Rockwell Automation Allen-Bradley Kinetix 3 Quick Start Manual
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Rockwell Automation Allen-Bradley Kinetix 3 Quick Start Manual

Rockwell Automation Allen-Bradley Kinetix 3 Quick Start Manual

Motion control indexing device building block, connected components accelerator toolkit
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Kinetix 3 Motion Control Indexing Device Building Block
Connected Components Accelerator Toolkit

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Summary of Contents for Rockwell Automation Allen-Bradley Kinetix 3

  • Page 1 Quick Start Kinetix 3 Motion Control Indexing Device Building Block Connected Components Accelerator Toolkit...
  • Page 2 Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). Allen-Bradley, Connected Components Workbench, Micro800, Micro830, Micro850, PanelView, Kinetix, Rockwell Software, and Rockwell Automation are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.
  • Page 3 Follow this path to complete your Connected Components Accelerator Toolkit (CCAT) project. Getting Started Connected Components Accelerator Toolkit with System Design Assistant Quick Start, publication CC-QS035 Kinetix 3 Component-class Servo Drive Setup System Validation Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 4 Where to Start Notes: Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 5: Table Of Contents

    Function Block ......... 59 Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 6 Configure Advanced Options ........75 Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 7: Preface

    • What You Need - This section lists the tools that are required to complete the steps in the current chapter, including, but not limited to, hardware and software. • Follow These Steps - This section illustrates the steps in the current chapter and identifies the steps that are required to complete the examples. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 8: Terminology

    Function block instructions that can be used like standard function block instructions within any Connected Components Workbench programming language. Anyone using Connected Components Workbench software can write these functions blocks. Many UDFBs are posted on the Rockwell Automation sample code website: http:// samplecode.rockwellautomation.com/idc/groups/public/documents/webassets/ sc_home_page.hcst.

  • Page 9: Additional Resources

    2071-IN001 You can view or download publications at http://www.rockwellautomation.com/literature. To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative. Available Connected Components Accelerator Toolkits For the most up-to-date listing of available Connected Components Accelerator Toolkits and related quick starts, refer to these resources: •...
  • Page 10 Preface Notes: Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 11: Before You Begin

    • Personal computer with an available USB port • Connected Components Workbench software, version 6 or later • USB printer cable (A to B) for personal computer to Micro800 controller communication • Micro820, Micro830, or Micro850 controller Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 12: Follow These Steps

    Configure Your Kinetix 3 Drive and Personal Computer Connection on page Connect to Your Drive on page Configure Your Drive by Using Connected Components Workbench Software on page Configure the Drive for Modbus Communication Protocol on page Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 13: Configure The Kinetix 3 Drive

    INSTRUCTION MANUAL 2071-IN001x-EN-P FIRMWARE VER. V02.00 To configure a Kinetix 3 drive - Series A, refer to Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software in Appendix Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 14 4. Verify the COM port number of the 1203-USB adapter in Device Manager on your computer, from the Start menu, choose Run. The Run dialog box appears. 5. Type devmgmt.msc in the Open field. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 15 7. Note your COM port name and close the Device Manager window. 8. To configure an RS-232 DF1 driver, start RSLinx® Classic software. 9. From the Communication menu, choose Configure Drivers. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 16 10. From the Available Driver Types pull-down menu, choose RS-232 DF1 devices. 11. Click Add New. The Add New RSLinx Classic Driver dialog box appears. 12. Type a name for your driver, You can use the default name, if desired. 13. Click OK. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 17 From the Error Checking pull-down menu, choose CRC. Do not click auto-configure. IMPORTANT 15. Click OK. 16. In the RSLinx toolbar, click the RSWho icon to verify that your drive is properly communicating with RSLinx Classic software. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 18: Connect To Your Drive

    To connect to the Kinetix 3 drive, follow these steps. The Kinetix 3 drive must be Series B or later with firmware revision 3.005 or later. 1. From the Connected Components Workbench Device Toolbox, expand Discover, and click Browse Connections. The Connection Browser dialog box appears. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 19 2. From the Connection Browser, under AB_DF1-1, select your drive (01, AB DSI) and click OK. A drive is added to the Project Organizer and the drive Device Details window appears in the main project workspace. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 20: Workbench Software

    2. From the list, select the Kinetix3 Startup Wizard and click Select. To provide a consistent starting point, reset the drive to factory defaults. 3. Click Reset to Factory Settings. 4. Click Yes. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 21 7. Click Next. The Kinetix3 Startup Wizard (5 of 5) Autotuning dialog box is displayed. Use Autotune for best performance. Autotune can be done later and as required. Follow these steps to Autotune your drive. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 22 Autotuning is successful. 8. Click Finish. 9. Click Yes. The drive resets. 10. From the tool bar, click the Wizards icon. 11. Select the Kinetix3 Configuration Application Wizard and click Select. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 23 From the MODBUS Run Function Control pull-down menus, choose Enable. 16. Click Next to move though the Kinetix 3 Configuration Wizard categories for Analog Configuration, Preset, and Follower, and set the parameters as needed for your application. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 24 Set the indexing parameters as needed by your application. You can have up to 64 indexes. c. Click Next. d. Set the homing parameters as needed by our application. To perform absolute moves, the drive must be homed. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 25 From the Motor Model pull-down menu, choose your motor model. 18. Click Next and continue through the Kinetix 3 Configuration Wizard categories for Encoder, Digital Inputs, Digital Outputs, and Analog Outputs, setting the parameters as needed for your application. 19. Click Finish. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 26: Configure The Drive For Modbus Communication Protocol

    10. Press Enter. 11. Change the node address that is shown to a unique Modbus node address for the drive, and press Mode/Set. 12. By default, the node address is 1. 13. Click Enter. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 27 Kinetix 3 Component-class Servo Drive Setup Chapter 1 Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 28: Before You Begin

    • 1761-CBL-PM02, 9-pin to 8-pin MINI-DIN RS232 communication cable • USB printer cable (A to B) for personal computer to Micro800 communication • USB flash drive for personal computer to PanelView 800 terminal file transfer Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 29: Follow These Steps

    Download Your Program to the Controller on page Configure the IP Address for Your PanelView 800 Terminal on page Transfer Your HMI Application to the PanelView 800 Terminal on page Validate Your System on page Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 30: Review The System Overview

    Modbus RTU RS-485 slave devices can be daisy-chained from the Isolated Serial Port or from the Kinetix 3 communication port. Figure 3 - Device and Network Layout Diagram PanelView Component Terminal 1761-CBL-PM02 Kinetix 3 2080- Other MODBUS Micro800 Drive SERIALISO Devices Controller RS-485 (Modified 2090-CCMDSDS-48AA01) Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 31: Configure The Controller Serial Ports

    Follow these steps to modify these settings in the default Connected Components Workbench project. 1. Open the starting project Starting_K3_M850_24QBB_r6. You can download project Starting_K3_M850_24QBB_r6 from the Sample Code Library at http://samplecode.rockwellautomation.com/idc/groups/public/documents/webassets/sc_home_page.hcst) or the SDA generated project if either is not already open from Chapter Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 32 3. Configure the settings for your PanelView 800 terminal communication port. a. If a CIP serial connection is used, select the embedded serial port in the controller configuration list and edit the required settings. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 33 Chapter 2 System Validation b. If a CIP on Ethernet connection is used, select Ethernet>Ethernet Protocol, check Configure IP address and settings and edit the IP Address, Subnet Mask, and Gateway Address settings. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 34 5. From the Project Organizer, expand the program that is named K3_01_Indx_StsCmdCfg, and open the Local Variables for that program. 6. Set Cfg_Channel to the same channel as the 2080-SERIALISOL module. 7. Set Cfg_NodeAddr to the node address that you assigned to the drive. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 35: Configure Panelview 800 Terminal Communication Settings

    Follow these steps to modify these settings in the default Connected Components Workbench project. 1. To open the PanelView 800 terminal application editor, in the Project Organizer double-click the PanelView 800 terminal icon. The PanelView 800 Communication Settings pane appears in the main project window. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 36 System Validation Chapter 2 2. Configure the appropriate communication settings: • For CIP Serial communication, configure the settings that are shown. • For CIP on Ethernet communication, configure the settings that are shown. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 37: Connect Your Devices

    Pin A1 RS485 + 485 Pin B1 RS232 DCD Pin A2 RS232/485 GND Pin B2 RS232 RXD Pin A3 RS232 RTS Pin B3 RS232 TXD Front Pin A4 RS232 CTS Pin B4 RS485 - 485 Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 38: Download Your Program To The Controller

    If the build was successful, the Output pane at the bottom of your project window displays a success message. Or, if the build was unsuccessful, an error list appears. Example Output pane: build successful Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 39 4. From the Project Organizer, right-click your controller icon and choose Download. 5. From the Connection Browser, select your controller and click OK. 6. If prompted to change the controller mode to Remote Program mode, click Yes. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 40: Configure The Ip Address For Your Panelview 800 Terminal

    1. In the Project Organizer, right-click the PanelView 800 terminal icon and choose Download. 2. In the Connection Browser dialog box, select the PanelView 800 terminal to download to. 3. Click OK. 4. Verify that the download completed successfully. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 41 System Validation 5. From the Main menu of your PanelView 800 terminal, press File Manager. 6. On the File Manager screen, select Internal as your Source. 7. Select your application. 8. Press Run. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 42: Validate Your System

    • A green border indicates that the drive is active and running. • A gray border indicates that the drive is inactive and stopped. • A red border indicates that there is a fault or an alarm is present. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 43: Understand The Device Overview Screen

    • Return to the configuration screen and exit the program. • Review a particular device in detail. • View the current machine state. • Change the current machine state. • Add your own buttons to use additional screens for your machine information. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 44: Understand The Status And Command Screen

    If any of the Modbus messages to the drive fail, this bit latches on until it is cleared. Bad checksums, lost connections, or an invalid configuration in the drive cause m message failures. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 45: Understand The Index Values Screen

    Comms button is displayed, this momentary push button attempts to unlatch the Drive Comms Error status bit. Understand the Index Values Screen 1. To switch to the Index Values screen, from the Status and Command screen, press Index Values. It looks similar to the screen shown. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 46 – For TL-Series motor with an absolute encoder, use 131,072 counts. b. Change the dwell value for Index 00 ms to 1000 ms. c. Press Apply. 3. To return to the Status and Command screen, press X on the top right corner. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 47: Verify The Manual Operation Of The Drive

    11. After the motion has stopped, disconnect the feedback cable from the drive. A drive fault occurs. 12. Monitor the Drive Fault indicator. It turns red, and a fault code displays on the drive status indicator and in Ultraware software. 13. Connect the feedback cable. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 48 15. Explore the Fault Help screen. 16. To return to the Status and Command screen, press X in the top right corner of the screen. 17. Press and hold Clear Faults until the Drive Fault indicator clears. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 49 Chapter 2 System Validation Notes: Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 50: Ra_K3_Mbus_Sts User-Defined Function Block

    RA_K3_MBUS_STS User-defined Function Block This UDFB provides the basic status word for the Kinetix 3 drive. The outputs are updated at the interval that is specified on the input side of the function block. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 51 This bit is true when there is a warning on the drive. Warning descriptions can be seen in the Kinetix 3 1, 0 Component Servo Drives User Manual. See the Additional Resources on page 9. Inertion BOOL This bit is true when the drive is moving as part of an index. 1, 0 Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 52 1, 0 motion cycle, or an aborted index. Figure 4 - RA_K3_MBUS_STS Function Block Flowchart Initialize Variables First Scan? Validate Channel and Node Address are Within Range; Set Error Bits Read Drive Status Diagnostics Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 53: Ra_K3_Mbus_Sts_Extended User-Defined Function Block

    The Function Block Enable bit (FBEN) controls the operation of the function. On the rising edge of this bit, 1, 0 the function block initialization takes place. While this bit is held high, the function block continues to execute. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 54 AlarmCode This value is the most recent alarm code that the drive has registered. — AlarmText STRING This value is the alarm message that is associated with the most recent alarm code. — Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 55: Ra_K3_Mbus_Cmd_Indexing User-Defined Function Block

    This UDFB does not perform any status checks or interlocks. It is possible to send a command that the drive cannot accept and it can produce an error, depending on the cause of the failed command. The drive parameter Pr0.32 must be set to 0x01 or 0x11 for this function to operate. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 56 This variable enumerates the errors that have occurred within the UDFB. — Bit 0 = Modbus Message Error Bit 1 = Channel Invalid Bit 2 = Node Address Invalid bit 3 = Index Input Invalid Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 57: Ra_K3_Mbus_Cmd_Jog User-Defined Function Block

    This UDFB lets you jog the motor at a preset speed while in Indexing mode. This function block uses the internal jog function of the drive. The drive parameter Pr0.32 must be set to 0x10 or 0x11 for this function to operate. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 58: Function Block

    This bit shows the status of the last message that was sent to the drive. If the bit is true, the jog 1, 0 function in the drive is enabled. If the bit is false, the jog function in the drive is disabled. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 59 Validate Channel and Node Address are Within Range; Set Error Bits First Scan or Set Initial Speed FB Error? Update Drive Command Word and Speed Command Or Speed Change Write Command Since Last Scan? Diagnostics Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 60 This variable is the dwell time, in milliseconds, the drive holds the position reference after the 0…65,536 move is complete. Velocity This variable is the maximum velocity of the index move, in revolutions per minute. The value 0…6000 is limited by motor model. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 61 This variable shows that the function block is in the saving process and has not reached an error 1, 0 state. Use it to prevent messages from being sent to the drive during the saving process. Messages that are sent during the saving process can generate communication errors. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 62 Initialize Variables and In Process? Set In Process Bit Validate Channel and Node Address are Within Range; Set Error Bits Set Message Parameters Send Message Increment Message All Messages Errors? Counter Complete? Diagnostics Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 63 FB_Error to be true. The bit is cleared only after the UDFB sees a rising edge of the enable input. FB_Error BOOL This bit shows that an error has occurred within the UDFB. For a more detailed description of the error 1, 0 code, see FB_ErrCode. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 64 . It has seven digits precision and two decimal places. The value is limited by motor model. NextIndex This variable is the value of the index that is acted on next if the NextAction configuration is not set to 0…63 stop. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 65 In Process? Set In Process Bit Validate Channel and Node Address are Within Range; Set Error Bits Set Message Parameters Send Message Increment Message All Messages Errors? Process Returned Data Counter Complete? Diagnostics Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 66: Before You Begin

    If RS232 port is not available, you can use a USB port and USB/RS232 converter. • Ultraware software version 1.82.00 or later • 2090-CCMPCDS-23AAxx communication cable for Kinetix 3 drive • Kinetix 3 drive Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 67: Follow These Steps

    Connect Your Kinetix 3 Drive to a Personal Computer by Using Ultraware Software on page Review the Workspace and Drive Branches on page Reset the Drive on page Configure Basic Options on page Configure Advanced Options on page Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 68: Verify Drive Communication Configuration

    3. If you receive a warning that the COM port is not available, click OK. 4. Connect the IEEE1394 connector of 2090-CCMPCDS-23AA, RS-232 serial communication cable to your drive and the serial connector to your personal computer. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 69 5. Navigate to the Device Manager on your personal computer or use the Run command and enter ‘devmgmt.msc’ . 6. Determine the COM port that you want to use with Ultraware software. The example that is shown uses a serial-to-USB converter on Port 3. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 70 You are prompted to use a wizard to configure the Kinetix 3 drive. You are not required to use it, but it simplifies configuration. There is an error in the communication setup, the drivers, or the wiring. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 71: Review The Workspace And Drive Branches

    Configure drive parameters for an online drive. Monitor the status of an online drive. Software Enable icon. Disable All Drives icon. Execute commands to clear faults, reset the drive, or reset the EEPROM. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 72: Mode Configuration Branch

    • Open a dialog box where you can review the fault history of the drive. Service Information • Display and monitor service information about the drive. • Display the firmware revision of the drive. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 73: Reset The Drive

    Click Yes. 2. Follow these steps if your motor does not have an intelligent encoder. a. Double-click the Motor branch. b. Set Auto Motor Iden to Disabled. You are prompted to reset the drive. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 74 Read and acknowledge the warning and prepare the area. e. Click Yes. The drive enables, moves the motor, and then performs a resonance test. When the test is complete, the drive disables again. 7. Double-click the Drive branch. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 75 Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software 8. Click Communications. 9. Set the MODBUS Input Function Control to Enable. 10. Set the MODBUS Run Function Control to Enable. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...

  • Page 76: Configure Advanced Options

    Modify the index parameters. d. Repeat for up to 64 indexes. e. Click Save Parameters. Make all other changes to parameters while the drive is connected to the personal computer and Ultraware software is running. Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 77 Appendix B Configure Your Personal Computer and Series A Kinetix 3 Drive Connection with Ultraware Software Rockwell Automation Publication CC-QS025D-EN-P - August 2015...
  • Page 79 New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when shipped from the manufacturing facility. However, if your product is not functioning and needs to be returned, follow these procedures.

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