Page 1 User Manual Original Instructions Integrated Motion on the EtherNet/IP Network: Configuration and Startup ControlLogix, CompactLogix, GuardLogix, Compact GuardLogix, Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 527, PowerFlex 755...
Page 2 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.
Page 3: Table Of Contents
Table of Contents Table of Contents Preface ............9 Summary of Changes .
Page 4 Table of Contents Chapter 4 Add a Kinetix 5700 Configure Integrated Motion EtherNet/IP Drive ..........60 Control Using Kinetix 5700 Drives Configure the DC-bus Power Supply and Associate an Axis .
Page 5 Table of Contents Chapter 6 Set the Network Configuration ....... 130 Configure Integrated Motion Add a PowerFlex 527 Drive .
Page 6 Table of Contents Chapter 10 Example 1: Frequency Control with No Feedback ....210 Axis Configuration Examples for Example 2: Velocity Control with Motor Feedback ... . . 214 the PowerFlex 527 Drive Example 3: Position Control with Motor Feedback .
Page 7 Table of Contents Chapter 12 Guidelines for Homing ........256 Homing Active Homing.
Page 8 Table of Contents Chapter 14 Faults and Alarms Dialog Box ....... . . 289 Status, Faults, and Alarms QuickView Pane .
Page 9: Preface
Provides information on how to meet safety application requirements for Manual, publication 1756-RM099 GuardLogix 5570 controllers in Studio 5000 Logix Designer projects, version 21 or later. GuardLogix 5580 and Compact GuardLogix 5380 Controller Systems Safety Reference Describes the necessary tasks to install, configure, program, and operate a...
Page 10 Common Industrial Protocol (CIP) — DeviceNet™, EtherNet/IP, CompoNet™, and ControlNet™. You can view or download publications at . To order paper copies of http://www.rockwellautomation.com/literature/ technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 11: Controller, Communication, Drive, And Software Options
Ethernet), an Integrated Motion drive (see Table and configuration and programming software. TIP ControlLogix® 5560 and GuardLogix® 5560 controllers are not supported in Studio 5000 Logix Designer® application, version 21.00.00 and later. Controller and Ethernet Communication Module Options A GuardLogix or Compact GuardLogix safety controller is required for motion and safety applications.
Page 12 ControlLogix 5560, GuardLogix 5560, 1756-EN2TR Up to 100 — ControlLogix 5570,GuardLogix 5570 1756-EN2T and 1756-EN2F Up to 100 — Armor™ ControlLogix 5570, Armor™ GuardLogix 5570 1756-EN2TP Up to 100 — ControlLogix 5580, GuardLogix 5580 1756-EN3TR Up to 256 — 1756-EN2TR Up to 256 —...
Page 13: Integrated Motion On Ethernet/Ip Drives
(1) For more information on Ethernet communication modules, see 1756 ControlLogix Communication Modules Specifications Technical Data, publication 1756-TD003. (2) ControlLogix 5580 and GuardLogix 5580 can also use Ethernet communication modules to communicate on the EtherNet/IP network. (3) Multiple controllers can control drives on a common 1756-ENxTx module, so based on the TCP connection limit, up to 128 can be supported.
Page 14 Chapter 1 Components of a Motion System Table 4 - Integrated Motion EtherNet/IP Drives (continued) Drive Description Supported Axis Power Ratings Minimum Version of the Configurations Studio 5000 Logix Designer Application Kinetix 2198-Sxxx-ERS3 (single-axis) Frequency Control Input Voltage Range Output Power For 1.6…60kW 5700 and 2198-Dxxx-ERS3 (dual-axis)
Page 15 Components of a Motion System Chapter 1 Table 4 - Integrated Motion EtherNet/IP Drives (continued) Drive Description Supported Axis Power Ratings Minimum Version of the Configurations Studio 5000 Logix Designer Application Kinetix The Kinetix 6500 drive is a Feedback Only Voltage Range Continuous Output Power 21.00.00...
Page 16: Options For Powerflex 755 Drives
Chapter 1 Components of a Motion System When a PowerFlex 755 drive is used in Integrated Motion on EtherNet/IP Options for PowerFlex 755 mode, the Logix controller and Studio 5000 Logix Designer application are the Drives exclusive owners of the drive (same as Kinetix). An HIM or other drive software tools, such as DriveExplorer™...
Page 17 (2) Safe Torque Off option module is only available when used with GuardLogix 5580 and Compact GuardLogix 5380 safety controllers. (3) Integrated Motion support of the Integrated Safety Functions option module is only available when used with GuardLogix 5580 and Compact GuardLogix 5380 safety controllers.
Page 18: Configuration And Startup Scenarios
Chapter 1 Components of a Motion System The two ways to get an integrated motion on the EtherNet/IP network Configuration and Startup solution to run are to connect the hardware first or configure the software first. Scenarios Connect Hardware First 1 - Connect •...
Page 19 Components of a Motion System Chapter 1 Configure Software First 1 - Configure the controllers and communication modules. • Open the Logix Designer application. • Check software and firmware for the latest revisions and update if needed. • You must configure the controllers and communication modules for time synchronization and motion.
Page 20: Help For Selecting Drives And Motors
Chapter 1 Components of a Motion System Motion Analyzer helps you select the appropriate Allen-Bradley® drives and Help for Selecting Drives and motors that are based on your load characteristics and typical motion Motors application cycles. The software guides you through wizard-like screens to collect information specific to your application.
Page 21: Create A Controller Project
This chapter describes how to configure an integrated motion project in the Logix Designer application. Create a Controller Project IMPORTANT For Motion and Safety applications, you must use a GuardLogix® or Compact GuardLogix controller. Follow these instructions to create a project.
Page 22 Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network 2. Choose a controller, type a name, and click Next. 3. Type a Name for the controller. 4. Assign a location (optional). 5. Click Next. The Project Configuration dialog box appears. 6.
Page 23 Create a Project for Integrated Motion on the EtherNet/IP Network Chapter 2 The Logix Designer application opens with new project. Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 24: Set Time Synchronization
Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network This technology supports highly distributed applications that require time Set Time Synchronization stamps, sequence of events records, distributed motion control, and increased control coordination. All controllers and communication modules must have time synchronization that is enabled for applications that use integrated motion on the EtherNet/IP™...
Page 25 Create a Project for Integrated Motion on the EtherNet/IP Network Chapter 2 The Best Master Clock algorithm determines what device has the best clock. The device with the best clock becomes the Grandmaster time source for your system. All controllers and communication modules must have time synchronization that is enabled to participate in CIP Sync.
Page 26: Add An Ethernet Communication Module
Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network Although ControlLogix 5580 and GuardLogix 5580 controllers can use Add an Ethernet Ethernet communication modules, only ControlLogix 5560 and 5570 and Communication Module GuardLogix 5560 and 5570 controllers require an Ethernet communication module for connection to the Ethernet network.
Page 27: Network
Create a Project for Integrated Motion on the EtherNet/IP Network Chapter 2 The New Module configuration tabs appear. 5. Type a name for the module. 6. If you want, type a description. 7. Assign the EtherNet/IP address of the Ethernet module. For information on how to create an Ethernet network and setting IP addresses for the communication and motion modules, see these manuals:...
Page 28: Network
Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network 10. Choose an Electronic Keying option. 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 motion modules, set the electronic keying to either `Exact Match‘...
Page 29: Network
1 or 2. You must go offline to change the module to revision 3 or 4 and return to revision 1 or 2. IMPORTANT For CompactLogix 5370 and Compact GuardLogix 5370 controllers, the embedded dual-port Ethernet is automatically set with Time Sync Connection= Time Sync and Motion.
Page 30 Chapter 2 Create a Project for Integrated Motion on the EtherNet/IP Network Notes: Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 31: Network
Chapter Configure Integrated Motion Control Using Kinetix Drives Topic Page Add a Kinetix EtherNet/IP Drive Create an Associated Axis Create a Motion Group Configure the Axis Properties Configure the Associated Axis and Control Mode Specify the Motor Data Source Display Motor Model Information Assign Motor Feedback Configure the Load Feedback Configure the Master Feedback...
Page 32: Add A Kinetix Ethernet/Ip Drive
Chapter 3 Configure Integrated Motion Control Using Kinetix Drives Table 2 on page 11 to determine the minimum version of the Studio 5000 Add a Kinetix EtherNet/IP Logix Designer® application that is required for your drive. Drive IMPORTANT • For complete information on how to configure Kinetix 5500 drives, including drives with integrated safety connections, see the Kinetix 5500 Servo Drives User Manual, publication 2198-UM001.
Page 33 Configure Integrated Motion Control Using Kinetix Drives Chapter 3 5. Type a Name for the module. 6. Type a description, if desired. 7. Assign an EtherNet/IP address. You can establish the Node address of the drive by entering a private IP address via a thumbwheel switch on the drive for Private Network segments.
Page 34 Chapter 3 Configure Integrated Motion Control Using Kinetix Drives The Module Definition dialog box appears. 9. Choose an Electronic Keying option. 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 motion modules, set the electronic keying to either `Exact Match‘...
Page 35 Configure Integrated Motion Control Using Kinetix Drives Chapter 3 10. Assign the appropriate Power Structure. When you select a Kinetix 6500 drive catalog number, you are specifying only a Control Module. To specify the drive, you must assign a power structure.
Page 36: Configure The Safety Category - Kinetix 5500 Drives
• Servo drive safety network number • GuardLogix® slot number • GuardLogix safety network number • Path from the GuardLogix controller to the 2198-Hxxx-ERS2 drive • Configuration signature The connection between the GuardLogix controller and the 2198-Hxxx-ERS2 drive is lost if any differences are detected. The yellow yield icon also appears in the controller project tree after you download the program.
Page 37: Configure The Power Options
Configure Integrated Motion Control Using Kinetix Drives Chapter 3 Configure the Power Options 1. Click the Power tab. IMPORTANT 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. IMPORTANT The Logix Designer application enforces shared-bus configuration rules for Kinetix 5500 drives, except for shared AC configurations.
Page 38 Chapter 3 Configure Integrated Motion Control Using Kinetix Drives Attribute Menu Description Standalone Applies to standalone bus configurations. • Group1 Bus-sharing Group • Group2 Applies to any bus-sharing configuration. • Group3… Disables the internal shunt resistor and external Disabled shunt option. Shunt Regulator Action Shunt Regulator Enables the internal and external shunt options.
Page 39: Configure Digital Inputs
Configure Integrated Motion Control Using Kinetix Drives Chapter 3 Configure Digital Inputs Use the Digital Input tab to enter digital input values for the drive module. These offline displays are the default values for the Kinetix 6500 and PowerFlex® 755 Ethernet drives. The appearance of the Digital Input tabs of the PowerFlex 755 drives can vary dependent upon the peripheral device configuration.
Page 40: Create An Associated Axis
Chapter 3 Configure Integrated Motion Control Using Kinetix Drives Table 8 - Module Properties: Kinetix 6500 Digital Input Tab Descriptions Parameter Description Digital Input 1 Choose one of these values for Digital Input 1, 2, 3, and 4: • Unassigned Digital Input 2 •...
Page 41: Establish Feedback Port Assignments
Configure Integrated Motion Control Using Kinetix Drives Chapter 3 The New Tag dialog box appears. Notice that the fields in the next steps are automatically entered for the AXIS_CIP_DRIVE data type. 4. Type a Tag name. 5. Type a Description, if desired. 6.
Page 42: Create A Motion Group
Chapter 3 Configure Integrated Motion Control Using Kinetix Drives 1. To access Module Properties, double-click the Kinetix 6500 drive in the Controller Organizer. 2. Click the Associated Axes tab. Notice that the motor feedback is already configured by default. The AUX Feedback Port (Port 2) of the drive can be optionally used for load feedback of the primary axis (Axis 1) to support Load or Dual Feedback Configuration.
Page 43 Configure Integrated Motion Control Using Kinetix Drives Chapter 3 2. Type a Tag name. 3. Type a description, if desired. 4. Choose the Tag Type. 5. Choose the Scope. 6. Choose the External Access. 7. Click Create. Your new motion group appears in the Controller Organizer under the Motion Groups folder.
Page 44: Set The Base Update Period
Chapter 3 Configure Integrated Motion Control Using Kinetix Drives 9. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned. Set the Base Update Period The Base Update Period is basically the RPI rate for Ethernet communication between the controller and the motion module, a Unicast connection.
Page 45 Configure Integrated Motion Control Using Kinetix Drives Chapter 3 To set the Base Update Period, follow these steps. 1. Click the Attribute tab in the Motion Group Properties dialog box. 2. Set the Base Update Period to 2.0…32.0 ms. TIP Check the Last Scan time values. Typically, the value is less than 50% of the Base Update Period.
Page 46: Configure The Axis Properties
Chapter 3 Configure Integrated Motion Control Using Kinetix Drives For the ControlLogix® 5570 controller, the incremental impact on the Motion Task is roughly at 6…8 drives/ms. Actual impact can vary depending on axis configuration. For detailed information on the Axis Scheduling function, Axis Assignment tab, and Alternate Update Period Scheduling, see Axis Scheduling on page...
Page 47: Configure The Associated Axis And Control Mode
Configure Integrated Motion Control Using Kinetix Drives Chapter 3 IMPORTANT All AXIS_CIP_DRIVE Axis Properties dialog boxes are dynamic. Optional attributes and dialog boxes that are related to each integrated motion axis you create come and go based on what combination of axis characteristics you define.
Page 48 Chapter 3 Configure Integrated Motion Control Using Kinetix Drives The Axis Properties General dialog box appears. 2. Choose an Axis Configuration type. For this example, choose Position Loop. TIP The associated drive determines what Axis and Feedback Configuration choices are presented. Table 10 compares the axis configuration types for the drives.
Page 49 Configure Integrated Motion Control Using Kinetix Drives Chapter 3 Table 11 compares the feedback configuration types for the Kinetix drives. Table 11 - Compare the Feedback Configuration Types for the Drives Feedback Type Axis Type Kinetix 350 Kinetix 5500 Kinetix 6500 Motor Feedback Position Loop (P), Velocity Loop (V),...
Page 50: Specify The Motor Data Source
Chapter 3 Configure Integrated Motion Control Using Kinetix Drives 5. Choose a Loop Response, if applicable. TIP Loop Response settings also impact the calculations that are made that can minimize the need for you to perform an Autotune or a Manual Tune. The loop response impacts the spacing between the position and velocity loops and the proportional and integral gains.
Page 51: Choose The Catalog Number As The Motor Data Source
Configure Integrated Motion Control Using Kinetix Drives Chapter 3 Choose the Catalog Number as the Motor Data Source To choose a motor from the Motion Database, follow these steps. 1. If the Axis Properties dialog box is not open, double-click the axis. 2.
Page 52: Choose Nameplate As The Motor Data Source
Chapter 3 Configure Integrated Motion Control Using Kinetix Drives The Motor category dialog box is now populated with all information that is related to the motor you selected from the Motion Database. 6. Click Apply. TIP When you use a motor catalog number as the data source, default values are automatically set based on the Application Type and Loop Response settings from the General dialog box.
Page 53: Choose Motor Nv As The Motor Data Source
Configure Integrated Motion Control Using Kinetix Drives Chapter 3 Table 13 - Compatible Motor Types Motor Type Kinetix 350 Kinetix 5500 Kinetix 6500 Surface Mount Permanent Magnet Linear Permanent Magnet Rotary Induction Interior Permanent Magnet Notice that the motor information fields are initialized to defaults. 3.
Page 54: Display Motor Model Information
Chapter 3 Configure Integrated Motion Control Using Kinetix Drives The Motor Model category displays more information that is based on the Display Motor Model motor type you select. Information The asterisk next to a category means that you have not applied changes.
Page 55: Configure The Load Feedback
Configure Integrated Motion Control Using Kinetix Drives Chapter 3 If a permanent magnet motor is selected from the Motion Database, the Commutation Alignment is set to Controller Offset. However, if a permanent magnet motor is specified from Nameplate data sheet, you must specify the Commutation Alignment method.
Page 56 Chapter 3 Configure Integrated Motion Control Using Kinetix Drives The Load Feedback category is available if the Feedback Configuration that is specified on the General dialog box is Load or Dual. Attributes that are associated with the Load Feedback category are designated Feedback 2.
Page 57: Configure The Master Feedback
Configure Integrated Motion Control Using Kinetix Drives Chapter 3 The Master Feedback category is available if the Feedback Configuration that Configure the Master is specified in the General category is Master Feedback. The attributes that are Feedback associated with the Master Feedback category are associated with Feedback 1. Again, like the Load Feedback category, you must enter all information.
Page 58 Chapter 3 Configure Integrated Motion Control Using Kinetix Drives Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 59: Configure Integrated Motion Control Using Kinetix 5700 Drives
Chapter Configure Integrated Motion Control Using Kinetix 5700 Drives Topic Page Add a Kinetix 5700 EtherNet/IP Drive Create a Motion Group Configure the Axis Properties Configure the Associated Axis and Control Mode Specify the Motor Data Source Display Motor Model Information Assign Motor Feedback Configure the Load Feedback Configure the Master Feedback...
Page 60: Ethernet/Ip Drive
1. Below the controller you created, right-click Ethernet and choose New Module. The Select Module Type dialog box appears. 2. By using the filters, check Motion and Allen-Bradley, and select your 2198-Pxxx DC-bus power supply as appropriate for your actual hardware configuration.
Page 61 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 The New Module dialog box appears. 4. Configure the new drive. a. Type the drive Name. b. Select a EtherNet/IP address option. In this example, the Private Network address is selected. c.
Page 62 Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives 6. From the pull-down menus, choose the power options appropriate for your actual hardware configuration. Attribute Menu Description Bus Configuration Shared AC/DC Applies to 2198-Pxxx DC-bus power supply (converter) modules. •...
Page 63 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 12. Click the Associated Axes category. 13. Click New Axis. The New Tag dialog box appears. 14. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 15. Click Create. 16.
Page 64: Configure The Regenerative Bus Supply
Module. The Select Module Type dialog box appears. Enter 2198-RP here to refine your search. 2. By using the filters, check Motion and Allen-Bradley, and select your 2198-RPxxx regenerative bus supply as appropriate for your hardware configuration. 3. Click Create.
Page 65 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 The New Module dialog box appears. 4. Configure the new module. a. Type the module Name. b. Select a EtherNet/IP address option. In this example, the Private Network address is selected. c.
Page 66 Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives 6. From the pull-down menus, choose the power options appropriate for your hardware configuration. Attribute Menu Description Bus Configuration Shared AC/DC Applies to 2198-RPxxx regenerative bus supply modules. • Group1 Bus-sharing Group •...
Page 67 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 11. Click the Digital Input category. 12. From the Digital Input pull-down menu choose Bus Conditioner OK or AC Line Contactor OK to monitor your DC-bus conditioner module status or the M1 contactor status, respectively, depending on your application.
Page 68 Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives The New Tag dialog box appears. 15. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 16. Click Create. The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1.
Page 69: Continue Inverter Configuration
Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 Continue Inverter Configuration After you have established your Kinetix 5700 inverters in the Logix Designer application, the feedback options must be defined for each axis. Each physical axis supports motor and auxiliary feedback. Table 15 - Kinetix 5700 Feedback Axis Summary Kinetix 5700 Inverter Inverter Cat.
Page 70 Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives Figure 7 - Dual-axis Inverter Feedback Detail A Kinetix 5700 MOD– NET– Dual-axis Inverter UFB-A UFB-B I/O-B I/O-A Motion Safety 1 Motion Safety 2 Associated Axes - Axis 1 Associated Axes - Axis 3 UFB-A UFB-B See Detail A...
Page 71 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 The New Tag dialog box appears. 6. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 7. Click Create. The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1.
Page 72: Configure The Inverter Drives
Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives Configure the Inverter Drives This procedure applies to single-axis and dual-axis inverters with hard-wired or integrated safety connections. In this example, a 2198-D006-ERS4 dual-axis inverter is configured. Follow these steps to configure Kinetix 5700 inverter drives. 1.
Page 73 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 3. Click Create. The New Module dialog box appears. 4. Configure the new drive. a. Type the drive Name. b. Select an EtherNet/IP address option. In this example, the Private Network address is selected. c.
Page 74 (1) For 2198-Dxxx-ERS4 (dual-axis) inverters, you must configure axis 1 and 3 as Networked or Hardwired, they cannot be mixed. (2) Where a ControlLogix or CompactLogix (non-safety) controller is specified, a GuardLogix or Compact GuardLogix controller is backwards compatible, but not necessary for the specified safety application, function, and connection.
Page 75 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 3. From the Connection pull-down menu, choose the Connection mode for your motion application (see Table 18 definitions). TIP When ‘Safety’ appears in the Connection mode, integrated safety is implied. Table 18 - Module Connection Definitions Connection Mode Safety Options...
Page 76 The Safety Network Number (SNN) field populates automatically when the Connection mode includes an integrated Motion and Safety or Safety-only connection. For a detailed explanation of the safety network number, refer to the appropriate GuardLogix controller publication as defined in Additional Resources on page 5.
Page 77 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 2. From the pull-down menus, choose the power options appropriate for your hardware configuration. Table 20 - Power Configuration Options Attribute Menu Description Applies to 2198-Sxxx-ERSx and 2198-Dxxx-ERSx Shared DC inverter drives.
Page 78 • Servo drive safety network number • GuardLogix slot number • GuardLogix safety network number • Path from the GuardLogix controller to the 2198-xxxx-ERSx drive • Configuration signature If any differences are detected, the connection between the GuardLogix controller and the 2198-xxxx-ERSx inverter is lost, and the yellow yield icon appears in the controller project tree after you download the program.
Page 79 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 Configure Digital Inputs Figure 8 - Digital Input Tab for the Kinetix 5700 Drive Table 21 - Module Properties: Kinetix 5700 Digital Input Tab Descriptions Parameter Description Digital Input 1 Choose one of these values for Digital Input 1 and 2: •...
Page 80: Create An Associated Axis And Establish Feedback Assignments For An Inverter Drive
Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives Drive Module Functions Description You can configure this input in the Logix Designer application and wire the module status (MS) output from the 2198-CAPMOD-2240 Bus Capacitor OK capacitor module to indicate to the inverter that a major fault is present on the capacitor module. When the 2198-R014, 2198-R031, or 2198-R127 external shunt resistor is wired to the DC-bus power supply, this input must be Shunt Thermal configured in the Logix Designer application to monitor the status of the external shunt module thermal switch and assigned to Shunt...
Page 81 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 2. Select the Associated Axes category. 3. Click New Axis. The New Tag dialog box appears. 4. Type the axis Name. AXIS_CIP_DRIVE is the default Data Type. 5. Click Create. Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 82 Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives The axis (Axis_1 in this example) appears in the Controller Organizer under Motion Groups> Ungrouped Axes and is assigned as Axis 1. 6. Click Apply. Feedback options must be defined for each axis. Each physical axis supports motor and auxiliary feedback.
Page 83: Create A Motion Group
Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 Configuration Examples for a Kinetix Drive, also includes a Frequency Control with No Feedback example on page 180. To determine how many axes your controller system supports, see Table 3 on Create a Motion Group page All axes must be added to the Motion Group in your project.
Page 84: Set The Base Update Period
Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives 7. Click Create. Your new motion group appears in the Controller Organizer under the Motion Groups folder. 8. Right-click the new motion group and choose Properties. The Motion Group Properties dialog box appears. 9.
Page 85 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 2. Set the Base Update Period to 6.0…32.0 ms. TIP Check the Last Scan time values. Typically, the value is less than 50% of the Base Update Period. For the Kinetix 5700 drive, the minimum Base Update Rate is 1 ms. Figure 9 - Base Update Period Example Motion Task Scans of Your Code, System...
Page 86: Configure The Axis Properties
Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives After you add the drive to your project and create the axes, use the Axis Configure the Axis Properties Properties dialog boxes to configure the drive. Notice that the dialog boxes change based on your configuration choices, for example, feedback configuration.
Page 87 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 If you have already created an axis and associated in with a drive, the Associated Module and Axis are shown on the General category of the Axis Properties dialog box. Otherwise, you can select them here. Figure 10 - General Category Dialog Box ^^ for an inverter ss for a converter...
Page 88: Configure The Associated Axis And Control Mode
Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives Now that the axis is associated to the drive module, meaningful values are Configure the Associated Axis available for other axis properties. and Control Mode For more information on Control Modes, see the Integrated Motion Reference Manual, publication MOTION-RM003.
Page 89 Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 Table 26 compares the feedback configuration types for the Kinetix drives. Table 26 - Compare the Feedback Configuration Types for the Drives Feedback Kinetix 5700 Kinetix 5700 Kinetix 5700 Kinetix 5700 Type Dual-axis Single-axis...
Page 90 Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives 5. Choose a Loop Response, if applicable. TIP Loop Response settings also impact the calculations that are made that can minimize the need for you to perform an Autotune or a Manual Tune.
Page 91: Specify The Motor Data Source
Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 The Motor Data Source is where you tell the axis where the motor Specify the Motor Data configuration values are originating. You can select a motor by catalog number Source from the Motion Database.
Page 92 Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives 5. Select a motor. To reduce the size of the list, use these filters. 6. The Motor dialog box is now populated with all information that is related to the motor you selected from the Motion Database. 7.
Page 93: Choose Nameplate As The Motor Data Source
Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 Choose Nameplate as the Motor Data Source The Nameplate option requires you to enter the motor specification information from the motor nameplate and the motor data sheet. 1. On the Motor dialog box of Axis Properties, from the Data Source pull- down menu, choose Nameplate data sheet.
Page 94: Choose Motor Nv As The Motor Data Source
Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives Choose Motor NV as the Motor Data Source When you choose Motor NV as the data source, the motor attributes are derived from nonvolatile memory of a motor-mounted smart feedback device that is equipped with a serial interface.
Page 95: Display Motor Model Information
Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 The Motor Model category displays more information that is based on the Display Motor Model motor type you select. Information The asterisk next to a category means that you have not applied changes.
Page 96 Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives If a permanent magnet motor is selected from the Motion Database, the Commutation Alignment is set to Controller Offset. However, if a permanent magnet motor is specified from Nameplate data sheet, you must specify the Commutation Alignment method.
Page 97: Configure The Load Feedback
Configure Integrated Motion Control Using Kinetix 5700 Drives Chapter 4 The Load Feedback category contains the information from the feedback Configure the Load Feedback device that is directly coupled to the load-side of a mechanical transmission or actuator. For your convenience, you can use this link to the Module Properties dialog box for the associated drive.
Page 98: Configure The Master Feedback
Chapter 4 Configure Integrated Motion Control Using Kinetix 5700 Drives The Master Feedback category is available if the Feedback Configuration that Configure the Master is specified in the General category is Master Feedback. The attributes that are Feedback associated with the Master Feedback category are associated with Feedback 1. Again, like the Load Feedback category, you must enter all information.
Page 99: Add A Powerflex 755 Drive
1. Right-click the Ethernet network (node) and choose New Module. 2. Clear the small ‘select all’ checkboxes, Module Type Category, and Vendor Filters. 3. In the Module Type Vendors Filters window, check Allen-Bradley. Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 100 Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive 4. In the Module Type Category Filters window, check Drive. 5. Choose the drive and click create. 6. Type a Name for the module. 7. Type a description, if desired. 8.
Page 101: Select A Peripheral Feedback Device And Slot Assignment
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 The Module Definition dialog box appears. ATTENTION: The electronic keying feature automatically compares the expected module, as shown in the configuration tree, to the physical module before communication begins. 10. From the Electronic Keying pull-down menu, choose an option. ATTENTION: When using motion modules, the electronic keying must be either `Exact Match’...
Page 102: Select An I/O Device
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive 3. From the Peripheral Device pull-down menu, choose the appropriate catalog number. 4. Click OK. The device is added. Notice that the feedback device appears. Select an I/O Device You can also select an I/O card for the peripheral device on port 7. IMPORTANT You must select a revision of 12 or later for the module definition revision to add an I/O card to port 7 as a peripheral device.
Page 103 Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 IMPORTANT For the I/O card Peripheral Device selection: the 20-750-11xx card supports the configuration of four digital inputs, while the 20-750-22xx cards support the configuration of eight digital inputs. Once you select the Peripheral Device, the Digital Inputs tab allows for configuration of the specified digital inputs.
Page 104: Assign A Power Structure
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive 4. Click OK. The device is added. Notice that the feedback device appears. Assign a Power Structure When you select a drive catalog number, you are specifying only a class of drives.
Page 105 Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 2. Click OK. IMPORTANT When you change the major revision on the PowerFlex 755 drive, change the power structure, or change the peripheral feedback device, the axis is no longer associated with the modules. 3.
Page 106: Configure Power Options
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive Configure Power Options Use the settings on the power category to set bus regulator action, select shunt resistor type, and configure limits. Figure 11 - Power Tab for the PowerFlex 755 Drive Catalog Number Table 29 - Module Properties: Power Tab Descriptions Parameter...
Page 107: Configure Digital Inputs
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 Configure Digital Inputs Use the Digital Input category to enter digital input values for the drive module. The appearance of this category for the PowerFlex 755 drives can vary dependent upon the peripheral device configuration. Figure 12 - Digital Input Tab for the PowerFlex 755 Drive Table 30 - Module Properties: PowerFlex 755 Digital Input Tab Descriptions Parameter...
Page 108: Configure Digital Outputs
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive Configure Digital Outputs Use the Digital Outputs tab to enter digital output values for the drive module. The Digital Outputs tab applies only to PowerFlex 755 drives that are configured with a Digital I/O card as a peripheral device. The appearance of the Digital Outputs tab can vary dependent upon the peripheral device configuration.
Page 109: Create An Associated Axis
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 There are two approaches that you can take to create and configure an axis. You Create an Associated Axis can create an axis first and then add the axis to your motion group, or you can create your motion group and then add an axis.
Page 110: Establish Feedback Port Assignments
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive 7. Click Create. For more information about External Data Access Control and Constants, see the Logix 5000™ Controllers I/O and Tag Data Programming Guide, publication 1756-PM004. Establish Feedback Port Assignments The ports and channels that you can select are related to what hardware you have installed.
Page 111: Create A Motion Group
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 Create a Motion Group All axes must be added to the Motion Group in your project. If you do not group the axes, they remain ungrouped and unavailable for use. You must create a Motion Group for an axis to be configured properly.
Page 112: Set The Base Update Period
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive 6. Right-click the new motion group and choose Properties. The Motion Group Properties dialog box appears. 7. Click the Axis Assignment tab and move your axes (created earlier) from Unassigned to Assigned. Set the Base Update Period The Base Update Period is basically the RPI rate for Ethernet communication between the controller and the motion module, a Unicast connection.
Page 113 Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 Follow these steps to set the Base Update Period. 1. Click the Attribute tab in the Motion Group Properties dialog box. 2. Set the Base Update Period to 3.0…32.0 ms. For the PowerFlex 755 drive, the minimum Base Update Rate 3 ms.
Page 114 The Base Update Period is a trade-off between updating positions of your axes and by scanning your code. For a ControlLogix® 5560 controller or GuardLogix® 5560 safety controller, you can have 4 axes/ms and 8 axes/ms for the ControlLogix 5570 controller.
Page 115: Configure The Axis Properties
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 After you add the drive to your project and create the axes, use the Axis Configure the Axis Properties Properties dialog boxes to configure the drive. Notice that the dialog boxes change based on your configuration choices, for example, feedback configuration.
Page 116: Configure The Associated Axis And Control Mode
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive dialog box. Otherwise, you can select them in the dialog box that is shown in Figure Figure 16 - General Category Dialog Box The Axis Number field corresponds to the axes listed on the Associated Axes tab of the Module Properties dialog box.
Page 117 Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 2. Choose an Axis Configuration. TIP The associated drive determines what axis and feedback configuration choices are presented. Table 34 - Compare the Axis Configuration Types for the Drives Axis Type PowerFlex 755 Position Loop (P) Velocity Loop (V)
Page 118 Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive 4. Choose an Application Type, if applicable. TIP Application Type defines the servo loop configuration automatically. These combinations determine how the calculations are made, which can reduce the need to perform an Autotune or a Manual Tune. The Application Type determines the type of motion control application.
Page 119: Specify The Motor Data Source
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 The Motor Data Source is where you tell the axis where the motor Specify the Motor Data configuration values are originating. You can select a motor from the database, Source nameplate, or nonvolatile memory.
Page 120 Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive Figure 17 - Motor Dialog Box 7. Click Apply. Motor Model Dialog Box The Motor Model dialog box displays the Motor Model Phase to Phase parameters. The parameters that are available depends on the Motor Data Source.
Page 121: Choose Nameplate As The Motor Data Source
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 Choose Nameplate as the Motor Data Source The Nameplate option requires you to enter the motor specification information. You can find the information on the hardware nameplate or product data sheets. 1.
Page 122: Choose Drive Nv As The Motor Data Source
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive 3. Enter the parameter information from the motor Nameplate data sheet. 4. Click Apply. Choose Drive NV as the Motor Data Source When you choose Drive NV, the motor attributes are derived from the nonvolatile memory of a drive.
Page 123: Display Motor Model Information
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 The Motor Model dialog box displays more information that is based on the Display Motor Model motor, axis, and feedback configuration types you choose. Information The asterisk next to a category means that you have not applied changes.
Page 124 Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive Figure 18 - Motor Analyzer Dialog Box Table 38 - Motor Analyzer Parameters Parameter Description Motor Resistance Specifies the phase-to-phase, resistance of a permanent magnet motor. Motor Inductance Specifies the phase-to-phase, inductance of a permanent magnet motor. Motor Rotary Voltage Constant Specifies the voltage, or back-EMF, constant of a rotary permanent-magnet motor in phase-to-phase RMS Volts per KRPM.
Page 125: Assign Motor Feedback
Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 The PowerFlex 755 drive requires a peripheral feedback device. As with all Assign Motor Feedback parameters, the types of feedback available are dependent on what you select on the General dialog box for Feedback Configuration. For a list of available devices, see Table 6, Supported Feedback Module Combinations, on page 17...
Page 126: Rockwell Automation Publication Motion-Um003K-En-P - January
Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive 2. Click Apply and OK to exit the Motor Feedback dialog box. 3. Set the commutation alignment type and the percentage of offset. TIP All commutation attributes apply only to permanent magnet motors.
Page 127 Configure Integrated Motion Using a PowerFlex 755 Drive Chapter 5 An example of the Motor Feedback category for version 28 with selectable Effective Resolution is shown in the following figure. See the Integrated Motion on the EtherNet/IP Network Reference Manual, publication MOTION-RM003, for more information on axis attributes.
Page 128 Chapter 5 Configure Integrated Motion Using a PowerFlex 755 Drive Notes: Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 129: Configure Integrated Motion Using A Powerflex 527 Drive
Chapter Configure Integrated Motion Using a PowerFlex 527 Drive Topic Page Set the Network Configuration Add a PowerFlex 527 Drive Configure the PowerFlex 527 Drive Create an Axis for a PowerFlex 527 Drive Create the Motion Group Configure the Axis Properties Configure the Associated Axis and Control Mode This chapter provides procedures on how to configure integrated motion on the EtherNet/IP™...
Page 130: Set The Network Configuration
2. Clear the small ‘select all’ checkboxes, Module Type Category, and Vendor Filters. Alternatively, you can simply type “527” into the search box and choose the drive. 3. In the Module Type Vendor Filters window, check Allen-Bradley. Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 131 Configure Integrated Motion Using a PowerFlex 527 Drive Chapter 6 4. In the Module Type Category Filters window, check Drive. 5. Choose the PowerFlex 527 drive and click create. The Module Properties dialog box appears. 6. Configure the new drive. a.
Page 132: Configure The Powerflex 527 Drive
Compact GuardLogix 5370 Motion and Safety GuardLogix 5570, This controller manages Motion and Safety. GuardLogix 5580, Compact GuardLogix 5370 or Compact GuardLogix 5380 Safety only GuardLogix 5570, This controller manages Safety. GuardLogix 5580, Another controller that has a Motion only connection to Compact GuardLogix 5370, or the drive manages Motion.
Page 133 Configure Integrated Motion Using a PowerFlex 527 Drive Chapter 6 a. From the Electronic Keying pull-down menu, choose an option. ATTENTION: When using motion modules, the electronic keying must be either `Exact Match‘ or `Compatible Keying‘ . Never use `Disable Keying` with motion modules. b.
Page 134: Configure The Drive With Integrated Safety Connections
The Safety Network Number (SNN) field populates automatically when the Connection mode includes an integrated Motion and Safety or Safety-only connection. For a detailed explanation of the safety network number, see the appropriate GuardLogix and Compact GuardLogix Controller Systems Safety Reference Manual, which is listed in...
Page 135 • Drive catalog number must be PowerFlex 527 (integrated) • Drive Safety Network Number (SNN) • GuardLogix slot number • GuardLogix safety network number • Path from the GuardLogix controller to the PowerFlex 527 drive • Configuration signature Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 136 Chapter 6 Configure Integrated Motion Using a PowerFlex 527 Drive If any differences are detected, the connection between the GuardLogix controller and the PowerFlex 527 drive is lost. If the connection is lost, the yellow icon appears in the controller organizer after you download the program.
Page 137: Configure Power Options
Configure Integrated Motion Using a PowerFlex 527 Drive Chapter 6 Configure Power Options To configure power options, follow these steps. 1. Click the Power tab. 2. From the pull-down menu, choose the power options appropriate for your actual hardware configuration. Attribute Menu Description...
Page 138: Configure Digital Inputs
Chapter 6 Configure Integrated Motion Using a PowerFlex 527 Drive Configure Digital Inputs Figure 19 - Digital Inputs Tab for the PowerFlex 527 Drive with Digital I/O Device Table 40 - PowerFlex 527 Module Properties: Digital Input Tab Descriptions Parameter Description Digital Input 1 Choose one of these values for Digital Input 1, 2, 3, and 4:...
Page 139: Create The Motion Group
Configure Integrated Motion Using a PowerFlex 527 Drive Chapter 6 The New Tag dialog box appears. 4. Type the name. 5. Type a Description, if desired. The fields in the next steps are automatically entered for the AXIS_CIP_DRIVE data type. 6.
Page 140: Configure The Axis Properties
Chapter 6 Configure Integrated Motion Using a PowerFlex 527 Drive The New Tag dialog box appears. 2. Type the new motion group name. 3. Click Create. Your new motion group appears in the Controller Organizer under the Motion Groups folder. 4.
Page 141 Configure Integrated Motion Using a PowerFlex 527 Drive Chapter 6 change based on your configuration choices, for example, feedback configuration. Table 41 lists the basic tasks necessary configure a drive. Table 41 - Category Dialog Boxes to Configure Drives Category Dialog Box Perform These Tasks Page General...
Page 142: Configure The Associated Axis And Control Mode
Chapter 6 Configure Integrated Motion Using a PowerFlex 527 Drive Figure 20 - General Category Dialog Box The Axis Number field corresponds to the axes listed on the Associated Axes tab of the Module Properties dialog box. Any feedback port assignments that you made on the Associated Axes tab are also mapped to the drive when you associate an axis and a drive.
Page 143 Configure Integrated Motion Using a PowerFlex 527 Drive Chapter 6 Table 42 - Compare the Axis Configuration Types for the Drives Axis Type PowerFlex 527 Position Loop (P) Velocity Loop (V) Torque Loop (T) Feedback Only (N) Frequency Control (F) 3.
Page 144 Chapter 6 Configure Integrated Motion Using a PowerFlex 527 Drive The Application Type determines the type of motion control application. This attribute is used to set the Gain Tuning Configuration Bits. Table 44 provides the gains established base on the application type. Table 44 - Customize Gains to Tune Application Type ihold...
Page 145 Chapter Axis Scheduling Topic Page About Axis Scheduling Timing Model Axis Scheduling Configuration Configure the Update Periods Motion Utilization This chapter describes how to configure the Axis Scheduling feature that is in the Motion Group properties dialog box. Axis Scheduling provides a way for you to configure drives to run at different update rates.
Page 146: About Axis Scheduling
Axis Scheduling is compatible with these products: • ControlLogix® 5580 controllers • GuardLogix® 5580 controllers • CompactLogix™ 5380 controllers • Compact GuardLogix 5380 controllers • ControlLogix 5570 controllers • GuardLogix 5570 controllers • CompactLogix 5370 controllers • Compact GuardLogix 5370 controllers •...
Page 147: Timing Model
Axis Scheduling Chapter 7 The general timing model for the integrated motion on the EtherNet/IP Timing Model network I/O connection data exchange is described in this section. The Timing Model field on the Attribute tab of the Motion Group Properties dialog box is shown as One Cycle or Two Cycle.
Page 148: One Cycle Timing
Chapter 7 Axis Scheduling One Cycle Timing The Controller Update Period paces data exchange between the device and the controller with one Device-to-Controller data packet that is sent for every Controller-to-Device data packet received. The Controller-to-Device Connection packets are sent periodically according to the configured Controller Update Period.
Page 149: Two Cycle Timing
Axis Scheduling Chapter 7 Two Cycle Timing The Two Cycle Timing Model that is shown in Figure 23 begins with the device transmitting the D-to-C connection packet to the controller at the beginning of the update cycle. In this case, the Controller Task does not start until half way through the update cycle.
Page 150: Axis Scheduling Configuration
Chapter 7 Axis Scheduling In the Studio 5000 Logix Designer application, you use the Axis Schedule Axis Scheduling Panel, accessible from the Attribute tab of the Motion Group Properties dialog Configuration box, to configure the update periods. The Axis Schedule Panel provides a Base Update Period and two alternatives.
Page 151: Configure The Update Periods
Axis Scheduling Chapter 7 Follow these steps to configure the update periods: Configure the Update Periods TIP To change all update rates to the same value, refer to the example on page 155. 1. Double-click the Motion Group. The Motion Group Properties dialog box appears. 2.
Page 152 Chapter 7 Axis Scheduling 5. Choose a Base Update Period. In this example, the Base Update Period is 4.0 ms and the Alternate 1 and 2 Update Periods are 8 ms and 20 ms. The base period acts as the anchor value for the axis scheduling feature.
Page 153 Axis Scheduling Chapter 7 7. To assign the axes to the Alternate Update Periods, use the positioning arrows. The axes appear in the Alternate columns. 8. Choose the Alternate 1 Update Period. The multipliers range from 2…32, so if the base update rate is 2.0, the values in the alternate rates are 4, 6, 8, 10, 12…32.
Page 154 Chapter 7 Axis Scheduling Once an alternate rate is set on the Axis Schedule Panel, the Base Update Period for the group on the Attribute tab becomes disabled. You can still set the base update rate on the Axis Schedule Panel. A warning appears and the value is set to either 0.5 or 32 if you enter a value outside of the acceptable range.
Page 155 Axis Scheduling Chapter 7 11. Click Apply. The Alternate update rates appear on the Attribute tab. The following example shows what happens on the various dialog boxes when all update rates are changed to the same value. 1. To change all rates to the same value, for example 4 ms, go to the Axis Schedule Panel.
Page 156 Chapter 7 Axis Scheduling The Base Update Period on the Attribute tab becomes active. After you have made all update periods in the Axis Schedule Panel, the update period values are the same and the Base Update Period is now active.
Page 157 Axis Scheduling Chapter 7 After you click Apply (or OK), the values in the alternate fields change to match the base. The values are also changed in the Axis Schedule Panel. Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 158: Motion Utilization
Chapter 7 Axis Scheduling The following values are updated in real time as you change your Motion Utilization configuration. You can see how the utilization metrics are responding to your configuration changes and you can modify your configuration. • The yellow warning icons indicate that the value is at the borderline of the controller capabilities.
Page 159: Example 1: Position Loop With Motor Feedback Only
Chapter Configuration Examples for a Kinetix Drive Topic Page Example 1: Position Loop with Motor Feedback Only Example 2: Position Loop with Dual Feedback Example 3: Feedback Only Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback Example 6: Kinetix 5700 Drive, Frequency Control with No Feedback Example 7: 842E-CM Integrated Motion Encoder with Master Feedback This chapter provides typical axis-configuration examples when using...
Page 160 Chapter 8 Configuration Examples for a Kinetix Drive Figure 24 - Example 1: General Dialog Box, Position Loop with Motor Feedback Only The type of drive you selected and the power structure you assigned via the Kinetix 6500 Module Properties. For more information, see Add a Kinetix EtherNet/IP Drive on page...
Page 161 Configuration Examples for a Kinetix Drive Chapter 8 5. Click Change Catalog and choose your motor. In this case, a MPL-B310P-M motor was chosen. Figure 25 - Example 1: Position Loop with Motor Feedback Only, Motor Dialog Box Click Change Catalog to choose motors from the motion database. When you specify your motor this way, the motor specification data is automatically entered for you.
Page 162 Chapter 8 Configuration Examples for a Kinetix Drive Figure 26 - Example 1: Position Loop with Motor Feedback Only, Scaling Dialog Box 6. Choose the Load Type. 7. Enter the Scaling Units. 8. Choose the Travel Mode. For more information about Scaling, see Scaling on page 222.
Page 163: Example 2: Position Loop With Dual Feedback
Configuration Examples for a Kinetix Drive Chapter 8 In this example, you create an AXIS_CIP_DRIVE and a Kinetix 6500 drive, Example 2: Position Loop which includes the control module and a power structure. You must configure with Dual Feedback both feedback ports. You must have two feedback cables that are connected to the Kinetix 6500 drive for one axis.
Page 164 Chapter 8 Configuration Examples for a Kinetix Drive IMPORTANT After you have configured the axis and you change the Axis Configuration type or the Axis Number, some of the configuration information is set to default values. This change can cause some previously entered data to be reset back to its default setting.
Page 165 Configuration Examples for a Kinetix Drive Chapter 8 On the Motor Feedback dialog box, the information is automatically filed in based on your selections on the Motor dialog box. Figure 29 - Example 2: Position Loop with Dual Feedback, Motor Feedback Dialog Box The drive gets the commutation that is offset directly from the motor.
Page 166 Chapter 8 Configuration Examples for a Kinetix Drive 7. From the Load Feedback Device pull-down menu, choose Aux Feedback Port. 8. To apply your changes and return to the Load Feedback dialog box, click Figure 31 - Example 2: Kinetix 6500 Module Properties, Associated Axis Tab 9.
Page 167: Example 3: Feedback Only
Configuration Examples for a Kinetix Drive Chapter 8 Figure 33 - Example 2: Position Loop with Dual Feedback, Scaling Dialog Box The Scaling values are in Load Feedback units. You are now finished configuring the axis as Position Loop axis with Dual Feedback.
Page 168 Chapter 8 Configuration Examples for a Kinetix Drive Figure 34 - Example 3: Feedback Only with Master Feedback, General Dialog Box The Axis Number is set to 2, because Axis 1 is already assigned to the primary axis of the drive. 4.
Page 169 Configuration Examples for a Kinetix Drive Chapter 8 5. From the Axis 2 (Auxiliary Axis) pull-down menu, choose Axis_IV_Feedback Only to associate the axis. Figure 36 - Example 3: Master Feedback Dialog Box 6. From the Master Feedback Device pull-down menu, choose Aux Feedback Port to map the port to the device.
Page 170 Chapter 8 Configuration Examples for a Kinetix Drive 7. To apply your changes and return to Axis Properties, click OK. Figure 37 - Example 3: Feedback Only with Master Feedback, Master Feedback Dialog Box This channel is Feedback 1 of Axis 2. It is connected to the Aux Feedback port of the primary axis.
Page 171 Configuration Examples for a Kinetix Drive Chapter 8 10. In the appropriate field, type the resolutions of your specific feedback device. Figure 38 - Example 3: Feedback Only with Master Feedback, Scaling Dialog Box 11. From the Load Type pull-down menu, choose your load type. 12.
Page 172: Example 4: Kinetix 5500 Drive, Velocity Loop With Motor Feedback
Chapter 8 Configuration Examples for a Kinetix Drive In this example, you are configuring a Kinetix 5500 servo drive, catalog number Example 4: Kinetix 5500 2098-H025-ERS, with motor feedback by using a Rotary Permanent Magnet Drive, Velocity Loop with motor, catalog number VPL-A1001M-P. Motor Feedback You must connect the Motor Feedback cable to the Motor Feedback port of the Kinetix 5500 drive and then configure the feedback port.
Page 173 Configuration Examples for a Kinetix Drive Chapter 8 4. Click Change Catalog and choose your motor, for example, catalog number VPL-B0631T-C. Figure 40 - Example 4: Velocity Loop with Motor Feedback, Motor Dialog Box When you select the Catalog Number for the motor specification, the VPL-B0631T-C motor is in the Motion Database.
Page 174 Chapter 8 Configuration Examples for a Kinetix Drive 5. Click the Motor Feedback dialog box. Figure 41 - Example 4: Velocity Loop with Motor Feedback, Motor Feedback Dialog Box With this drive and motor combination, the Motor-Mounted Feedback that is available is the Hiperface DSL type. The data is automatically populated based on that selection.
Page 175 Configuration Examples for a Kinetix Drive Chapter 8 6. To adjust the Scaling attributes, click the Scaling dialog box. Figure 42 - Example 4: Velocity Loop with Motor Feedback, Scaling Dialog Box 7. Choose the Load Type. 8. Enter the Scaling Units. 9.
Page 176: With Motor Feedback
Chapter 8 Configuration Examples for a Kinetix Drive In this example, create a project with a CompactLogix™ controller, for example, Example 5: Kinetix 350 Drive, 1769-L36ERM. You are configuring a Kinetix 350 drive, catalog number Position Loop with Motor 2097-V33PR6-LM, with motor feedback by using a Rotary Permanent Feedback Magnet motor, catalog number MPAR-A1xxxB-V2A.
Page 177 Configuration Examples for a Kinetix Drive Chapter 8 4. Click Change Catalog and choose your motor, for example, catalog number MPAR-A1xxxB-V2A. Figure 44 - Example 5: Position Loop with Motor Feedback, Motor Dialog Box When you select the Catalog Number for the motor specification, the MPAR-A1xxxB-V2A motor is in the Motion Database.
Page 178 Chapter 8 Configuration Examples for a Kinetix Drive 5. Click the Motor Feedback dialog box. Figure 45 - Example 5: Position Loop with Motor Feedback, Motor Feedback Dialog Box With this drive and motor combination, the data is automatically populated based on that selection. Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 179 Configuration Examples for a Kinetix Drive Chapter 8 6. To adjust the Scaling attributes, click the Scaling dialog box. Figure 46 - Example 5: Position Loop with Motor Feedback The default load type is linear actuator. 7. Enter the Scaling Units. 8.
Page 180: With No Feedback
Chapter 8 Configuration Examples for a Kinetix Drive In this example, create a project with a ControlLogix® controller, for example, Example 6: Kinetix 5700 1756-L73S. You are configuring a Kinetix 5700 drive, catalog number Drive, Frequency Control 2198-D006-ERS3, with no feedback by using a HPK-Series High-power Servo with No Feedback motor.
Page 181 Configuration Examples for a Kinetix Drive Chapter 8 3. From the Data Source pull-down menu, choose a data source. In this case, the data source is Catalog Number and the Motion Database provides values for these fields. See the Display Motor Model Information on page 54 for more information about data sources.
Page 182 Chapter 8 Configuration Examples for a Kinetix Drive 6. From the Load Type pull-down menu, choose the appropriate load type. Figure 50 - Example 6: Frequency Control with No Feedback, Scaling Dialog Box Conversion Units 7. Enter the Transmission Ratio. 8.
Page 183: Example 7: 842E-Cm Integrated Motion Encoder With Master Feedback
Configuration Examples for a Kinetix Drive Chapter 8 In this example, create a project with a ControlLogix controller, for example, Example 7: 842E-CM 1756-L73. You are configuring an 842E-CM encoder, catalog number Integrated Motion Encoder 842-CM-M, with feedback only. with Master Feedback 1.
Page 184 Chapter 8 Configuration Examples for a Kinetix Drive 4. Configure the 842E-CM encoder. a. Type the encoder Name. b. Select an EtherNet/IP address option. In this example, the Private Network address is selected. c. Enter the address of your EtherNet/IP™ module. In this example, the last octet of the address is 23.
Page 185 Configuration Examples for a Kinetix Drive Chapter 8 12. Select the Master Feedback category. Figure 54 - Example 7: 842E-CM Integrated Motion Encoder with Master Feedback, Master Feedback Dialog Box The Type and Units appear dim. The Cycle Resolution, Cycle Interpolation, Effective Resolution, and Turns are automatically completed with values from the AOP schema.
Page 186 Chapter 8 Configuration Examples for a Kinetix Drive Notes: Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 187 Chapter Axis Configuration Examples for the PowerFlex 755 Drive Topic Page Example 1: Position Loop with Motor Feedback Via a UFB Feedback Device Example 2: Position Loop with Dual Motor Feedback Via a UFB Feedback Device Example 3: Velocity Loop with Motor Feedback Via a UFB Feedback Device Example 4: Velocity Loop with No Feedback Example 5: Frequency Control with No Feedback Example 6: Torque Loop with Feedback...
Page 188: Ufb Feedback Device
Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive This example describes how to create an AXIS_CIP_DRIVE axis that is Example 1: Position Loop associated to a PowerFlex 755 drive with motor feedback via a universal with Motor Feedback Via a feedback device, catalog number 20-750-UFB-1.
Page 189 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 Figure 56 - Example 1: Position Loop with Motor Feedback, Motor Dialog Box 4. Choose Catalog Number as the Data Source. 5. Click Change Catalog and choose a motor. When you select the Catalog Number for the motor specification, the MPL-B310P-M motor is in the Motion Database.
Page 190 Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive Figure 58 - Example 1: Position Loop with Motor Feedback, Scaling Dialog Box 7. From the Load Type pull-down menu, choose your type of load. 8. Enter the Scaling Units. 9.
Page 191: Example 2: Position Loop With Dual Motor Feedback Via A Ufb Feedback Device
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 This example describes how to create an AXIS_CIP_DRIVE axis that is Example 2: Position Loop associated to a PowerFlex 755 drive with dual motor feedback via a universal with Dual Motor Feedback feedback device, catalog number 20-750-UFB-1.
Page 192 Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive 4. From the Data Source pull-down menu, choose Catalog Number. Figure 60 - Example 2: Position Loop with Dual Feedback, Motor Dialog Box 5. Click Change Catalog and choose your motor. In this case, a MPL-B310P-M motor was chosen.
Page 193 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 6. Choose the Commutation Alignment. For more information about Commutation, see Applying the Commutation Hookup Test on page 232. On the Motor Feedback dialog box, the information is automatic based on your selections on the Motor dialog box.
Page 194 Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive 2. Click Associated Axes in Module Properties dialog box. 3. From the Load Feedback Device pull-down menu, choose the appropriate port/channel for the Load Feedback Device. Figure 63 - Example 2: PowerFlex 755 Module Properties, Associated Axis Tab 4.
Page 195 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 Figure 65 - Example 2: Position Loop with Dual Feedback, Scaling Dialog Box 7. From the Load Type pull-down menu, choose your load type. 8. Enter the Scaling Units. 9. From the Travel Mode pull-down menu, choose a Travel Mode. for more information about Scaling.
Page 196: Example 3: Velocity Loop With Motor Feedback Via A Ufb Feedback Device
Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive This example describes how to create two AXIS_CIP_DRIVE axes that are Example 3: Velocity Loop associated to a PowerFlex 755 drive with dual motor feedback via a universal with Motor Feedback Via a feedback device, catalog number 20-750-UFB-1.
Page 197 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 Figure 67 - Example 3: Velocity Loop with Motor Feedback, Motor Dialog Box 5. From the Data Source pull-down menu, choose Nameplate data sheet. 6. From the Motor Type pull-down menu, choose Rotary Induction. 7.
Page 198 Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive 9. From the Type pull-down menu, choose the type of feedback. The fields are populated with the data that relates to the motor and feedback types you chose. Figure 69 - Example 3: Velocity Loop with Motor Feedback, Motor Feedback Dialog Box 10.
Page 199: Example 4: Velocity Loop With No Feedback
Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 In this example, you create an AXIS_CIP_DRIVE configured for a Velocity Example 4: Velocity Loop Loop with No Feedback axis and associate the axis to the PowerFlex 755 drive. with No Feedback 1.
Page 200 Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive 3. From the Data Source pull-down menu, choose Nameplate data sheet. Figure 72 - Example 4: Velocity Loop with No Feedback, Motor Dialog Box In this case, the drive has already been configured for the motor by the DriveExecutive™...
Page 201 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 Figure 74 - Example 4: Velocity Loop with No Feedback, Load Dialog Box 8. From the Load Coupling pull-down menu, choose the appropriate load coupling. 9. Enter the System Inertia. 10.
Page 202: Example 5: Frequency Control With No Feedback
Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive In this example, you are configuring an axis for Frequency Control with No Example 5: Frequency Feedback. Control with No Feedback 1. Once you have created the AXIS_CIP_DRIVE axis, open the Axis Properties.
Page 203 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 4. From the Data Source pull-down menu, choose a data source. In this case, Nameplate data sheet is the Data Source. See the Specify the Motor Data Source on page 50 for more information about Data Sources.
Page 204 Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive 5. From the Frequency Control Method pull-down menu, choose the appropriate method. 6. Click Apply. Figure 78 - Example 5: Frequency Control with No Feedback, Frequency Control Dialog Box Figure 79 - Example 5: Frequency Control Method, Basic Volts/Hertz Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 205 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 Figure 80 - Example 5: Frequency Control with No Feedback, Scaling Dialog Box Conversion Units 7. From the Load Type pull-down menu, choose the appropriate load type. 8. Enter the Transmission Ratio. 9.
Page 206: Example 6: Torque Loop With Feedback
Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive In this example, you are configuring the axis for Torque Loop with feedback. Example 6: Torque Loop with Feedback 1. Once you have created the AXIS_CIP_DRIVE axis, open the Axis Properties.
Page 207 Axis Configuration Examples for the PowerFlex 755 Drive Chapter 9 Figure 83 - Example 6: Torque Loop with Motor Feedback, Feedback Type 4. From the Type pull-down menu, choose the appropriate feedback type. Figure 84 - Example 6: Torque Loop with Motor Feedback, Feedback Type Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 208 Chapter 9 Axis Configuration Examples for the PowerFlex 755 Drive Figure 85 - Example 6: Torque Loop with Motor Feedback, Scaling Load Type 5. From the Load Type pull-down menu, choose the appropriate load type. Figure 86 - Example 6: Torque Loop with Motor Feedback, Scaling Conversions 6.
Page 209: This Chapter Provides Example Axis Configurations When Using A
Chapter Axis Configuration Examples for the PowerFlex 527 Drive Topic Page Example 1: Frequency Control with No Feedback Example 2: Velocity Control with Motor Feedback Example 3: Position Control with Motor Feedback This chapter provides example axis configurations when using a PowerFlex® 527 drive.
Page 210: Example 1: Frequency Control With No Feedback
Chapter 10 Axis Configuration Examples for the PowerFlex 527 Drive The PowerFlex 527 drives support basic Volts/Hertz (V/Hz), Fan/Pump Example 1: Frequency Volts/ Hertz, Sensorless Vector Control (SVC), and Sensorless Vector Control Control with No Feedback (SVC) Economy frequency control methods. Follow these steps to configure the induction motor axis properties.
Page 211 Axis Configuration Examples for the PowerFlex 527 Drive Chapter 10 6. Select the Motor category. The Motor Device Specification dialog box appears. Figure 88 - Example 1: Frequency Control with No Feedback, Motor Device Specification Dialog 7. From the Data Source pull-down menu, choose Nameplate data sheet. This selection is the default setting.
Page 212 Chapter 10 Axis Configuration Examples for the PowerFlex 527 Drive 13. If you chose the Basic Volts/Hertz method, enter the nameplate data for your motor in the Basic Volts/Hertz fields. If you chose the Sensorless Vector method, the Basic Volts/Hertz fields are dimmed.
Page 213 Axis Configuration Examples for the PowerFlex 527 Drive Chapter 10 19. Select the Actions category. The Actions to Take Upon Conditions dialog box appears. Figure 91 - Example 1: Frequency Control with No Feedback, Actions to Take Upon Conditions Dialog Box From this dialog box, you can program actions and change the action for exceptions (faults).
Page 214: Example 2: Velocity Control With Motor Feedback
Chapter 10 Axis Configuration Examples for the PowerFlex 527 Drive To obtain the best performance from the drive, regardless of which control method you are using, configure the recommended out-of-box settings. These settings are described in Appendix PowerFlex® 527 Out-of-Box Configuration on page 339.
Page 215 Axis Configuration Examples for the PowerFlex 527 Drive Chapter 10 6. Select the Motor category. The Motor Device Specification dialog box appears. Figure 94 - Example 2: Velocity Control with Motor Feedback, Motor Device Specification Dialog Box 7. From the Data Source pull-down menu, choose Nameplate data sheet. This selection is the default setting.
Page 216 Chapter 10 Axis Configuration Examples for the PowerFlex 527 Drive 14. Select the Scaling category and edit the values as appropriate for your application. 15. If you changed any settings, click Apply. 16. Select the Actions category. The Actions to Take Upon Conditions dialog box appears. From this dialog box, you can program actions and change the action for exceptions (faults).
Page 217: Example 3: Position Control With Motor Feedback
Axis Configuration Examples for the PowerFlex 527 Drive Chapter 10 Follow these steps to configure the induction motor axis properties. Example 3: Position Control with Motor Feedback 1. In the Controller Organizer, right-click an axis and choose Properties. 2. Select the General category. The General and Associated Module dialog box appears.
Page 218 Chapter 10 Axis Configuration Examples for the PowerFlex 527 Drive 7. From the Data Source pull-down menu, choose Nameplate data sheet. This selection is the default setting. 8. From the Motor Type pull-down menu, choose Rotary Induction. 9. From the motor nameplate or data sheet, enter the phase-to-phase values.
Page 219 Axis Configuration Examples for the PowerFlex 527 Drive Chapter 10 16. Select the Actions category. The Actions to Take Upon Conditions dialog box appears. Figure 101 - Example 3: Position Control with Motor Feedback, Actions to Take Upon Conditions Dialog Box From this dialog box, you can program actions and change the action for exceptions (faults).
Page 220 Chapter 10 Axis Configuration Examples for the PowerFlex 527 Drive To obtain the best performance from the drive, regardless of which control method you are using, configure the recommended out-of-box settings. These settings are described in Appendix C page 339. 18.
Page 221 Chapter Commission an Axis Topic Page Scaling Hookup Tests Polarity Autotune Load Load Observer Adaptive Tuning Load Ratio Data from Motion Analyzer Test an Axis with Motion Direct Commands This chapter discusses how to commission an axis for a motion application. Commissioning includes the following: •...
Page 222: Scaling
Chapter 11 Commission an Axis Axis motion can be specified in whatever units you want. In the Scaling dialog Scaling box, you configure the motion control system to convert between raw internal- motion units. For example, Feedback Counts or Planner Counts can be converted to your preferred unit of measure, be it revolutions, degrees, meters, or inches.
Page 223: Direct Coupled Rotary
Commission an Axis Chapter 11 When you click Parameters, you see values for the Conversion Constant and the Motion Resolution, each having a value of 1 million. These values are generated from the software calculator. In most cases, the software scaling calculator generates Scaling Factor values that are suitable for the application.
Page 224: Direct Coupled Linear
Chapter 11 Commission an Axis Direct Coupled Linear For a Direct Coupled Linear load type, you can express Scaling Units for the linear motor, for example, Inches. Here is an example of Direct Coupled Linear load that is scaled in Inches and the resulting values for the Conversion Constant and Motion Resolution.
Page 225: Linear Actuator
Commission an Axis Chapter 11 Linear Actuator With the Linear Actuator load type, you can specify the characteristics of the linear actuator mechanics by the Actuator Type. Changing Scaling Factors Changing Scaling configuration factors can have a significant impact on the calculations of factory defaults for scaling dependent-axis configuration attributes.
Page 226: Hookup Tests
Chapter 11 Commission an Axis The factory defaults yield a stable operational system that can then be tailored to the specific requirements for many types of machine applications. You can use Autotune to improve performance if the gain set provided to you by the factory defaults does not satisfy the configuration requirements of your system.
Page 227 Commission an Axis Chapter 11 Table 47 lists the Hookup Tests that is based on axis configuration and drive type. Table 47 - Types of Hookup Tests Axis Type Feedback Type Drive Master Motor and Motor Load Marker Commutation Feedback Feedback Feedback Feedback...
Page 228: Run A Motor And Feedback Test
Chapter 11 Commission an Axis Run a Motor and Feedback Test The Motor and Feedback Test is the most commonly used Hookup Test because it automatically tests both the motor and feedback wiring and determines correct polarity values. ATTENTION: These tests make the axis move even with the controller in remote Program mode.
Page 229 Commission an Axis Chapter 11 4. The axis moves on its own to test for feedback polarity and proper wiring. To check for proper rotation direction, watch the axis. The drive determines that the feedback device is working properly and the test passed.
Page 230: Run A Motor Feedback Test
Chapter 11 Commission an Axis Run a Motor Feedback Test The Motor Feedback Test checks the polarity of the motor feedback. Follow these steps to perform a Motor Feedback test. 1. From the Hookup Tests dialog box, click the Motor Feedback tab. 2.
Page 231 Commission an Axis Chapter 11 3. To check for the marker pulse, click Start. 4. Manually move the axis until you get the marker pulse. The drive receives the marker pulse and the test passed. 5. Click OK. Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 232: Applying The Commutation Hookup Test
Chapter 11 Commission an Axis The Commutation Test determines an unknown Commutation Offset and Applying the Commutation potentially the unknown polarity of the startup commutation wiring. The Hookup Test Commutation Test can be used also to verify both a known Commutation Offset and the polarity startup commutation wiring.
Page 233: Verification Of Known Commutation Offset
Commission an Axis Chapter 11 Verification of Known Commutation Offset Another use of the Commutation Test is to verify that the motor is wired correctly and has the expected Commutation Offset. A machine engineer can decide not to correct for a wiring error in software but rather flag a wiring error so that it can be physically corrected.
Page 234: Run A Commutation Test
Chapter 11 Commission an Axis Set the Motor and Feedback Polarity by using the Motor and Feedback Test Run a Commutation Test before running the Commutation Test. This setting helps make sure that the motor spins in the correct direction for the Commutation Test for monitoring the Commutation Angle.
Page 235: Polarity
Commission an Axis Chapter 11 If you have run the Motor and Feedback Hookup Test, the settings on the Polarity Polarity dialog box are already correct for the application. If the polarity settings are known and cables to the motor and feedback devices are prefabricated and tested, the polarity settings can be entered on this dialog box.
Page 236 Chapter 11 Commission an Axis To use the Autotune feature, use the following steps. 1. Click the Autotune dialog box. If this box is checked, the Autotune moves the motor using a Tune Profile to measure inertia. If this box is not checked, gain and filter bandwidth calculations are still made but the inertia is not measured.
Page 237 Commission an Axis Chapter 11 6. Click Start. This message appears if you have edits that have not been applied. If you do not save edits that are pending, Autotune does not run. The Autotune status displays Success. A tune configuration fault can occur if any number of attributes are zero.
Page 238 Chapter 11 Commission an Axis 7. Click OK. After completing the Autotune profile, the measurements that are made during this process are used to update the fields in the Gains Tuned and Inertia Tuned grids. Check your Tune Status Any value that has an asterisk in the leftmost column has another value from its tuned value.
Page 239: Load
Commission an Axis Chapter 11 The Load dialog box contains the characteristics of the motor load. You can Load also use the values that are provided by autotune. The Autotune automatically sets most of these values: • If you use the Catalog Number as the Data Source, the Motor Inertia, Total Inertia, and System Inertia are pre-populated with the correct values.
Page 240 Chapter 11 Commission an Axis Table 48 - Load Inertia/Mass Parameter Descriptions Parameter Description System Inertia The torque or force-scaling gain value converts commanded acceleration into equivalent rated torque/force. Properly set, this value represents the total system inertia or mass. System Inertia is a read-only field that is based on Total Inertia.
Page 241: Load Observer
Commission an Axis Chapter 11 The Load Observer feature is a control loop inside the drive that estimates the Load Observer mechanical load on the motor and compensates for it. This feature lets the control loops to treat the motor as if it is unloaded and relatively easy to control.
Page 242: Load Observer Configuration
Chapter 11 Commission an Axis Figure 104 - Load Observer Block Diagram Servo Drive Mechanics Position Command Power Conversion Unloaded Motor Control Loops Torque Load Acceleration Reference Torque Estimate Velocity Estimate Load Observer Position Feedback The Load Observer also generates a Velocity Estimate signal that you can apply to the velocity loop.
Page 243: Adaptive Tuning
Commission an Axis Chapter 11 Table 50 summarizes the primary difference between the two tuning modes. Table 50 - CIP Load Observer Tuning Mode Differences Tuning Mode Description (Hz) Out-of-box or unknown load Load Observer Bandwidth (Kop) = 4 * Velocity Loop Bandwidth (Kvp) Load ratio = 0 Autotuning or known load Load Observer Bandwidth (Kop) = Velocity Loop Bandwidth (Kvp)
Page 244: Benefits Of Adaptive Tuning
Chapter 11 Commission an Axis • Automatically adjust torque loop notch and low pass filter parameters to suppress resonance • Automatically de-tune control loop gains to avoid instability when it is detected For detailed tuning information, see the Motion System Tuning Application Technique, publication MOTION-AT005.
Page 245: Adaptive Tuning Configuration
Commission an Axis Chapter 11 Table 51 - Adaptive Tuning Attributes Parameter Name Description Default Value Range/Units Torque Low Pass Filter In modes with Gain Stabilization, Adaptive Tuning incrementally Torque Low Pass Filter BW or 1500 20…2000 Hz Bandwidth Estimate decreases this bandwidth estimate from its default value in 200 Hz when disabled increments to suppress additional resonances above the low frequency...
Page 246 Chapter 11 Commission an Axis to change these settings. The Adaptive Tuning output parameters can be monitored in the Drive Parameters tab of the Axis Properties dialog box. Notch Filter Tuning Typically the Torque Notch Filter Frequency on the Compliance tab of the Axis Properties dialog box is applied to the torque notch filter.
Page 247 Commission an Axis Chapter 11 • Position Loop Integrator Bandwidth The actual control loop gains are the values that are shown in the Axis Properties dialog box multiplied by the gain scaling factor. The scaling factor is incrementally decreased from its default value until the system is stable. When Gain Stabilization is not enabled, the scaling factor is reset to its default value of 1 so that control loop gains are not affected.
Page 248: Status Bits
Chapter 11 Commission an Axis • Any additional unsuppressed resonances are present. Status Bits The Adaptive Tuning status bits shown in Table 52 let you create custom Ladder Logic to trap errors, debug, and react to changes. This function is useful for condition monitoring, diagnostics, and preventative maintenance purposes.
Page 249: Load Ratio Data From Motion Analyzer
Commission an Axis Chapter 11 Load Ratio can also be found through Autotune from Motion Analyzer. Load Ratio Data from Motion Analyzer If you do not want to run the Autotune, you can manually enter the load ratio from other sources such as Motion Analyzer. Help for Selecting Drives and Motors on page 20 for more information about the Motion Analyzer.
Page 250: Access Motion Direct Commands For An Axis Or Group
Chapter 11 Commission an Axis Access Motion Direct Commands for an Axis or Group To access the Motion Direct Commands for the Motion Group or axis, right- click the Group or Axis in the Controller Organizer and choose Motion Direct Commands.
Page 251 Commission an Axis Chapter 11 You can access an axis by using the pull-down list. Axis status indicators are in this dialog box. Axis Status Indicators This dialog box is an example of axis indicator values. IMPORTANT The device spins at the command velocity once you execute an MDS command if you use a PowerFlex 755 drive in Velocity Mode with Flying Start Enable set to true.
Page 252: Motion Direct Commands
The drive does not allow motion while the safety controller is in Program mode by default. This condition applies only if a safety connection between the GuardLogix safety controller and the drive was established at least once after the drive was received from the factory.
Page 253: Rockwell Automation Publication Motion-Um003K-En-P - January
Commission an Axis Chapter 11 Table 54 defines which drive supports the type of STO functionality. Table 54 - Drives That Support Safe Torque Off (STO) Drive Mechanism Axis Status STO Configuration Kinetix 350 servo drive Hard-wired GuardStatus None Kinetix 5500 2198-Hxxx-ERS servo drives Hard-wired GuardStatus None...
Page 254 Chapter 11 Commission an Axis Notes: Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 255 Chapter Homing Topic Page Guidelines for Homing Examples Absolute Position Recovery (APR) Absolute Feedback Device APR Faults Homing puts your equipment at a specific starting point for operation. This starting point is called the home position. Typically, you home your equipment when you reset it for operation.
Page 256: Homing
Chapter 12 Homing To configure the homing procedure, you specify the mode (active or passive) Guidelines for Homing and sequence. Based on those selections, you can also choose the home position, an offset for the home position, the direction, and speed. For switch- based sequences, you can also select whether the limit switch is normally open or normally closed.
Page 257: Passive Homing
Homing Chapter 12 Passive Homing When the axis Homing mode is configured as Passive, the MAH instruction redefines the actual position of a physical axis on the next occurrence of the encoder marker or home sensor. The sequence determines the homing steps. You must set the homing sequence to marker or switch.
Page 258: Examples
Chapter 12 Homing This section contains examples of active and passive homing. Examples Active Homing The examples in Table 56 show different ways to use active homing. Table 56 - Active Homing Examples Sequence Description Active immediate home This sequence sets the axis position to the Home Position without moving the axis. If feedback isn’t enabled, this sequence enables feedback.
Page 259 Homing Chapter 12 Table 56 - Active Homing Examples (continued) Sequence Description Active home to marker in forward bidirectional The marker homing sequence is useful for single-turn rotary and linear encoder applications because these applications have one encoder marker only for full axis travel. Active Bidirectional Home with Marker Homing Vel Axis Position...
Page 260 Chapter 12 Homing Table 56 - Active Homing Examples (continued) Sequence Description Active home to marker in forward unidirectional This active homing sequence is useful for single-turn rotary and linear encoder applications when unidirectional motion is required. These steps occur during the sequence. 1.
Page 261: Passive Homing
Homing Chapter 12 Passive Homing The examples in Table 57 show different ways to use passive homing. Table 57 - Passive Homing Examples Sequence Description Passive Immediate Home This sequence is the simplest passive homing sequence type. When this sequence is performed, the controller immediately assigns the Home Position to the current axis actual-position.
Page 262: Absolute Position Recovery (Apr)
263. Position Recovery Considerations for Logix5000 Controllers There are differences in the way the ControlLogix® 5560, GuardLogix® 5560, and the ControlLogix 5570 controllers recover machine position: • The ControlLogix 5560 and GuardLogix 5560 controllers have a battery and use a memory card to save information.
Page 263: Absolute Feedback Device
Homing Chapter 12 • The ControlLogix 5560 and GuardLogix 5560 series A controllers have a battery to recover the position after a power cycle but does not support APR. • The ControlLogix 5560 and GuardLogix 5560 series B controllers recover the position after a download or restore from CompactFlash software card or a firmware update from the ControlFLASH™...
Page 264: Apr Scenarios
Chapter 12 Homing APR Scenarios ATTENTION: Whenever memory becomes corrupt, you lose position even if you have it stored on a memory card. Table 59 on page 265 provides detailed information on when the APR feature recovers absolute position. The following assumptions must be considered. In each of these cases, the APR feature restores absolute position and preserves the state of the Axis Homed bit.
Page 265 Homing Chapter 12 Table 59 describes the scenarios whether the APR feature recovers absolute position. In each case that is marked Yes, the APR feature restores absolute position and preserves the state of the Axis Homed bit. This mark indicates that the axis has a machine referenced absolute position.
Page 266 Chapter 12 Homing Table 59 - APR Recovery Scenarios Controller and drives remained powered Event Machine Reference Retained Disconnect and reconnect the Ethernet cable. Disconnect and reconnect the same feedback and/or motor cable on an axis. Inhibit or uninhibit an axis or drive. Battery backed controller Event Machine Reference Retained...
Page 267 Homing Chapter 12 Table 59 - APR Recovery Scenarios Download same program with no hardware Event Machine Reference Retained changes Change the name of an axis. Download the same program to the controller. Save As with another filename. Partial Export and then import an axis. Added application logic.
Page 268 Actuator, Motion Resolution, and Motion Unit attribute changes. (1) The term Battery in this table assumes the ControlLogix 5560 or GuardLogix 5560 controller with a battery or a ControlLogix 5570 controller and a 1756-ESMxxx Energy Storage Module. ControlLogix 5580, GuardLogix 5580, CompactLogix™ 5380, and Compact GuardLogix 5380 controllers have embedded energy storage modules.
Page 269: Apr Faults
Homing Chapter 12 APR faults are generated during the events and when one of the conditions APR Faults that are defined in the following APR Fault Conditions is present. APR Fault Conditions The axis must be in the homed state for an APR Fault to occur. The Axis Homed Status Bit must be set.
Page 270: Apr Fault Generation
Chapter 12 Homing APR Fault Generation A project download, restore from a memory card, or a ControlFLASH firmware update after one of these events can cause an APR fault: • Axis configuration – Change in any of the axis attributes that impacts the absolute machine position.
Page 271 This fault condition is not recoverable: • After you get this fault, the APR feature stops working until you replace the ControlLogix 5560 or GuardLogix 5560 controller. • You never get this error when using a ControlLogix 5570 controller. Firmware Error Used to trap unexpected firmware errors.
Page 272: Scaling
Chapter 12 Homing Scaling Scaling parameters changes can potentially generate an APR fault because internal constants computed from these two parameters can generate a motion resolution change. If this change happens, an APR fault is generated. Online Scaling Any change or SSV message that results in a motion resolution change can generate an APR fault.
Page 273: Resetting An Apr Fault
The APR can potentially be restored from a memory card on a ControlLogix 5560 or GuardLogix 5560 controller (if a battery is not present) or on a ControlLogix 5570 controller (if a 1756-ESMxxx...
Page 274: Behavior Of Apr For Incremental Encoders
Chapter 12 Homing Behavior of APR for Incremental Encoders APR for incremental encoders means Absolute Machine Reference Position Retention. When an incremental encoder is homed, the homed bit is set. An APR fault is generated and the home axis bit clears when any of the events or conditions that generate an APR fault for an absolute encoder occur.
Page 275: Manual Tune
Chapter Manual Tune Topic Page When to Manually Tune an Axis Additional Tune Monitor Tags with the Quick Watch Window Use Motion Generator If Autotune does not meet your system specifications, the manual tuning feature lets you customize your tuning parameters. Manual Tuning lets you manually improve motion performance by adjusting system bandwidth, damping factor, and drive loop gains, filters, and compensations via direct online control.
Page 276: Current Tuning Configuration
Chapter 13 Manual Tune Current Tuning Configuration Manual Tune displays the current tuning configuration. All parameters on the Manual Tuning dialog box are available while online. TIP In the RSLogix 5000® software, version 20 and later you can make edits when online.
Page 277: Loop Responses
Manual Tune Chapter 13 Loop Responses This dialog box is where you can enter values for system bandwidth and system damping, which affect the loop gains. You can also individually modify the gains with sliders, bandwidth parameters, or manual changes. The gains and filters that you have tuned by using either default factory values or Autotune are your initial values in the Manual Tune dialog box.
Page 278 Chapter 13 Manual Tune The tuning procedure tunes the proportional gains. Typically, tune the proportional gains first and see how your equipment runs. Follow these instructions to tune an axis manually. 1. To open Manual Tune, do one of the following: •...
Page 279: Motion Generator And Motion Direct Commands
Manual Tune Chapter 13 Motion Generator and Motion Direct Commands The commands on the Motion Generator give you basic control of a closed- loop servo axis. Commands, also called instructions. Manual Tune Tab The following instructions are available on the Motion Generator dialog box. Table 62 - Available Instructions Command Description...
Page 280 Chapter 13 Manual Tune Follow these instructions to use a Motion Direct Command. 1. Select MSO (Motion Servo On) and click Execute. 2. Click Reset. Reset restores all values that were there when you first opened Manual Tune. 3. Select MAM (Motion Axis Move) and click Execute. 4.
Page 281: Additional Tune
Manual Tune Chapter 13 The Additional Tune section gives you access to additional tuning parameters, Additional Tune typically needed for more advanced servo loop settings. Additional Tune provides access to five parameter tabs: • Feedforward • Compensation • Filters • Limits •...
Page 282: Compensation Parameters
Chapter 13 Manual Tune Compensation Parameters The Compensation tab lets you input scaling gain and friction offset values. Attribute Description System Inertia Torque or force scaling gain value that converts commanded acceleration into equivalent rated torque/force. Torque Offset Provides a torque bias when performing closed-loop control. Friction Value that is added to the current/torque command to offset the effects of coulomb friction.
Page 283: Filters Parameters
Manual Tune Chapter 13 Filters Parameters The Filters tab lets you input torque values. Attribute Description Torque Low Pass Filter Bandwidth Break frequency for the second order low pass filter that is applied to the torque reference signal. Torque Notch Filter Frequency Center frequency of the notch filter that is applied to the toque reference signal.
Page 284: Limits Parameters
Chapter 13 Manual Tune Limits Parameters The Limits tab lets you input peak, velocity, and acceleration or deceleration values. Attribute Description Peak Torque Limit Floating point that is based on calculations using Max Motor Torque, Max Drive Torque, Motor Peak Current, Motor Rated Current, and Drive Peak Current attributes.
Page 285: Configure Torque Values
Manual Tune Chapter 13 Configure Torque Values More advanced servo loop settings typically require additional tuning parameters such as torque values. The type of drive you are using determines the values that appear. Follow these steps to configure torque values: 1.
Page 286: Use Motion Generator
Chapter 13 Manual Tune You create Quick Watch Lists by choosing Quick Watch from the pull-down menu. Once you name a Quick Watch List, it available in the ACD, L5K, and L5X files. Make sure to name your lists. Lists that do not have names are lost when you close the software.
Page 287 Manual Tune Chapter 13 The Results window displays the following message. 3. Select MAH (Motion Axis Home) and click Execute. Use this step to execute the Homing command to establish a feedback positional reference, if a Position loop is being tuned. The axis state goes Servo-On, and the controller performs the Axis Home procedure, which is based on the configured Home settings.
Page 288 Chapter 13 Manual Tune Some examples include the following: • Watch-window: Quick Watch tag name = Axis_y.ActualPosition or = Axis_y.ActualVelocity • New Trend with Tags: Axis_y.ActualPosition or = Axis_y.ActualVelocity • Axis Properties: Status dialog box = Axis_y.ActualPosition or = Axis_y.ActualVelocity 5.
Page 289: Faults And Alarms Dialog Box
Chapter Status, Faults, and Alarms Topic Page Faults and Alarms Dialog Box QuickView Pane Data Monitor Drive Status Indicators Connection Faults and Errors Troubleshoot Faults Manage Motion Faults Configure the Exception Actions for AXIS_CIP_DRIVE Inhibit an Axis There are four ways to find and view faults and alarms: •...
Page 290 Chapter 14 Status, Faults, and Alarms Figure 107 - Faults and Alarms Log Table 63 describes the parameters for the Faults and Alarms dialog box. Table 63 - Faults and Alarms Dialog Box Descriptions Parameter Description Indicator Displays the following icons to indicate the state of a fault or alarm: •...
Page 291: Quickview Pane
Status, Faults, and Alarms Chapter 14 Table 63 - Faults and Alarms Dialog Box Descriptions Parameter Description End State Displays the action result that is returned from the axis, which can be more detailed than the command sent. For instance, a send of disable can result in either Holding, Shutdown or other status, for example: •...
Page 292: Data Monitor
Chapter 14 Status, Faults, and Alarms The Data Monitor is where you can read and write the values that are assigned Data Monitor to specific tags, both online and offline. You can do the following: • Type a tag description. •...
Page 293: Troubleshoot Faults
Status, Faults, and Alarms Chapter 14 The controller has these types of motion faults. Troubleshoot Faults Table 65 - Motion Faults Type Description Example Instruction Caused by a motion instruction: A Motion Axis Move error • Instruction errors do not affect controller operation. (MAM) instruction with a •...
Page 294: Configure The Exception Actions For Axis_Cip_Drive
Chapter 14 Status, Faults, and Alarms 3. From the General Fault Type pull-down menu, choose the general fault type. If you want any motion fault to cause a major fault and shut down the controller, choose Major Fault. If you choose Non-Major Fault, you must write application code that enables the controller to handle the motion fault.
Page 295 Status, Faults, and Alarms Chapter 14 To configure the Exception Actions, open the Axis Properties Exceptions dialog box. Options for each of the actions and the list of Exceptions can change based on how you configure the drive. If an exception is not possible for a specific drive (as defined by the profile of the drive), then that exception is not shown in this list.
Page 296 Chapter 14 Status, Faults, and Alarms Table 66 - Action Tasks and Related Faults Task Choose Description Shut down the axis and let it Shutdown Shutdown is the most severe action. Use it for faults that could coast to a stop. endanger the machine or the operator if you do not remove power quickly and completely.
Page 297: Inhibit An Axis
Status, Faults, and Alarms Chapter 14 Inhibit an Axis IMPORTANT You can inhibit an axis only if the axis has been previously synched to the group. If the axis has not been synched to the group, you cannot inhibit the axis.
Page 298: Example: Inhibit An Axis
Chapter 14 Status, Faults, and Alarms Example: Inhibit an Axis Important: If you inhibit an axis on a drive, you inhibit all action on the drive, including any half axes. Verify that you are aware of all action on a drive before inhibiting the axis.
Page 299: Example: Uninhibit An Axis
Status, Faults, and Alarms Chapter 14 Example: Uninhibit an Axis Important: If you inhibit an axis on a drive, you inhibit all action on the drive, including any half axes. Verify that you are aware of all action on a drive before inhibiting the axis.
Page 300: Digital I/O Status Indicators
Chapter 14 Status, Faults, and Alarms Use the Status category to: Digital I/O Status Indicators • Display the status of the axis • View the current state of the axis and CIP Safety™ drive • Manually adjust axis drive attributes The status tab displays the following: •...
Page 301 Status, Faults, and Alarms Chapter 14 Required/ Name Digital Axis Description Optional Status Registration 2 Input Reg 2 is not active Reg 2 is active Positive Overtravel OK Overtravel Fault Input No Overtravel Fault Negative Overtravel OK Overtravel Fault Input No Overtravel Fault Feedback 1 OK Thermostat Feedback 1 Thermostat Fault...
Page 302 Chapter 14 Status, Faults, and Alarms Notes: Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 303: Parameter Dialog-Box Listings
Appendix Parameter Group Dialog Boxes Topic Page Parameter Dialog-box Listings This appendix describes the parameter group dialog-boxes. You can access all parameters that are associated with each category dialog box by clicking Parameters on the dialog box. Each Parameter dialog-box list can contain more attributes than the associated Parameter Dialog-box category dialog box.
Page 304 Appendix A Parameter Group Dialog Boxes This dialog box is an example of the parameters available for an axis that is configured as a Position Loop. There are six parameters that you can set on the Position Loop and Position Loop Parameter Group dialog boxes. Click Parameters to open the Parameter Group listing.
Page 305: Program A Velocity Profile And Jerk Rate
Appendix Out of Box Configuration for PowerFlex Drives Topic Page Program a Velocity Profile and Jerk Rate Enter Basic Logic Choose a Motion Instruction Troubleshoot Axis Motion Programming with the MDSC Function PowerFlex Out-of-Box Configuration Setting the ACO/AVO Attributefor PF527 Drives Only This appendix describes how to program a velocity profile and jerk rate.
Page 306: Choose A Profile
Appendix B Out of Box Configuration for PowerFlex Drives Choose a Profile Consider cycle time and smoothness when you choose a profile. If You Want Choose This Profile Consideration • Fastest acceleration and deceleration Trapezoidal Jerk doesn’t limit the acceleration and times deceleration time: •...
Page 307: Use % Of Time For The Easiest Programming Of Jerk
Out of Box Configuration for PowerFlex Drives Appendix B Use % of Time for the Easiest Programming of Jerk Use % of Time to specify how much of the acceleration or deceleration time has jerk. You don’t have to calculate actual jerk values. Example Profile 100% of Time...
Page 308: Velocity Profile Effects
Appendix B Out of Box Configuration for PowerFlex Drives Velocity Profile Effects Table 68 summarizes the differences between profiles. Table 68 - Profile Differences Profile ACC/DEC Motor Priority of Control Type Time Stress Highest to Lowest Trapezoidal Fastest Worst Acc/Dec Velocity Position S-curve...
Page 309 Out of Box Configuration for PowerFlex Drives Appendix B Jerks for programmed moves, such as MAM or MCLM instructions, in units of % time are converted to engineering units as follows: If Start Speed < Programmed Speed Programmed Accel Rate Accel Jerk (Units/Sec Programmed Speed % of Time...
Page 310 Appendix B Out of Box Configuration for PowerFlex Drives The same ‘% of time’ jerk can result in different slopes for the acceleration profile than on the deceleration profile, dependent on the Speed parameter of the instruction. Speed 60% of Time Jerk Deceleration The motion planner algorithm adjusts the actual jerk rate so that both the...
Page 311 Out of Box Configuration for PowerFlex Drives Appendix B For Decel Jerk: [% of Time] = [EU/s [EU/s] [EU/s Jerk Programming in Units/Sec If you want to specify the jerk in 'Units/sec ' instead of '% of time' , adjust your jerk value as follows so that you get the value that you programmed.
Page 312 Appendix B Out of Box Configuration for PowerFlex Drives EXAMPLE Example #1 Start Speed = 8.0 in/sec Desired Speed = 5.0 in/sec Desired Decel Rate = 2.0 in/sec Desired Decel Jerk = 1.0 in/sec Temporary Speed = (Desired Decel Rate) / Desired jerk value in Units/Sec = 2.0...
Page 313: Profile Operand
Out of Box Configuration for PowerFlex Drives Appendix B Profile Operand This operand has two profile types: • Trapezoidal Velocity Profile • S-curve Velocity Profile Trapezoidal Velocity Profile The trapezoidal velocity profile is the most commonly used profile because it provides the most flexibility in programming subsequent motion and the fastest acceleration and deceleration times.
Page 314 Appendix B Out of Box Configuration for PowerFlex Drives S-curve Velocity Profile S-curve velocity profiles are most often used when the stress on the mechanical system and load must be minimized. The acceleration and deceleration time is balanced against the machine stress with two additional parameters, acceleration jerk and deceleration jerk.
Page 315 Out of Box Configuration for PowerFlex Drives Appendix B Small Jerk rates, rates less than 5% of time, produce acceleration and deceleration profiles close to rectangular ones, such as the one shown in Trapezoidal Accel/Decel Time on page 313. IMPORTANT Higher values of the % of Time result in lower values of Jerk Rate Limits and, therefore, slower profiles.
Page 316: Enter Basic Logic
Appendix B Out of Box Configuration for PowerFlex Drives S-curve Accel/Decel Time, Backward Compatibility Setting: Acceleration Jerk = 100% of Time Time Time Time The controller gives you a set of motion control instructions for your axes: Enter Basic Logic •...
Page 317: Example Motion Control Program
Out of Box Configuration for PowerFlex Drives Appendix B Example Motion Control Program This figure is an example of Ladder Logix that homes, jogs, and moves an axis. If Initialize_Pushbutton = on and the axis = off (My_Axis_X.ServoActionStatus = off) then the MSO instruction turns on the axis.
Page 318: Download A Project
Appendix B Out of Box Configuration for PowerFlex Drives Download a Project Follow these steps to download your program to a controller. 1. With the keyswitch, place the controller in Program or Remote Program mode. 2. From the Communications menu, choose Download. 3.
Page 319 Out of Box Configuration for PowerFlex Drives Appendix B Table 70 - Available Motion Direct Commands If You Want To Use This Instruction Motion Direct Command Control axis position Stop any motion process on an axis. Motion Axis Stop Home an axis. Motion Axis Home Jog an axis.
Page 320 Transition the axes of a coordinate system to the ready state and clear MCSR the axis faults. Motion Coordinated Shutdown Reset (1) You can only use this instruction with ControlLogix® 5560 or GuardLogix® 5560 controllers. Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 321: Troubleshoot Axis Motion
Out of Box Configuration for PowerFlex Drives Appendix B This section helps you troubleshoot some situations that could happen while Troubleshoot Axis Motion you are running an axis. Example Situation Page Why Does My Axis Accelerate When I Stop It? Why Does My Axis Overshoot Its Target Speed? Why Is There a Delay When I Stop and Then Restart a Jog? Why Does The Axis Reverse Direction When Stopped and Started?
Page 322: Why Does My Axis Overshoot Its Target Speed
Appendix B Out of Box Configuration for PowerFlex Drives Cause When you use an S-curve profile, jerk determines the acceleration and deceleration time of the axis: • An S-curve profile has to get acceleration to 0 before the axis can slow down.
Page 323 Out of Box Configuration for PowerFlex Drives Appendix B Look For The MAJ instruction that starts the axis has a higher acceleration rate than the instruction that stops the axis. S-curve profile The MAJ instruction that stops the axis has a lower acceleration rate than the instruction that starts the axis.
Page 324 Appendix B Out of Box Configuration for PowerFlex Drives Stop While Accelerating and Reduce the Acceleration Rate Trapezoidal S-curve stop target target speed goes past speed speed speed its target stop acceleration acceleration The axis slows down as soon as you start the stopping instruction. The stopping instruction reduces the acceleration of the axis.
Page 325: Why Is There A Delay When I Stop And Then Restart A Jog
Out of Box Configuration for PowerFlex Drives Appendix B Corrective Action Use a Motion Axis Stop (MAS) instruction to stop the axis or configure your instructions like this example. Use the same acceleration rate as the instruction that stops the axis. Or use a lower acceleration.
Page 326 Appendix B Out of Box Configuration for PowerFlex Drives Look For The instruction that starts the axis uses an S-curve profile. The instruction that stops the axis keeps the S-curve profile. Suppose that you use an MAS instruction with the Stop Type set to Jog. In that case, the axis keeps the profile of the MAJ instruction that started the axis.
Page 327: Why Does The Axis Reverse Direction
Out of Box Configuration for PowerFlex Drives Appendix B Why Does The Axis Reverse Direction When Stopped and Started? While an axis is jogging at its target speed, you stop the axis. Before the axis stops completely, you restart the jog. The axis continues to slow down and then reverses direction.
Page 328 Appendix B Out of Box Configuration for PowerFlex Drives The following trends show how the axis stops and starts with a trapezoidal profile and an S-curve profile. Start While Decelerating and Reduce the Deceleration Rate Trapezoidal S-curve stop stop speed speed overshoots 0 and axis goes in opposite direction acceleration...
Page 329: Programming With The Mdsc Function
Out of Box Configuration for PowerFlex Drives Appendix B Figure 111 shows an example of programming motion with the MDSC Programming with the MDSC functionality. In this example, we illustrate a 50.0 mm move. Function Figure 111 - Slave Speed Control from Master with Lock Position, MDSC Time Based Speed Slave Speed or Master...
Page 330 Appendix B Out of Box Configuration for PowerFlex Drives Figure 112, we are programming rate. The controller calculates the time of the move: Speed and Accel/Decel as units = units (seconds). Figure 112 - Programming Rate in RSLogix 5000® Software Version 19 and Earlier Speed Programmed Speed Decel...
Page 331 Out of Box Configuration for PowerFlex Drives Appendix B Figure 113, we are programming time. The controller calculates the speed of the move: Speed and Accel/Decel as time [seconds]. Figure 113 - Programming Time in RSLogix 5000 Software Version 20 and Later Speed Calculated Speed Decel...
Page 332: Powerflex Out-Of-Box Configuration
Appendix B Out of Box Configuration for PowerFlex Drives Apply these out-of-box settings first before configuring for your application. PowerFlex Out-of-Box This information applies to only the PowerFlex® drive. Configuration Recommended Out-of-Box Settings Settings in Studio 5000 Example Recommended Configuration Logix Designer Application PowerFlex 527 PowerFlex 755...
Page 333 Out of Box Configuration for PowerFlex Drives Appendix B Settings in Studio 5000 Example Recommended Configuration Logix Designer Application PowerFlex 527 PowerFlex 755 Torque Limits 200% of Motor Rated Torque Velocity Error Tolerance Change action to alarm Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 334 Appendix B Out of Box Configuration for PowerFlex Drives Settings in Studio 5000 Example Recommended Configuration Logix Designer Application PowerFlex 527 PowerFlex 755 Feedback Tap Application Type setting in Constant Speed Velocity Loop Motion Group Base Update 4 ms 3 ms Rate Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 335 Out of Box Configuration for PowerFlex Drives Appendix B Settings in Studio 5000 Example Recommended Configuration Logix Designer Application PowerFlex 755 Motor Phase Loss Limit 5% is the typical setting Auto Sag Configuration Disabled Proving Configuration Disabled (1) You must use a value of 1% for MotorPhaseLossLimit if your configuration includes a Rotary Permanent Magnet Motor. (2) Change this parameter to 1% for only Rotary Permanent Magnet Motor configurations.
Page 336: Setting The Aco/Avo Attributefor Pf527 Drives Only
Appendix B Out of Box Configuration for PowerFlex Drives IMPORTANT If your configuration includes a Rotary Permanent Magnet motor, you must change the Phase-Loss limit to 1 ms for operation. If you do not change the Phase-Loss limit to 1 ms, the Commutation Test for the Rotary PM could fail and generate a Motor Phase-Loss Limit fault.
Page 337: Glossary
Glossary The following terms and abbreviations are used throughout this manual. For definitions of terms that are not listed here, refer to the Allen-Bradley Industrial Automation Glossary, publication AG-7.1. Absolute Position Retention (APR) While Homing creates an absolute machine reference position, the APR bit is designed to retain the absolute position.
Page 338 Safe Torque Off (STO) Provides a method, with sufficiently low probability of failure, to force the power-transistor control signals to a disabled state. When the command to allow torque ceases from the GuardLogix® controller, all drive output-power transistors are released from the On-state.
Page 339 Glossary System Time The absolute time value as defined in the CIP Sync standard in the context of a distributed time system where all devices have a local clock that is synchronized with a common master clock. In the context of integrated motion on the EtherNet/IP network, System Time is a 64-bit integer value in units of microseconds or nanoseconds with a value of 0 corresponding to January 1, 1970.
Page 340 Glossary Notes: Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019...
Page 341: Index
Index … Symbols alarms 289 analog current output/analog voltage % of time output profile examples 307 PowerFlex 527 drive use to program jerk 307 set 336 Numerics absolute position recovery 262 fault 271 100 % of time jerk calculation 314 reset 273 1756-EN2F 26 fault conditions 269...
Page 342: Rockwell Automation Publication Motion-Um003K-En-P - January
Index attributes axis reverses direction when stopped and started 327 replicated 31 delay upon stopping and restarting a autotune 235 jog 325 availability of manual tuning axis properties for Kinetix 5700 drive per axis type 275 configure 86 … available motion direct commands 318 axis properties for PowerFlex 527 drive configure 140 axes...
Page 343 Index catalog number components of a motion system 11 choose as motor data source configuration and startup 18 Kinetix 350 drive 51 configuration scenarios 18 Kinetix 5500 drive 51 configure Kinetix 5700 drive 91 axis scheduling 150 Kinetix 6500 drive 51 axis scheduling update periods 151 PowerFlex 755 drive 119 controller project 21...
Page 344 Index connection 75 determine connection polarity values 228 safety 75 digital I/O indicators connection errors 292 PowerFlex 755 drive 300 connection faults and errors 292 digital inputs control mode category 67 direct commands configure for Kinetix 350 drive 47 configure for Kinetix 5500 drive 47 motion state 318 configure for Kinetix 5700 drive 88 direct coupled...
Page 345 65 uninhibit axis 299 glossary of terms 337 example motion control program grandmaster time source 24 ladder logic 317 GuardLogix controller 36 examples of easy method for programming jerk 307 exception actions configure 294 hard-wired safety connections external shunt 106...
Page 346 Index jerk rate calculation 308 configure 55 load observer 242 convert % of time to engineering units 310 master feedback specify jerk in units/sec3 311 configure 57 unique program considerations 311 minimum version of Studio 5000 Logix Designer application 13 motor data source specify 50 Kinetix 350 drive...
Page 347 Index choose as motor data source 94 set base update period 84 ladder diagram 316 supported axis types 14 limits tuning parameters 284 voltage ranges 14 linear actuator 222 Kinetix 5700 EtherNet/IP drive linear actuator load type 225 add 60 load dialog box 239 Kinetix 6500 drive 53 load feedback...
Page 348 Index master feedback for Kinetix 6500 drive Motion Coordinated Change Dynamics 320 configure 57 Motion Coordinated Circular Move 320 master speed 329 Motion Coordinated Linear Move 320 Motion Coordinated Shutdown 320 Motion Drive Start 279 Motion Coordinated Shutdown Reset 320 MDSC Motion Coordinated Stop 320 lock position 329...
Page 349 Index passive homing 257 motor type compatibility 53 Motion Axis Jog (MAJ) 319 Kinetix 350 drive 53 Motion Axis Move (MAM) 319 Kinetix 5500 drive 53 Motion Axis Position Cam (MAPC) 319 Motion Axis Stop (MAS) 319 Motion Servo Off 279 Motion Axis Time Cam (MATC) 319 Motion Servo On 279 Motion Calculate Cam Profile (MCCP) 319...
Page 350 Index polarity values 228 configure 137 set analog current output/analog voltage position control with motor feedback axis output 336 configuration example 217 supported axis types 15 position feedback device 230 voltage ranges 15 position loop with dual feedback axis PowerFlex 755 configuration example 163 customize gains 117 position loop with dual motor feedback via a...
Page 351 Index profile operand scaling factors profile types 313 effects of changing 225 S-curve velocity profile 314 scaling parameters trapzoidal velocity profile 313 generation of APR fault 272 program S-curve profile 306 ?? … jerk rate ?? … velocity profile and jerk rate structured text 316 profile operand 313 select I/O device...
Page 352 Index time synchronization 24 velocity loop with no feedback axis enable 25 configuration example 199 set 24 ?? … velocity profile and jerk rate … timing models 147 choose a profile 306 torque loop with feedback axis download program 318 configuration example 206 enter basic logic 316 ladder logic motion control program...
Page 354 Rockwell Automation maintains current product environmental information on its website at http://www.rockwellautomation.com/rockwellautomation/about-us/sustainability-ethics/product-environmental-compliance.page. Allen-Bradley, Armor, CompactLogix, ControlFLASH, ControlLogix, DriveExecutive, DriveExplorer, DriveTools, GuardLogix, Integrated Architecture, Kinetix, Logix 5000, On-Machine, PowerFlex, QuickView, Rockwell Automation, Rockwell Software, RSLinx, RSLogix 5000, Stratix, Studio 5000, and Studio 5000 Logix Designer are trademarks of Rockwell Automation, Inc.

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Allen-Bradley GuardLogix User Manual

Preface

Chapter 1

Controller, Communication, Drive, and Software Options

Chapter 2

Chapter 3

Chapter 4 Ethernet/Ip Drive

Chapter 5

Chapter 6

Chapter 7 About Axis Scheduling

Chapter 8

Chapter 9

Chapter 10 Example 2: Velocity Control with Motor Feedback

Chapter 11 Commission an Axis Scaling

Scaling

Chapter 12 Guidelines for Homing

Homing

Chapter 13 When to Manually Tune an Axis

Manual Tune

Faults and Alarms Dialog Box

Chapter 14

Parameter Dialog-Box Listings

Appendix A

Appendix B

Glossary

Index

Quick Links

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Summary of Contents for Allen-Bradley GuardLogix