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
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 3
Table of Contents
Chapter 3
Configure Axis Properties Create an Associated Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Create an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Specify Feedback Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Create a Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Set the Base Update Period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Associate Axes to the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Configure an Axis and Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Specify the Motor Data Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Choose the Catalog Number as the Motor Data Source . . . . . . . . . . 50
Choose Nameplate as the Motor Data Source. . . . . . . . . . . . . . . . . . . 51
Choose Motor NV or Drive NV as the Motor Data Source . . . . . . . . 53
Display Motor Model Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Use Motor Analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Assign Motor Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Configure Load Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Configure Master Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Configure Feedback Only Axis Properties . . . . . . . . . . . . . . . . . . . . . . 60
Configure Actions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Configure Exceptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
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
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 5
Table of Contents
Understanding STO Bypass When Using
Motion Direct Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Chapter 9
Homing Guidelines for Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Active Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Passive Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Active Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Passive Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Absolute Position Recovery (APR). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
APR Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Position Recovery Considerations for Logix5000 Controllers . . . 180
Absolute Feedback Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
SERCOS Versus Integrated Motion on Ethernet Networks . . . . . 181
APR Scenarios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
APR Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
APR Fault Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
APR Fault Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
APR Fault Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Resetting an APR Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Absolute Position Loss without APR Faults . . . . . . . . . . . . . . . . . . . . 190
Behavior of APR for Incremental Encoders. . . . . . . . . . . . . . . . . . . . 190
Chapter 10
Manual Tune When to Manually Tune an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Axis Configuration Types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Current Tuning Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Loop Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Tune The Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Motion Generator and Motion Direct Commands . . . . . . . . . . . . . . . . . 195
Additional Tune. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Feedforward Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Compensation Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Torque Notch Filters Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Torque Filters Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Command Notch Filters Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . 199
Adaptive Tuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Limits Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Planner Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Configure Torque Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Monitor Tags with the Quick Watch Window . . . . . . . . . . . . . . . . . . . . . 203
Use Motion Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
6 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020
Tab le o f Conte nts
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
Embedded Ethernet
Embedded Ethernet
Embedded Ethernet
(3)
(3)
(3)
(3)
256 Up to 256
256 Up to 256
256 Up to 256
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
Embedded Ethernet 16 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
Synchronizaon
Is this a safety
applicaon?
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
connecvity in the
controller
Add a Drive or
iTRAK system
For Kinex drives, see pg
For PowerFlex drives, see pg
For iTRAK systems, see pg
Set Exact Keying
to
Exact Match or
Compable Keying
on the Module
Definion dialog
box.
yes
no
yes
no
Check Enable Time Synchronizaon
on
the Date/Time tab of the Module
Properes dialog box.
Choose Time Sync and Moon as the
Time Sync Connecon type on the
Module Definion 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
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
no
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
6
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)
X
(2)
X
(2)
X
(2)
X
(2)
X
Update the Revision, if
X
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)
on
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
• GuardLogix 5580
• Compact GuardLogix 5380
• GuardLogix 5580
24 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020
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.
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 25
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.
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 27
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.
Valid values are determined by the
type of drive.
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 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.
Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020 29
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
Yo
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.
30 Rockwell Automation Publication MOTION-UM003L-EN-P - November 2020
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