Rockwell Automation Integrated Motion on the EtherNet/IP Network User Manual

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

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).

2 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

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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

Chapter 4

Axis Scheduling Timing Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

One Cycle Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Axis Scheduling Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Configure the Update Periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Motion Utilization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Chapter 5

Configuration Examples for a Kinetix Drive

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

Chapter 6

Tab le o f Conte nts

Axis Configuration Examples for the PowerFlex 755 Drive

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

Chapter 7

Axis Configuration Examples for the PowerFlex 527 Drive

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

Commission an Axis 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

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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

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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

Appendix A

Parameter Group Dialog Boxes Parameter Group Dialog Boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

Appendix B

Program a Velocity Profile and Jerk Rate

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 Configuration

Recommended Out-of-Box Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

Setting the ACO/AVO Attributefor PowerFlex 527 Drives Only . . . . . . 251

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

8 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Preface

About This Publication

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,

on the back cover of this manual.

Download Firmware, AOP, EDS, and Other Files

see Documentation Feedback

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

Summary of Changes 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 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

…Chapter 3 11…37

Additional Resources These documents contain additional information concerning related products

from Rockwell Automation.

Resource Description

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

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

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

ControlLogix System User Manual, publication 1756-UM001 EtherNet/IP Network Devices User Manual, publication ENET-UM006

GuardLogix 5570 Controllers User Manual, publication 1756-UM022

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

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

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

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

UM002

Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 9

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

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

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

Describes the necessary tasks to install, configure, program, and operate a ControlLogix system. Describes how to use EtherNet/IP™ communication modules in Logix 5000™ control systems. Provides information on how to install, configure, and operate GuardLogix 5570 controllers in

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

GuardLogix 5570 controllers in Studio 5000 Logix Designer projects, version 21 or later.

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

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

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

Preface

Resource Description

Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-

UM005

Kinetix 5500 Servo Drives Installation Instructions, publication 2198-IN001

Kinetix 5500 Servo Drives User Manual, publication 2198-UM001

Kinetix 5700 Safe Monitor Functions User Manual, publication 2198-RM001

Kinetix 5700 Servo Drives User Manual, publication 2198-UM002

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

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

Logix 5000 Controllers Common Procedures, publication 1756-PM001

Logix 5000 Controllers General Instructions Reference Manual, publication 1756-

RM003

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

Logix 5000 Controllers Quick Start, publication 1756-QS001 Describes how to get started programming and maintaining Logix5000 controllers. Motion System Tuning Application Technique, publication MOTION-AT005 PowerFlex 527 Adjustable Frequency AC Drive User Manual, publication 520-

UM002

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

PowerFlex 750-Series AC Drives Reference Manual, publication 750-RM002

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

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

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

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

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

EtherNet/IP Network Devices User Manual, ENET-UM006

Ethernet Reference Manual, ENET-RM002

System Security Design Guidelines Reference Manual, SECURE-RM001

Industrial Components Preventive Maintenance, Enclosures, and Contact Ratings Specifications, publication IC-TD002

Safety Guidelines for the Application, Installation, and Maintenance of Solid-state Control, publication SGI-1.1

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.

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 5000 controller.

Provides installation instructions for the Kinetix 5500 Integrated Axis Module and Axis Module components.

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

Explains how the Kinetix 5700 drives can be used in up to Safety Integrity Level (SIL 3), Performance Level (PL e) applications.

Provides information on installing, configuring, start up, troubleshooting, and applications for the Kinetix 5700 servo drive systems.

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

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

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

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

Provides a programmer with details about process and drives instructions for a Logix-based controller.

Provides detailed information on motion system tuning. Provides information on installation, configuration, start up, troubleshooting, and applications for

the PowerFlex® 527 drive. Provides information that is necessary to install, start-up, and troubleshoot PowerFlex 750-

Series Adjustable Frequency AC Drives. Provides detailed drive information including operation, parameter descriptions, and

programming of the AC drive. Provides information on installation, configuration, start up, troubleshooting, and applications for

the PowerFlex 755 Drive Embedded EtherNet/IP Adapter.

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

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

Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP network.

Describes basic Ethernet concepts, infrastructure components, and infrastructure features. 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.

Provides a quick reference tool for Allen-Bradley industrial automation controls and assemblies.

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 individual devices or packaged assemblies incorporating solid-state components.

You can view or download publications at rok.auto/literature.

10 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Components of a Motion System

Topic Page

Controller, Communication, Drive, and Software Options 11

Help for Selecting Drives and Motors 14

Chapter 1

Controller, Communication, Drive, and Software Options

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) controller, Ethernet module, and drive firmware revisions, Studio 5000 Logix Designer required revisions, and compatibility information.

)

for minimum

Table 1

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

provides information on how many motion axes are supported

Chapter 1 Components of a Motion System

Table 1 - Supported Axes by Controller Type

Controller

ControlLogix® 5570,GuardLogix 5570 Armor™ ControlLogix 5570, Armor™ GuardLogix® 5570

Communication Modules

(1)

1756-EN2T, 1756-EN2TF, 1756-EN2TP, 1756-EN2TR

1756-EN3TR 100 Up to 100

Supported Axes Position Loop Other Loop Types

8Up to 100

1756-EN4TR 100 Up to 100

ControlLogix 5580, GuardLogix 5580

1756-EN2T, 1756-EN2F, 1756-EN2TP, 1756-EN2TR

8Up to 256

1756-EN3TR 256 Up to 256 1756-EN4TR 256 Up to 256

ControlLogix 5580, GuardLogix 5580

1756-L81E, 1756-L81ES

1756-L82E, 1756-L82ES

1756-L83E, 1756-L83ES, 1756-L84E, 1756-L84ES

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 GuardLogix 5380

5069-L330ERM, 5069-L330ERMS2 Embedded Ethernet 16 Up to 256 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 GuardLogix 5370, Armor CompactLogix 5370, Armor Compact GuardLogix 5370

(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.

1769-L33ERM, 1769-L33ERMS 1769-L33ERMO, 1769-L33ERMOS

1769-L36ERM, 1769-L36ERMS 1769-L36ERMO, 1769-L36ERMOS

1769-L37ERM, 1769-L37ERMS, 1769-L37ERMO, 1769-L37ERMOS,

1769-L38ERM, 1769-L38ERMS 1769-L38ERM0, 1769-L38ERM0S

Embedded Ethernet 8 Up to 100

Embedded Ethernet 16 Up to 100

(2)

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 Encoders

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.

Kinetix 5500

Kinetix 5700

Kinetix 6500

PowerFlex 527

PowerFlex 755

iTRAK® 5730 Intelligent Track System

iTRAK Power 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)

The 842E-CM is an ultra-high resolution encoder with EtherNet/IP interface with time synchronization for motion control. These encoders provide 18-bit singleturn resolution and 30-bit multi-turn resolution.

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 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. 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,

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.

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).

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

The iTRAK 5730 system is a modular, scalable, linear motor system. This system provides independent control of multiple movers on straight or curvilinear paths.

Catalog number 2198T-W25K-ER, DC-DC converter that generates DC-bus power for iTRAK systems.

(1) (2)

, and feedback functions to the drive.

Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 13

Chapter 1 Components of a Motion System

Help for Selecting Drives and Motors

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

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

You can access Motion Analyzer at

https://motionanalyzer.rockwellautomation.com

14 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

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

Chapter 2

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 Begin 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 on time synchronization.

For detailed information on configuring a controller or Ethernet/IP adapter, see the publications listed in the Additional Resources

, for detailed information

on page 9.

16 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Figure 1 - Create a Motion Project

Controller Project

Enable Time

Synchronizaon

Is this a safety

applicaon?

Integrated safety

controller

Standard

controller

Does the controller need an EtherNet/IP

device?

Add the

EtherNet/IP

device to the

project

Use the embedded

EtherNet/IP

connecvity in the

controller

Add a Drive or

iTRAK system

For Kinex drives, see pg For PowerFlex drives, see pg For iTRAK systems, see pg

Set Exact Keying

Exact Match or

Compable Keying

on the Module

Deﬁnion dialog

box.

yes

Check Enable Time Synchronizaon on the Date/Time tab of the Module Properes dialog box.

Choose Time Sync and Moon as the Time Sync Connecon type on the

Module Deﬁnion dialog box.

For Kinetix Drives, see page 18 For PowerFlex Drives, see page 19 For iTRAK® systems, see page 21

Chapter 2 Configure Drive Properties

Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 17

Chapter 2 Configure Drive Properties

Controller Project Ready

Controller EtherNet/IP Connectivity Time Synchronization

Add a Kinetix Drive to your EtherNet/IP Network

Configure General Settings

Configure Drive Settings in the Module Definition Dialog Box

page 23

Type a Name and IP Address of the drive on the General page of the Module Properties dialog box.

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

Configure Axis Properties See Chapter 3

See your Drive User Manual for details on configuring your drive safety options.

Add a Kinetix Drive 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

18 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Chapter 2 Configure Drive Properties

Controller Project Ready

Add PowerFlex 755 Drive to your EtherNet/IP Network

Add PowerFlex 527 Drive to your EtherNet/IP Network

Configure General Settings

Do you need I/O or feedback?

Type a Name and IP Address of the drive on the General page of the Module Properties dialog box.

Choose a PowerFlex 755 drive catalog number that ends in -CM or -CM-Sx for an Integrated Motion Drive.

Add a peripheral device

page 20

Configure drive settings in the Module Definition dialog box

page 23

Configure power

page 26

Configure Motion Safety

Configure Safety

page 31

Configure digital inputs and outputs

page 29

and page 31

See your Drive User Manual for details on configuring your drive safety options.

Configure Axis Properties See Chapter 3

Add a PowerFlex Drive The available configuration options differ depending on the controller, drive

type, and PowerFlex option modules you chose for your project.

yes

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

Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 19

Chapter 2 Configure Drive Properties

Add a Peripheral Device for PowerFlex 755 Drives

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

Single Incremental Encoder 20-750-ENC-1 4…8

Two Feedback Options

Two Feedback Options and One Safety Option

(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.

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

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

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

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

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

Safe Torque Off, or Safe Speed Monitor

Integrated Safe Torque Off, or Integrated Safety Functions

(1)

, or

20-750-S 20-750-S1 20-750-S3 20-750-S4

5. If you will be using a feedback option module for safe feedback with a 20750-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 (20750-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.

Add an iTRAK Section, Mover, or Power Supply

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

Controller Project Ready

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.

Add iTRAK Drive

Configure General Settings

Configure safety page

page 31

Configure power page

page 26

Configure drive settings in the Module Definition dialog box

page 23

Configure Motion Safety

page 26

See your iTRAK user manual for details on configuring your motion safety options.

Configure track sections

page 35

Configure Axis Properties See Chapter 3

Figure 4 - Add iTRAK Drive Modules

22 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Chapter 2 Configure Drive Properties

Configure Module Definition All drives let you update the drive Revision, choose an Electronic Keying type,

and choose a Power Structure. Options for Connection type and other fields depend on the type of drive you added to your project. See Table 3 on page 23

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 LOGIX-

AT001.

Table 3 - Module Definition Fields

Kinetix 350

Kinetix 5300

Kinetix 5500

Kinetix 6500

Kinetix 5700 DC - Bus Supply

Kinetix 5700 Regenerative Bus Supply

Kinetix 5700 Inverter

PowerFlex 755 Drive with Embedded Ethernet

PowerFlex 755 Hi-Power Drive with Embedded Ethernet

PowerFlex 755 Drive with Safe Torque Off

PowerFlex 755 Hi-Power Drive with Safe Torque Off

(with 20-750-S option module installed)

PowerFlex 755 Drive with Safe Speed Monitoring

PowerFlex 755 Hi-Power Drive with Safe Speed Monitoring

(with 20-750-S1 option module installed)

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)

PowerFlex 755 Drive with Integrated Safety Functions

PowerFlex 755 Hi-Power Drive with Integrated Safety Functions

(with 20-750-S4 option module installed)

PowerFlex 527 Drive

Revision XXXXXX

Electronic KeyingXXXXXXXXXXXXX

Power StructureXXXXXXXXXXXXX

Safety Application X

ConnectionXXXXXXXXXXXXX

Safety Instance X X

Motion Safety 1 X Motion Safety 2 X

(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.

(1)X(2)

(2)

Update the Revision, if

necessary. Choose Exact Match or

Compatible Keying. Assign a power structure,

if necessary. See Safety Application

Types on page 24

See Connection Types on

page 25.

See Safety Instance on

page 25

See Motion Safety Type

page 26

(3)

Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 23

Chapter 2 Configure Drive Properties

Kinetix 5700 Drive with Integrated Safety

PowerFlex 755 Drive with Embedded Ethernet

Figure 5 - Example Module Definition Dialog Boxes

Safety Application Types

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

Hardwired Safe Torque-off (STO)

Safe Torque-off (STO) 2198-xxxx-ERS3 (series A)

Safe Torque-off (STO) 2198T-L20-T03

Networked (integrated)

Safety Off

(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

Timed SS1

• Timed SS1

• Monitored SS1

• Controller-based safety functions

•none

Minimum Module

2198-xxxx-ERS3 (series A) 2198-xxxx-ERS3 (series B)

2198-xxxx-ERS3 (series B) 2198T-L20-T03

2198-xxxx-ERS4

(2)

iTRAK 5730

(1)

Required

, for more information on these Drive Safety instructions.

Connection Types Compatible Controllers

• Motion Only • ControlLogix® 5570/5580

• Motion and Safety

•Safety Only

• Motion and Safety

•Safety Only

• Motion and Safety

•Safety Only

• Motion and Safety

•Safety Only

• Motion Only • ControlLogix 5580

• CompactLogix 5370/5380

• GuardLogix 5570/5580

• Compact GuardLogix 5370/5380

• GuardLogix 5570/5580

• GuardLogix 5580

• Compact GuardLogix 5380

• GuardLogix 5580

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Chapter 2 Configure Drive Properties

Connection Types

Choose the connection type for your drive.

Table 5 - Module Connection Definitions

Connection Type Used with the follow safety options Description

Motion and Safety • Integrated safety • Motion connections and integrated safety are managed by this controller.

Motion Only

Safety Only

• Hardwired Safe Torque Off mode

• Integrated safety, if there is a secondary safety controller

• Integrated safety • Integrated safety is managed by this controller.

• Motion connections are managed by this controller.

• Hardwired STO is controlled by the hardwired safety inputs or integrated safety is managed by another controller that has a Safety-only connection to the drive.

• Motion connections are managed by another controller that has a Motion only connection to the 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

Safety Instance

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

Safe Stop Only - No Feedback STO function and Timed SS1 Safe Stop functions are available. Single Feedback Monitoring Primary feedback is used in the safety object for safe monitoring.

In addition to primary feedback, an external feedback device is used to provide

Dual Feedback Monitoring

error checking of the primary feedback device. A secondary encoder is considered part f the encoder diagnostics and the data it produces is not rated safety data.

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Chapter 2 Configure Drive Properties

Motion Safety Type

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

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

2198-xxxx-ERS4: STO function and Timed SS1 Safe Stop functions are available.

Safe Stop Only - No Feedback

Single Feedback Monitoring

Dual Feedback Monitoring

See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001 device or two feedback devices.

2198-xxxx-ERS3 (series B): STO function and Timed SS1 Safe Stop functions are available. iTRAK 5730: STO function and Timed SS1 Safe Stop functions are available.

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

In addition to primary feedback, an external feedback device is used to improve SIL levels. For example, the Bulletin 842HR type encoder can be used in the Universal Feedback port as a Sine/Cosine device.

, to evaluate SIL levels possible with a single feedback

Configure Power Settings The Power page lets you configure the drive Bus Configuration, assign a Bus

Sharing Group, set Bus Regulator Action or select a Shunt Resistor Type and configuration limits. The options for configuration differ depending on drive type.

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-H003ERSx, 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

Figure 6 - Power Configuration Example Pages

PowerFlex 755 Drive

Kinetix 5700 Drive

Chapter 2 Configure Drive Properties

Table 8 - Power Settings

Attribute Settings Description

Volt age

PWM Frequency

AC Input Phasing

Bus Configuration

Bus-sharing Group

Bus Regulator Action

Shunt Regulator Resistor Type

External Shunt

External Shunt Resistance

1. Choose the appropriate power settings for your application.

400-480 VAC 324…528 AC rms input voltage 200-240 VAC 195…264 AC rms input voltage 2 kHz

4 kHz (Default) 8 kHz

• Three Phase

• Single Phase

Shared AC/DC

(1)

Standalone

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

(2)

•Group1

•Group2

•Group3 Disabled Disables the internal shunt resistor and external shunt option. Shunt Regulator Enables the internal and external shunt options.

Adjustable Frequency

(3)

Shunt then Adjustable Frequency

Adjustable Frequency then Shunt

Common Bus Follower

(4)

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

•None

• Shunt catalog number

(5)

•Custom Valid values are determined by the

type of drive.

The value sets the carrier frequency for the Pulse Width Modulation (PWM) output to the motor.

Input power phasing. Single phase operation is not available for all drives. For more information on the power options that are available, see the user manual for your product.

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

Applies to single-axis drives and drives with Shared AC input configurations. Indicates that the converter section of the drive supplies DC Bus power only to this drive's power structure.

Applies to any bus-sharing configuration.

This selection allows the drive to either change the torque limits or ramp rate of the velocity to control the DC bus voltage. This option is not recommended for positioning applications because it will override the velocity and the system can overshoot or may not stop.

This selection allows the Shunt resistor to absorb as much energy as it is designed for, then transitions to adjustable frequency control if the limit of the resistor has been reached.

This selection allows for adjustable frequency control of the DC bus. If adjustable frequency control cannot maintain the DC bus within limits, the shunt resistor will be activated.

To configure your Kinetix 6500 IAM power module as a common-bus follower IAM module.

Selects external shunt option.

Specifies the external shunt resistance in Ohms. Available only if External Shunt is set to Custom.

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Chapter 2 Configure Drive Properties

PowerFlex 755 Drive

Kinetix 5700 DC Bus Supply

Table 8 - Power Settings

Attribute Settings Description

External Shunt Power

External Shunt Pulse Power

Bus Capacitance

(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

shunt resistors.

Valid values are determined by the type of drive.

Specifies the external shunt power in Kilowatts. Available only if External Shunt is set to Custom.

Specifies the bus capacitance in microfarads (uF). Available only if External Shunt is set to Custom.

2. Click Advanced to adjust the limits for overload and voltage.

, for more information on

Table 9 - Limits for Overload and Voltage

Parameter Description

Converter Over Temperature Limit Sets the user limit for converter over temperature. Converter Thermal Overload Limit Sets the user limit for converter thermal overload. Converter Pre-charge Overload Limit Sets the user limit for converter pre-charge overload. Converter Ground Current Limit Sets the user limit for the converter ground current. Bus Regulator Over Temperature Limit Sets the user limit for bus regulator temperature. Bus Regulator Thermal Overload Limit Sets the user limit for bus regulator overload. Bus Over Voltage Limit Sets the user limit for bus over voltage. Bus Under Voltage Limit Sets the user limit for bus under voltage.

Control Module Over Temperature Limit

28 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Sets the user limit for the Control Module Over temperature User Limit exception.

Chapter 2 Configure Drive Properties

Configure Digital Inputs 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

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

Home

Registration 1 Registration 2

Home

Positive Overtravel Negative Overtravel

Regeneration OK

AC Line Contactor OK An active indicates that the AC Line Contactor is working correctly.

Bus Capacitor OK

Shunt Thermal Switch OK

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

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

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

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

In the active state the inverters can be enabled. An inactive state indicates that the bus supply unit is not ready to supply DCbus power. The inverters cannot be enabled. When a Kinetix 5700 bus group is supplied by an 8720MC-RPS unit, one inverter in the bus group must be configured in the Logix Designer application as Shared-DC Non-CIP Motion™ Converter and assigned to Regeneration OK. This signal is wired from RDY on the 8720MC-RPS unit and indicates to the Kinetix 5700 drive system that the 8720MC-RPS unit is ready to supply power. Enabled inverters enumerate a Bus Power Sharing fault if the Regeneration OK input goes inactive.

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

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

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Chapter 2 Configure Drive Properties

Table 10 - Drive Functions

Functions Description

u can configure this input in the Logix Designer application and wire the module

Bus Conditioner OK

Pre-charge OK

Motor Thermostat OK

status (MS) output from the 2198-DCBUSCONDRP312 conditioner module to indicate to the inverter that a major fault is present on the conditioner module.

This feature extends the precharge input monitoring capability to the PowerFlex 755 drive in integrated motion. The event processing is as follows:

1. If the configured Pre-charge OK Input becomes inactive and the drive is in the Stopped state, the drive enters the precharge state.

2. If the configured Pre-charge OK input becomes inactive and the drive is in the Running state, the drive generates the Converter Pre-charge Input Deactivated exception and performs a Fault Coast Stop.

Motor thermostat input functionality is provided through the motor thermostat input (PTC) on the 22-Series I/O modules (installed in Port 7) when in Integrated Motion on EtherNet/IP mode. The functionality is the same as the motor thermostat functionality in parameter mode. When the PTC input resistance transitions from low to high at the design temperature, the drive issues a motor over temperature fault, 18 [Motor PTC Trip]. The functionality supports the current motor thermostat range for status trip and reset in parameter mode. However, this functionality is not suitable for AllenBradley MPL and MPM motors due to the varying hardware capacities and thermostat ranges of the Kinetix and 22-Series I/O modules.

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Chapter 2 Configure Drive Properties

Configure Digital Outputs The Digital Outputs tab is only available for PowerFlex 755 drives with a digital

I/O option card installed as a peripheral device. The appearance of the tab varies depending on the device configuration.

Configure the digital outputs appropriately for your application.

Table 11 - Digital Output Functions

Functions Description

Unassigned The output is not assigned.

A Contactor Enable Output can be configured in the PowerFlex 755 drive in integrated motion only. The operation of this output is tied to fault processing in

Contactor Enable

Mechanical Brake Engage Delay

the drive. The drive de-energizes the Contactor Enable Output when an exception causes the axis to go to the ‘shut down’ state. Note: This configuration is only valid when an auxiliary power supply is used for control power with frames 1…7 drives or when a 24 auxiliary power supply is used on frames 8…10 drives.

The amount of time that the power structure remains enabled after the axis has been commanded to zero speed before disabling the power structure. The motor decelerates to a stop, the brake output actuates, and this delay provides time for the brake to engage.

Configure Safety Settings If your system includes a drive that supports integrated safety, note the safety

network number (SNN) on the Module Properties General page, which populates automatically when you add a drive that supports integrated safety to the project.

Safety network numbers for PowerFlex drives that include 20-750-S3 or 20750-S4 option modules are unique. SNNs for other drives match the SNN of the safety controller in the project.

Often the automatically-assigned SNN is sufficient, but sometimes manual manipulation of the SNN is required. See Generate an SNN on page xx

for

more information.

The connection between the owner controller and the drive is based on the following:

• Servo drive safety network number

•GuardLogix slot number

• GuardLogix safety network number

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

• Configuration signature

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Chapter 2 Configure Drive Properties

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

Configure Safety Connections

1. Choose the Safety page.

2. Click Advanced to open the Advanced Connection Reaction Time Limit Configuration dialog box.

32 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Chapter 2 Configure Drive Properties

3. Analyze each safety channel to determine the appropriate settings.

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

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

Resources on page 9.

Generate the Safety Network Number (Integrated safety drives only)

The assignment of a time-based safety network number (SNN) is automatic when you create a GuardLogix safety controller project and add new Safety devices. This number is generally sufficient. However, manual manipulation of an SNN is required in the following situations:

• If safety consumed tags are used

• If the project consumes safety input data from a device whose configuration is owned by some other device

• If a safety project is copied to another hardware installation within the same routable safety system

If an SNN is assigned manually, the SNN has to be unique.

IMPORTANT

If you assign an SNN manually, make sure that the system expansion does not result in duplication of SNN and node address combinations.

A warning appears if your project contains duplicate SNN and node address combinations. You can still verify the project, but Rockwell Automation recommends that you resolve the duplicate combinations.

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Chapter 2 Configure Drive Properties

To edit the SNN, follow these steps.

1. To open the Safety Network Number dialog box, click the ellipsis to the right of the Safety Network Number.

2. Select either Time-based or Manual.

If you select Manual, enter a value from 1…9999 decimal.

3. Click Generate.

4. Click OK.

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Chapter 2 Configure Drive Properties

Configure Track Sections For iTRAK drive modules, follow the steps below to configure your track.

1. From the Track ID pull down menu, select your Track ID.

When multiple modules share the same Track ID, these modules are identified as being configured as a single Track System. This allows Logix Designer to validate the track system as a whole. Section modules that specify a 0 or Not Specified Track ID are not validated because they are treated as stand-alone sections when validating track systems.

2. From the Mover Axis Assignment Sequence pull-down menu, choose the Mover Axis Assignment Sequence for your motion application.

Table 12 - Mover Axis Assignment Sequences

Mover Axis Assignment Sequence Description

Decreasing Position

Increasing Position

Decreasing Position from Reference Mover

Increasing Position from Reference Mover

Track section assigns movers on the track to axis instances in a sequence starting with the mover with the highest position value as the first mover followed by movers with decreasing position values.

Track section assigns movers on the track to axis instances in a sequence starting with the mover with the lowest position value as the first mover followed by movers with increasing position values.

Track section assigns movers on the track to axis instances in a sequence starting with the mover electronically identified as the Reference Mover followed by movers in the direction of decreasing position values relative to the Reference Mover.

Track section assigns movers on the track to axis instances in a sequence starting with the mover electronically identified as the Reference Mover followed by movers in the direction of increasing position values relative to the Reference Mover

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Chapter 2 Configure Drive Properties

3. From the Section Motor pull-down menu, select the section motor corresponding to your iTRAK drive module.

A curve section acts like three individual sections: Curve A, curve B and curve C. Each of the three sections needs to be added as a separate drive and configured individually.

• If your drive module is a Straight section then select a 2198T-L20-T0303A00-S2 section motor

• If your drive module is a Curve A section then select a 2198T-L20-T0309D18-S2-A section motor

• If your drive module is a Curve B section then select a 2198T-L20-T0309D18-S2-B section motor

• If your drive module is a Curve C section then select a 2198T-L20-T0309D18-S2-C section motor

4. Enter the length of your entire track (number of iTRAK modules x 0.3 m) in the Track Length field.

36 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Configure Axis Properties

Topic Page

Create an Associated Axis 37

Create a Motion Group 40

Associate Axes to the Motion Group 43

Configure an Axis and Control Mode 43

Specify the Motor Data Source 49

Display Motor Model Information 53

Use Motor Analyzer 54

Assign Motor Feedback 55

Configure Load Feedback 59

Configure Master Feedback 60

Configure Actions 60

Configure Exceptions 62

Chapter 3

Create an Associated Axis Before you can complete the configuration process, you need to create an axis

and associate it to your drive.

Create an Axis

Follow these steps to create an axis.

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

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Chapter 3 Configure Axis Properties

PowerFlex® 755 Drive

Kinetix® 5700 Drive

2. Click the Associated Axes tab.

3. Click New Axis.

4. On the New Tag dialog box, type a name for the axis.

The default data type is AXIS_CIP_DRIVE.

For iTRAK® systems, the first axis must be the section axis. The remaining four axis can be used for mover axis or left blank depending on your application.

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Chapter 3 Configure Axis Properties

5. Make any adjustments for your application.

6. Click Create.

7. Configure additional axes, if applicable.

Specify Feedback Assignments

The type of feedback you can assign differs based on the type of drive.

Table 13 - Drive Feedback Types

Drive Axis Feedback Types

Kinetix 350 1 Motor Feedback

Kinetix 5300 2

Kinetix 5500 1 Motor Feedback

Kinetix 6500 2

PowerFlex 527 1 Motor Feedback

Kinetix 5700 Single-axis Inverter (2198-Sxxx-ERSx) 2

Kinetix 5700 Dual-axis Inverter (2198-Dxxx-ERSx) 4

Kinetix 5700 DC Bus Power Supply Kinetix 5700 Regenerative Power Supply

2198T iTRAK Power Supply 1 No Feedback iTRAK 5370 Section 1 Integrated Track Feedback iTRAK 5370 Mover 4 Integrated Track Feedback PowerFlex 755 with 20-750-ENC-1 feedback module 1 Configure the Port channel A for Motor Feedback or Load Feedback PowerFlex 755 with 20-750-DENC-1 feedback module

PowerFlex 755 with 20-750-UFB-1 feedback module

Axis 1 for Motor or Load Feedback Axis 2 for Auxiliary (Master) Feedback

• Port 1 is reserved for Motor Feedback on the primary axis (Axis_1)

• Port 2 can be used either as Load Feedback for the primary axis or as a Master Feedback for a secondary feedback only axis (Axis_2)

Axis 1 for Motor or Load Feedback Axis 2 for Auxiliary (Master) Feedback

Axis 1 and 3 for Motor or Load Feedback Axis 2 and 4 for Auxiliary (Master) Feedback

1 No Feedback

Configure the Port channel A and channel B for Motor Feedback or Load

Feedback

PowerFlex 755 requires a peripheral device for feedback. You must manually establish the motor or load feedback port and channel assignments on the PowerFlex 755 drive.

1. For PowerFlex 755 drive and Kinetix 5700 drive and Kinetix 6500 drives, use the pull-down menus to choose the feedback type for the applicable axes.

2. Click OK to close the Module Properties dialog box.

IMPORTANT

The Logix Designer application prevents the creation of feedback port assignments with incompatible feedback types. For example, you cannot assign the same port for multiple devices. The same port cannot be used for Motor Feedback Device, Load Feedback Device, and Master Feedback Device.

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Chapter 3 Configure Axis Properties

Create a Motion Group All axes must be added to the Motion Group in your project. If you do not

group the axes, they remain ungrouped and unavailable for use. You can only have one Motion Group per Logix controller.

To create a motion group, follow these instructions.

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

2. Type a name for the motion group.

3. Make any adjustments for your application.

4. Click Create.

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Chapter 3 Configure Axis Properties

Set the Base Update Period

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

There are two alternate update periods that you can configure when using the Axis Scheduling function. See Axis Scheduling Configuration details.

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

To set the Base Update Period, follow these steps.

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

on page 68 for

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Chapter 3 Configure Axis Properties

Motion Task

Scans of Your Code, System Overhead, and so on

0 ms 10 ms

20 ms 30 ms 40 ms

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

2. Set the Base Update Period.

Check the Last Scan time values. Typically, the value is less than 50% of the Base Update Period.

Figure 7 - Base Update Period Example

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

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

Configuration on page 68.

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Chapter 3 Configure Axis Properties

Associate Axes to the Motion Group

To associate axes to a motion group, follow these steps:

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

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

3. Click the Attribute tab and edit the default values as appropriate for your application.

See Axis Scheduling and Faults for detailed information on the settings available from the Attribute tab.

Configure an Axis and Control Mode

4. Click OK.

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

Table 14

lists the basic tasks necessary configure an axis.

Table 14 - Axis Properties Pages

Axis Properties Page Perform These Tasks Page

• Assign the axis configuration.

• Choose the feedback configuration.

General

Motor

Motor Feedback • Select and configure the Motor Feedback Type. 55

Load Feedback • Select and configure the Load Feedback Type, if applicable. 59

Master Feedback

• Choose the application type, if applicable.

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

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

• Specify a motor with the Data Source = Nameplate Datasheet.

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

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

• Only the Motor Overload Limit is configurable for iTRAK Sections

• Select and configure the Master Feedback Type, if applicable. Master Feedback is only available for Feedback Only axes.

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Chapter 3 Configure Axis Properties

Table 14 - Axis Properties Pages

Axis Properties Page Perform These Tasks Page

Actions

Exceptions

Scaling

• Configure how an axis responds to fault types.

• Modify actions for how an axis responds to fault types.

• Define the action to be performed by the drive as a result of an exception condition. Exceptions are conditions that can occur during motion axis operation that could generate faults or alarms.

• Configure feedback by choosing the load type, by entering the scaling units, and by choosing the Travel mode.

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

137

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

IMPORTANT

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

See the Integrated Motion Reference Manual, publication MOTION-RM003

, for complete information on Axis Attributes and how to apply Control Modes in the axis configuration.

IMPORTANT

Be sure to associate the drive and axis before when configuring the axis because the drive determines what optional attributes are supported for the axis.

If you have already created an axis and associated in with a drive, the Associated Module and Axis are shown on the General page of the Axis Properties dialog box.

Figure 8 - General Page

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

44 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020

Chapter 3 Configure Axis Properties

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

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

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

Table 15

, Table 16, and Table 17 compare the axis configuration types

for Kinetix, PowerFlex, and iTRAK drives.

Table 15 - Compare the Axis Configuration Types for the Kinetix Drives

Axis Type

Position Loop (P) Yes Yes Yes Yes Yes No No Yes

Velocity Loop (V) Yes Yes Yes Yes Yes No No Yes

Torque Loop (T) Yes Yes Yes Yes Yes No No Yes

Feedback Only (E) No Yes Yes Yes Yes No No Yes

Frequency Control (F) No Yes Yes Yes Yes No No No

Regenerative Converters (G)

Non-Regenerative Converters (N)

Kinetix 350 Drive

No No No No No No Yes No

No No No No No Yes No No

Kinetix 5300 Drive

Kinetix 5500 Drive

Kinetix 5700 Dualaxis Inverter

Kinetix 5700 Singleaxis Inverter

Kinetix 5700 DC Bus Supply

Kinetix 5700 Regenerative Power Supply

Table 16 - Compare the Axis Configuration Types for the PowerFlex Drives

Axis Type PowerFlex® 527 PowerFlex 755

Position Loop (P) Yes Yes

Velocity Loop (V) Yes Yes

Torque Loop (T) No Yes

Feedback Only (E) No No

Frequency Control (F) Yes Yes

Kinetix 6500 Drive

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Chapter 3 Configure Axis Properties

Table 17 - Compare the Axis Configuration Types for the iTRAK 5370

Axis Type iTRAK 5370 Sections iTRAK 5370 Movers

Position Loop (P) No Yes

Velocity Loop (V) No No

Torque Loop (T) No Yes

Feedback Only (E) No No

Frequency Control (F) No No

Track Section (X) Yes No

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

For iTRAK mover and section axes, the Feedback Configuration is always Motor Feedback. Fot the iTRAK power supply it is always No Feedback. See Table 18

and Table 19 for Kinetix and PowerFlex drive options,

respectively.

Table 18 - Feedback Configuration Types for Kinetix Drives

Feedback Type

Motor Feedback

Load Feedback —

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

Dual Integral — — — — — — —

Master Feedback

No Feedback —

Kinetix 350 Kinetix 5300 Kinetix 5500

Position Loop (P), Velocity Loop (V), Torque Loop (T)

— Feedback Only (N) Feedback Only (N) Feedback Only (N) — — Feedback Only (N)

Position Loop (P), Velocity Loop (V), Torque Loop (T)

Position Loop (P), Velocity Loop (V)

Velocity Loop (V), Fre quency Control (F)

Position Loop (P), Velocity Loop (V), Torque Loop (T)

—

Velocity Loop (V), Frequency Control (F)

Kinetix 5700 Single and Dual-axis Inverter Type

Position Loop (P), Velocity Loop (V), Torque Loop (T)

Position Loop (P), Velocity Loop (V)

Frequency Control (F)

Kinetix 5700 DC Bus Supply

——

Non-regenerative Converter Only (N)

Kinetix 5700 Regenerative Power Supply

Regenerative Converter (G)

Kinetix 6500

Position Loop (P), Velocity Loop (V), Torque Loop (T)

—

Table 19 - Feedback Configuration Types for PowerFlex Drives

Feedback Type PowerFlex 527 PowerFlex 755

Motor Feedback Position Loop (P), Velocity Loop(V)

Load Feedback — —

Dual Feedback — Position Loop (P)

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Position Loop (P), Velocity Loop(V), Torque Loop (T)

Chapter 3 Configure Axis Properties

Table 19 - Feedback Configuration Types for PowerFlex Drives

Feedback Type PowerFlex 527 PowerFlex 755

Dual Integral — Position Loop (P)

Master Feedback — —

No Feedback Frequency Control (F)

Velocity Loop (V), Frequency Control (F)

4. Choose application type, if applicable.

Application Type specifies the type of motion control application and is used to set the Gain Tuning Configuration Bits attribute that establishes the appropriate gain set application. These combinations determine how the calculations are made, which can reduce the need to perform an Autotune or a Manual Tune.

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This table provides the gains that are established based on the application type.

Table 20 - Customize Gains to Tune

Application Type Kpi Kvi ihold Kvff Kaff torqLPF

(1)

Custom Basic No No No Yes No Yes Tracking No Yes No Yes Yes Yes Point-to-Point Yes No Yes No No Yes Constant Speed No Yes No Yes No Yes

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

Configuration Bits Attribute.

— ————

Include in the table that:

• Kpi = Position Integrator Bandwidth

• Kvi = Velocity Integrator Bandwidth

• iHold = Integrator Hold

• Kvff = Velocity Feedforward

• Kaff = Acceleration Feedforward

• torqLPF = Torque Low Pass Filter

5. Choose a loop response, if applicable.

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

For information about other application type and loop response settings and attribute calculations, see the specific attribute descriptions in the Integrated Motion on the EtherNet/IP Reference Manual, publication MOTION-RM003.

6. Some drives let you enable or disable a Vertical Load Control function.

When this feature is Enabled, the drive attempts, whenever possible, to avoid applying Category 0 stop actions in response to Major Fault conditions. The drive may tailor other aspects of its behavior to best handle vertical loads.

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7. For converters, specify a Converter Startup Method to indicate how the axis transitions from the Stopped state to the Starting state.

Table 21 - Converter Startup Methods

Method Description

the converter stays in the Stopped state until it receives an Enable Request from the controller.

Enable Request

Enable Input

Automatic

After the converter receives the request, it transitions to Starting state and checks for proper AC line synchronization. Once ready for regenerative control, the converter transitions to the Running state with all configured control loops operational.

the converter checks the status of the Enable Input. If it is active, the converter axis transitions from the Stopped state to the Starting state and checks for proper AC line synchronization. Once ready for regenerative control, the converter transitions to the Running state with all configured control loops operational.

the converter automatically transitions to Starting state and checks for proper AC line synchronization. Once ready for regenerative control, the converter transitions to the Running state with all configured control loops operational.

Specify the Motor Data Source

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

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

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

(1)

• Specify a motor with the Data Source = Nameplate Datasheet.

• Select a motor with the Data Source = Motor NV (Kinetix Drives) or Drive NV (PowerFlex 755 Drives)

(1)

For iTRAK systems, the motor data cannot be edited, with the exception of the Motor Overload Limit on iTRAK section axes.

(1) Not supported for PowerFlex 527 drives.

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Chapter 3 Configure Axis Properties

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

Choose the Catalog Number as the Motor Data Source

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

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

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

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

4. Click Change Catalog.

5. Select a motor.

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

7. Click Apply.

When you use a motor catalog number as the data source, default values are automatically set based on the Application Type and Loop Response settings from the General dialog box.

Choose Nameplate as the Motor Data Source

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

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

2. Choose a motor type.

Ta b l e 2 2

shows the motor types that are available.

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Chapter 3 Configure Axis Properties

Table 22 - Motor Types (Kinetix Drives)

Motor Type

Rotary Permanent Magnet Yes Yes Yes Yes Yes Rotary Induction No Yes Yes Yes No Linear Permanent Magnet No Yes Yes Yes Yes Rotary Interior Permanent Magnet No No No Yes No

Kinetix 350 Drive

Kinetix 5300 Kinetix 5500 Kinetix 5700 Kinetix 6500

Table 23 - Motor Types (PowerFlex Drives)

Motor Type PowerFlex 755 PowerFlex 527

Rotary Permanent Magnet Yes No Rotary Induction Yes Yes Linear Permanent Magnet No No Rotary Interior Permanent Magnet No No

Notice that the motor information fields are initialized to defaults.

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

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

Choose Motor NV or Drive NV as the Motor Data Source

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

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

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

No other motor information is needed.

3. Click Apply.

Display Motor Model Information

The Motor Model dialog box displays more information that is based on the motor, axis, and feedback configuration types you choose.

• If the motor data source is Catalog Number, the fields are populated automatically from the database and the fields are read-only.

• If the motor data source is Nameplate Datasheet, you can enter the information.

You can leave the default values, go online, and run a Motor Test to get the proper values from the drive.

See Hookup Tests

on page 142.

• If the motor data source is Drive NV, the data comes from the nonvolatile memory of the drive.

• If you select Catalog Number, Motor NV, or Drive NV, the values display as read-only.

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Chapter 3 Configure Axis Properties

Use Motor Analyzer For some drives, you can use the Motor Analyzer tool to identify the model for

motors that have the data source set to Nameplate Datasheet.

The Motor Analyzer provides the following three tests:

• Dynamic Motor

• Static Motor

• Calculate Model

The tests analyze motor parameters for rotary and linear induction motors and permanent magnet motors. The parameters that appear on the tests are dependent on the motor type you choose.

If the motor you are using is a Permanent Magnet, the Dynamic Motor is the only test that appears.

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Table 24 - Motor Analyzer Parameters

Parameter Description

Motor Resistance Specifies the phase-to-phase, resistance of a permanent magnet motor.

Motor Inductance Specifies the phase-to-phase, inductance of a permanent magnet motor.

Motor Rotary Voltage Constant

Motor Stator Resistance

Motor Stator Leakage Reactance

Motor Torque Constant

Motor Rotor Leakage Reactance

Motor Flux Current

Rated Slip

Specifies the voltage, or back-EMF, constant of a rotary permanent-magnet motor in phase-to-phase RMS Volts per KRPM.

Specifies the Y circuit, phase-neutral, winding resistance of the stator as shown as R1 in the IEEE motor model.

Specifies the Y circuit, phase-neutral, leakage reactance of the stator winding, at rated frequency, as shown as X1 in the IEEE motor model.

Specifies the torque constant of a rotary permanent-magnet motor in Newton-meters per RMS amp.

Specifies the Y circuit, phase-neutral, equivalent stator-referenced leakage inductance of the rotor winding, at rated frequency, as shown as X2 in the IEEE motor model.

Id Current Reference that is required to generate full motor flux. The No Load Motor Rated Current commonly found in Induction Motor data sheets closely approximates the value of the Motor Flux Current. The Kinetix 350 does not support this parameter.

Rated Slip is the amount of slip at motor rated current (full load) and motor rated frequency.

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

, for complete information on Axis Attributes

Motor Feedback.

Assign Motor Feedback What appears on the Motor Feedback dialog box is dependent on what you

select on the General dialog box for Feedback Configuration.

Axis Configuration Type Parameters

Feedback Only Master Feedback

Frequency Control No Feedback

• Motor Feedback, one mounted device

Position Loop

Velocity Loop

Torque Loop • Motor Feedback, mounted device

For a Kinetix drive, the Motor Feedback dialog box represents the information for the feedback device that is directly coupled to the motor. This dialog box is available if the feedback configuration that is specified on the General dialog box is anything other than Master Feedback or No Feedback.

• Dual Feedback, two mounted devices

• Dual Integral Feedback, two mounted devices

• Load Feedback

• Motor Feedback, mounted device

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

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PowerFlex 755 Drive with motor specified by Nameplate Datasheet

Kinetix 350 Drive with motor specified by catalog number

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If you chose Catalog Number as the data source for your motor, all information on this dialog box with be entered automatically except for the Startup Method. Otherwise you have to enter the information yourself. Configure the available settings by using the information in the table below.

Table 25 - Settings

Setting Description

The type of feedback available depends on the axis and feedback configurations. Some examples include:

• Not specified

• Digital AqB

Type

Units

Cycle Resolution Enter the cycle resolution for the feedback device. Cycle Interpolation Enter the cycle interpolation for the feedback device.

Effective Resolution

Startup Method

Turns For a rotary motor, enter a value for the absolute number of turns for the device to make.

Length

(1) iTRAK systems only

•Sine Cosine

•Hiperface DSL

• Tamagawa Serial

• Stahl SSI

• Track Mover

• Track Section

• Rev for Rotary motors

• Meter for Linear motors If you specified a motor on the Motor page, the value is automatically set.

Configures or displays the effective resolution of the feedback device. This value is calculated by multiplying the Cycle Resolution with the Cycle Interpolation.

Determines how the device applies the feedback count value during drive startup. Choose from the following:

• Incremental - The device zeros the feedback count accumulator at power-up.

• Absolute - The device initializes the feedback count accumulator at power-up to the absolute feedback position value read from the feedback device. Digital AqB and Sine/ Cosine Feedback Types do not support Absolute startup.

For a linear motor, enter the absolute length of the device. {get info on length attribute for Sections and Movers - I think help is incorrect}

(1)

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Chapter 3 Configure Axis Properties

Configure Commutation

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

Table 26 - Commutation Alignment Settings

Type Description

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

Not Aligned

Controller Offset

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

Self-Sense

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

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

Controller Offset applies the Commutation Offset value from the controller to determine the electrical angle of the motor.

The drive automatically measures the commutation that is offset when it transitions to the Starting state for the first time after a power cycle. This setting generally applies to a PM motor equipped with a simple incremental-feedback device.

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

Effective Resolution Support for PowerFlex 755 Drives The AXIS_CIP_DRIVE axis properties Motor Feedback category

recognizes the support of selectable Effective Resolution as defined in the Add-on Profile (AOP) schema for version 28 controller projects. The Motor Feedback category also lets you select between the choices that are presented. Logix Designer application version 28 modifies the feedback types that define support for the 20-bit fixed Effective Resolution in current PowerFlex 755 schemas. The default selection for Nameplate Datasheet is 20 bit. Version 28 modifies the feedback type to add the new 24-bit fixed Effective Resolution to the schema. You must select the Effective Resolution field to configure for 24 bit. This modification is in addition to the new SSI Digital support that was added for Major Revision 12 of the PowerFlex 755 drives.

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Configure Load Feedback The Load Feedback category contains the information from the feedback

device that is directly coupled to the load-side of a mechanical transmission or actuator.

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

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

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

Table 27 - Load Feedback Settings

Setting Description

The type of feedback available depends on the axis and feedback configurations. Some examples include:

• Not specified

Type

Units

Cycle Resolution Enter the cycle resolution for the feedback device. Cycle Interpolation Enter the interpolation factor for the feedback device.

Effective Resolution

Startup Method

Turns For a rotary motor, enter a value for the absolute number of turns for the device to make. Length For a linear motor, enter the absolute length of the device.

• Digital AqB

•Sine Cosine

•Hiperface DSL

• Tamagawa Serial

• Stahl SSI

• Rev for Rotary motors

• Meter for Linear motors

Configures or displays the effective resolution of the feedback device. This value is calculated by multiplying the Cycle Resolution with the Cycle Interpolation.

Determines how the device applies the feedback count value during drive startup. Choose from the following:

• Incremental - The device zeros the feedback count accumulator at power-up.

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Configure Master Feedback The Master Feedback category is available if the Feedback Configuration that

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

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

on page 142.

Configure Feedback Only Axis Properties

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

with Master Feedback on page 100.

Configure Actions Configure standard actions to determine how the axis responds to certain

faults. The options available for each of the actions depend on the axis configuration and information from the drive's profile. See Table 28

ATTENTION: Changing Action attributes from the Current Decel & Disable setting could endanger personnel, machine, and property if Vertical Load Control is enabled on the General page of the Axis Properties dialog box.

Safety Actions can be configured for the following drives:

• Kinetix 5700 drives with Safe Monitor functionality, catalog numbers 2198-xxxx-ERS4

• PowerFlex 755 drives with a 20-750-S4 integrated safety functions option card installed

•iTRAK 5370

See your drive or safety option module user manual for more information on configuring safety actions for Safe Torque Off and Safe Stop functions.

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Table 28 - Standard Actions

Parameter Description Action

• Disable & Coast

• Current Decel & Disable

Disable (MFS) Stopping Action

Connection Loss Stopping Action

Converter Input Phase Loss Action

Power Loss Action Specifies the power loss action for the motor.

Shutdown Action Specifies the shutdown action of the motor.

Motor Overload Action

Drive Overload Action

AC Line Frequency Change Action

AC Line Sync Loss Action

AC Line Voltage Sag Action

Converter Overload Action

Selects the stop action for the motor. The available options depend on the Axis Configuration.

Specifies the stopping method applied to the motor when it detects a loss of connection.

Specifies the converter's response to an incoming phase loss while the converter is running.

Specifies the motor overload action for the motor. This field is optional.

Specifies the drive overload action for the motor. This field is optional.

Specifies the converter's action when the rate of change of the AC line frequency exceeds a hard-coded threshold or the configured frequency change threshold.

Specifies the converter's response to an incoming line synchronization loss condition while the converter is running.

Specifies the converter's response to an incoming AC Line Voltage Sag condition while the device is running.

Specifies the device's response to a converter overload condition.

•Ramped Decel & Disable

• Current Decel & Hold

• Ramped Decel & Hold

• DC injection brake

• AC injection brake

• Disable & Coast

• Current Decel & Disable

•Ramped Decel & Disable

• Current Decel & Hold

• Ramped Decel & Hold

•Continue

•Ride thru

•Continue

• Disable & Coast

• Ramp Down

•Ride thru

•Disable

• Drop DC Bus

•None

• Current Foldback

•None

• Current Foldback

• Reduce PWM Rate

• PWM - Foldback

•Continue

•Ride thru

•Continue

•Ride thru

•Continue

•Ride thru

•None

• Current Foldback

Chapter 3 Configure Axis Properties

For details on Actions, see the MOTION-RM003.

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Configure Exceptions Drives with Motion Only connections let you define the action performed by

the drive as a result of an exception condition. Exceptions are conditions that can occur during motion axis operation that could generate faults or alarms. The associated drive of the axis controls which actions are available for each Exception. When a fault or alarm occurs, the corresponding fault or alarm axis attributes are set.

ATTENTION: Modifying the Exception Action settings may require programmatically stopping or disabling the axis to protect personnel, machine, and property.

• The method used for stopping an axis for a Stop Drive exception action depends on the specific exception condition as determined by the drive. The action does NOT depend on the configured Disable (MSF) Stopping Action parameter on the Actions page.

• When a previously selected entry is no longer supported due to a configuration change, most of the conditions default to Disable. In the few cases where Disable does not apply, the default is Fault Status Only. For example, Disable does not apply with a feedback-only type configuration.

Table 2 9 - E xception Ac tions

Exception Action Definition

Ignore

Alarm

Fault Status Only

Stop Planner

Disable

Shutdown

The controller completely ignores the exception condition. For some exceptions that are fundamental to the operation of the planner, Ignore is not an available option.

The controller sets the associated bit in the Motion Alarm Status word, but does not otherwise affect axis behavior. If the exception is so fundamental to the drive, Alarm is not an available option. When an exception action is set to Alarm, the Alarm goes away by itself when the exceptional condition has cleared.

Fault Status Only instructs the controller to set the associated bit in the Motion Fault Status word, but does not otherwise affect axis behavior. An explicit Fault Reset is required to clear the fault once the exceptional condition has cleared. Like Ignore and Alarm, if the exception is so fundamental to the drive, Fault Status Only is not an available option.

The controller sets the associated bit in the Motion Fault Status word and instructs the Motion Planner to perform a controlled stop of all planned motion at the configured maximum deceleration rate. An explicit Fault Reset is required to clear the fault once the exceptional condition has cleared. If the exception is so fundamental to the drive, Stop Planner is not an available option.

When the exception occurs, the associated bit in the Fault Status word is set and the axis comes to a stop by using the stopping action defined by the drive for the particular exception that occurred. There is no controller based configuration to specify what the stopping action is, the stopping action is device dependent.

When the exception occurs, the drive brings the motor to a stop by using the stopping action defined by the drive and the power structure is disabled. An explicit Shutdown Reset is required to restore the drive to operation.

For details on Exception Actions, see the MOTION-RM003

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Chapter 4

Axis Scheduling

Topic Page

About Axis Scheduling 64

Timing Model 65

Axis Scheduling Configuration 68

Configure the Update Periods 69

Motion Utilization 76

This chapter describes how to configure the Axis Scheduling feature that is in the Motion Group properties dialog box.

Axis Scheduling provides a way for you to configure drives to run at different update rates. Axis Scheduling can improve the performance of your controllers. You can use Axis Scheduling with integrated motion drives and virtual axes. By using Axis Scheduling, you can optimize your controller, network, and drive performance. For smaller controller applications (CompactLogix™), you can expect to see a significant improvement in system performance.

Many applications have motion drives with different performance requirements. At the simplest level, motion drives can be assigned into a ‘fast’ and ‘slow’ update rate groupings.

• The ‘fast’ group typically includes high-speed coordinated process positioning drives with aggressive PCAM or interpolation profiles and auxiliary functions like registration position/velocity phase correction.

• The ‘slow’ group typically includes non-coordinated motion drives used for automatic machine reconfiguration, non-coordinated point-to-point motion process drives, or coordinated drives with less aggressive PCAM or gearing functions.

Axis Scheduling is compatible with these products:

• ControlLogix® 5580 controllers

• GuardLogix® 5580 controllers

• CompactLogix™ 5380 controllers

• Compact GuardLogix 5380 controllers

• ControlLogix 5570 controllers

• GuardLogix 5570 controllers

• CompactLogix 5370 controllers

• Compact GuardLogix 5370 controllers

• All Integrated Motion EtherNet/IP™ drives, for example, Kinetix®, PowerFlex®, and other third-party drives

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About Axis Scheduling Axis Scheduling can improve ControlLogix and CompactLogix EtherNet/IP

Integrated Architecture® Motion system performance by reducing average Logix controller and EtherNet/IP network utilization. Axis Scheduling supports three separate controller/network motion drive update rates per controller, one rate for high-performance drives, and two additional rates for lower performance drives.

For example, suppose that you have a robot that removes product from a conveyor belt. There are three precision axes on the robot and four generalpurpose axes on the conveyor belt. If you configure the controller to run all seven axes at 2 ms to control the precision axes, this setting takes the network utilization of your controller too high. In the past, one option would have been to run all seven axes at 8 ms, but this setting is not fast or precise enough for the robot axes. So you have had to add a second controller and Ethernet module to get the performance you needed. Axis Scheduling lets you configure the axes at different rates that are based on the needs of the application, which balances the motion performance and network utilization of your controller.

With Axis Scheduling, you can configure the axes on the robot to run at a faster base-update rate (2 ms) than the rate of the conveyor (8 ms).

With the ability to configure three update periods, the four conveyor axes can run as one channel, which appears to the controller as one drive. The axes are updated round-robin style; every 2 ms, three of the robot axes and one of the conveyor axes are updated.

During the next update, three robot axes are updated and then the next conveyor axis is updated; eventually all conveyor axes are updated and the process starts again. The controller updates four axes every update period. The controller can handle the load of four axes easier than a load of seven axes. This capability improves the performance of the controller.

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Chapter 4 Axis Scheduling

Timing Model The general timing model for the integrated motion on the EtherNet/IP

network I/O connection data exchange is described in this section. The Timing Model field on the Attribute tab of the Motion Group Properties dialog box is shown as One Cycle or Two Cycle. See Figure 9

Figure 9 - Timing Model Attribute Examples

for an example.

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Chapter 4 Axis Scheduling

Device Interrupt Timer

Device Interrupt Service

Motion D-to-C I/O Connection

Motion C-to-D I/O Connection

Controller Task

Controller Task Timer Events

Motion Planner

Input Traffic

No Motion Traffic

Output Traffic

Connection Update

Device Update Period

Actual Position

Cmd Position

Controller Update Period (1 ms)

250 µs

Controller Task Phase Offset ~330 µs

One Cycle Timing

The Controller Update Period paces data exchange between the device and the controller with one Device-to-Controller data packet that is sent for every Controller-to-Device data packet received. The Controller-to-Device Connection packets are sent periodically according to the configured Controller Update Period. The Device Update Period, which is the update period at which the device performs its control calculations, is typically much faster than the Controller Update Period. The basic integrated motion on the EtherNet/IP network 1-cycle timing model is shown in Figure 10

Figure 10 - Integrated Motion on the EtherNet/IP Network One Cycle Timing Model

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Device Interrupt Timer

Device Interrupt Service

Motion D-to-C I/O Connection

Motion C-to-D I/O Connection

Controller Task

Controller Task Timer Events

Input Traffic

Output Traffic

Connection Update

Device Update Period

Actual Position

Command Position

Controller Update Period (1 ms)

250 µs

Controller Task Phase Offset ~500 µs

Motion Planner

Two Cycle Timing

The Two Cycle Timing Model that is shown in Figure 11 begins with the device transmitting the D-to-C connection packet to the controller at the beginning of the update cycle. In this case, the Controller Task does not start until half way through the update cycle. This start point allows more time for the D-to-C connection packet to reach the controller before the Motion Planner task runs. Unlike the One Cycle Timing Model, the C-to-D connection packet is not transmitted back to the device until the next time the Motion Planner task runs. This delay again allows more time for the C-to-D connection packet to reach the device. It takes two connection cycles to complete the I/O data transaction with the device.

Figure 11 - Integrated Motion on the EtherNet/IP Network Two Cycle Timing Model

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Chapter 4 Axis Scheduling

Axis Scheduling Configuration

In the Studio 5000 Logix Designer application, you use the Axis Schedule Panel, accessible from the Attribute tab of the Motion Group Properties dialog box, to configure the update periods. The Axis Schedule Panel provides a Base Update Period and two alternatives. Information such as Estimated Utilization and Actual Utilization appear on this panel.

The alternative rates for lower performance drives provide a way for multiple drives to be ‘multiplexed’ through one drive update channel. Axis Scheduling allows multiple drives to be updated by using the same amount of controller and network capacity as used in updating one non-multiplexed drive.

For more information on how to configure a motion group for Kinetix or PowerFlex drives, see Create a Motion Group

on page 40.

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Configure the Update Periods

Follow these steps to configure the update periods:

To change all update rates to the same value, refer to the example on page 73.

1. Double-click the Motion Group.

The Motion Group Properties dialog box appears.

2. Assign axes to the group if necessary.

3. Click Apply.

4. Go to the Attribute tab.

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5. Choose a Base Update Period.

In this example, the Base Update Period is 4.0 ms and the Alternate 1 and 2 Update Periods are 8 ms and 20 ms. The base period acts as the anchor value for the axis scheduling feature.

The Alternate Update Periods are multiples of the base. You can edit the Base Update Period when the controller is offline and is read-only when the controller is online. The alternate rates on the Attribute tab are readonly.

6. To go to the Axis Schedule Panel, click the Axis Schedule.

The Axis Schedule Panel appears.

The axes that you assigned in the Axis Assignment tab appear in the Base column.

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7. To assign the axes to the Alternate Update Periods, use the positioning arrows.

The axes appear in the Alternate columns.

8. Choose the Alternate 1 Update Period.

The multipliers range from 2…32, so if the base update rate is 2.0, the values in the alternate rates are 4, 6, 8, 10, 12…32. If the base update rate is

3.0, the values are 6, 9, 12, 15, and so on.

If you change the Base rate to a value that the Alternate rate value is not a multiple of, a warning flag appears next to the Alternate rate.

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Once an alternate rate is set on the Axis Schedule Panel, the Base Update Period for the group on the Attribute tab becomes disabled. You can still set the base update rate on the Axis Schedule Panel.

A warning appears and the value is set to either 0.5 or 32 if you enter a value outside of the acceptable range.

If the Base Update Period is too small, the controller does not have time to execute non-motion related Ladder Logic.

As a result, the configuration sets the lower limit on the Base Update Period that is based on the number of axes in the group.

You can use Integrated Architecture Builder (IAB) to determine the performance information that is based on your system configuration.

Too many axes per base rate can indicate one of the following:

• There is not enough time for the motion task to execute, which results in a motion task overlap error.

• There are high-application program scan times, which affect all logic: program logic that supports motion applications and general program logic.

9. Choose the Alternate 2 update period.

If the base update rate is changed to a value that invalidates the alternate update rates, a warning tool tip appears.

If you click OK or Apply, a warning box appears that tells you that you must select valid alternate update rates before you apply any changes.

10. Update the periods as required.

11. Click Apply.

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The Alternate update rates appear on the Attribute tab.

The following example shows what happens on the various dialog boxes when all update rates are changed to the same value.

1. To change all rates to the same value, for example 4 ms, go to the Axis Schedule Panel.

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The Base Update Period on the Attribute tab becomes active.

After you have made all update periods in the Axis Schedule Panel, the update period values are the same and the Base Update Period is now active. The Alternate Update Periods are always read-only.

2. Change the Base Update Period.

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After you click Apply (or OK), the values in the alternate fields change to match the base.

The values are also changed in the Axis Schedule Panel.

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Motion Utilization The following values are updated in real time as you change your

configuration. You can see how the utilization metrics are responding to your configuration changes and you can modify your configuration.

• The yellow warning icons indicate that the value is at the borderline of the controller capabilities.

• The red X next to the Task I/O Cycle and Connection I/O Cycle warnings indicates that the value has reached beyond what the motion task cycle can handle.

If you are reaching utilization limits and you only have the Base Update Period that is assigned to axes, start to assign axes to the Alternate Update Periods.

Table 30 - Utilization Parameter Descriptions

Parameter Description

Estimated utilization assumes basic default configuration with no active

Estimated Utilization - Motion

Logix Controller

Tas k I/O Cycle

Connection I/O Cycle

Communications

Ethernet Media

Actual Utilization - Motion

Logix Controller

Tas k I/O Cycle

motion planner activity, no transmission statistics, and no cyclic read or write. The estimated percent of time the controller spends on motion while online.

The estimated percentage of time of the Logix controller that a motion task consumes. If this value exceeds 50%, a warning icon appears. If this value exceeds 80%, an error icon appears.

The estimated percentage of time available in the update cycle Motion Task to process input, run motion planner, and send output to motion devices. If this value exceeds 100%, a warning icon appears. If this value exceeds (200 connection I/O cycle Cycle)%, an error icon appears.

The estimated percentage of time available in the update cycle for input and output data transmission over the motion connection. If this value exceeds 80%, a warning icon appears. If the value exceeds 100%, an error icon appears.

Shows the estimated percentage of time of the communications controller that the motion connection packets consume. If this value exceeds 50%, a warning icon appears. If this value exceeds 100%, an error icon appears.

Shows the estimated percentage of Ethernet media bandwidth that motion-connection packet traffic uses. If the value exceeds 50%, a warning icon appears. If the values exceed 100%, an error icon appears.

Actual utilization is based on measurements that are made by the Logix controller. Actual utilization values can be substantially higher than estimated utilization values depending on factors such as active motion planner activity, transmission statistics, and cyclic read or write data.

Shows the actual percentage of time of the Logix controller that the motion task consumes.

Shows the actual percentage of time available in the update cycle for motion task to process input, run motion planner, and send output to motion devices.

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Chapter 5

Configuration Examples for a Kinetix Drive

Topic Page

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

This chapter provides typical axis-configuration examples when using Kinetix® 350, Kinetix 5500, Kinetix 6500, and Kinetix 5700 drives. The differences between the Kinetix drives are noted where applicable.

Example 1: Position Loop with Motor Feedback Only

Kinetix 5700 drive configurations are similar to the examples in this chapter. For more examples of how to configure the Kinetix 5700 drive, see the Kinetix 5700 Servo Drives User Manual, publication 2198-UM002

In this example, you create an AXIS_CIP_DRIVE and a Kinetix 6500 drive, which includes the control module and a power structure. You then connect the motor feedback cable to the Motor Feedback port of the Kinetix 6500 drive.

1. Once you have created an AXIS_CIP_DRIVE, open the Axis Properties.

2. From the Axis Configuration pull-down menu, choose Position Loop.

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

The axis and feedback configurations determine the control mode.

For more information on the control modes, see the Integrated Motion on the EtherNet/IP network Reference Manual, publication MOTION-RM003

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The newly created Kinetix 6500 drive module name is the default. The Axis Number defaults to 1, indicating the primary axis of the drive. Axis Number 2 is used only for configuring a Feedback Only axis.

The type of drive you selected and the power structure you assigned via the Kinetix 6500 Module Properties. For more information, see Add a Kinetix Drive

page 18.

Figure 12 - Example 1: General Dialog Box, Position Loop with Motor Feedback Only

After you have configured the axis and you change the Axis Configuration type or the Axis Number, some of the configuration information is set to default values. This change can cause some previously entered data to be reset back to its default setting.

When you select the Position Loop with Motor Feedback, the Motor and Motor Feedback dialog boxes become available.

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4. Choose Catalog Number as the Motor Data Source.

5. Click Change Catalog and choose your motor.

In this case, a MPL-B310P-M motor was chosen.

Figure 13 - Example 1: Position Loop with Motor Feedback Only, Motor Dialog Box

Click Change Catalog to choose motors from the motion database. When you specify your motor this way, the motor specification data is automatically entered for you.

If the motor you are using is not in the Change Catalog list, then it is not in the Motion Database. You have to input the specification data or add a custom motor to the Motion Database that can be selected.

For more information, see Choose Nameplate as the Motor Data Source

on page 51.

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Figure 14 - Example 1: Position Loop with Motor Feedback Only, Scaling Dialog Box

Example 2: Position Loop with Dual Feedback

6. Choose the Load Type.

7. Enter the Scaling Units.

8. Choose the Travel Mode.

For more information about Scaling, see Scaling on page 137

9. Click Apply.

You are now finished configuring the axis for Position Loop with Motor Feedback.

In this example, you create an AXIS_CIP_DRIVE and a Kinetix 6500 drive, which includes the control module and a power structure. You must configure both feedback ports. You must have two feedback cables that are connected to the Kinetix 6500 drive for one axis.

You connect the Motor Feedback cable to the Motor Feedback port, and the Load Feedback cable to the Aux Feedback port of the Kinetix 6500 drive.

1. Once you have created an AXIS_CIP_DRIVE, open the Axis Properties.

2. From the Axis Configuration pull-down menu, choose Position Loop.

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The type of drive you selected and the power structure you assigned via the Kinetix 6500 Module Properties. For more information, see Add a Kinetix Drive

page 18.

3. From the Feedback Configuration pull-down menu, choose Dual Feedback.

The axis and feedback configurations determine the control mode.

For more information on the control modes, see the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003

Figure 15 - Example 2: Position Loop with Dual Feedback, General Dialog Box

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IMPORTANT

Now that you defined the axis as being a Position Loop with Dual Feedback axis, the Motor, Motor Feedback, and Load dialog boxes become available.

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

Chapter 5 Configuration Examples for a Kinetix Drive

Figure 16 - Example 2: Position Loop with Dual Feedback, Motor Dialog Box

5. Click Change Catalog and choose your motor.

In this case, a MPL-B310P-M motor was chosen.

When you select the Data Source for the motor specification, the MPL-B310P-M motor is in the Motion Database, so you can select it by Catalog Number. Notice that the specification data for this motor is automatically entered for you.

If the motor you are using is not in the Change Catalog list, then it is not in the Motion Database. You must input the specification data.

For more information, see Choose Nameplate as the Motor Data Source

on page 51.

On the Motor Feedback dialog box, the information is automatically filed in based on your selections on the Motor dialog box.

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The drive gets the commutation that is offset directly from the motor.

Figure 17 - Example 2: Position Loop with Dual Feedback, Motor Feedback Dialog Box

For information about Commutation, see Assign Motor Feedback on

page 55 and Applying the Commutation Hookup Test on page 147.

The axis is now configured as the primary feedback. The next task is to configure Feedback 2 on the Load Feedback dialog box.

6. To assign the Load Feedback device, click the Define feedback device hyperlink or go to the Module Properties of the drive.

Figure 18 - Example 2: Position Loop with Dual Feedback, Load Feedback Dialog Box, Load-side Fee db ack

7. From the Load Feedback Device pull-down menu, choose Aux Feedback Port.

8. To apply your changes and return to the Load Feedback dialog box, click OK.

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Default values for Resolution and Interpolation are automatically provided. You must enter the actual resolution of load-side feedback device.

Figure 19 - Example 2: Kinetix 6500 Module Properties, Associated Axis Tab

9. Choose the Feedback Type and Units.

Figure 20 - Example 2: Position Loop with Dual Feedback, Load Feedback Dialog Box

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The Scaling values are in Load Feedback units.

Figure 21 - Example 2: Position Loop with Dual Feedback, Scaling Dialog Box

You are now finished configuring the axis as Position Loop axis with Dual Feedback.

10. To apply your changes and close Axis Properties, click OK.

Example 3: Feedback Only In this example, you create a half axis AXIS_CIP_DRIVE type by using the AUX

Feedback port of the drive for Master Feedback. You must connect the Master Feedback device cable to the Aux Feedback port of the Kinetix 6500 drive.

You can use feedback only axes, for example, as a master reference for gearing, with PCAM moves, and MAOC output CAMs.

1. From the Axis Configuration pull-down menu, choose Feedback Only.

2. From the Feedback Configuration pull-down menu, choose Master Feedback.

This selection determines the control mode.

For more information, see the Integrated Motion on the EtherNet/IP network Reference Manual, publication MOTION-RM003

3. From the Module pull-down menu, choose the associated module that you want to use for the Master Feedback device.

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The Axis Number is set to 2, because Axis 1 is already assigned to the primary axis of the drive.

Feedback 1 is the logical port for this axis that is assigned to physical Port 2, or Aux Feedback port of the Kinetix 6500 drive.

Figure 22 - Example 3: Feedback Only with Master Feedback, General Dialog Box

4. To associate the drive with the axis, click the Define feedback device hyperlink.

Figure 23 - Example 3: Feedback Only with Master Feedback, Master Feedback Dialog Box

5. From the Axis 2 (Auxiliary Axis) pull-down menu, choose Axis_IV_Feedback Only to associate the axis.

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Figure 24 - Example 3: Master Feedback Dialog Box

Default values are completed for you.

This channel is Feedback 1 of Axis 2. It is connected to the Aux Feedback port of the primary axis. This Feedbackonly axis is also known as the 1/2 axis.

Chapter 5 Configuration Examples for a Kinetix Drive

6. From the Master Feedback Device pull-down menu, choose Aux Feedback Port to map the port to the device.

The available ports are different for the Kinetix 5700 drives.

7. To apply your changes and return to Axis Properties, click OK.

Figure 25 - Example 3: Feedback Only with Master Feedback, Master Feedback Dialog Box

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Chapter 5 Configuration Examples for a Kinetix Drive

Figure 26 - Example 3: Feedback Only with Master Feedback, Scaling Dialog Box

8. From the Type pull-down menu, choose Digital AqB as the feedback type.

9. From the Units pull-down menu, choose Rev.

10. In the appropriate field, type the resolutions of your specific feedback device.

11. From the Load Type pull-down menu, choose your load type.

12. Enter the Scaling Units.

13. From the Mode pull-down menu, choose your Travel mode.

For more information about Scaling, see Scaling

on page 137.

14. Click Apply.

You are now finished configuring an axis for Feedback Only.

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Displays the type of drive you selected the Kinetix 5500 Module Properties. For more information, see Add a Kinetix Drive

page 18.

The newly created Kinetix 5500 drive module name is the default. The Axis Number defaults to 1, indicating the axis of the drive.

Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback

In this example, you are configuring a Kinetix 5500 servo drive, catalog number 2098-H025-ERS, with motor feedback by using a Rotary Permanent Magnet motor, catalog number VPL-A1001M-P.

You must connect the Motor Feedback cable to the Motor Feedback port of the Kinetix 5500 drive and then configure the feedback port.

1. Once you have added the drive to your project and created an AXIS_CIP_DRIVE, open the Axis Properties.

Figure 27 - Example 4: Velocity Loop with Motor Feedback, General Dialog Box

After you select Velocity Loop with Motor Feedback, the Motor and Motor Feedback dialog boxes become available.

2. Click the Motor dialog box.

3. Choose Catalog Number as the Motor Data Source.

4. Click Change Catalog and choose your motor, for example, catalog number VPL-B0631T-C.

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Figure 28 - Example 4: Velocity Loop with Motor Feedback, Motor Dialog Box

When you select the Catalog Number for the motor specification, the VPL-B0631T-C motor is in the Motion Database. The specification data for this motor is automatically completed for you.

If the motor you are using is not in the Change Catalog list, then it is not in the Motion Database. You must input the specification data or add a custom motor to the Motion Database that can be selected.

For more information, see Choose Nameplate as the Motor Data Source

on page 51.

5. Click the Motor Feedback dialog box.

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Figure 29 - Example 4: Velocity Loop with Motor Feedback, Motor Feedback Dialog Box

With this drive and motor combination, the Motor-Mounted Feedback that is available is the Hiperface DSL type. The data is automatically populated based on that selection. You can assign the commutation alignment.

6. To adjust the Scaling attributes, click the Scaling dialog box.

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Figure 30 - Example 4: Velocity Loop with Motor Feedback, Scaling Dialog Box

7. Choose the Load Type.

8. Enter the Scaling Units.

9. Choose the Travel Mode.

For more information about Scaling, see Scaling

on page 137.

10. Click Apply.

You are now finished configuring the Kinetix 5500 axis for Velocity Loop with Motor Feedback.

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Chapter 5 Configuration Examples for a Kinetix Drive

Displays the type of drive you selected the Kinetix 350 Module Properties. For more information, see Add a Kinetix Drive

page 18.

The newly created Kinetix 350 drive module name is the default. The Axis Number defaults to 1, indicating the axis of the drive.

Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback

In this example, create a project with a CompactLogix™ controller, for example, 1769-L36ERM. You are configuring a Kinetix 350 drive, catalog number 2097-V33PR6-LM, with motor feedback by using a Rotary Permanent Magnet motor, catalog number MPAR-A1xxxB-V2A.

You must connect the Motor Feedback cable to the Motor Feedback port of the Kinetix 350 drive and then configure the feedback port.

1. Once you have added the drive to your project and created an AXIS_CIP_DRIVE, open the Axis Properties.

Figure 31 - Example 5: Position Loop with Motor Feedback, General Dialog Box

2. Click the Motor dialog box.

3. Choose Catalog Number as the Motor Data Source.

4. Click Change Catalog and choose your motor, for example, catalog number MPAR-A1xxxB-V2A.

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Figure 32 - Example 5: Position Loop with Motor Feedback, Motor Dialog Box

When you select the Catalog Number for the motor specification, the MPAR-A1xxxB-V2A motor is in the Motion Database. The specification data for this motor is automatically completed for you.

For more information, see Choose Nameplate as the Motor Data Source

on page 51.

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5. Click the Motor Feedback dialog box.

Figure 33 - Example 5: Position Loop with Motor Feedback, Motor Feedback Dialog Box

With this drive and motor combination, the data is automatically populated based on that selection.

6. To adjust the Scaling attributes, click the Scaling dialog box.

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Chapter 5 Configuration Examples for a Kinetix Drive

Figure 34 - Example 5: Position Loop with Motor Feedback

The default load type is linear actuator.

7. Enter the Scaling Units.

8. Enter the Travel Range.

For more information about Scaling, see Scaling

on page 137.

9. Click OK.

You are now finished configuring the Kinetix 350 axis for Position Loop with Motor Feedback.

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Chapter 5 Configuration Examples for a Kinetix Drive

Displays the type of drive you selected and power structure you assigned via the Kinetix 5700 drive Module Properties. See Add a Kinetix Drive

on page 18.

The newly created Kinetix 5700 drive name is the default. The Axis Number defaults to 1, indicating the primary axis of the drive. Axis Number 2 is used only for configuring a Feedback Only axis.

Defines the controller Control Mode. See the Integrated Motion on the EtherNet/IP Network Reference Manual, publication,

MOTION-RM003

Example 6: Kinetix 5700 Drive, Frequency Control with No Feedback

In this example, create a project with a ControlLogix® controller, for example, 1756-L73S. You are configuring a Kinetix 5700 drive, catalog number 2198-D006-ERS3, with no feedback by using a HPK-Series High-power Servo motor.

1. Once you have added the drive to your project and created an AXIS_CIP_DRIVE, open the Axis Properties.

2. From the Axis Configuration pull-down menu, choose Frequency Control.

At the Feedback Configuration pull-down menu, No Feedback is the only option.

Figure 35 - Example 6: Frequency Control with No Feedback, General Dialog Box

3. From the Data Source pull-down menu, choose a data source.

In this case, the data source is Catalog Number and the Motion Database provides values for these fields.

See the Display Motor Model Information information about data sources.

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on page 53 for more

Chapter 5 Configuration Examples for a Kinetix Drive

Figure 36 - Example 6: Frequency Control with No Feedback, Motor Dialog Box

4. From the Frequency Control Method pull-down menu, choose the appropriate method.

This example uses Basic Volts/Hertz.

5. Click Apply.

Figure 37 - Example 5: Frequency Control with No Feedback, Frequency Control Dialog Box

6. From the Load Type pull-down menu, choose the appropriate load type.

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Figure 38 - Example 6: Frequency Control with No Feedback, Scaling Dialog Box Conversion Units

7. Enter the Transmission Ratio.

8. From the Actuator Type pull-down menu, choose the appropriate actuator, if applicable.

9. Enter the Diameter dimensions.

10. Enter the Scaling Units.

See the Scaling

on page 137 for more information.

11. From the Travel Mode pull-down menu, choose the appropriate travel mode.

12. Click Apply.

You are now finished configuring the axis for Frequency Control with No Feedback.

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Chapter 5 Configuration Examples for a Kinetix Drive

Example 7: 842E-CM Integrated Motion Encoder with Master Feedback

In this example, create a project with a ControlLogix controller, for example, 1756-L73. You are configuring an 842E-CM encoder, catalog number 842-CMM, with feedback only.

1. In the Controller Organizer, right-click Ethernet under the I/O Configuration folder and choose New Module.

The Select Module Type dialog box appears.

Figure 39 - Example 7: Select Module Type Dialog Box

2. Select your 842E-CM encoder as appropriate for your actual hardware configuration.

3. Click Create.

The New Module dialog box appears.

Figure 40 - Example 7: New Module Dialog Box

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Rockwell Automation Integrated Motion on the EtherNet/IP Network User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

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

Table of Contents

Preface

About This Publication

Download Firmware, AOP, EDS, and Other Files

Summary of Changes This publication contains the following new or updated information. This list

Additional Resources These documents contain additional information concerning related products

Controller, Communication, Drive, and Software Options

Help for Selecting Drives and Motors

Before You Begin Before you can configure a drive in the Logix Designer application, you must

Add a Kinetix Drive The available configuration options differ depending on the controller and

Add a PowerFlex Drive The available configuration options differ depending on the controller, drive

Add a Peripheral Device for PowerFlex 755 Drives

Add an iTRAK Section, Mover, or Power Supply

Configure Module Definition All drives let you update the drive Revision, choose an Electronic Keying type,

Safety Application Types

Connection Types

Safety Instance

Motion Safety Type

Configure Power Settings The Power page lets you configure the drive Bus Configuration, assign a Bus

Configure Digital Inputs The following restrictions apply to settings made on this page:

Configure Digital Outputs The Digital Outputs tab is only available for PowerFlex 755 drives with a digital

Configure Safety Settings If your system includes a drive that supports integrated safety, note the safety

Configure Safety Connections

Generate the Safety Network Number (Integrated safety drives only)

Configure Track Sections For iTRAK drive modules, follow the steps below to configure your track.

Create an Associated Axis 37

Create an Axis

Specify Feedback Assignments

Create a Motion Group All axes must be added to the Motion Group in your project. If you do not

Set the Base Update Period

Associate Axes to the Motion Group

Configure an Axis and Control Mode

Specify the Motor Data Source

Choose the Catalog Number as the Motor Data Source

Choose Nameplate as the Motor Data Source

Choose Motor NV or Drive NV as the Motor Data Source

Display Motor Model Information

Use Motor Analyzer For some drives, you can use the Motor Analyzer tool to identify the model for

Assign Motor Feedback What appears on the Motor Feedback dialog box is dependent on what you

Configure Load Feedback The Load Feedback category contains the information from the feedback

Configure Master Feedback The Master Feedback category is available if the Feedback Configuration that

Configure Feedback Only Axis Properties

Configure Actions Configure standard actions to determine how the axis responds to certain

Configure Exceptions Drives with Motion Only connections let you define the action performed by

Timing Model The general timing model for the integrated motion on the EtherNet/IP

One Cycle Timing

Axis Scheduling Configuration

Configure the Update Periods

Motion Utilization The following values are updated in real time as you change your

Example 1: Position Loop with Motor Feedback Only

Example 2: Position Loop with Dual Feedback

Example 3: Feedback Only In this example, you create a half axis AXIS_CIP_DRIVE type by using the AUX

Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback

Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback

Example 6: Kinetix 5700 Drive, Frequency Control with No Feedback

Example 7: 842E-CM Integrated Motion Encoder with Master Feedback