Motion Control PTO Application Building Block
Connected Components Accelerator Toolkit
Quick Start
Important User Information
Read this document and the documen ts listed in the additional resour ces section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain thi s product. Users are require d to
familiarize themselves with installation and wiring in structions in addition to requirements of all applicable codes, laws,
and standards.
Activities including ins tallation, adjustmen ts, putting into se rvice, use, a ssembly , disassembly, and maintenance are required
to be carried out by suitably t rained personnel in accordance wit h applicable code of practice.
If t his equ ipme nt is u sed in a man ner n ot speci fied by the m anu factu rer , th e pro tectio n pro vided b y the equipme nt m ay be
impaired.
In no event will Rockwell A utomation, I nc. be responsible or liable for indirect or consequent ial damages resulting from the
use or applicati on of this e quipment.
The examples and diagrams in this manual are included solely for illustrativ e purposes. Because of the many variables and
require ments as sociated wi th any pa rticular i nstallat ion, Rockw ell Au tomat ion, I nc. can not assum e respons ibility or
liability for actual use based on the examples and diagrams.
No pate nt liability is assumed by Rockw ell Autom ation, I nc. with re spect to use of inform ation, cir cuits, equipment, or
software described in this manual.
Reproduction of the content s of this manu al, in whole or in part, with out writte n permission of Rockwe ll Autom ation,
Inc., is prohibited.
Throughout this man ual, when necessary, we use notes to make you awa re of safety considerations.
Labels may also be on or inside the equipme nt to provide specific precau tions.
Allen-Bradley, Connected Components W orkbench, Micro830, Micro800, PanelView , Kinetix, Rockwell Software, and Rockwell Automation are trademarks of Rockwell Automation, I nc.
T rademarks not belonging to Rockwell Automation are property of their respective companies.
WARNING: Identifies informa tion about practices or circumstances tha t can cause an explosion in a hazardous envir onment,
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 econo mic loss. Atten tions help you identify a hazard , avoid a hazard, and r ecognize the consequence.
Identifies information tha t is critical for successful application and understanding of the product.
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, t o 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 p eople 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 Pr otective Equipment (PPE).
RockRockwell Automation Publication CC-QS033A-EN-P - Feb ruary 2014 3
Where to Start Connected Components Accelerator T oolkit Outline Follow this path to complete yo ur Connected Components Acce lerator T oolkit (CCA T) proje ct.
Chapter 1 - Micro800 Controller PTO Axis Setup
Chapter 2 - System Validation
Getting Started CCAT with System
Design Assistant Quick Start,
publication CC-QS035
4 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Where to Start
Notes:
Rockwell Automation Publi cation CC-QS033A-EN-P - February 2014 5
Table of Contents
Preface
About This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Available Connected Components Accelerator Toolkits . . . . . . . . . . . . . . 9
Chapter 1
Micro800 Controller PTO Axis Setup
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Configure the Kinetix 3 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Configure Your Kinetix 3 Drive and Personal Computer
Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Connect to Your Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Configure Your Drive by Using Connected Components
Workbench Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Configure the Micro800 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Change to Your Controller Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Configure the PTO Channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
I/O Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Configure Drive Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Configure Communication Attributes . . . . . . . . . . . . . . . . . . . . . . . . . 28
Chapter 2
System Validation
Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Configure Your Controller Serial Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Configure Input Filter for High Speed Counter . . . . . . . . . . . . . . . . . . . . 36
Configure PanelView Component Terminal Communication
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Connect Your Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Download Your Program to the Controller . . . . . . . . . . . . . . . . . . . . . . . . 41
Configure the IP Address for Your PanelView Component
Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Transfer Your HMI Application to the PanelView Component
Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Validate Your System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Understand the Machine Overview Screen . . . . . . . . . . . . . . . . . . . . . 46
Understand the Machine Functions Screen . . . . . . . . . . . . . . . . . . . . . 46
Explore the Command and Status Screen . . . . . . . . . . . . . . . . . . . . . . . 48
Explore the Axis Configuration Screen . . . . . . . . . . . . . . . . . . . . . . . . . 50
Explore the Kinetix 3 and HSC Configuration Screen . . . . . . . . . . . 51
Explore the Advance Move Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
6 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Table of Conten ts
Explore the Kinetix 3 Status Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Explore the Fault Screen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Appendix A
Kinetix 3 Drive Component-class
User-defined Functional Block
PTO Application Building Block User-defined Function Block . . . . . . 59
RA_Motion_Move_Cmd User-defined Function Block . . . . . . . . 59
RA_K3_MBUS_STS User-defined Function Block . . . . . . . . . . . . . . . . . 64
RA_K3_MBUS_STS_Extended User-defined Function Block . . . . . . . 67
Appendix B
Global Variables
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Appendix C
Motion Axis Setup for PTO Building
Block
I/O assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Motor and Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Appendix D
Configure a Series A Kinetix 3 Drive
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Configure Your Personal Computer and Kinetix 3 Drive
Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Configure Your Drive with Ultraware Software. . . . . . . . . . . . . . . . . . . . . 91
Configure Your Drive for Modbus Communication Protocol . . . . . . . . 93
Rockwell Automation Publication CC-QS033A-EN-P - February 2014 7
Preface About This Publication This quick start is designed to provide instructions for i mplementing a Pulse- T rain Output (PTO) motion cont rol of a
Kinetix® 3 component-class drive b y using Connected Components W orkbench ™ software and a Micro800™ programmable
logic controller (PLC).
T o assi st in the desig n and insta llation of yo ur system, appl ication file s and other informati on are provide d by the
Connected Components Accelera tor T oolkit (CCA T). The CCA T provides bills of materials (BOM), CAD drawings for
panel layout and wiring, control programs, H uman-machi ne interface (HMI) screens, and more. With these tools and the
built-in best-pract ices design, the system designer is free to focus on the design of their machine control and not on design
overhead tasks.
The CCA T is available on the Connected Components Accele rator T oolkit DVD, publication CC-QR002, or through
the Rockwell Software Download and Registration S ystem (SDRS) at
http://www.r ockwellautomation.com/
rockwellauto mation/products- technologies/connected-components/tools/accelerato r-toolkit.page.
The beginning of each chapter cont ains the following inform ation. Read these sections carefully before beginning work i n
each chapter:
• Before Y ou Begin - This section lists the steps th at must be completed and decisions that mu st be made before
starting that chap ter. The chapters in th is quick start do not have to b e compl eted in the order in that they app ear,
but this section defines the minimum amou nt of preparation r equired before completing the curr ent chapter .
• What Y ou Need - This section lists the tools that are r equired to complete the steps in the cur rent chapter . This
includes, but is not limited to, hardw are and software.
• Follow These Steps - This section illustrat es the steps in the cur rent chapte r and identifies the ste ps that are required
to complete the examples.
8 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Preface
T erminology Term (abbrevia tion) Definition
Application Sequence Pr ograms User-modified programs that work together with the standard sta te machine logic to
control what the machine does while in the abort, clear, reset, run and stop states.
Auto/manual Operation When the PanelV iew™ Component terminal i s in Auto mode, the contr oller logic controls
the machine and monitors machine status.
When the PanelV iew Component terminal switches to Manual mode, the t erminal takes
over control. Command buttons and numeric entry fields are available only when the
machine is in Manual mode.
Bill of Materials (BOM ) A list of components needed for your system.
Building Block (BB) Tools f or accelerating and simplifying the d evelopment of a Micro800 controller-based
application. A typical building block includes a starting Bill of Material (BOM), C omputer-
Aided Design (CAD) drawings, Micro800 contr oller programs, PanelV iew Component
terminal applications, and a quick star t document.
Computer-Aided De sign (CAD) A computer-based system developed to facilitate design of mechanical parts.
Connected Comp onents Accelerator Toolkit (CCAT) Software with application file s and other information to speed the design and star tup of
component-based machines.
Connected Components Workbench Software environment for configuring or programming Micro800 controllers, PanelV iew
Component terminals, Kinetix 3 drives, and other component-level products.
Connected Components W orkbench Project A project consists of one or more of the following:
• Micro800 controller con figuration
• Up to 256 Micro800 controller programs, each with program local variables
• Micro800 contr oller global variables
• PanelView Component terminal application
• Kinetix 3 drive paramet er lists
Global Vari ables Project variables that can be accessed by any program, including all I/O and syst em
variab les.
State Machine Control C ode Machine logic for coordinating overall machine operation based on states. The state
machine broadcasts commands and receives feedback information from each of the
building blocks via user-modified application sequence programs.
Tag s A PanelView Componen t term for variables.
User-defined Function Blocks (UDFBs) Function block instructions that can be used like standard function block instruc tions
within any Connected Components W orkbench programming language. These can be
written by anyone using Connected C omponents Workbench software. Man y UDFBs are
posted on the Rockwell Automation sample code website: http://
samplecode.rockwellaut omation.com/idc/groups/public/documents/webassets/
sc_home_page.hcst.
User-defined Object (UDO) A collection of PanelV iew Component terminal sc reen objects that can be pasted into a
new screen.
Rockwell Automation Publication CC-QS033A-EN-P - February 2014 9
Preface
Additional Resource s These document s contain additional in formation concerning related product s from Rockwell Aut omation.
You can view or download publications at http ://www.rockwellautomation.com/literature . T o order paper copies of
technical documenta tion, contact your local Allen -Bradley distributo r or Rockwell Autom ation sales represen tative.
Available Connected Components Accelerator T oolkits For the most up -to -date listin g of avail able Conne cted Co mponents Accelerator T oolkits and related qu ick starts, refer to
these resources:
• Rockwell Automation Connected Components Accelerator T oolkit website at http ://
www .rockwellaut omation.com/rockw ellautomat ion/products-technologies/connected-componen ts/tools/
accelerator -toolkit.page
• Connected Components Accele rator T oolkit Building Block Project Description s Quick Reference, publication
CC-Q R003
Resource Description
Connected Comp onents Accelerato r Toolkit DVD,
publication CC-QR002
Provides files for th e Connected Component Accelerator T oolkits.
Micro800 and Connected Components Workbench Getting
Started Guide, publication 2080-QR001
Provides informatio n on basic Micro800 contr oller and Connected Components W orkbench software functions.
Micro800 and Connected Components Workbench Application
Guide, publication 2080-Q R002
Provides proc edures for completing basic ta sks in Connected Components W orkbench software and for using
Connected Com ponents Workbenc h software with componen t-class products.
Micro800 Progra mmable Controller External A C Power Supply
Installation Instructions, publ ication 2080-IN001
Provides informa tion on mounting and wiring the optional external power supply .
Micro800 Plug-in Modules User Manual,
publication 2080-UM004
Provides information on installing Micro800 plug-in modules and accessories incl uding wiring and
troubleshooting.
Micro820 Programmable Controllers User Manual,
publication 2080-UM005
Provides information on installing Micro820 controllers includi ng wiring and troubleshooting.
Micro830™ Progr ammable Controllers User Manual, publicati on
2080-UM002
Provides informat ion on installing the Micro830 P rogrammable Contr oller including wiring and tr oubleshooting.
PanelView C omponent Installation Instructions, publica tion
2711C-IN001
Provides information on installing the PanelView C omponent HMI terminals including wiring , grounding, and
troubleshooting.
PanelView Component Operator T erminals User Manual,
publication 2711C-UM001
Provides information ab out using PanelView C omponent HMI terminals.
Kinetix 3 Component Servo Drives User Manual, publication 2071-
UM001
Provides a reference guide for Kinetix 3 drive systems, and accessories. It also contains procedures on how to
install, wire, and troubleshoot your drive.
Kinetix 3 Host Command s for Serial Communication Reference
Manual, publication 2071-RM001
Provides information on the serial communication comm ands, both ASCII and ModBus-RTU , for interfacing a
motion controller with the Kinetix 3 drive.
Kinetix 3 Component Servo Drives Installation Instruction,
publication 2071-IN001
Provides informatio n on installing your Kinetix 3 dri ve system.
10 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Preface
Notes: Notes:
Rockwell Automation Publication CC-QS033A-EN-P - February 2014 11
Chapter 1 Micro800 Controller PTO Axis Setup In this chapt er, you configure a Pulse- T rain-Output channel in a Micro800 cont roller to control a Kinet ix 3 drive. Y ou set
up the Modbus R T U communication fo r the controller to mo nitor drive status.
Before Y ou Begin Review the G etting Started CCA T with System Design Assistant Quick Start, publication CC -QS035.
What Y ou Need Kinetix 3 Drive Setu p:
• Personal co mputer with an availabl e USB p ort
• Connected Components W orkbench software, version 6 or later
• RSL inx® Classic software
• 1203-USB conve rter
• 2090-CCMUSDS -48AAxx Communication cable
• Kinetix 3 drive Series B or later; firmwar e revision 3.005 or later
Micro800 Controller Setup:
• Personal co mputer with an availabl e USB p ort
• Connected Components W orkbench software, version 6 or later
• USB printer cable (A to B) fo r personal computer to Mic ro800 controller com munication
• Micro830 or Micro850 cont roller with transisto r output
12 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Chapter 1 Micro800 Controller PTO Axis Setup
Follow T hese Steps Follow these steps to configure your Micro800 Cont roller and Kinetix 3 drive for PTO.
Start
Configure the Kineti x 3 Drive
on page 13
Configure Y our Kinetix 3 Drive
and Personal C omputer
Connec tion o n page 14
Connect to Y our Drive on
page 18
Configure Y our Drive by Using
Connected Components
Workbench Softw are on
page 21
Configure the Micro800
Control ler o n page 24
Configure the PTO Channel on
page 26
Configure Drive
Communication on page 28
Rockwell Automation Publication CC-QS033A-EN-P - February 2014 13
Micro800 Controller PT O Axis Setup C h a p t e r 1
Configure the Kinetix 3 Drive In this section, you configure your personal compute r and Series B Kinetix 3 drive with fi rmware revision 3.005 by using
Connected Components Workbench version
6 or later sof tware. You can find the hardware seri es identifier on the lab el
attache d to the si de of the produc t.
See Figure 1 and Fig ure 2 to identif y the Series of your Kinetix 3 drive.
Figure 1 - Label of Series B Kinetix 3 Drive - That Is Supported by Connected Components Workbench Version 6 or Later
Figure 2 - Label of a Series A Kinetix 3 Drive - That Is Supported by Ultraw are Software Only
T o configure a Series A Kinetix 3 drive, refer to Configure a Seri es A Kinetix 3 Drive in Appen d ix D.
BULLETIN 2071 Kinetix 3 Component Servo Drive, 400W
CAT . NO. 2071-AP1 SERIES B PN-185999
MAX SHORT CIRCUIT 1000,000A
INSTRUCTION MANUAL 2071-IN001x-EN-P FIRMW ARE VER. V03.01
BULLETIN 2071 Kinetix 3 Component Servo Drive, 1.1A
CAT . NO. 2071-AP1 SERIES A
MAX SHORT CIRCUIT 1000,000A
INSTRUCTION MANUAL 2071-IN001x-EN-P FIRMW ARE VER. V02.00
14 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Chapter 1 Micro800 Controller PTO Axis Setup
Configure Y our Kinetix 3 Drive and Personal Computer Connection Follow these step s to configure the connection between your personal computer and you r drive.
1. V erif y your Kinetix 3 drive is Series B with firmwar e revision 3.005 or later .
Refer to page 13 for examples.
2. Use t he keypad on the front of the drive to set the following parameters.
3. Connect the Kinetix 3 drive to your person al computer by using cables shown he re.
If you are prompted to inst all drivers, use the recommended drivers.
4. V erif y the COM port number of the 1203-USB adapter in Device Manager on your com puter, fro m the Start menu,
choose Run.
The Run dia log b ox appear s.
5. T ype devmgmt.msc in the Open field.
Parameter Name Parameter Setting
Drive Address Pr0.07 248
Serial Port Configuration Pr0.09 1102
where, 2 - 19,200 Kbps Baud Rate
0 - 8 Data Bits, No Parity , 1 Stop Bit
1 - Modbus-RTU protocol
1 - RS-485
Item Description
1 Kinetix 3 drive
2 1203-USB converter cable, catalog number 2090-CCMUSDS-48AAxx
3 1203-USB converter
4 USB cable
5 Personal computer with Connected C omponents Workben ch software
Rockwell Automation Publication CC-QS033A-EN-P - February 2014 15
Micro800 Controller PT O Axis Setup C h a p t e r 1
6. Expand the Ports (COM & LPT) group, and locate the Allen-B radley® 1203-USB device.
The COM port is specified in parenthesis next to the device name , COM3 in this example. It c an be different on
your compute r.
7. Note your COM port name and close the Device Ma nager window .
8. T o configure an R S-232 DF1 driver, st art RS Linx® Classic software.
9. Fr om the Communic ation menu, choose Configure Dr ivers.
16 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Chapter 1 Micro800 Controller PTO Axis Setup
The Configure Drivers dialog box appears.
10. From t he Av ailable Driver T ypes pull-down menu, choose RS -232 DF1 devices.
11. Click Add New .
The Add New RSLinx Classic Driver dialog box appears.
12. T ype a name for your driv er,
Y ou can use the default name, if desired.
13. Click OK.
Rockwell Automation Publication CC-QS033A-EN-P - February 2014 17
Micro800 Controller PT O Axis Setup C h a p t e r 1
14. Configure the driver setti ngs.
a. From the Comm Port pull-down men u, choose the port number of your 1203- USB serial adapter .
b. F rom the De vice pull-down menu, choose PLC-CH0.
c. From the Baud Rate pull-down menu, choose 115200 baud rate.
d. F rom the Error Checking pull -down menu, choose CRC.
15. Click OK.
16. In the R SL inx too l bar, clic k the R SWho i con to verif y that your drive is properl y communic ating with R SL inx
Classic software.
Do not click au to-configure .
18 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Chapter 1 Micro800 Controller PTO Axis Setup
17. Expand your RS-232 DF1 driver, and verify that your drive is displayed.
It is list ed as 01, AB DSI. If the drive is not displayed below the driv er, check your COM port and driver settings.
18. Close RSLinx Classic software.
Connect to Your Drive Follow these step s to connect to the Kinetix 3 drive. The Kinet ix 3 drive must be Series B or late r with firmwar e revision
3.005 or later .
1. Fr om the Connected Component s W orkbench Device T oolbox, expand Discover , and click Browse Connections.
The Connection B rowser dialog box appears.
Rockwell Automation Publication CC-QS033A-EN-P - February 2014 19
Micro800 Controller PT O Axis Setup C h a p t e r 1
2. From t he Connection Browser , under AB_DF1-1, select your drive (01, AB DSI) and click OK .
A drive is added to the Project Organizer and the dr ive' s Device Details window appears in the main project
workspace.
3. Follow these ste p to reset the drive to default sett ings.
This provides consistent dr ive settings.
a. From the T oolbar, click the Wizard icon.
First time uploads take longer .
20 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Chapter 1 Micro800 Controller PTO Axis Setup
b. Select Kinetic 3 Startup Wizard and click Select.
c. Click R eset to Facto ry Settings.
The drive is resets.
d. C lick Finish.
Rockwell Automation Publication CC-QS033A-EN-P - February 2014 21
Micro800 Controller PT O Axis Setup C h a p t e r 1
Configure Y our Drive by Using Connected Components Workbench Software Follow these steps to configure your drive parameters for the PTO building block.
1. Fr om the T ool bar, click t he Wizard icon.
The A vailable Wizards dialog box a ppears.
2. From t he list, select the Kinetix 3 Configuration wizard and click Select.
The applicatio n window appear s.
3. Follow these steps to configure the F ollower mode.
a. Click Next until F ollower is highlighted.
b. F rom the Set Command T ype pull-down menu, choose Step/Direct ion, Positive Logic.
c. From the Con troller Outpu t T ype pull-down menu, choose Open Collector I nput.
d. F rom the 1st Gear Ratio Change pull-down men u, choose Always En able.
e. Type 1:128 for 1st Gear Ratio.
22 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Chapter 1 Micro800 Controller PTO Axis Setup
4. Follow these steps to configure the e ncoder.
a. Click Next to highlight Encoder.
b. T ype 1:128 for the Output Ratio.
c. From the Encoder Backup Ba ttery pull-down menu, choose Not I nstalled.
5. Follow these steps to auto tune your motor.
a. Choose T uning.
b. F rom the right pane, click Start Autotuning.
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Micro800 Controller PT O Axis Setup C h a p t e r 1
6. Follow these step s to configure the Digital Inputs.
a. Cli ck N ext to highl ight Digit al I nput s.
b. F rom Input 2 pull-down menu, choose F ault Reset.
7. Follow these steps to configure the Digital Outputs.
a. Cli ck N ext to highl ight Digit al O ut put s.
b. F rom Output 1 pull-down menu, choose Ready.
8. Click Next.
9. Click Finish.
10. Save the project.
11. Click the Disconnect icon.
12. Upload the online v alues to project file.
13. Change the Drive Addres s (Pr0.07) to 1 by using the k eypad interface.
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Chapter 1 Micro800 Controller PTO Axis Setup
Configure the Micro800 Controller In this section you generat e or get a Connected Components W orkbench project with servo drive for a PTO application.
Y ou do this b y using the C CA T generatio n functio n or downl oad the starting proj ect Star ting_P TO_r6 from s ample co de.
T o get a starting project go to the website :
http://search.rockwellautom ation.com/
search?site=sample_code&client=samplecode&output=xml_no_dtd&proxystylesheet=samplecode.
Change to Yo ur Controller Type If the st arting project does not use your cont roller, this section sho ws you how to change it. In t his Quick Start, we use
Micro800 controller ca talog number 2080-LC50-24QBB.
Follow these st eps to change the cont roller.
1. Right-click the Micro830 and choose Change Controller .
The Con trolle r Chan ge dialog box ap pears.
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Micro800 Controller PT O Axis Setup C h a p t e r 1
2. From t he Controller Change dialog box, type and use the pull-down menu to set t he following attr ibutes.
3. Click OK.
A new project named, PTO_M850_24QBB_r5, is created in your M y Document > CCW folder and t he output
dialog box reports that the con troller change is successful.
Attribute Setting
Project Name PTO_M850_24QBB_r5
Controller Name Micro850
Controller type 2080-LC50-24QBB
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Chapter 1 Micro800 Controller PTO Axis Setup
Configure the PTO Channel The starting project from sample code website is configured to work wit h the Kinetix 3 drive and wiring diagram. The
default configuration includes a PTO axis. Y ou can find out more about the configuration in
Micro800 Controller PTO
Axis Setup in Appe nd ix C.
For project th at is generated with the CCA T generation function the PTO is not configured. Y ou must configure it
manuall y by using
Appe nd ix C as a reference.
I/O Assignment Each PTO channel has its own fix ed and default I/O assignments for its motion functions. For exam ple, PTO channel 0
uses embedded output 0 and 3 for pulse and direction signal and P TO channel 1 uses embedded output 1 and 4. I f you
make any changes to the I/ O assignment from the original project, also make the ch anges to corresponding hard-wir ing.
The diagram below shows the I/O assignment for a sin gle PTO application, downloaded from sample code website, a mor e
detail list of I/O assignments for double and triple PTO applications is provided in
App end i x C.
Figure 3 - I/O Assignment for a Single PTO Application
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Micro800 Controller PT O Axis Setup C h a p t e r 1
The output ter minal for Drive Reset Output mus t be properly assigned in each ladder program. The output terminal is on
the third branch of run g
one each <User-defined prefix>_M otion ladder diagram.
Figure 4 - Outpu t Terminal for Drive Reset Output Assignment
Sensors In the I/O assignmen t diagram above, there is a section for sensor connections. The sen sors are connected to dedicated
input termin als corresponding to the PTO ch annel selected.
Figure 5 - Sensor Connections
When you add a PTO application using the CCA T System Design Assistant (SDA ), you must add thr ee sensors for each
one. Ident ify the sensors and enter the m in the Sensor section of the S ystem Design Assistant.
28 Rockwell Automation Publication CC-QS033A-EN-P - February 2014
Chapter 1 Micro800 Controller PTO Axis Setup
Here' s an example of photoelectric type sensor selected and added in the Sensor section of SDA.
Figure 6 - Example Of Photoelectric Sensor Type
Configure Drive Communication There is no default com munication configuration in t he starting project file. Y ou must ent er the attr ibutes for the drive-
status communication you want to monitor.
Enter t he attribu tes for the followin g variables.
Table 1 - Communi cation Variables
The example in the table belo w uses the name [Axis_01] for t he PTO motion building block, communic ating th rough the
SERIALIS OL plug-in module in slot 1, at a refresh rate of 100 m s interval.
Tab le 2 - Communication Variables Exa mple
Configure Communication Att ributes Follow these steps to configure the commutat ion attributes.
1. From the starting proje ct or the pro ject g enerated by the CCAT generation functio n, double -clic k Globa l V ariables.
2. Scroll to find and select the global variable names that require updat ing.
Attribute Description
Channel Number This is the location of the SERIALISOL plug-in module on the Micro800 controller plug-in slot .
Node Address This is drive address.
Interval This is the refresh rate of the drive status in milliseconds.
Attribute Global Variable Name Description Initial Value Description
Channel Number Axis_01_Cfg_Channel_Man Channel nu mber in Manual mode control. 5 This indicates that the SERIALISOL pl ug-in module is
in plug-in slot 1.
Axis_01_Cfg_Channel_Auto Channel number in Aut o mode.
Node Address Axis_01_Cfg_Node Addr_Man Node address in Manual mode control . 1 This indicates that the communicating drive has an
address of 1.
Axis_01_Cfg_ NodeAddr _Auto Node address in Auto mode .
Interval Axis_01_Par_Interval_Man Status refresh in Manual mode contr ol. 100 T his indicates that the status refresh for the drive
status is 100 ms.
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Micro800 Controller PT O Axis Setup C h a p t e r 1
3. T ype value under the I nitial V alue column for each variable.
4. Repeat sta rting at step 1 until you have updated all six variables required for monitoring t he drive status.
5. Build and download your project.