Drive firmware revision 14 or later required for Integrated Safe Torque Off option module (20-750-S3) Integrated Safety Functions option module (20-750-S4)
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
13 |
Chapter 1 Components of a Motion System
Motion Analyzer helps you select the appropriate Allen-Bradley® drives and motors that are based on your load characteristics and typical motion application cycles. The software guides you through wizard-like screens to collect information specific to your application.
After you enter the information for your application, such as, load inertia, gearbox ratio, feedback device, and brake requirements, the software generates an easy-to-read list of recommended motors, drives, and other support equipment.
You can access Motion Analyzer at https://motionanalyzer.rockwellautomation.com.
14 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 2
Configure Drive Properties
Topic |
Page |
|
|
Before You Begin |
16 |
|
|
Add a Kinetix Drive |
18 |
|
|
Add a PowerFlex Drive |
19 |
|
|
Add an iTRAK Section, Mover, or Power Supply |
21 |
|
|
Configure Module Definition |
23 |
|
|
Configure Power Settings |
26 |
|
|
Configure Digital Inputs |
29 |
|
|
Configure Digital Outputs |
31 |
|
|
Configure Safety Settings |
31 |
|
|
Configure Track Sections |
35 |
|
|
This chapter describes the basic steps for how to configure an integrated motion project in the Logix Designer application. For detailed product-specific configuration, see the user manual for your product.
IMPORTANT When a PowerFlex® drive is used in Integrated Motion on EtherNet/IP mode, the Logix controller and Logix Designer are the exclusive owners of the drive (same as Kinetix® drives). A HIM or other drive software tools cannot be used to control the drive or change configuration settings. These tools can only be used for monitoring.
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
15 |
Chapter 2 Configure Drive Properties
Before you can configure a drive in the Logix Designer application, you must create a controller project with a connection to the EtherNet/IP™ network as shown in Figure 1 on page 17.
Keep these considerations in mind when creating your motion project.
•For a Motion and Safety application, you must add a GuardLogix® integrated safety controller.
•For all communication modules, use the firmware revision that matches the firmware revision of your controller. See the release notes for the firmware version of your controller.
•The electronic keying feature automatically compares the expected module, as shown in the configuration tree, to the physical module before communication begins.
ATTENTION: When configuring communication modules in motion or safety applications, set electronic keying to either Exact Match or Compatible Keying. Never use Disable Keying with motion or safety applications.
For more information about electronic keying, see the Electronic Keying in Logix 5000™ Control Systems Application Technique, publication LOGIX-AT001.
•Time synchronization supports highly distributed applications that require time stamping, sequence of events recording, distributed motion control, and increased control coordination. All controllers and communication modules must have time synchronization enabled for applications that use Integrated Motion on the EtherNet/IP network.
See the Integrated Architecture® and CIP Sync Configuration Application Technique, publication IA-AT003, for detailed information on time synchronization.
For detailed information on configuring a controller or Ethernet/IP adapter, see the publications listed in the Additional Resources on page 9.
16 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 2 Configure Drive Properties
Figure 1 - Create a Motion Project
Controller Project
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Choose Time Sync and Mo on as the Time Sync Connec on type on the
Module Defini on dialog box.
Enable Time
Synchroniza on
Add a Drive or iTRAK system
Check Enable Time Synchroniza on on
the Date/Time tab of the Module Proper es dialog box.
ForForKinetixKineDrives,x drives,seeseepagepg18 ForForPowerFlexrFlexDrives,drives,seeseepagepg19
ForForiTRAK®iTRAKsystems,see, seepagepg 21
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
17 |
Chapter 2 Configure Drive Properties
The available configuration options differ depending on the controller and drive type you chose for your project. Before you begin, verify that you have the correct minimum software, firmware, and Add-on Profile versions. See Chapter 1.
Refer to the drive manuals, listed in the Additional Resources on page 9, for detailed information on drive configuration and operation.
Figure 2 shows the path for configuring a Kinetix drive in a motion project.
Figure 2 - Add and Configure a Kinetix Drive
Controller Project Ready |
Controller EtherNet/IP Connectivity Time |
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Synchronization |
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Add a Kinetix Drive to your EtherNet/IP Network
Configure General Settings
Configure Drive Settings in the Module Definition Dialog Box
page 23
Configure power settings page 26
Configure Digital Inputs and Outputs page 29 and page 31
Configure Safety Connections page 31
Configure Motion Safety or Drive Safety
Type a Name and IP Address of the drive on the General page of the Module Properties dialog box.
See your Drive User Manual for details on configuring your drive safety options.
Configure Axis Properties
See Chapter 3
18 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 2 Configure Drive Properties
The available configuration options differ depending on the controller, drive type, and PowerFlex option modules you chose for your project.
Figure 3 shows the path for configuring a PowerFlex drive in a motion project.
Figure 3 - Add and Configure a PowerFlex 755 or PowerFlex 527 Drive
Controller Project Ready
Choose a PowerFlex 755 drive catalog number that ends in -CM or -CM-Sx for an Integrated Motion Drive.
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page 20 Configure drive settings in the Module Definition dialog box
page 23
Configure power page 26
Configure digital inputs and outputs
page 29 and page 31
Configure Safety page 31
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Configure Axis
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See Chapter 3
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
19 |
Chapter 2 Configure Drive Properties
To add a peripheral device to your drive for I/O or feedback, follow these steps.
1.On the General tab of the Module Properties dialog box, click Change to open the Module Definition dialog box.
2.Edit the Revision, if necessary.
For PowerFlex 755 drives, you must select a revision of 12 or later to add an I/O module to port 7 as a peripheral device.
3.Right-click your drive and choose New Peripheral Device.
4.Select a port for your device.
These feedback module combinations that are supported.
Option |
Supported Module |
Catalog Number |
Valid Ports |
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Single Incremental Encoder |
20-750-ENC-1 |
4…8 |
Two Feedback Options |
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Dual Incremental Encoder |
20-750-DENC-1 |
4…8 |
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Universal Feedback Card |
20-750-UFB-1 |
4…6 |
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Single Incremental Encoder |
20-750-ENC-1 |
4 and 5 |
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Dual Incremental Encoder |
20-750-DENC-1 |
4 and 5 |
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Two Feedback Options |
Universal Feedback |
20-750-UFB-1 |
4 and 5 |
and One Safety Option |
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20-750-S4 |
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(1)The safe speed monitor option module must be used with the 20-750-DENC-1 Dual Incremental Encoder module or the 20-750-UFB-1 Universal Feedback module.
5.If you will be using a feedback option module for safe feedback with a 20- 750-S4 safety option, click the Safe Feedback checkbox.
20 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 2 Configure Drive Properties
6.If your drive is equipped with an integrated safety option module (20- 750-S3 or 20-750-S4), click Safety Definition to define the Major and Minor Revisions and Electronic Keying options.
When you are using integrated safety modules, you can set the electronic keying to either Exact Match or Compatible Keying.
7. Continue with Configure Module Definition on page 23.
The available configuration options differ depending on the controller, and iTRAK device type you chose for your project. Before you begin, verify that you have the correct minimum software, firmware, and Add-on Profile versions. See Chapter 1.
Figure 4 shows the path for configuring an iTRAK section, mover, or power supply in an integrated motion project.
If you are using an iTRAK power supply, add the module to the project under the same controller as the iTRAK sections and the Kinetix 5700 power supply (either the regenerative power supply or the DC Bus supply).
If using the iTRAK system, each section is automatically assigned an IP address by the iTRAK backplane, in sequential order from the first iTRAK module added to the project.
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
21 |
Chapter 2 Configure Drive Properties
Figure 4 - Add iTRAK Drive Modules
Controller Project Ready
Add iTRAK Drive
Configure General
Settings
Configure drive settings in the Module Definition dialog box page 23
Configure power page page 26
Configure safety page page 31
Configure Motion Safety page 26
Configure track sections
page 35
Configure Axis
Properties
See Chapter 3
Controller EtherNet/IP connectivity Time Synchronization
If you have an iTRAK power supply, add the drive under the same controller as the iTRAK section and Kinetix 5700 power supply.
Type a Name and IP Address of the drive on the General page of the Module Properties dialog box.
See your iTRAK user manual for details on configuring your motion safety options.
22 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 2 Configure Drive Properties
ATTENTION: The electronic keying feature automatically compares the expected module, as shown in the configuration tree, to the physical module before communication begins.
When you are using devices in an integrated motion application, set the electronic keying to either Exact Match or Compatible Keying.
Never use Disable Keying with motion or safety modules.
For more information about electronic keying, see the Electronic Keying in Logix 5000™ Control Systems Application Technique, publication LOGIXAT001.
Table 3 - Module Definition Fields
|
<![if ! IE]> <![endif]>Kinetix 350 |
<![if ! IE]> <![endif]>Kinetix 5300 |
<![if ! IE]> <![endif]>Kinetix 5500 |
<![if ! IE]> <![endif]>Kinetix 6500 |
<![if ! IE]> <![endif]>Kinetix 5700 DC - Bus Supply |
<![if ! IE]> <![endif]>Kinetix 5700 Regenerative Bus Supply |
<![if ! IE]> <![endif]>Kinetix 5700 Inverter |
<![if ! IE]> <![endif]>PowerFlex 755 Drive with Embedded Ethernet PowerFlex 755 Hi-Power Drive with Embedded Ethernet |
<![if ! IE]> <![endif]>PowerFlex 755 Drive with Safe Torque Off PowerFlex 755 Hi-Power Drive with Safe Torque Off (with 20-750-S option module installed) |
<![if ! IE]> <![endif]>PowerFlex 755 Drive with Safe Speed Monitoring PowerFlex 755 Hi-Power Drive with Safe Speed Monitoring (with 20-750-S1 option module installed) |
<![if ! IE]> <![endif]>PowerFlex 755 Drive with Integrated Safe Torque Off PowerFlex 755 Hi-Power Drive with Integrated Safe Torque Off (with 20-750-S3 option module installed) |
<![if ! IE]> <![endif]>PowerFlex 755 Drive with Integrated Safety Functions PowerFlex 755 Hi-Power Drive with Integrated Safety Functions (with 20-750-S4 option module installed) |
<![if ! IE]> <![endif]>PowerFlex 527 Drive |
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X(1) |
X(2) |
X(2) |
X(2) |
X(2) |
X(2) |
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Electronic Keying |
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page 26 |
(1)For 2198-xxxx-ERS3 series A drives, the firmware revision is 7 or earlier. For 2198-xxxx-ERS3 series B, drives, the firmware versions is 9 or later.
(2)For PowerFlex 755 drives, you must select a revision of 12 or later to add an I/O module to port 7 as a peripheral device.
(3)Locate the power stucture reference numbers by checking the device hardware, reviewing the product documentation, checking the purchase order, or reviewing the bill of materials.
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
23 |
Chapter 2 Configure Drive Properties
Figure 5 - Example Module Definition Dialog Boxes
Kinetix 5700 Drive with Integrated Safety
PowerFlex 755 Drive with Embedded Ethernet
The Safety Application pull-down menu lets you choose between Hardwired for Hardwired STO mode or Networked for a Kinetix 5700 integrated safety application or iTRAK 5730 integrated safety. Table 4 defines the choices and which Connection Types are available based on your choice of Safety Application mode.
Table 4 - Safety Application Definitions
Safety Application Mode |
Safety Functions |
Minimum Module(1) Required |
Connection Types |
Compatible Controllers |
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2198-xxxx-ERS3 (series A) |
• |
Motion Only |
• |
ControlLogix® 5570/5580 |
Hardwired |
Safe Torque-off (STO) |
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• |
CompactLogix 5370/5380 |
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2198-xxxx-ERS3 (series B) |
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GuardLogix 5570/5580 |
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Compact GuardLogix 5370/5380 |
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Safe Torque-off (STO) |
2198-xxxx-ERS3 (series A) |
• |
Motion and Safety |
• |
GuardLogix 5570/5580 |
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Safety Only |
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Safe Torque-off (STO) |
2198T-L20-T03 |
• |
Motion and Safety |
• |
GuardLogix 5580 |
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Safety Only |
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Timed SS1 |
2198-xxxx-ERS3 (series B) |
• |
Motion and Safety |
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2198T-L20-T03 |
• |
Safety Only |
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GuardLogix 5580 |
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Timed SS1 |
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Motion and Safety |
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2198-xxxx-ERS4 |
• |
Compact GuardLogix 5380 |
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Monitored SS1 |
• |
Safety Only |
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Safety Off |
• |
none |
iTRAK 5730 |
• |
Motion Only |
• |
ControlLogix 5580 |
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GuardLogix 5580 |
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(1)Where a 2198-xxxx-ERS3 drive is specified, a 2198-xxxx-ERS4 drive is backwards compatible. Where a 2198-xxxx-ERS3 (series A) drive is specified, a 2198-xxxx-ERS3 (series B) drive is backwards compatible.
(2)See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, for more information on these Drive Safety instructions.
24 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 2 Configure Drive Properties
Choose the connection type for your drive.
Table 5 - Module Connection Definitions
Connection Type |
Used with the follow safety options |
Description |
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Motion and Safety |
• |
Integrated safety |
• Motion connections and integrated safety are managed by this controller. |
Motion Only |
• Hardwired Safe Torque Off mode |
• Motion connections are managed by this controller. |
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• Integrated safety, if there is a secondary safety |
• Hardwired STO is controlled by the hardwired safety inputs or integrated safety is managed by |
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controller |
another controller that has a Safety-only connection to the drive. |
Safety Only |
• |
Integrated safety |
• Integrated safety is managed by this controller. |
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• Motion connections are managed by another controller that has a Motion only connection to the |
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drive. |
For Motion and Safety or Safety selections, additional configuration and considerations not covered in this manual apply. See the publications for your drive, PowerFlex 750-series safety option module, and safety controller, which are listed in the Additional Resources on page 9.
For PowerFlex drives with a 20-750-S4 option module installed and a connection type of Motion and Safety or Safety only, you can choose a Safety Instance.
Table 6 - Safety Instance Definitions
Safety Instance Mode |
Description |
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Safe Stop Only - No Feedback |
STO function and Timed SS1 Safe Stop functions are available. |
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Single Feedback Monitoring |
Primary feedback is used in the safety object for safe monitoring. |
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In addition to primary feedback, an external feedback device is used to provide |
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Dual Feedback Monitoring |
error checking of the primary feedback device. A secondary encoder is |
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considered part f the encoder diagnostics and the data it produces is not rated |
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safety data. |
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Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
25 |
Chapter 2 Configure Drive Properties
When the Connection type is Motion and Safety or Safety only and the Safety
Application mode is Networked, you can choose a Motion Safety Type.
Table 7 - Motion Safety Definitions
Motion Safety Mode |
Description |
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STO Only |
2198-xxxx-ERS3 (series A and B): STO function only. |
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2198-xxxx-ERS4: STO function and Timed SS1 Safe Stop functions are available. |
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Safe Stop Only - No Feedback |
2198-xxxx-ERS3 (series B): STO function and Timed SS1 Safe Stop functions are |
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available. |
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iTRAK 5730: STO function and Timed SS1 Safe Stop functions are available. |
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Primary feedback is used in the safety object for safe monitoring. The feedback can be |
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Single Feedback Monitoring |
a SIL rated Hiperface DSL encoder, for example, a VPL-B1003P-Q or W motor used in |
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the DSL Feedback port. This can also be a Sine/Cosine or EnDat device, for example, an |
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MPL-B310P-M motor used in the Universal Feedback port. |
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Dual Feedback Monitoring |
In addition to primary feedback, an external feedback device is used to improve SIL |
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levels. For example, the Bulletin 842HR type encoder can be used in the Universal |
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Feedback port as a Sine/Cosine device. |
See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, to evaluate SIL levels possible with a single feedback device or two feedback devices.
Consider the following when choosing the appropriate settings for your application.
•The Logix Designer application enforces shared-bus configuration rules for Kinetix drives, except for shared AC configurations.
ATTENTION: To avoid damage to equipment all modules that are physically connected to the same shared-bus connection system must be part of the same bus-sharing Group in the Studio 5000 Logix Designer application.
•Kinetix 5500 drives with single-phase operation is limited to 2198-H003- ERSx, 2198-H008-ERSx, and 2198-H015-ERSx.
•Single-phase operation is possible only when Module Properties > Power tab > Bus Configuration is configured as Standalone and Voltage is configured as 200…240V AC.
ATTENTION: To avoid damage to equipment, make sure the AC input voltage that is configured in the Logix Designer application matches the actual hardware being configured.
26 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 2 Configure Drive Properties
Figure 6 - Power Configuration Example Pages
PowerFlex 755 Drive
Kinetix 5700 Drive
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1. Choose the appropriate power settings for your application. |
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Table 8 - Power Settings |
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Attribute |
Settings |
Description |
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Voltage |
400-480 VAC |
324…528 AC rms input voltage |
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200-240 VAC |
195…264 AC rms input voltage |
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PWM Frequency |
2 kHz |
The value sets the carrier frequency for the Pulse Width Modulation (PWM) output to the motor. |
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4 kHz (Default) |
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8 kHz |
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AC Input Phasing |
• |
Three Phase |
Input power phasing. Single phase operation is not available for all drives. For more information on the |
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• |
Single Phase |
power options that are available, see the user manual for your product. |
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Shared AC/DC (1) |
Applies to 2198-Pxxx DC-bus power supply (converter) modules. |
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Bus Configuration |
Standalone |
Applies to single-axis drives and drives with Shared AC input configurations. |
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Indicates that the converter section of the drive supplies DC Bus power only to this drive's power structure. |
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Shared DC |
Applies to inverter drives with Shared DC input (common-bus) configurations. |
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Bus-sharing Group (2) |
• |
Group1 |
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• |
Group2 |
Applies to any bus-sharing configuration. |
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• |
Group3 |
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Disabled |
Disables the internal shunt resistor and external shunt option. |
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Shunt Regulator |
Enables the internal and external shunt options. |
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Adjustable Frequency(3) |
This selection allows the drive to either change the torque limits or ramp rate of the velocity to control the |
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DC bus voltage. This option is not recommended for positioning applications because it will override the |
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Bus Regulator Action |
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velocity and the system can overshoot or may not stop. |
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Shunt then Adjustable Frequency |
This selection allows the Shunt resistor to absorb as much energy as it is designed for, then transitions to |
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adjustable frequency control if the limit of the resistor has been reached. |
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Adjustable Frequency then Shunt |
This selection allows for adjustable frequency control of the DC bus. If adjustable frequency control cannot |
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maintain the DC bus within limits, the shunt resistor will be activated. |
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Common Bus Follower(4) |
To configure your Kinetix 6500 IAM power module as a common-bus follower IAM |
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module. |
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Shunt Regulator Resistor Type |
Internal |
Enables the internal shunt (external shunt option is disabled). |
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External |
Enables the external shunt (internal shunt option is disabled). |
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External Shunt |
• |
None |
Selects external shunt option. |
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• |
Shunt catalog number(5) |
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• |
Custom |
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External Shunt Resistance |
Valid values are determined by the |
Specifies the external shunt resistance in Ohms. Available only if External Shunt is set to Custom. |
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type of drive. |
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Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
27 |
Chapter 2 Configure Drive Properties
Table 8 - Power Settings
Attribute |
Settings |
Description |
|
External Shunt Power |
Valid values are determined by the |
Specifies the external shunt power in Kilowatts. Available only if External Shunt is set to Custom. |
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type of drive. |
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External Shunt Pulse Power |
Valid values are determined by the |
Specifies the external shunt power in Kilowatts. Available only if External Shunt is set to Custom. |
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type of drive. |
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Bus Capacitance |
Valid values are determined by the |
Specifies the bus capacitance in microfarads (uF). Available only if External Shunt is set to Custom. |
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type of drive. |
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(1)Shared AC/DC bus configuration is the default selection for 2198-Pxxx DC-bus power supplies.
(2)For more information on bus-sharing groups, refer to Kinetix 5700 servo drives User Manual, publication 2198-UM002.
(3)Default for PowerFlex 527 drives.
(4)Drive will not accept CommonBus Follower selection while three-phase power or DC bus power is applied.
(5)Only the shunt catalog number intended for the specific DC-bus power supply is shown. See the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003, for more information on shunt resistors.
2.Click Advanced to adjust the limits for overload and voltage.
Kinetix 5700 DC Bus Supply
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PowerFlex 755 Drive |
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Table 9 - Limits for Overload and Voltage |
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Parameter |
Description |
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Converter Over Temperature Limit |
Sets the user limit for converter over temperature. |
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Converter Thermal Overload Limit |
Sets the user limit for converter thermal overload. |
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Converter Pre-charge Overload Limit |
Sets the user limit for converter pre-charge overload. |
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Converter Ground Current Limit |
Sets the user limit for the converter ground current. |
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Bus Regulator Over Temperature Limit |
Sets the user limit for bus regulator temperature. |
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Bus Regulator Thermal Overload Limit |
Sets the user limit for bus regulator overload. |
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Bus Over Voltage Limit |
Sets the user limit for bus over voltage. |
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Bus Under Voltage Limit |
Sets the user limit for bus under voltage. |
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Control Module Over Temperature Limit |
Sets the user limit for the Control Module Over temperature User Limit |
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exception. |
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28 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
Chapter 2 Configure Drive Properties
The following restrictions apply to settings made on this page:
•All digital input parameters, except Unassigned, must be unique.
•At least one Digital Input must be set to Regeneration OK when a module is set to the Shared DC - Non-CIP Converter bus sharing configuration in the Power tab.
•When you use the 2198-R014, 2198-R031, or 2198-R127 external passive shunt resistor with a DC-bus power supply, the Shunt Thermal Switch Digital Input must be configured.
Configure the digital inputs to monitor the status of drive functions appropriate to your application.
Table 10 - Drive Functions
Functions |
Description |
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Enable |
A 24V DC input is applied to this terminal as a condition to enable each module. |
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Home |
An active state indicates to a homing sequence that the referencing sensor as been |
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seen. Typically, a transition of this signal is used to establish a reference position for the |
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machine axis. |
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Registration 1 |
An inactive-to-active transition (also known as a positive transition) or active-to-inactive |
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transition (also known as a negative transition) is used to latch position values for use in |
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Registration 2 |
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registration moves. |
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Home |
An active state indicates to a homing sequence that the referencing sensor has been |
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seen. Typically, a transition of this signal is used to |
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establish a reference position for the machine axis. |
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Positive Overtravel |
The positive/negative limit switch (normally closed contact) inputs for each axis require |
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Negative Overtravel |
24V DC (nominal). |
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In the active state the inverters can be enabled. An inactive state indicates that the bus |
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supply unit is not ready to supply DCbus |
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power. The inverters cannot be enabled. |
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Regeneration OK |
When a Kinetix 5700 bus group is supplied by an 8720MC-RPS unit, one inverter in the |
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bus group must be configured in the Logix Designer application as Shared-DC Non-CIP |
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Motion™ Converter and assigned to Regeneration OK. This signal is wired from RDY on |
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the 8720MC-RPS unit and indicates to the Kinetix 5700 drive system that the 8720MC-RPS |
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unit is ready to supply power. Enabled inverters enumerate a Bus Power Sharing fault if |
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the Regeneration OK input goes inactive. |
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AC Line Contactor OK |
An active indicates that the AC Line Contactor is working correctly. |
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Bus Capacitor OK |
You can configure this input in the Logix Designer application and wire the module |
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status (MS) output from the 2198-CAPMOD-2240 capacitor module to indicate to the |
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inverter that a major fault is present on the capacitor module. |
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When the 2198-R014, 2198-R031, or 2198-R127 external shunt resistor is wired to the DC- |
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bus power supply, this input must be |
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configured in the Logix Designer application to monitor the status of the external shunt |
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Shunt Thermal Switch OK |
module thermal switch and assigned to Shunt |
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thermal switch OK. This function does not apply to the 2198-R004 shunt resistor. You can |
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also use this input to monitor the status of an |
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active shunt module in the system that is connected via the capacitor module or an |
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extension module. |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |
29 |
Chapter 2 Configure Drive Properties
Table 10 - Drive Functions
Functions |
Description |
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You can configure this input in the Logix Designer application and wire the module |
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Bus Conditioner OK |
status (MS) output from the 2198-DCBUSCONDRP312 |
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conditioner module to indicate to the inverter that a major fault is present on the |
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conditioner module. |
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This feature extends the precharge input monitoring capability to the PowerFlex |
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755 drive in integrated motion. The event processing is as follows: |
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Pre-charge OK |
1. If the configured Pre-charge OK Input becomes inactive and the drive is in the |
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Stopped state, the drive enters the precharge state. |
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2. If the configured Pre-charge OK input becomes inactive and the drive is in the |
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Running state, the drive generates the Converter Pre-charge Input Deactivated |
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exception and performs a Fault Coast Stop. |
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Motor thermostat input functionality is provided through the motor thermostat |
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input (PTC) on the 22-Series I/O modules (installed in Port 7) when in Integrated Motion |
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on EtherNet/IP mode. |
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The functionality is the same as the motor thermostat functionality in parameter |
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Motor Thermostat OK |
mode. When the PTC input resistance transitions from low to high at the design |
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temperature, the drive issues a motor over temperature fault, 18 [Motor PTC Trip]. |
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The functionality supports the current motor thermostat range for status trip and |
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reset in parameter mode. However, this functionality is not suitable for Allen- |
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Bradley MPL and MPM motors due to the varying hardware capacities and thermostat |
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ranges of the Kinetix and 22-Series I/O modules. |
30 |
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 |