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

Table of Contents

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

Axis Scheduling

Configuration Examples for a Kinetix Drive

Chapter 4

Timing Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

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

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

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

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

Chapter 5

Example 1: Position Loop with Motor Feedback Only . . . . . . . . . . . . . . . 77 Example 2: Position Loop with Dual Feedback . . . . . . . . . . . . . . . . . . . . . 80 Example 3: Feedback Only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Example 4: Kinetix 5500 Drive, Velocity Loop with

Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Example 5: Kinetix 350 Drive, Position Loop with

Motor Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Example 6: Kinetix 5700 Drive, Frequency Control with

No Feedback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 Example 7: 842E-CM Integrated Motion Encoder with

Master Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

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Axis Configuration Examples for the PowerFlex 755 Drive

Table of Contents

Chapter 6

Example 1: Position Loop with Motor Feedback Via a

UFB Feedback Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 Example 2: Position Loop with Dual Motor Feedback Via a

UFB Feedback Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Example 3: Velocity Loop with Motor Feedback Via a

UFB Feedback Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 Example 4: Velocity Loop with No Feedback . . . . . . . . . . . . . . . . . . . . . . 114 Example 5: Frequency Control with No Feedback. . . . . . . . . . . . . . . . . . 116 Example 6: Torque Loop with Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 121

Axis Configuration Examples for the PowerFlex 527 Drive

Commission an Axis

Chapter 7

Example 1: Frequency Control with No Feedback . . . . . . . . . . . . . . . . . . 125 Example 2: Velocity Control with Motor Feedback . . . . . . . . . . . . . . . . . 130 Example 3: Position Control with Motor Feedback. . . . . . . . . . . . . . . . . 133

Chapter 8

Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137 Direct Coupled Rotary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 Direct Coupled Linear. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Rotary Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 Linear Actuator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141 Changing Scaling Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

Hookup Tests . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 Run a Motor and Feedback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 Run a Motor Feedback Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Run a Marker Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Applying the Commutation Hookup Test . . . . . . . . . . . . . . . . . . . . . . . . . 147 Unknown Commutation Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 Verification of Known Commutation Offset. . . . . . . . . . . . . . . . . . . 148 Non-standard or Incorrect Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 Run a Commutation Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149 Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Load Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 Benefits of Load Observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 How Load Observer Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 Load Observer Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Adaptive Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 Benefits of Adaptive Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 How Adaptive Tuning Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159 Adaptive Tuning Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 Command Notch Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Load Ratio Data from Motion Analyzer. . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Test an Axis with Motion Direct Commands . . . . . . . . . . . . . . . . . . . . . . 166 Access Motion Direct Commands for an Axis or Group . . . . . . . . . 167

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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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		Table of Contents
	Chapter 11
Status, Faults, and Alarms	Faults and Alarms Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . 207
	QuickView Pane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 209
	Data Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 209
	Motion Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 210
	Drive Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 211
	Connection Faults and Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 211
	Motion Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 212
	Manage Motion Faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 212
	Configure the Exception Actions for AXIS_CIP_DRIVE . . . . . .	. . . . . . 213
	Inhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 215
	Example: Inhibit an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 217
	Example: Uninhibit an Axis. . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . 218

Parameter Group Dialog Boxes

Program a Velocity Profile and

Jerk Rate

Appendix A

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

Appendix B

Program a Velocity Profile and Jerk Rate . . . . . . . . . . . . . . . . . . . . . . . . . 221 Definition of Jerk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Choose a Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222 Use % of Time for the Easiest Programming of Jerk . . . . . . . . . . . . 222 Velocity Profile Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Jerk Rate Calculation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 Profile Operand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

Enter Basic Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 Example Motion Control Program . . . . . . . . . . . . . . . . . . . . . . . . . . . 232 Download a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 Choose a Motion Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 Troubleshoot Axis Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 Why Does My Axis Accelerate When I Stop It? . . . . . . . . . . . . . . . . . 236 Why Does My Axis Overshoot Its Target Speed? . . . . . . . . . . . . . . . 237 Why Is There a Delay When I Stop and Then Restart a Jog? . . . . . 240

Why Does The Axis Reverse Direction When Stopped

and Started? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 Programming with the MDSC Function . . . . . . . . . . . . . . . . . . . . . . . . . . 243

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

7

Table of Contents
	Appendix C
PowerFlex Out-of-Box	Recommended Out-of-Box Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	247
Configuration	Setting the ACO/AVO Attributefor PowerFlex 527 Drives Only . . . . . .	251
	Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	253
	Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	257

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

Preface

About This Publication

Download Firmware, AOP,

EDS, and Other Files

Summary of Changes

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

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

Download firmware, associated files (such as AOP, EDS, and DTM), and access product release notes from the Product Compatibility and Download Center at rok.auto/pcdc.

This publication contains the following new or updated information. This list includes substantive updates only and is not intended to reflect all changes.

Topic	Page
Added Information on Kinetix® 5300 servo drives and the iTRAK® 5730 Intelligent Track System	Throughout
Restructured Configuration Information into Chapter 1…Chapter 3	11…37
Updated Drive Function Descriptions	29
Types of Hookup Tests	143
Adaptive Tuning Configuration	161
Revised Descriptions of Command Notch Filters	165
Revised Information on APR Recovery Scenarios	181
Updated Guidance on When to Manually Tune an Axis	191

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,	Describes the necessary tasks to install, wire, and troubleshoot your encoder.
	publication 842E-UM002
	ControlLogix 5580 and GuardLogix 5580 Controllers User Manual,	Provides information on how to install, configure, program, and operate
	publication 1756-UM543	ControlLogix® 5580 and GuardLogix® 5580 controllers.
	CompactLogix 5380 and Compact GuardLogix 5380 Controllers User Manual,	Provides information on how to install, configure, program, and operate
	publication 5069-UM001	CompactLogix™ 5380 and Compact GuardLogix 5380 controllers.
	ControlLogix System User Manual, publication 1756-UM001	Describes the necessary tasks to install, configure, program, and operate a ControlLogix system.
	EtherNet/IP Network Devices User Manual, publication ENET-UM006	Describes how to use EtherNet/IP™ communication modules in Logix 5000™ control systems.
	GuardLogix 5570 Controllers User Manual, publication 1756-UM022	Provides information on how to install, configure, and operate GuardLogix 5570 controllers in
		Studio 5000 Logix Designer® projects, version 21 or later.
	GuardLogix 5570 and Compact GuardLogix 5370 Controller Systems Safety	Provides information on how to meet safety application requirements for
	Reference Manual, publication 1756-RM099	GuardLogix 5570 controllers in Studio 5000 Logix Designer projects, version 21 or later.
	GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety	Describes the necessary tasks to install, configure, program, and operate a ControlLogix system.
	Reference Manual, publication 1756-RM012
	Integrated Motion on the EtherNet/IP Network Reference Manual,	Provides a programmer with details about the Integrated Motion on the EtherNet/IP network
	publication MOTION-RM003	Control Modes, Control Methods, and AXIS_CIP_DRIVE Attributes.
	Kinetix 350 Single-axis EtherNet/IP Servo Drive User Manual, publication 2097-	Provides detailed information on wiring, power, troubleshooting, and integration with
	UM002	ControlLogix, or CompactLogix controller platforms.

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

9

Preface

	Resource					Description
	Kinetix 5300 Single-axis EtherNet/IP Servo Drives User Manual, publication 2198-					Provides detailed installation instructions to mount, wire, and troubleshoot the Kinetix® 5300
						servo drives, and system integration for your drive and motor/actuator combination with a Logix
	UM005					5000 controller.
	Kinetix 5500 Servo Drives Installation Instructions, publication 2198-IN001					Provides installation instructions for the Kinetix 5500 Integrated Axis Module and Axis Module
						components.
	Kinetix 5500 Servo Drives User Manual, publication 2198-UM001					Provides information on installation, configuration, start up, troubleshooting, and applications for
						the Kinetix 5500 servo drive systems.
	Kinetix 5700 Safe Monitor Functions User Manual, publication 2198-RM001					Explains how the Kinetix 5700 drives can be used in up to Safety Integrity Level (SIL 3),
						Performance Level (PL e) applications.
	Kinetix 5700 Servo Drives User Manual, publication 2198-UM002					Provides information on installing, configuring, start up, troubleshooting, and applications for the
						Kinetix 5700 servo drive systems.
	Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual,					Provides information on installation, configuration, start up, troubleshooting, and applications for
	publication 2094-UM002					the Kinetix 6200 and Kinetix 6500 servo drive systems.
	Logix 5000 Controllers Motion Instructions Reference Manual,					Provides a programmer with details about motion instructions for a Logix-based controller.
	publication MOTION-RM002
	Logix 5000 Controllers Common Procedures, publication 1756-PM001					Provides detailed and comprehensive information about how to program a Logix 5000™
						controller.
	Logix 5000 Controllers General Instructions Reference Manual, publication 1756-					Provides a programmer with details about general instructions for a Logix-based controller.
	RM003
	LOGIX 5000 Controllers Advanced Process Control and Drives and Equipment					Provides a programmer with details about process and drives instructions for a Logix-based
	Phase and Sequence Instructions Reference Manual, publication 1756-RM006					controller.
	Logix 5000 Controllers Quick Start, publication 1756-QS001					Describes how to get started programming and maintaining Logix5000 controllers.
	Motion System Tuning Application Technique, publication MOTION-AT005					Provides detailed information on motion system tuning.
	PowerFlex 527 Adjustable Frequency AC Drive User Manual, publication 520-					Provides information on installation, configuration, start up, troubleshooting, and applications for
	UM002					the PowerFlex® 527 drive.
	PowerFlex 750-Series AC Drives Programming Manual, publication 750-PM001					Provides information that is necessary to install, start-up, and troubleshoot PowerFlex 750-
						Series Adjustable Frequency AC Drives.
	PowerFlex 750-Series AC Drives Reference Manual, publication 750-RM002					Provides detailed drive information including operation, parameter descriptions, and
						programming of the AC drive.
	PowerFlex 755 Drive Embedded EtherNet/IP Adapter User Manual,					Provides information on installation, configuration, start up, troubleshooting, and applications for
	publication 750COM-UM001					the PowerFlex 755 Drive Embedded EtherNet/IP Adapter.
	PowerFlex 750-Series Safe Speed Monitor Option Module Safety Reference
	Manual, publication 750-RM001
						These publications provide detailed information on installation, setup, and operation of the 750-
	PowerFlex 750-Series Safe Torque Off Option Module User Manual,
	publication 750-UM002					Series safety option modules.
	PowerFlex 755 Integrated Safety - Safe Torque Off Option Module User Manual,
	publication 750-UM004
	The Integrated Architecture and CIP Sync Configuration Application Technique,					Provides detailed configuration information on CIP™ Sync technology and time synchronization.
	publication IA-AT003
	EtherNet/IP Network Devices User Manual, ENET-UM006					Describes how to configure and use EtherNet/IP devices to communicate on the EtherNet/IP
						network.
	Ethernet Reference Manual, ENET-RM002					Describes basic Ethernet concepts, infrastructure components, and infrastructure features.
	System Security Design Guidelines Reference Manual, SECURE-RM001					Provides guidance on how to conduct security assessments, implement Rockwell Automation
						products in a secure system, harden the control system, manage user access, and dispose of
						equipment.
	Industrial Components Preventive Maintenance, Enclosures, and Contact Ratings					Provides a quick reference tool for Allen-Bradley industrial automation controls and assemblies.
	Specifications, publication IC-TD002
	Safety Guidelines for the Application, Installation, and Maintenance of Solid-state					Designed to harmonize with NEMA Standards Publication No. ICS 1.1-1987 and provides general
						guidelines for the application, installation, and maintenance of solid-state control in the form of
	Control, publication SGI-1.1					individual devices or packaged assemblies incorporating solid-state components.
	Industrial Automation Wiring and Grounding Guidelines, publication 1770-4.1					Provides general guidelines for installing a Rockwell Automation industrial system.
	Product Certifications website, rok.auto/certifications.					Provides declarations of conformity, certificates, and other certification details.

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

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

Chapter 1

Components of a Motion System

Controller, Communication,

Drive, and Software Options

Topic	Page
Controller, Communication, Drive, and Software Options	11
Help for Selecting Drives and Motors	14

To create an Integrated Motion on EtherNet/IP™ system, you need the following:

•A Logix 5000™ controller with a connection to the EtherNet/IP network, either via an embedded Ethernet port or an Ethernet communication module (See Table 1)

•An Integrated Motion drive (see Table 2)

•Software

-Studio 5000 Logix Designer® application

-RSLinx® Classic software, version 3.51.00 or later

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

A safety controller is required for motion and safety applications.

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

See the Product Compatibility and Download Center (PCDC) for minimum controller, Ethernet module, and drive firmware revisions, Studio 5000 Logix Designer required revisions, and compatibility information.

Table 1 provides information on how many motion axes are supported depending on the hardware that is used in your application and the configuration of your axes. For example, you can have eight Position Loop axes per 1756-EN2T module. Each drive requires one TCP and one CIP™ connection. If you have other devices that consume TCP connections on the module, it reduces the number of drives you can support. Only the drives and axes that are configured for Position Loop are limited. Frequency Control, Velocity Loop, and Torque Loop configured drives and axes are not limited.

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

11

Chapter 1 Components of a Motion System

Table 1 - Supported Axes by Controller Type

	Controller		Communication Modules(1)	Supported Axes(2)
				Position Loop	Other Loop Types
			1756-EN2T, 1756-EN2TF,	8	Up to 100
	ControlLogix® 5570,GuardLogix 5570		1756-EN2TP, 1756-EN2TR
	Armor™ ControlLogix 5570, Armor™ GuardLogix® 5570		1756-EN3TR	100	Up to 100
			1756-EN4TR	100	Up to 100
			1756-EN2T, 1756-EN2F, 1756-EN2TP,	8	Up to 256
	ControlLogix 5580, GuardLogix 5580		1756-EN2TR
			1756-EN3TR	256	Up to 256
			1756-EN4TR	256	Up to 256
		1756-L81E, 1756-L81ES	Embedded Ethernet(3)	256	Up to 256
	ControlLogix 5580, GuardLogix 5580	1756-L82E, 1756-L82ES	Embedded Ethernet(3)	256	Up to 256
		1756-L83E, 1756-L83ES, 1756-L84E, 1756-L84ES	Embedded Ethernet(3)	256	Up to 256
		1756-L85E	Embedded Ethernet(3)	256	Up to 256
		5069-L306ERM, 5069-L306ERMS2	Embedded Ethernet	2	Up to 256
		5069-L310ERM, 5069-L310ERMS2	Embedded Ethernet	4	Up to 256
		5069-L320ERM, 5069-L320ERMS2	Embedded Ethernet	8	Up to 256
	CompactLogix™ 5380, Compact	5069-L330ERM, 5069-L330ERMS2	Embedded Ethernet	16	Up to 256
	GuardLogix 5380	5069-L340ERM, 5069-L340ERMS2	Embedded Ethernet	20	Up to 256
		5069-L350ERM, 5069-L350ERMS2	Embedded Ethernet	24	Up to 256
		5069-L380ERM, 5069-L380ERMS2	Embedded Ethernet	28	Up to 256
		5069-L3100ERM, 5069-L3100ERMS2	Embedded Ethernet	32	Up to 256
		1769-L18ERM	Embedded Ethernet	2	Up to 100
		1769-L27ERM	Embedded Ethernet	4	Up to 100
		1769-L30ERM, 1769-L30ERMS	Embedded Ethernet	4	Up to 100
	CompactLogix 5370, Compact	1769-L33ERM, 1769-L33ERMS	Embedded Ethernet	8	Up to 100
		1769-L33ERMO, 1769-L33ERMOS
	GuardLogix 5370, Armor
	CompactLogix 5370, Armor Compact	1769-L36ERM, 1769-L36ERMS	Embedded Ethernet	16	Up to 100
	GuardLogix 5370	1769-L36ERMO, 1769-L36ERMOS
		1769-L37ERM, 1769-L37ERMS, 1769-L37ERMO,	Embedded Ethernet	16	Up to 100
		1769-L37ERMOS,
		1769-L38ERM, 1769-L38ERMS	Embedded Ethernet	16	Up to 100
		1769-L38ERM0, 1769-L38ERM0S

(1)For more information on Ethernet communication modules, see 1756 ControlLogix Communication Modules Specifications Technical Data, publication 1756-TD003.

(2)Multiple controllers can control drives on a common 1756-ENxTx module, so based on the TCP connection limit, up to 128 can be supported.

(3)ControlLogix 5580 and GuardLogix 5580 can also use Ethernet communication modules to communicate on the EtherNet/IP network.

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

Chapter 1 Components of a Motion System

		Table 2 describes the EtherNet/IP drives available for integrated motion.
Table 2 - Integrated Motion EtherNet/IP Drives
	Drive	Description
	842E-CM Absolute	The 842E-CM is an ultra-high resolution encoder with EtherNet/IP interface with time synchronization for motion control. These encoders provide 18-bit single-
	Encoders	turn resolution and 30-bit multi-turn resolution.
	Kinetix® 350	The Kinetix 350 drive is a single-axis EtherNet/IP servo drive with hardwired Safe Torque Off (STO) with connection to safety inputs.
	Kinetix 5300	The Kinetix 5300 servo drive is an entry-level servo drive integrated on EtherNet/IP.
		The Kinetix 5500 servo drives support the Integrated Motion on EtherNet/IP network. Single-axis and multi-axis, AC, DC, AC/DC, and AC/DC hybrid bus-sharing
	Kinetix 5500	configurations are possible.
		2198-Hxxx-ERS servo drives support hardwired Safe Torque Off (STO) with connections to safety inputs.
		2198-Hxxx-ERS2 servo drives support integrated Safe Torque Off (STO) with connections to the safety controller.
		2198-Sxxx-ERS3 (single-axis) and 2198-Dxxx-ERS3 (dual-axis) series A support hardwired and integrated STO with connections to the safety controller.
		Series B also support integrated Timed SS1 safety function.
	Kinetix 5700	2198-Sxxx-ERS4 (single-axis) and 2198-Dxxx-ERS4 (dual-axis) inverters support integrated safe monitor functions with connection to the safety controller.
		2198-Pxxx DC Bus Supply provides power in a range of 7…46 kW and 10.5…69.2 A output current to Bulletin 2198 single-axis and dual-axis inverters for
		applications.
		2198-RPxxx Regenerative Bus Supply provides continuous output power and current to Bulletin 2198 single-axis and dual-axis inverters for applications.
		The Kinetix 6500 drive is a closed-loop modular servo drive. It consists of an integrated axis (IAM) power module and up to seven axis (AM) power modules,
	Kinetix 6500	each coupled with a Kinetix 6500 control module.
		The IAM and AM power modules provide power for up to eight axes.
		The 2094-EN02D-M01-S0 control modules support Safe Torque Off (STO) and 2094-EN02D-M01-S1 control modules support safe-speed monitoring.
	PowerFlex 527	The PowerFlex 527 is a single-axis EtherNet/IP AC drive with hardwired and Integrated Safe Torque Off (STO).
		It consists of an integrated axis power module and incremental encoder feedback (sold separately).
	PowerFlex 755	The PowerFlex 755 Drive EtherNet/IP AC drive can control a motor in closed loop and open loop mode. The PowerFlex 755 drive contains an EtherNet/IP
		adapter that is embedded on the main control board. Drive option modules provide I/O, safety(1) (2), and feedback functions to the drive.
	iTRAK® 5730	The iTRAK 5730 system is a modular, scalable, linear motor system. This system provides independent control of multiple movers on straight or
	Intelligent Track
		curvilinear paths.
	System
	iTRAK Power	Catalog number 2198T-W25K-ER, DC-DC converter that generates DC-bus power for iTRAK systems.
	Supply

(1)Integrated Motion support of the Integrated Safety Functions option module (20-750-S4) is only available when used with GuardLogix 5580 and Compact GuardLogix 5380 safety controllers.

(2)PowerFlex Drive firmware revision 14 or later required for Integrated Safe Torque Off option module (20-750-S3) Integrated Safety Functions option module (20-750-S4)

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

13

Chapter 1 Components of a Motion System

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

Chapter 2

Configure Drive Properties

Topic	Page
Before You Begin	16
Add a Kinetix Drive	18
Add a PowerFlex Drive	19
Add an iTRAK Section, Mover, or Power Supply	21
Configure Module Definition	23
Configure Power Settings	26
Configure Digital Inputs	29
Configure Digital Outputs	31
Configure Safety Settings	31
Configure Track Sections	35

This chapter describes the basic steps for how to configure an integrated motion project in the Logix Designer application. For detailed product-specific configuration, see the user manual for your product.

IMPORTANT When a PowerFlex® drive is used in Integrated Motion on EtherNet/IP mode, the Logix controller and Logix Designer are the exclusive owners of the drive (same as Kinetix® drives). A HIM or other drive software tools cannot be used to control the drive or change configuration settings. These tools can only be used for monitoring.

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

15

Chapter 2 Configure Drive Properties

Before You 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, for detailed information on time synchronization.

For detailed information on configuring a controller or Ethernet/IP adapter, see the publications listed in the Additional Resources on page 9.

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

Chapter 2 Configure Drive Properties

Figure 1 - Create a Motion Project

Controller Project

		yes			no
Integrated safety			Is this a safety			Standard
controller			applica on?			controller

Add the		yes		Does the			no	Use the embedded
EtherNet/IP				controller need				EtherNet/IP
device to the				an EtherNet/IP				connec vity in the
project				device?				controller
Set Exact Keying
to
Exact Match or
Compa ble Keying
on the Module
Defini on dialog
box.

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

Module Defini on dialog box.

Enable Time

Synchroniza on

Add a Drive or iTRAK system

Check Enable Time Synchroniza on on

the Date/Time tab of the Module Proper es dialog box.

ForForKinetixKineDrives,x drives,seeseepagepg18 ForForPowerFlexrFlexDrives,drives,seeseepagepg19

ForForiTRAK®iTRAKsystems,see, seepagepg 21

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

17

Chapter 2 Configure Drive Properties

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

	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

Configure power settings page 26

Configure Digital Inputs and Outputs page 29 and page 31

Configure Safety Connections page 31

Configure Motion Safety or Drive Safety

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

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

Configure Axis Properties

See Chapter 3

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

Add a PowerFlex Drive

Chapter 2 Configure Drive Properties

The available configuration options differ depending on the controller, drive type, and PowerFlex option modules you chose for your project.

Figure 3 shows the path for configuring a PowerFlex drive in a motion project.

Figure 3 - Add and Configure a PowerFlex 755 or PowerFlex 527 Drive

Controller Project Ready

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

Add PowerFlex 755 Drive				Add PowerFlex 527
to your				Drive to your
EtherNet/IP Network		Type a Name and IP Address		EtherNet/IP Network
		of the drive on the General
		page of the Module
Configure General		Properties dialog box.		Configure General
Settings				Settings

Do you need I/O	no
or feedback?

yes

Add a peripheral device

page 20 Configure drive settings in the Module Definition dialog box

page 23

Configure power page 26

Configure digital inputs and outputs

page 29 and page 31

Configure Safety page 31

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

Configure Axis

Properties

See Chapter 3

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
	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
Two Feedback Options	Universal Feedback	20-750-UFB-1	4 and 5
and One Safety Option
	Safe Torque Off, or	20-750-S
	Safe Speed Monitor(1), or	20-750-S1	6
	Integrated Safe Torque Off, or	20-750-S3
	Integrated Safety Functions	20-750-S4

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

5.If you will be using a feedback option module for safe feedback with a 20- 750-S4 safety option, click the Safe Feedback checkbox.

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

Add an iTRAK Section, Mover, or Power Supply

Chapter 2 Configure Drive Properties

6.If your drive is equipped with an integrated safety option module (20- 750-S3 or 20-750-S4), click Safety Definition to define the Major and Minor Revisions and Electronic Keying options.

When you are using integrated safety modules, you can set the electronic keying to either Exact Match or Compatible Keying.

7. Continue with Configure Module Definition on page 23.

The available configuration options differ depending on the controller, and iTRAK device type you chose for your project. Before you begin, verify that you have the correct minimum software, firmware, and Add-on Profile versions. See Chapter 1.

Figure 4 shows the path for configuring an iTRAK section, mover, or power supply in an integrated motion project.

If you are using an iTRAK power supply, add the module to the project under the same controller as the iTRAK sections and the Kinetix 5700 power supply (either the regenerative power supply or the DC Bus supply).

If using the iTRAK system, each section is automatically assigned an IP address by the iTRAK backplane, in sequential order from the first iTRAK module added to the project.

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Chapter 2 Configure Drive Properties

Figure 4 - Add iTRAK Drive Modules

Controller Project Ready

Add iTRAK Drive

Configure General

Settings

Configure drive settings in the Module Definition dialog box page 23

Configure power page page 26

Configure safety page page 31

Configure Motion Safety page 26

Configure track sections

page 35

Configure Axis

Properties

See Chapter 3

Controller EtherNet/IP connectivity Time Synchronization

If you have an iTRAK power supply, add the drive under the same controller as the iTRAK section and Kinetix 5700 power supply.

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

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

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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 LOGIXAT001.

Table 3 - Module Definition Fields

<![if ! IE]> <![endif]>Kinetix 350

<![if ! IE]> <![endif]>Kinetix 5300

<![if ! IE]> <![endif]>Kinetix 5500

<![if ! IE]> <![endif]>Kinetix 6500

<![if ! IE]> <![endif]>Kinetix 5700 DC - Bus Supply

<![if ! IE]> <![endif]>Kinetix 5700 Regenerative Bus Supply

<![if ! IE]> <![endif]>Kinetix 5700 Inverter

<![if ! IE]> <![endif]>PowerFlex 755 Drive with Embedded Ethernet PowerFlex 755 Hi-Power Drive with Embedded Ethernet

<![if ! IE]> <![endif]>PowerFlex 755 Drive with Safe Torque Off PowerFlex 755 Hi-Power Drive with Safe Torque Off (with 20-750-S option module installed)

<![if ! IE]> <![endif]>PowerFlex 755 Drive with Safe Speed Monitoring PowerFlex 755 Hi-Power Drive with Safe Speed Monitoring (with 20-750-S1 option module installed)

<![if ! IE]> <![endif]>PowerFlex 755 Drive with Integrated Safe Torque Off PowerFlex 755 Hi-Power Drive with Integrated Safe Torque Off (with 20-750-S3 option module installed)

<![if ! IE]> <![endif]>PowerFlex 755 Drive with Integrated Safety Functions PowerFlex 755 Hi-Power Drive with Integrated Safety Functions (with 20-750-S4 option module installed)

<![if ! IE]> <![endif]>PowerFlex 527 Drive

Revision

X

X

X

X

X

X

X(1)

X(2)

X(2)

X(2)

X(2)

X(2)

X

Update the Revision, if

necessary.

Electronic Keying

X

X

X

X

X

X

X

X

X

X

X

X

X

Choose Exact Match or

Compatible Keying.

Power Structure

X

X

X

X

X

X

X

X

X

X

X

X

X

Assign a power structure,

if necessary. (3)

Safety Application

X

See Safety Application

Types on page 24

Connection

X

X

X

X

X

X

X

X

X

X

X

X

X

See Connection Types on

page 25.

Safety Instance

X

X

See Safety Instance on

page 25

Motion Safety 1

X

See Motion Safety Type on

Motion Safety 2

X

page 26

(1)For 2198-xxxx-ERS3 series A drives, the firmware revision is 7 or earlier. For 2198-xxxx-ERS3 series B, drives, the firmware versions is 9 or later.

(2)For PowerFlex 755 drives, you must select a revision of 12 or later to add an I/O module to port 7 as a peripheral device.

(3)Locate the power stucture reference numbers by checking the device hardware, reviewing the product documentation, checking the purchase order, or reviewing the bill of materials.

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Chapter 2 Configure Drive Properties

Figure 5 - Example Module Definition Dialog Boxes

Kinetix 5700 Drive with Integrated Safety

PowerFlex 755 Drive with Embedded Ethernet

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		Minimum Module(1) Required	Connection Types		Compatible Controllers
			2198-xxxx-ERS3 (series A)	•	Motion Only	•	ControlLogix® 5570/5580
Hardwired	Safe Torque-off (STO)					•	CompactLogix 5370/5380
			2198-xxxx-ERS3 (series B)			•	GuardLogix 5570/5580
						•	Compact GuardLogix 5370/5380
	Safe Torque-off (STO)		2198-xxxx-ERS3 (series A)	•	Motion and Safety	•	GuardLogix 5570/5580
				•	Safety Only
	Safe Torque-off (STO)		2198T-L20-T03	•	Motion and Safety	•	GuardLogix 5580
				•	Safety Only
Networked (integrated)
	Timed SS1		2198-xxxx-ERS3 (series B)	•	Motion and Safety
			2198T-L20-T03	•	Safety Only
						•	GuardLogix 5580
	•	Timed SS1		•	Motion and Safety
			2198-xxxx-ERS4			•	Compact GuardLogix 5380
	•	Monitored SS1		•	Safety Only
	• Controller-based safety functions(2)
Safety Off	•	none	iTRAK 5730	•	Motion Only	•	ControlLogix 5580
						•	GuardLogix 5580

(1)Where a 2198-xxxx-ERS3 drive is specified, a 2198-xxxx-ERS4 drive is backwards compatible. Where a 2198-xxxx-ERS3 (series A) drive is specified, a 2198-xxxx-ERS3 (series B) drive is backwards compatible.

(2)See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, for more information on these Drive Safety instructions.

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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	• Hardwired Safe Torque Off mode		• Motion connections are managed by this controller.
	• Integrated safety, if there is a secondary safety		• Hardwired STO is controlled by the hardwired safety inputs or integrated safety is managed by
		controller	another controller that has a Safety-only connection to the drive.
Safety Only	•	Integrated safety	• Integrated safety is managed by this controller.
			• 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 on page 9.

Safety Instance

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

See the Kinetix 5700 Safe Monitor Functions Safety Reference Manual, publication 2198-RM001, to evaluate SIL levels possible with a single feedback device or two feedback devices.

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-H003- ERSx, 2198-H008-ERSx, and 2198-H015-ERSx.

•Single-phase operation is possible only when Module Properties > Power tab > Bus Configuration is configured as Standalone and Voltage is configured as 200…240V AC.

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

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Chapter 2 Configure Drive Properties

Figure 6 - Power Configuration Example Pages

PowerFlex 755 Drive

Kinetix 5700 Drive

			1. Choose the appropriate power settings for your application.
	Table 8 - Power Settings
	Attribute	Settings		Description
	Voltage	400-480 VAC		324…528 AC rms input voltage
		200-240 VAC		195…264 AC rms input voltage
	PWM Frequency	2 kHz		The value sets the carrier frequency for the Pulse Width Modulation (PWM) output to the motor.
		4 kHz (Default)
		8 kHz
	AC Input Phasing	•	Three Phase	Input power phasing. Single phase operation is not available for all drives. For more information on the
		•	Single Phase	power options that are available, see the user manual for your product.
		Shared AC/DC (1)		Applies to 2198-Pxxx DC-bus power supply (converter) modules.
	Bus Configuration	Standalone		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.
		Shared DC		Applies to inverter drives with Shared DC input (common-bus) configurations.
	Bus-sharing Group (2)	•	Group1
		•	Group2	Applies to any bus-sharing configuration.
		•	Group3
		Disabled		Disables the internal shunt resistor and external shunt option.
		Shunt Regulator		Enables the internal and external shunt options.
		Adjustable Frequency(3)		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
	Bus Regulator Action			velocity and the system can overshoot or may not stop.
		Shunt then Adjustable Frequency		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.
		Adjustable Frequency then Shunt		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.
		Common Bus Follower(4)		To configure your Kinetix 6500 IAM power module as a common-bus follower IAM
				module.
	Shunt Regulator Resistor Type	Internal		Enables the internal shunt (external shunt option is disabled).
		External		Enables the external shunt (internal shunt option is disabled).
	External Shunt	•	None	Selects external shunt option.
		•	Shunt catalog number(5)
		•	Custom
	External Shunt Resistance	Valid values are determined by the		Specifies the external shunt resistance in Ohms. Available only if External Shunt is set to Custom.
		type of drive.

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Chapter 2 Configure Drive Properties

Table 8 - Power Settings

	Attribute	Settings	Description
	External Shunt Power	Valid values are determined by the	Specifies the external shunt power in Kilowatts. Available only if External Shunt is set to Custom.
		type of drive.
	External Shunt Pulse Power	Valid values are determined by the	Specifies the external shunt power in Kilowatts. Available only if External Shunt is set to Custom.
		type of drive.
	Bus Capacitance	Valid values are determined by the	Specifies the bus capacitance in microfarads (uF). Available only if External Shunt is set to Custom.
		type of drive.

(1)Shared AC/DC bus configuration is the default selection for 2198-Pxxx DC-bus power supplies.

(2)For more information on bus-sharing groups, refer to Kinetix 5700 servo drives User Manual, publication 2198-UM002.

(3)Default for PowerFlex 527 drives.

(4)Drive will not accept CommonBus Follower selection while three-phase power or DC bus power is applied.

(5)Only the shunt catalog number intended for the specific DC-bus power supply is shown. See the Kinetix Servo Drives Specifications Technical Data, publication KNX-TD003, for more information on shunt resistors.

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

Kinetix 5700 DC Bus Supply

		PowerFlex 755 Drive
	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	Sets the user limit for the Control Module Over temperature User Limit
		exception.

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Configure Digital Inputs

Chapter 2 Configure Drive Properties

The following restrictions apply to settings made on this page:

•All digital input parameters, except Unassigned, must be unique.

•At least one Digital Input must be set to Regeneration OK when a module is set to the Shared DC - Non-CIP Converter bus sharing configuration in the Power tab.

•When you use the 2198-R014, 2198-R031, or 2198-R127 external passive shunt resistor with a DC-bus power supply, the Shunt Thermal Switch Digital Input must be configured.

Configure the digital inputs to monitor the status of drive functions appropriate to your application.

Table 10 - Drive Functions

	Functions	Description
	Enable	A 24V DC input is applied to this terminal as a condition to enable each module.
	Home	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.
	Registration 1	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 2
		registration moves.
	Home	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.
	Positive Overtravel	The positive/negative limit switch (normally closed contact) inputs for each axis require
	Negative Overtravel	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.
	Regeneration OK	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.
	AC Line Contactor OK	An active indicates that the AC Line Contactor is working correctly.
	Bus Capacitor OK	You can configure this input in the Logix Designer application and wire the module
		status (MS) output from the 2198-CAPMOD-2240 capacitor module to indicate to the
		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 DC-
		bus power supply, this input must be
		configured in the Logix Designer application to monitor the status of the external shunt
	Shunt Thermal Switch OK	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
		You can configure this input in the Logix Designer application and wire the module
	Bus Conditioner 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:
	Pre-charge OK	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
	Motor Thermostat OK	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 Allen-
		Bradley 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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