Iasimp-qs013_-En-p Ab Kineytics Plc Based Motion

Kinetix Accelerator ToolkitSERCOS Based Using Simple Sequencing

Quick Start

Important User Information

Solid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation sales office or online at http://literature.rockwellautomation.com) describes some important differences between solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.

In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment.

The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables and requirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability for actual use based on the examples and diagrams.

No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or software described in this manual.

Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., is prohibited.

Throughout this manual, when necessary, we use notes to make you aware of safety considerations.

Allen-Bradley, CompactLogix, ControlLogix, FactoryTalk, FactoryTalk Machine Edition, FactoryTalk View Studio, Kinetix, PanelView, RSLogix, RSLogix 5000, RSTrainer, RSLinx, RSLinx Enterprise, RSLinx Classic, TechConnect, Rockwell Automation, and Rockwell Software are trademarks of Rockwell Automation, Inc.

Trademarks not belonging to Rockwell Automation are property of their respective companies.

WARNINGIdentifies information about practices or circumstances that can cause an explosion in a hazardous environment, which may lead to personal injury or death, property damage, or economic loss.

IMPORTANT Identifies information that is critical for successful application and understanding of the product.

ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.

SHOCK HAZARD Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage may be present.

BURN HAZARD Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reach dangerous temperatures.Publication IASIMP-QS013A-EN-P May 2009 2

Where to Start

Follow the path below to complete your Kinetix Integrated Motion application.

CLEAN

DIRT

Y

DIRT

Y

DIRTY

CLEAN

CLEA

NCL

EAN

CLEAN

DIRTY

DIRTY

DIRTY

Chapter 2System Layout

Chapter 1Hardware Selection

Chapter 3System Wiring

Chapter 4Logix Integration

Chapter 5FactoryTalk View ME

Integration

Chapter 7Motion Analyzer

Motion Profile Export

Chapter 6Motion System

Application GuidePublication IASIMP-QS013A-EN-P May 2009 3

Where to Start

Notes:4 Publication IASIMP-QS013A-EN-P May 2009

PrefaceIntroduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Required Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . 8

Chapter 1Hardware Selection Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Installing Motion Analyzer Software . . . . . . . . . . . . . . . . . . . 11Reviewing Basic Panel Component Listings. . . . . . . . . . . . . . 13Select Add-on Components . . . . . . . . . . . . . . . . . . . . . . . . . 15

Chapter 2Plan System Layout Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Load Basic System CAD Drawings . . . . . . . . . . . . . . . . . . . . 19Verifying Your Basic Panel Layout . . . . . . . . . . . . . . . . . . . . 20Modify Your Motion Panel Layout . . . . . . . . . . . . . . . . . . . . 21Download Other Allen-Bradley CAD Drawings . . . . . . . . . . . 22

Chapter 3Plan System Wiring Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Load Basic System CAD Diagrams . . . . . . . . . . . . . . . . . . . . 25Routing Cables for Your Integrated Motion Panel . . . . . . . . . 26Laying Out Power and I/O Cables . . . . . . . . . . . . . . . . . . . . 27Laying Out SERCOS and Ethernet Cables . . . . . . . . . . . . . . . 29

Chapter 4Motion Logix Integration Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Load and Open Logix Application File . . . . . . . . . . . . . . . . . 33Configure Your Logix Controller. . . . . . . . . . . . . . . . . . . . . . 34Configure Your Logix SERCOS Module . . . . . . . . . . . . . . . . . 35Add Logix Program Code for Additional Axes . . . . . . . . . . . . 37Configure Your Kinetix Drive Modules . . . . . . . . . . . . . . . . . 46Configure Axis Properties. . . . . . . . . . . . . . . . . . . . . . . . . . . 48Configure and Add AOI Instructions . . . . . . . . . . . . . . . . . . . 49Configure Logix Communication . . . . . . . . . . . . . . . . . . . . . 52Save and Download Your Program. . . . . . . . . . . . . . . . . . . . 53

Table of ContentsPublication IASIMP-QS013A-EN-P May 2009 5

Table of ContentsChapter 5Motion FactoryTalk View ME Integration

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Selecting Your FactoryTalk View ME Application File . . . . . 57Load and Restore the FactoryTalk View ME Application. . . . 57Configure Local Communication . . . . . . . . . . . . . . . . . . . . . 59Add an Axis to the Project . . . . . . . . . . . . . . . . . . . . . . . . . 61Test the Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Download Fonts to the Terminal . . . . . . . . . . . . . . . . . . . . 67Download the Project to a Terminal . . . . . . . . . . . . . . . . . . 69

Chapter 6Motion System Application Guide Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74Start-up Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75Kinetix Axis Faceplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77Alarm History Faceplate . . . . . . . . . . . . . . . . . . . . . . . . . . . 80Equipment Status Faceplate . . . . . . . . . . . . . . . . . . . . . . . . 81Accessing Faceplate/Add-on Instruction Sets . . . . . . . . . . . . 82

Chapter 7Motion Analyzer Motion Profile Export

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84Create a Motion Axis Move (MAM) Motion Profile . . . . . . . . 84Add MAM Instruction to Your RSLogix 5000 Program . . . . . 88

Appendix ALogix Base Program Overview Basic Program Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Understanding Main Machine Control (P00_Machine) . . . . . 92Axis Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98Machine States and Definitions . . . . . . . . . . . . . . . . . . . . . . 98Adding Your Application Code . . . . . . . . . . . . . . . . . . . . . . 99User-defined Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Appendix BAdd-on Application Packages Add-on Application Packages . . . . . . . . . . . . . . . . . . . . . . . 101

Appendix CRockwell Automation Training Services

Rockwell Automation Training Services. . . . . . . . . . . . . . . . 1036 Publication IASIMP-QS013A-EN-P May 2009

Preface

Introduction This quick start provides examples of using a Logix controller to connect to multiple devices (servo drives, motors, and HMI) over the EtherNet/IP network in a Kinetix Integrated Motion application. These examples were designed to get devices installed and communicating with each other in the simplest way possible. The programming involved is not complex, and offers easy solutions to verify that devices are communicating properly.

To assist in the design and installation of your Kinetix Integrated Motion system, application files and other information is provided on the Kinetix Accelerator Toolkit DVD, publication IASIMP-SP004. The DVD provides CAD drawings for panel layout and wiring, base Logix control programs, FactoryTalk View (HMI) application files, and more. For a copy of the DVD, contact your local Rockwell Automation distributor or sales representative. With these tools and the built-in best-practices design, the system designer is free to focus on the design of their machine control and not on design overhead tasks.

You can also download these same supporting files from the Rockwell Automation Integrated Architecture Tools website, http://www.ab.com/go/iatools on the Beyond Getting Started tab.

The beginning of each chapter contains the following information. Read these sections carefully before beginning work in each chapter.

Before You Begin - This section lists the steps that must be completed and decisions that must be made before starting that chapter. The chapters in this quick start do not have to be completed in the order in which they appear, but this section defines the minimum amount of preparation required before completing the current chapter.

What You Need - This section lists the tools that are required to complete the steps in the current chapter. This includes, but is not limited to, hardware and software.

Follow These Steps - This illustrates the steps in the current chapter and identifies which steps are required to complete the examples using specific networks.

IMPORTANT Before using this quick start and the contents of the Kinetix Accelerator Toolkit DVD, read the Terms and Conditions READ ME.pdf on the DVD.Publication IASIMP-QS013A-EN-P May 2009 7

Preface

Required Software To complete this quick start, the following software is required.

Conventions Used in This Manual

This manual uses the following conventions.

Rockwell Automation Software Cat. No. Min Version

RSLogix 5000 9324-RLD300ENE 17

FactoryTalk View Studio for Machine Edition(includes RSLinx Enterprise and RSLinx Classic) 9701-VWMR030AENE 5.00

Motion Analyzer/Motion Selector Download at http://www.rockwellautomation.com/en/e-tools 4.6

Kinetix Accelerator Toolkit DVD IASIMP-SP004 IASIMP-SP004G-EN-C

Convention Meaning Example

Click Click left mouse button once (assumes cursor is positioned on object or selection). Click button to initiate action. Click Browse.

Double-click Click left mouse button twice in quick succession. (Assumes cursor is positioned on object or selection.) Double-click the H1 icon.

Right-click Click right mouse button once. (Assumes cursor is positioned on object or selection.) Right-click the Fieldbus Networks icon.

Drag and dropClick and hold the left mouse button on an object, move the cursor to where you want to move the object, and release the mouse button.

Drag and drop the desired block into the Strategy window.

Select Click to highlight a menu item or list choice. Select H1-1 from the pull-down menu.

Check/uncheck Click to select a checkbox option. Check Consider Case if you want to conduct a case-sensitive search.

>Shows nested menu selections as menu name followed by menu selection. Click File>Page Setup>Options.

Expand Click the + to the left of a given item /folder to show its contents. In the H1-1 window, expand the FFLD.

Enter Used when you can type from the keyboard or choose from a list. Enter the catalog number of the product.

Type Used when the only option is to type from the keyboard. Type the catalog number of the product.

Press Press a specific button on the PanelView terminal or other component with touch-screen technology. Press Axis Control.8 Publication IASIMP-QS013A-EN-P May 2009

Publication IASIMP-QS013A-EN-P May 2009 9

Chapter 1

Hardware Selection

In this chapter you make your motion application hardware selection. You can select from the basic motion control panels or use Motion Analyzer software to size your servo drive and motor.

You can modify the basic motion control panels with up to four axes, a different PanelView Plus terminal, and other optional equipment.

Before You Begin

Determine your base motion system input voltage.

400/460V

200/230V

Verify that your computer meets the software requirements of Motion Analyzer, version 4.6.

What You Need

Kinetix Accelerator Toolkit DVD, publication IASIMP-SP004. For a copy of the DVD, contact your local Rockwell Automation distributor or sales representative

Personal computer with Internet access for downloading software

Motion Analyzer software, version 4.6 is available from:

the Kinetix Accelerator Toolkit DVD, publication IASIMP-SP004

http://www.rockwellautomation.com/en/e-tools

Kinetix Motion Control Selection Guide, publication GMC-SG001

Chapter 1 Hardware SelectionFollow These Steps

Complete the following steps to select your motion system hardware.

Start withBasic Motion Control

Panels?

Yes No

230V or 460VInput Voltage?

230V 460V

Do you wish tofurther verify or changeyour motion selections?

Yes No

Start

page 11

Installing Motion Analyzer Software

page 15

Select Add-on Components

page 15


page 14

Reviewing Basic Panel Component Listings

page 13

Reviewing Basic Panel Component Listings

page 15


page 11

Installing Motion Analyzer Software10 Publication IASIMP-QS013A-EN-P May 2009

Hardware Selection Chapter 1Installing Motion Analyzer Software

Motion Analyzer is a comprehensive motion control software tool with application analysis used for sizing your application. You can download and install Motion Analyzer software from the Web or install the software from the Kinetix Accelerator Toolkit DVD.

Download Motion Analyzer Software From the Web

Follow these steps to download and install Motion Analyzer software.

1. Open your Web browser and go to http://www.rockwellautomation.com/en/e-tools.

The Configuration and Selection Tools webpage opens.

2. Click the System Configuration tab.

3. Click Motion Analyzer.

4. Click Download.

The Motion Software webpage opens.

5. Click the Motion Analyzer Download link and follow the instructions provided.

6. Use Motion Analyzer software to size your motor/drive combinations.Publication IASIMP-QS013A-EN-P May 2009 11

Chapter 1 Hardware SelectionInstall Motion Analyzer Software From the Kinetix Accelerator Toolkit DVD

Follow these steps to install Motion Analyzer software.

1. Install the Kinetix Accelerator Toolkit DVD on your personal computer hard drive.

2. Open the Kinetix Accelerator Toolkit software and click Use the KAT Development Tools.

3. Browse to the Motion Analyzer folder.

4. Double-click the Motion Analyzer version 4.6 application file.

The System View dialog box opens.

5. From the Product Family pull-down menu, choose your servo drive family.

6. Click APPLICATION DATA and enter the data for your motion application.

TIP For motor/drive performance specifications, refer to the Kinetix Motion Control Selection Guide, publication GMC-SG001.

For Motion Analyzer labs, refer to the Motion Analyzer Training Folder on the Kinetix Accelerator Toolkit DVD, publication IASIMP-SP004. For a copy of the DVD, contact your local Rockwell Automation distributor or sales representative.12 Publication IASIMP-QS013A-EN-P May 2009

Hardware Selection Chapter 1Reviewing Basic Panel Component Listings

These tables include servo drives and motors, CompactLogix controller, PanelView Plus terminal (HMI), and accessory components for 400/460V and 200/230V systems. Review the basic component listings and compare with your specific application needs.

400/460V Base System

# Used Components Cat. No. Description

1 Enclosure and panel (HxWxD, approx.)Hoffman 1219 x 609 x 304 mm

(48 x 24 x 12 in.)Rittal

1

Input powerLine Interface Module (LIM)

2094-BL50S 460V, 50 A

1 140U-H-RVM12R Through-the-door disconnect

1 AC Line Filter 2090-XXLF-X330B 3-phase, 30 A

1

Kinetix 6000 Multi-axis Servo Drive System

Power Rail 2094-PRS4 4-slot, slim

1 Integrated Axis Module (IAM) 2094-BC02-M02-S15 kW converter and 10.3 A (rms) inverter output,safe-off feature

1 Axis Module (AM) 2094-BM01-S 6.1 A (rms) inverter output, safe-off feature

2 Axis Module (AM) 2094-BMP5-S 2.8 A (rms) inverter output, safe-off feature

1

Motors MP-Series Low Inertia

MPL-B330P-MK22AA 1.8 kW output with absolute, multi-turn feedback

1 MPL-B320P-MK22AA 1.4 kW output with absolute, multi-turn feedback

2 MPL-B1520U-VJ42AA 0.27 kW output with absolute, multi-turn feedback

2

Cables

Motor Power2090-XXNPMP-16S03 3 m (9.8 ft), MPL-B320P and MPL-B330P

2 2090-XXNPMF-16S03 3 m (9.8 ft), MPL-B1520U

2Motor Feedback

2090-XXNFMP-S03 3 m (9.8 ft), MPL-B320P and MPL-B330P

2 2090-XXNFMF-S03 3 m (9.8 ft), MPL-B1520U

2SERCOS fiber-optic

2090-SCEP3-0 3.0 m (9.8 ft)

3 2090-SCEP0-1 0.1 m (5.1 in.)

1 Ethernet 2711P-CBL-EX04 Enet CAT5 crossover cable 4.3 m (14 ft)

4 Connector kit Feedback 2090-K6CK-D15M Low-profile connector kit for motor feedback

1 HMI PanelView Plus 2711P-T6C20D PanelView Plus 600, 24V dc, ethernet comms

1

Logix controller CompactLogix with EtherNet/IP Configuration

1768-L43 Controller

1 1768-M04SE SERCOS module

1 1768-ENBT Ethernet module

1 1764-PA4 Power supply

1 1769-IQ32 32-point 24V dc input module

1 1769-OB16 16-point 24V dc sourcing output module

1 1769-ECR End cap

1Software

RSLogix 5000 9342-RLD300ENE Application program software

1 FactoryTalk View ME 9701-VWMR030AENE HMI visualization softwarePublication IASIMP-QS013A-EN-P May 2009 13

Chapter 1 Hardware Selection200/230V Base System

# Used Components Cat. No. Description

1 Enclosure and panel (HxWxD, approx.)Hoffman 1219 x 609 x 304 mm

(48 x 24 x 12 in.)Rittal

1

Input powerLine Interface Module (LIM)

2094-AL50S 230V, 50 A

2 140U-H-RVM12R Through-the-door disconnect

3 AC Line Filter 2090-XXLF-X330B 3-phase, 30 A

1Kinetix 6000 Multi-axis Servo Drive System

Power Rail 2094-PRS4 4-slot, slim

1 Integrated Axis Module (IAM) 2094-AC09-M02-S6 kW converter and 10.6 A (rms) inverter output,safe-off feature

1 Axis Module (AM) 2094-AM01-S 6.0 A (rms) inverter output, safe-off feature

1Kinetix 2000 Multi-axis Servo Drive System

Power Rail 2093-PRS2 2-slot

1 Integrated Axis Module (IAM) 2093-AC05-MP2 3 kW converter and 2.0 A (rms) inverter output

1 Axis Module (AM) 2093-AMP1 1.0 A (rms) inverter output

1

Motors MP-Series Low Inertia

MPL-A320P-MK22AA 1.3 kW output with absolute, multi-turn feedback

1 MPL-A230P-VJ42AA 0.86 kW output with absolute, multi-turn feedback

2 MPL-A1530U-VJ42AA 0.39 kW output with absolute, multi-turn feedback

1

Cables

Motor Power2090-XXNPMP-16S03 3 m (9.8 ft), MPL-A320P

3 2090-XXNPMF-16S03 3 m (9.8 ft), MPL-A1530U and MPL-A230P

1Motor Feedback

2090-XXNFMP-S03 3 m (9.8 ft), MPL-A320P

3 2090-XXNFMF-S03 3 m (9.8 ft), MPL-A1530U and MPL-A230P

2

SERCOS fiber-optic

2090-SCEP0-1 0.1 m (5.1 in.)

1 2090-SCEP1-0 1.0 m (3.2 ft)

2 2090-SCEP3-0 3.0 m (9.8 ft)

1 Ethernet 2711P-CBL-EX04 Enet CAT5 crossover cable 4.3 m (14 ft)

2Connector kit Feedback

2090-K6CK-D15M Low-profile kit for Kinetix 6000 motor feedback

2 2090-K2CK-D15M Low-profile kit for Kinetix 2000 motor feedback

1 HMI PanelView Plus 2711P-T6C20D PanelView Plus 600, 24V dc, ethernet comms

1

Logix controller CompactLogix with EtherNet/IP Configuration

1768-L43 Controller

1 1768-M04SE SERCOS module

1 1768-ENBT Ethernet module

1 1764-PA4 Power supply

1 1769-IQ32 32-point 24V dc input module

1 1769-OB16 16-point 24V dc sourcing output module

1 1769-ECR End cap

1Software

RSLogix 5000 9342-RLD300ENE Application program software

1 FactoryTalk View ME 9701-VWMR030AENE HMI visualization software14 Publication IASIMP-QS013A-EN-P May 2009

Hardware Selection Chapter 1Select Add-on Components

Follow these steps to add components to your base system.



3. Browse to the Product Information folders.

4. Identify additional components listed in the Product Information folders that you would like to add to your system.

5. If necessary, identify additional components not listed in the Product Information folders. Contact your local Rockwell Automation distributor or sales representative for more information.Publication IASIMP-QS013A-EN-P May 2009 15

Chapter 1 Hardware SelectionNotes:16 Publication IASIMP-QS013A-EN-P May 2009


Chapter 2

Plan System Layout

In this chapter you layout the system components selected in Chapter 1. Remove components from the basic motion control panel system or add components using the CAD drawings supplied on the Kinetix Accelerator Toolkit DVD. For a copy of the DVD, contact your local Rockwell Automation distributor or sales representative.

Before You Begin

Complete your system hardware selection (refer to Chapter 1).

What You Need

Kinetix Accelerator Toolkit DVD, publication IASIMP-SP004

System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001

System Design for Control of Electrical Noise Video, publication GMC-SP004

Kinetix 2000 Multi-axis Servo Drive User Manual, publication 2093-UM001


Kinetix 7000 High Power Servo Drive User Manual, publication 2099-UM001

Chapter 2 Plan System LayoutFollow These Steps

Complete the following steps to plan your system layout within the enclosure.

UseBasic Motion Control

Panel as is?

Yes No

Start

page 21

Modify Your Motion Panel Layout

page 22

Download Other Allen-Bradley CAD

Drawings

page 20

Verifying Your Basic Panel Layout

page 19

Load Basic System CAD Drawings18 Publication IASIMP-QS013A-EN-P May 2009

Plan System Layout Chapter 2Load Basic System CAD Drawings

The Kinetix Accelerator Toolkit DVD provides CAD drawings, in DWG and DXF format, to assist in planning the layout of your system. The drawings are designed to optimize panel space and to minimize electrical noise.

Follow these steps to load the CAD files from the Kinetix Accelerator Toolkit DVD.

1. Install the Kinetix Accelerator Toolkit DVD to your personal computer hard drive.


3. Browse to the AutoCAD Electrical CAD folders.

4. Double-click the DWG Files or DXF Files folder.

5. Use your CAD program to open these and other enclosure CAD files.

KAT_230_23_PANEL_LAYOUT.dwg

KAT_230_24_ENCLOSURE_LAYOUT.dwg

KAT_CAD_DRAWING_SUMMARY.pdf

6. Identify additional layout needs specific to your application.Publication IASIMP-QS013A-EN-P May 2009 19

Chapter 2 Plan System LayoutVerifying Your Basic Panel Layout

The basic (460V) motion control panel layout is shown below. Included is a four-axis Kinetix 6000 drive system with Line Interface Module (LIM), PanelView Plus 600 terminal, and CompactLogix controller with SERCOS module.

Sample Information from Enclosure Files

IMPORTANT The enclosure CAD drawings were designed using best-practices techniques as shown in the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001. Refer to this publication when making modifications to the basic motion control panel layout.

Refer to your servo drive user manual for panel layout instructions specific to that drive family.

E-STOP RESET

STOPSTART

CLEAN

DIRT

Y

DIRT

Y

DIRTY

CLEAN

CLEA

NCL

EAN

CLEAN

DIRTY

DIRTY

DIRTY

Allen-Bradley PanelView Plus 600

LIM Module

Kinetix 6000Four-axis Drive System(460V is shown)

CompactLogixController

PanelView Plus 600Terminal (HMI)

Through-the-doorDisconnect

Enclosure1219 x 609 x 304 mm(48 x 24 x 12 in.)

Bulletin 800EPPush Buttons

Line

Filt

er (o

ptio

nal)

Ethernet Modem (optional)

Optional Equipment Includes:

Line Filter (required for CE)

PowerFlex 40 ac Drive

Ethernet Modem

Point IO System

Safety Relay

1768-M04SESERCOS Module20 Publication IASIMP-QS013A-EN-P May 2009

Plan System Layout Chapter 2Modify Your Motion Panel Layout

Follow these steps to modify your motion panel layout.

1. Remove equipment from the basic motion control panel CAD drawing you do not need for your application.

2. Install the Kinetix Accelerator Toolkit software and click Use the KAT Development Tools.

3. Browse to the Product Information folders.

4. Copy and paste objects from the optional equipment CAD drawings to the basic motion control panel drawing.

5. Select other hardware, as needed.

Refer to Download Other Allen-Bradley CAD Drawings on page 22. Refer to the Literature Library (http://literature.rockwellautomation.com) for access to publications.

6. Determine if the combination of your duty cycle and selected components require additional cooling.

For enclosure sizing example, refer to your servo drive user manual.Publication IASIMP-QS013A-EN-P May 2009 21

Chapter 2 Plan System LayoutDownload Other Allen-Bradley CAD Drawings

Follow these steps to download other Allen-Bradley product CAD drawings.

1. Open your Web browser and go to http://www.rockwellautomation.com/en/e-tools.

The Configuration and Selection Tools webpage opens.

Product Selection is the default tab.

2. Type the Catalog Number of the product.

3. Click Submit.

The Configuration Results dialog opens.

4. Click the Drawings tab.

5. Click a file to download.22 Publication IASIMP-QS013A-EN-P May 2009


Chapter 3

Plan System Wiring

In this chapter you plan the cable layout for your system components placed in Chapter 2. Use the CAD drawings supplied on the Kinetix Accelerator Toolkit DVD to assist in the routing of wires and cables for your system components. For a copy of the DVD, contact your Rockwell Automation distributor or sales representative.

Before You Begin


Complete your system layout (refer to Chapter 2).

What You Need


CAD files typical of those included on the Kinetix Accelerator Toolkit DVD

KAT_230_1_POWER_DISTRIBUTION.dwg KAT_230_14_DRIVE4_IO.dwg

KAT_230_2_POWER_DISTRIBUTION.dwg KAT_230_15_DRIVE4_ENCODER.dwg

KAT_230_3_230v_POWER.dwg KAT_230_16_DRIVE5_IO.dwg

KAT_230_4_120v_POWER.dwg KAT_230_17_SPARE.dwg

KAT_230_5_LIM_DISTRIBUTION.dwg KAT_230_18_SPARE.dwg

KAT_230_6_SAFETY_RELAY.dwg KAT_230_19_PLC_INPUT.dwg

KAT_230_7_24V_CONTROL_POWER.dwg KAT_230_20_PLC_OUTPUT.dwg

KAT_230_8_DRIVE1_IO.dwg KAT_230_21_POINT_IO.dwg

KAT_230_9_DRIVE1_ENCODER.dwg KAT_230_22_POINT_IO.dwg

KAT_230_10_DRIVE2_IO.dwg KAT_230_23_PANEL_LAYOUT.dwg

KAT_230_11_DRIVE2_ENCODER.dwg KAT_230_24_ENCLOSURE_LAYOUT.dwg

KAT_230_12_DRIVE3_IO.dwg KAT_230_25_NETWORK_CONNECTIONS.dwg

KAT_230_13_DRIVE3_ENCODER.dwg KAT_CAD_DRAWING_SUMMARY.pdf

Chapter 3 Plan System Wiring Kinetix 2000 Multi-axis Servo Drive User Manual, publication 2093-UM001



Line Interface Module Installation Instructions, publication 2094-IN005

System Design for Control of Electrical Noise, publication GMC-RM001

System Design for Control of Electrical Noise Video, publication GMC-SP004

Documentation that came with your other Allen-Bradley products

Refer to the Literature Library (http://literature.rockwellautomation.com) for access to publications.

Follow These Steps

Complete the following steps to plan the installation and wiring of your system components within the enclosure.

Start

page 26

Routing Cables for Your Integrated Motion Panel

page 27

Laying Out Power and I/O Cables

page 29

Laying Out SERCOS and Ethernet Cables

page 25

Load Basic System CAD Diagrams24 Publication IASIMP-QS013A-EN-P May 2009

Plan System Wiring Chapter 3Load Basic System CAD Diagrams

The Kinetix Accelerator Toolkit DVD provides CAD diagrams, in DWG and DXF format, to assist in the planning of your system wiring. The diagrams are designed to optimize panel space and to minimize electrical noise.

Follow these steps to load CAD files from the Kinetix Accelerator Toolkit DVD.



3. Browse to the AutoCAD Electrical CAD folders.

4. Double-click the DWG Files or DXF Files folder.

5. Use your CAD program to open these and other enclosure CAD files.

KAT_230_23_PANEL_LAYOUT

KAT_230_24_ENCLOSURE_LAYOUT

KAT_CAD_DRAWING_SUMMARY.pdf

6. Use your CAD program to open these and other wiring diagram CAD files.

KAT_230_1_POWER_DISTRIBUTION

KAT_230_25_NETWORK_CONNECTIONSPublication IASIMP-QS013A-EN-P May 2009 25

7. Identify additional wiring needs specific to your application.

Chapter 3 Plan System WiringRouting Cables for Your Integrated Motion Panel

This system enclosure diagram is an example of the four-axis motion control panel, including noise zones. The enclosure CAD drawings are provided as examples of best-practices techniques used to minimize electrical noise, as covered in the System Design for Control of Electrical Noise Reference Manual, publication GMC-RM001.

The enclosure diagram provides designators that coordinate with the wiring diagrams, illustrating where to route your power and I/O cables.

Sample Information from Enclosure Files

IMPORTANT Refer to your servo drive user manual for installation and wiring instructions specific to that drive family. For other equipment shown in your CAD drawings, refer to the installation instructions that came with those products.

DIRT

Y

DIRT

Y

DIRTY

CLEAN

CLEA

NCL

EAN

CLEAN

DIRTY

DIRTY

DIRTY

C1

C2

C3D5

D6

D1

C1

D3

D2

D4

DIRTY D6

CLEAN C2

LIM Module

Kinetix 6000Four-axis Drive System(460V is shown)

CompactLogixController

Line

Filt

er (o

ptio

nal)

Ethernet Modem (optional)

PowerFlex 40(optional)

CLEAN wireway for noise sensitivedevice circuits.

DIRTY wireway for noise generatingdevice circuits.

Noise Zone Legend26 Publication IASIMP-QS013A-EN-P May 2009

Plan System Wiring Chapter 3Laying Out Power and I/O Cables

This diagram is an example of routing power and I/O cables, including the noise zones. The diagram provides designators that coordinate with the enclosure diagram, indicating where to route your power and I/O cables. To locate the noise zones in your enclosure (D1, D2, C1, C2, for example), refer to the diagram on page 26.

Sample Information from Wiring Diagram Files

D3,2,4

D4,2,3,1

D4 D3

D4,2,3

D4

D4

480VAC, 3-PHASECUSTOMER SUPPLIED

LOA

D O

UTP

UT

PB01

PE

E-STOP

2 L3

1 IO_PWR 1

1 PE

3 IO_PWR1

2 IO_COM1

4 IO_COM1

6 IO_COM1

5 IO_PWR1

4 L1

3 L2

GRN-YEL X AWG

KINETIX 6000LINE INTERFACE MODULE

(LIM)2094-BL75S

IPL

I/O (IOL)

7 COIL_E1

17 CONSTAT_12

18 CONSTAT_22

21 SHIELD

20 CONSTAT_54

19 CONSTAT_32

8 COIL_E2

10 SHIELD

9 ALRM_M

11 ALRM_B

14 CONSTAT_21

13 CONSTAT_11

12 ALRM_COM

16 CONSTAT_53

15 CONSTAT_31

24VDC POWER RUNGS

AU

XIL

IARY

230

VAC

24V

DC

I/O

OU

TPU

T PO

WER

24VDC POWERTO AXIS MODULES

230VAC POWER RUNGS

230VAC RESISTIVE BRAKE MODULE

02-19P1L-1

02-19P1L-2

XX-XXP1L-3

XX-XXP1L-4

02-01P2L-1

02-01P2L-2

XX-XXP2L-3

XX-XXP2L-4

IO_PWR2 5

IO_COM2 6

IO_PWR2 1

IO_COM2 4

IO_COM2 2

IO_PWR2 3

AUX1_L1 3

AUX2_L2 2

AUX1_L2 4

AUX2_L1 1

P1L

P2L

PE

2ND STAGE30A-LF OPTION

CBL01

4C #xAWG BRAIDED SHIELD

LINE FILTER

L3

GG

L3

L1

L2L2

L11

2

3

GRN/YEL

WIRE GAUGE

0801LF001

CO

NTR

OL

VAC

L3' 2

PE 1

L1 2

L2/N 1

L1' 4

L2' 3

CPL

OPL

PE GND BAR

The heavy diagonallines identify which

wires are included inthe noise zone.Publication IASIMP-QS013A-EN-P May 2009 27

Chapter 3 Plan System Wiring0000

CED

PLC OUTPUT

AXIS 1 ENABLE 22-28O:0.13/08

22-2824COM

8 +OT

12 CUST_COM

9 CUST_COM

10 CUST_24V

11 -OT

U 1

V 2

PE 4

SHLD

W 3

6 CUST_COM

7 CUST_24V

4 CUST_24V

3 CUST_COM

5 HOME

2 ENABLE

1 CUST_24V

15 REG_COM

16 REG_24V

17 REG2

18 REG_COM

13 REG_24V

14 REG1

19

HOME SWITCH

PLUSOVERTRAVEL

MINUSOVERTRAVEL

REGISTRATION

#18 BLU

#18 WHT/BLU

24COM

O:0.13/08

INPUT

MOTOR BRAKE CABLE

I/O (IOD)MP

PWR 3

DBK- 2

DBK+ 1

COM 4

MBK+ 5

MBK- 6

OFF

ON

ON

2090-XXXX-XXX

CBL-MTR1-BC

FDBK

AUX

FDBK

MOTOR

8M OFF

SW3

OFF

ON8M

4M

BC

DIP SW.

RATE

BAUD

1

3

SW1

ON

OFF

HI

LO

POWER

BAUD

OPTICAL

ON4M

SW2

2

22

23 DAC0

21

20

24 DAC_COM

TXRX

25 DAC1

26 DAC_COM

SEE INTERCONNECT DRAWINGFOR FIBER OPTIC CONNECTIONS

SERCOS

2090-XXXX-XXX

MOTOR POWER CABLE

CBL-MTR1 PWR

ENCODER CONNECTOR

POWER CONNECTOR

SERVO MOTOR WITH FEEDBACKMOTOR NAME HERE

AXIS 1

BRAKE

2090-XXXX-XXX

MOTOR FEEDBACK CABLE

CBL-MTR1-FB

PE

PE

06-110611 CED-1

06-160616 CED-2

CEN- 1

CEN+ 2

GND

6 L1

5 L2

2 CTL2

1 CTL1

1 DC-

4 L3

3 PE

2 DC+

WHT/BLU

BLU

14 AWG

0611 CED-1

0616 CED-2

KINETIX 6000INTEGRATED AXIS

MODULE (IAM)AB

2094-BC02-M02-S

NOTE: BOLT STEEL BRAID ON RIGHT SIDE OF THE POWER

UNGROUNDED

CPD

IPD

P13

JUMPER

GROUND

GROUND JUMPER

P14 TO P13 FOR

P12 TO P13 FOR

P12

P14

SWITCHES

ADDRESS

SERCOS

GROUNDED

PE

CBL02

4C #xAWG BRAIDED SHIELD

1

2

3

GRN/YEL

AXIS 01

D3

D3

D4,2,3

D3,1,5

C2,1,3

C1,3

C3,1,2

D5,1,6

The D3,1,5 designator specifies that the motor power and brake cables route from the drive to wireway D3, then D1, and finally D5 as illustrated on page 26.

The C2,1,3 designator specifies that the motor feedback cable routes from the drive to wireway C2, then C1, and finally C3 as illustrated on page 26.

The heavy diagonallines identify which

wires are included inthe noise zone.28 Publication IASIMP-QS013A-EN-P May 2009

Plan System Wiring Chapter 3Laying Out SERCOS and Ethernet Cables

This diagram is an example of wiring SERCOS and Ethernet cables, including the noise zones. The diagram provides designators that coordinate with the panel diagram, indicating where to route your SERCOS and Ethernet cables.

Sample Information from Wiring Diagram Files

10 mm

[1 Inch]

SCALE:

18.50 [47/64]

118.

00 [4

41/

64]

80.5

0 [3

11/

64]

PanelView +600

PANELVIEW PLUS, 600

COMPACTLOGIX SYSTEM

PanelView +400

PANELVIEW PLUS, 400

PanelView +400

PANELVIEW PLUS, 400

KINETIX 4 AXIS MOTION

1768-MO4SE1764-PA4

1768-ENBT 1768-L43

1769-ECR1769-IQ32

1769-OB16

10/100MBPSETHERNET

9300-RADESG

NODE 05

TXRXTXRXTXRXTXRX

NODE 04NODE 03NODE 01

SERCOS FIBER-OPTIC RING

RXTX

AXIS 0 AXIS 1 AXIS 2 AXIS 3

OPTIONAL ETHERNET/MODEM

COLOR TOUCHSCREEN W/ EHTERNET

COLOR TOUCHSCREEN W/ EHTERNET

COLOR TOUCHSCREEN W/ RS232

OPTIONAL

2090-SCEP0-1

2090-SCEP0-1

2090-SCEP0-9

USER SUPPLIEDDIAL UP(PSTN)

C1,3

C3,1C3,D5,1

(requires braided conduit)Publication IASIMP-QS013A-EN-P May 2009 29

Chapter 3 Plan System WiringNotes:30 Publication IASIMP-QS013A-EN-P May 2009


Chapter 4

Motion Logix Integration

In this chapter you configure your RSLogix 5000 application file. Logix application file (IMCMx_Base_1_00.acd) is included in the Controller Program Files folder on the Kinetix Accelerator Toolkit DVD. The Logix application file is a 2-axis generic base application file.

After you open the file, you configure the Logix processor and drive modules, add axes, I/O, and communication modules if needed, and download the program. Refer to Logix programming manuals for additional device configuration and programming requirements.

Before You Begin



Complete your system wiring (refer to Chapter 3).

What You Need


RSLogix 5000 software, version 17.0 or later

RSLinx Classic software, version 2.54 or later

Logix application file IMCMx_Base_1_00.acd

Logix files are available on the Kinetix Accelerator Toolkit DVD. For a copy of the DVD, contact your local Rockwell Automation distributor or sales representative.




Logix5000 Motion Modules User Manual, publication LOGIX-UM002

Chapter 4 Motion Logix IntegrationFollow These Steps

Complete the following steps to configure your Logix Integrated Motion application.

Start

Configure Your Logix Controller

page 34

Configure Your Logix SERCOS Module

page 35

Configure Your Kinetix Drive Modules

page 46

Configure and Add AOI Instructions

page 49

Configure Axis Properties

page 48

Load and Open Logix Application File

page 33

Add Logix Program Code for Additional Axes

page 37

Configure Logix Communication

page 52

Save and Download Your Program

page 5332 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 4Load and Open Logix Application File

The IMCMx_Base_1_00.acd Logix file is preconfigured for two axes of SERCOS based drives. You can configure this file for any Kinetix 2000, Kinetix 6000, or Kinetix 7000 drive with a ControlLogix or CompactLogix controller.

Follow these steps to load and open the Logix application file from the Kinetix Accelerator Toolkit DVD.



3. Browse to the Controller Program Files.

4. Open the V16 and V17 Logix Files folder.

5. Double-click the IMCMx_Base_1_00.acd application file.

TIP The file name is derived from the Modular Programming guidelines and represents the ControllerName_ControllerFamily_MajorRev_MinorRev.acd.Publication IASIMP-QS013A-EN-P May 2009 33

Chapter 4 Motion Logix IntegrationThe RSLogix 5000 software launches and your application file opens.

Configure Your Logix Controller

Follow these steps to configure your Logix controller.

1. Apply power to your Logix chassis containing the SERCOS interface module.

2. In RSLogix 5000 software, from the Edit menu choose Controller Properties.

The Controller Properties dialog box opens.

3. Click the General tab.

a. Click Change Controller and choose the controller type to match your actual hardware.

b. Modify the controller Name, as appropriate.

c. From the Chassis Type pull-down menu, choose your Logix chassis.(this step is not required for CompactLogix controller setup).

d. Enter the Logix controller Slot (leftmost slot equals 0, this step is not required for CompactLogix controller setup).34 Publication IASIMP-QS013A-EN-P May 2009

4. Click OK.

Motion Logix Integration Chapter 4Configure Your Logix SERCOS Module

Follow these steps to configure your Logix module.

1. Right-click I/O Configuration in the Explorer dialog and choose New Module.

The Select Module dialog box opens.

2. Expand the Motion category and select 1756-MxxSE or 1768-M04SE as appropriate for your actual hardware configuration.

3. Click OK.

The New Module dialog box opens. Your new module appears under the I/O Configuration folder in the Explorer dialog.

a. Type the module Name.

b. Enter the Slot where your module resides.

For CompactLogix systems, the processor module is slot 0. Slot numbering increments left and right from slot 0.

c. From the Electronic Keying pull-down menu, choose your keying option.

d. Check Open Module Properties.

4. Click OK.

Electronic Keying Selection Guidelines

Compatible Choose Compatible Keying if you require the major version of RSLogix 5000 software to match your motion modules major firmware revision.

Exact Choose Exact Keying if you require the major and minor version of RSLogix 5000 software to match your motion modules major firmware revision.

Disable Choose Disable Keying if you are unsure.Publication IASIMP-QS013A-EN-P May 2009 35

Chapter 4 Motion Logix IntegrationThe Module Properties dialog box opens.

5. Click the SERCOS Interface tab.

Leave default values unless they differ from drive settings. Refer to the Logix5000 Motion Modules User Manual, publication LOGIX-UM002, for more information.

6. Click OK.

TIP If you are using a ControlLogix controller, you have to repeat steps 16 for each additional SERCOS module. 36 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 4Add Logix Program Code for Additional Axes

This section provides instructions for adding Logix program code by using the Import/Export feature if your application requires additional axes. Duplicating the already tested program code of an existing axis is easier and faster than creating it yourself.

These procedures summarize the process.

Import Program from the Default Location

Change Tag Names

Add Machine Control Code for Your New Axis

Import Program from the Default Location

The CompactLogix base application file (IMCMx_Base_1_00.acd) contains program code for two servo axes and one virtual axis. In this example, you will duplicate the program code of AXIS_01 and create AXIS_03.

Follow these steps to duplicate a servo axis and create another axis.

1. Open the IMCMx_Base_1_00.acd application file and choose File>Import Component>Program.

The Import Program dialog box opens.Publication IASIMP-QS013A-EN-P May 2009 37

Chapter 4 Motion Logix Integration2. Select P01_Axis01.L5X.

3. From the Into pull-down menu, choose MainTask.

4. Click Import.

The Import Configuration dialog box opens.

Change Tag Names

In this example, you change tag names to suit your specific application.

Follow these steps to change tag names.

1. From the Final Name pull-down menu, choose P03_Axis3.

The Operation field becomes active.38 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 42. From the Operation pull-down menu, choose Create.

3. Click Program Tags and check for tags to modify.

There are no tags to modify.Publication IASIMP-QS013A-EN-P May 2009 39

Chapter 4 Motion Logix Integration4. Click Routines and check for tags to modify.

There are no tags to modify.

5. Click Tags and check for tags to modify.

The Tags dialog box has the generic Final Name tags of N01_Axis01 that you can change to N03_Axis03 to match your specific axis.40 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 46. Change the Final Name tags to N03_Axis03.

7. Click OK.

The program for the axes and N03_Axis03 is created.

8. Repeat steps 17 to create another axis.Publication IASIMP-QS013A-EN-P May 2009 41

Chapter 4 Motion Logix IntegrationAdd Machine Control Code for Your New Axis

The control code for the machine requires editing to incorporate each additional axis. After completing the Program Import, you must save, verify, download, and test your code.

This is the machine level program that contains subroutines with code that needs to reference the new axis.

In Example 1, a rung of code from the R02_EnableDisable_FaultReset routine in the P00_Machine program was modified to incorporate Axis03. A latch was added to make Axis03 enabled along with the other two axes when the Machine Enable (MACH01_CTRL_CMD.ENABLE) is issued.

Example 1

IMPORTANT All of these routines require editing to reference the new axis. The example given is typical of what each routine needs to incorporate the additional axis into the program.42 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 4In Example 2, a rung of code from the R02_EnableDisable_FaultReset routine in the P00_Machine program was modified to incorporate Axis03. An unlatch was added to make Axis03 disabled along with the other two axes when the Machine Enable (MACH01_CTRL_CMD.DISABLE) is issued.

Example 2

In Example 3, a rung of code from the R03_MachineStatus routine in the P00_Machine program was modified to incorporate Axis03. The OK bit is ANDed with the other axes to create an overall Machine status.

Example 3

IMPORTANT In example 3, the R03_MachineStatus routine must be modified to include all status information for Axis03.Publication IASIMP-QS013A-EN-P May 2009 43

Chapter 4 Motion Logix IntegrationIn Example 4, a rung of code from the R07_MachineReset routine in the P00_Machine program was modified to incorporate Axis03. The FaultReset bit is set to initiate a fault reset in the Axis03 program.

Example 4

Before

After44 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 4In Example 5, a rung of code from the R08_MachineStop routine in the P00_Machine program was modified to incorporate Axis03. The Stop bit is set to initiate an Axis Stop in the Axis03 program.

Example 5

Before

AfterPublication IASIMP-QS013A-EN-P May 2009 45

Chapter 4 Motion Logix IntegrationConfigure Your Kinetix Drive Modules

Follow these steps to configure your Kinetix drive modules.

1. Right-click the new Logix SERCOS module you created and choose New Module.

The Select Module dialog box opens.

2. Select your Drive Module as appropriate for your actual hardware configuration.

3. Click OK.

The New Module dialog box opens.

a. Name the module.

b. Enter the Node address in the software to match the node setting on the drive (refer to your drive user manual for instructions).

c. From the Electronic Keying pull-down menu, choose your keying option. (choose Disable Keying if unsure).

d. Check Open Module Properties.

4. Click OK.

IMPORTANT If you are using a preconfigured CompactLogix application file (IMCMx_xaxis_v00x.acd), your Logix SERCOS module is configured in slot 1. If this does not match your actual hardware configuration, go to Configure Your Logix SERCOS Module on page 35 to change the assigned slot number.46 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 4The Module Properties dialog box opens.

5. Click the Associated Axes tab.

6. Assign AXIS_01 to the node address.

7. Click Apply.

8. Click the Power tab.

9. From the Bus Regulator Catalog Number pull-down menu, choose the appropriate option from the following table.

(1) Drive will not accept Internal, , 2094-BSP2, or 1394-SRxxxx selection if DC bus voltage is present without having three-phase power applied.(2) Drive will not accept CommonBus Follow selection if three-phase power is applied.

For more information, refer to your servo drive user manual.

10.Click OK.

11.Repeat steps 110 for each drive module.

If your integrated axis module (IAM) is And your hardware configuration includes this shunt option Then choose

Configured as an IAM module orLeader IAM (common bus) module (1)

Internal shunts only Internal or

Bulletin 2094 (rail mounted) shunt module 2094-BSP2

Bulletin 1394 passive shunt module (connected to catalog number 2094-BSP2) 1394-SRxxxx

Bulletin 1336 active shunt module Internal or

Configured as a Follower IAM module (2) N/A. Shunts are disabled on Follower IAM module CommonBus FollowPublication IASIMP-QS013A-EN-P May 2009 47

Chapter 4 Motion Logix IntegrationConfigure Axis Properties

Follow these steps to configure axis properties.

1. Right-click the first physical axis (Axis_01) in the Explorer dialog and choose Properties.

Axis V01_Virtual is a virtual axis. Virtual axes are software based with no physical output, but have full axis functionality.

The Axis Properties dialog box opens.

2. Click the Drive/Motor tab.

a. From the Amplifier Catalog Number pull-down menu, choose your Kinetix drive.

For the amplifier catalog number, refer to the amplifier name plate.

b. Click Change Catalog.

The Change Catalog Number dialog box opens.

c. Enter your Motor Catalog Number.

For the motor catalog number, refer to the motor name plate.

d. Click OK.

e. From the Loop Configuration pull-down menu, choose Position Servo.

TIP Drive Enable Input Checking, when checked, means a hard-drive enable input signal is required to enable the drive. When unchecked, the requirement is removed and only a software instruction (MSO) is required to enable the drive.48 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 43. Click the Motor Feedback tab and verify that the Feedback Type shown is appropriate for your actual hardware configuration.

4. Click the Units tab and edit default values as appropriate for your application.

5. Click the Conversion tab and edit default values as appropriate for your application.

6. Click OK.

7. Repeat steps 16 for each axis module.

For more information on configuring axes, refer to the Logix5000 Motion Modules User Manual, publication LOGIX-UM002.

Configure and Add AOI Instructions

There are two Add-On Instructions (AOI) that are part of the base Logix program file. These AOIs work together to pass information to the FactoryTalk View ME application, specifically the Kinetix Axis Status faceplate. These are the two AOIs:

AOI_Kinetix_ErrorCode

AOI_Kinetix_Faceplate

The AOI_Kinetix_ErrorCode function is to read faults from a Kinetix servo drive. The AOI instruction for the error-code reading is embedded into AOI_Kinetix_Faceplate. The AOI_Kinetix_Faceplate passes fault code and status information to the FactoryTalk View ME application.

In this section you establish a path from the drive to the AOI_Kinetix_Faceplate instruction. If you added axes to your Logix program, you also need to add AOI_Kinetix_Faceplate instructions for the new axes.

Configure AOI_Kinetix_Faceplate Instruction

Follow these steps to configure the AOI_Kinetix_Faceplate instruction.

1. Expand the P00_Machine program and double-click R20_GUI_Interface. Publication IASIMP-QS013A-EN-P May 2009 49

Chapter 4 Motion Logix Integration2. In rung 1 of the AOI_Kinetix_Faceplate instruction, click the ellipse for the Ref_MSG_IDN95 tag, N01_Axis01_FP_MSG.

The Message Configuration dialog box opens.

3. Click the Communication tab.

The Path field may already contain your drive name, N01_Axis1 in this example.

In any case, we recommend that you browse to your drive to verify the path.

4. Click Browse.

The Message Path Browser dialog box opens.

5. Expand I/O Configuration and select your drive.

N01_Axis1 is used in this example.

6. Click OK.

The Message Configuration dialog box returns.

7. Click Apply to accept the path.

8. Click OK to close the Message Configuration dialog box.

9. Repeat steps 18 for each axis.50 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 4Add an AOI_Kinetix_Faceplate Instruction

If you added axes to the Logix program file, you need to create an AOI_Kinetix_Faceplate instruction to reference the new axes.

You can use the current AOI instructions as a reference when creating additional instructions (tags and configuration, for example). You can also refer to Accessing Faceplate/Add-on Instruction Sets, on page 82, and search by ME Faceplate/AOI for Kinetix Servo Drives V16/17, in the Sample Code library, for more information.

You also need to duplicate the code for the Alarm History faceplate in the R20_GUI_Interface routine.

This is an example of the code added for Axis03.Publication IASIMP-QS013A-EN-P May 2009 51

Chapter 4 Motion Logix IntegrationConfigure Logix Communication

This procedure assumes that your communication method to the Logix controller is using the Ethernet protocol. It is also assumed that your Logix Ethernet module has already been configured. For additional information, refer to the ControlLogix Controllers User Manual, publication 1756-UM001.

Follow these steps to configure Logix Communication.

1. In the RSLinx Classic software, from the communications menu, choose Configure Drivers.

The Configure Drivers dialog box opens.

2. From the Available Driver Types pull-down menu, choose the Ethernet Devices.

3. Click Add New.

The Add New RSLinx Classic Driver dialog box opens.

4. Name the new driver.

5. Click OK.52 Publication IASIMP-QS013A-EN-P May 2009

Motion Logix Integration Chapter 4The Configure driver dialog box opens.

6. Type the IP address of your Logix Ethernet module.

The IP address shown is an example. Yours will be different.

7. Click Add New.

8. Click Apply.

9. Click OK.

10. In the Configure Drivers dialog box, click Close.

11.From the Communications menu, choose RSWho.

The RSWho dialog box opens.

a. Expand the 1756-ENBT module until your controller is visible.

b. Verify that you can browse to your Logix controller.

c. Minimize the RSLinx application dialog box and return to your RSLogix 5000 project.

Save and Download Your Program

After completing the Logix configuration, you must download your program to the Logix controller.

Follow these steps to save and download your program.

1. Click the Verify Controller icon on the RSLogix 5000 toolbar.

The system verifies your Logix controller program and displays errors/warnings, if any.

TIP If your Logix Ethernet module is already configured, the IP address is displayed on the module.

TIP You can ignore warnings related to Duplicate Destructive Bits. They are part of the logic.Publication IASIMP-QS013A-EN-P May 2009 53

Chapter 4 Motion Logix Integration2. From the File menu, choose Save As.

3. From the Communications menu, choose Who Active.

The Who Active dialog box opens.

4. Browse to your Logix controller and click Set Project Path.

5. Verify that the key switch on your controller module is in the REM (remote) position.

6. Click Download.

The Download dialog box opens.

7. Click Download to send the program to the Logix controller.

8. Verify that the three Logix SERCOS module indicators are steady green.

9. Verify that the drive seven-segment indicator has reached phase 4.

If step 9 fails, refer to your servo drive user manual for troubleshooting tables.

If step 9 does not fail, you are prompted to change the Controller mode back to Remote Run.

10.Click Yes.54 Publication IASIMP-QS013A-EN-P May 2009


Chapter 5

Motion FactoryTalk View ME Integration

In this chapter you configure your FactoryTalk View ME application file. Two FactoryTalk View ME application archive files (.apa) are included in the HMI Application Files folder on the Kinetix Accelerator Toolkit DVD.

You can choose a:

Two-axis base application archive file for PanelView Plus 600 terminals.

Two-axis base application archive file for a PanelView Plus 1000 terminal.

After file selection, you configure communication, add axes if needed, test the project, download the program, and run the application.

Before You Begin




Complete your Logix Integration procedures (refer to Chapter 4).

What You Need


FactoryTalk View Studio - Machine Edition software, version 5.00 or later

RSLinx Enterprise software, version 2.50 or later

FactoryTalk View ME application archive file (IMME_PVPxxx_1_xx.apa)

FactoryTalk View ME files are available on the Kinetix Accelerator Toolkit DVD. For a copy of the DVD, contact your local Rockwell Automation distributor or sales representative.

Chapter 5 Motion FactoryTalk View ME IntegrationFollow These Steps

Complete the following steps to configure your FactoryTalk View Studio - Machine Edition Integrated Motion application.

Start

Load and Restore the FactoryTalk View ME

Application

page 57

Configure Local Communication

page 59

Test the Project

page 66

Download the Project to a Terminal

page 69

Add an Axis to the Project

page 61

Download Fonts to the Terminal

page 67

Selecting Your FactoryTalk View ME

Application File


Motion FactoryTalk View ME Integration Chapter 5Selecting Your FactoryTalk View ME Application File

Load and Restore the FactoryTalk View ME Application

Follow these steps to load and restore the FactoryTalk View ME application file from the Kinetix Accelerator Toolkit DVD.



3. Browse to the Generic HMI Base Application files.

PanelView Terminal FactoryTalk View ME File Name Description

PanelView Plus 600 IMME_PVP600_1_xx.apa FactoryTalk View ME file for generic base application. Can be configured for any Kinetix 2000, Kinetix 6000, or Kinetix 7000 drive configuration and PanelView Plus terminal.PanelView Plus 700/1000 IMME_PVP1000_1_xx.apaPublication IASIMP-QS013A-EN-P May 2009 57

Chapter 5 Motion FactoryTalk View ME Integration4. Double-click your selected FactoryTalk View ME (.apa) application archive file.

The Application Manager dialog box opens.

5. Click Restore the FactoryTalk View Machine Edition application.

6. Click Next.

Another Application Manager dialog box opens.

In this example, the IMME_PVP1000_1_00.apa file is selected. Yours could be different.

7. Click Finish.

After file restoration is complete, the application closes.

IMPORTANT Selecting Restore the FactoryTalk View Machine Edition application and FactoryTalk Local Directory will cause the local security settings on your personal computer to substitute for the security setting from the preconfigured application.58 Publication IASIMP-QS013A-EN-P May 2009

Motion FactoryTalk View ME Integration Chapter 5Configure Local Communication

The Design (Local) tab in Communication Setup reflects the view of the topology from the RSLinx Enterprise server on the development computer. In this example application, the development computer is communicating with the CompactLogix L43 controller via the Ethernet network. Other Logix controllers are also available.

Follow these steps to configure design communication.

1. Apply power to your Logix controller.

2. Connect your motion-system communication network cable to your Logix controller and personal computer.

3. Open the FactoryTalk View Studio software.

The New/Open Machine Edition Application dialog box opens.

4. Click the Existing tab.

5. Select your FactoryTalk View ME application file.

IMME_PVP1000_1_00 is used in this example.

6. Click Open.

The FactoryTalk View Studio - Machine Edition application opens.Publication IASIMP-QS013A-EN-P May 2009 59

Chapter 5 Motion FactoryTalk View ME Integration7. Expand RSLinx Enterprise in the Explorer dialog box.

8. Double-click Communication Setup.

The Communication Setup dialog box opens.

9. In the Communication Setup dialog box, click the Design (Local) tab.

10.Select the CLX device shortcut.

11.Expand the RSLinx Enterprise tree to gain access to your Logix controller.

0, 1768-L43 is used in this example.

12.Select your Logix controller.

0, 1768-L43 is used in this example. Yours could be different.

13. In the Device Shortcut dialog box, click Apply.

14.Click Copy from Design to Runtime.

IMPORTANT RSLinx Enterprise software will autobrowse to the controller if the controller is available on the network. Refer to http://www.rockwellautomation.com/solutions/integratedarchitecture/resources4.html and click FactoryTalk View Machine Edition Quick Start Videos, if RSLinx Enterprise fails to display your controller.60 Publication IASIMP-QS013A-EN-P May 2009

Motion FactoryTalk View ME Integration Chapter 5The Runtime (Target) tab displays the offline configuration from the perspective of the device that is running the application and comprises the topology that is loaded into the PanelView Plus terminal. In this example, the PanelView Plus terminal communicates to the same Logix controller via the Ethernet network.

15.Click Yes when prompted to perform the task.

16.Click OK at the bottom of the Communication Setup dialog box to accept all changes and close the Communication Setup dialog box.

Add an Axis to the Project

The IMME_PVP1000_1_00 file has two preconfigured axes for use. In this section you will add an additional axis to the project file.

All the displays in the project file are parameterized to facilitate quick editing and reuse throughout the application. The following Kinetix Axis Status Faceplate contains fault indicators, status information, and control functions that are common to all configured axes (Axis01Axisxx).

Kinetix Axis Faceplate

TIP If you deselect the device shortcut (CLX) and then select it again, the Logix controller should be highlighted. This indicates that the shortcut is correctly mapped to the controller, and communication exists between your application on the development computer and the controller.

IMPORTANT If the preconfigured two-axis application fits your application needs, skip this section and go to Test the Project beginning on page 66.Publication IASIMP-QS013A-EN-P May 2009 61

Chapter 5 Motion FactoryTalk View ME IntegrationAdd the Parameter File

Follow these steps to add a parameter file to your FactoryTalk View Studio - Machine Edition application.

1. Expand the FactoryTalk View Studio Explorer dialog box to gain access to Parameters.

The parameters list contains the preconfigured axes within the application. Each parameter file is associated to a specific axis. When opening the Kinetix Axis Faceplate, the tag information loads from the axis currently selected.

2. Right-click 02_N01_Axis01 and choose Duplicate.

The Save component name dialog box opens.

3. Name the new parameter file.

4. Click OK.

5. Double-click the parameter file just created.

The axis parameters dialog box opens.

In each parameter file, there are four references to specific tags or partial strings. The ! before any text indicates that line is a comment. The # before a number indicates a parameterized tag.

Parameter #1 represents the Axis Tag structure in Logix.

Parameter #2 represents the Add-On Instruction (AOI) Faceplate instruction that provides information to the HMI.

Parameter #3 contains the shortcut name to the controller (CLX in this example). This should match the shortcut name created in Error! Reference source not found.

Parameter #4 represents a Logix Tag that provides information to the HMI.

TIP Use a similar naming convention. For example, 02_N03_Axis03.62 Publication IASIMP-QS013A-EN-P May 2009

Motion FactoryTalk View ME Integration Chapter 56. Edit parameters #1, #2, and #4 to match the new axis.

In this example:

#1=::[CLX]N01_Axis01 becomes #1=::[CLX]N03_Axis03.

#2=::[CLX]N01_Axis01_FP becomes #2=::[CLX]N03_Axis03_FP.

#4=::[CLX]N01_Axis01_CTRL becomes #4=::[CLX]N03_Axis03_CTRL.

7. From the file menu, choose Save.

8. Repeat steps 27 as necessary for your axis count.Publication IASIMP-QS013A-EN-P May 2009 63

Chapter 5 Motion FactoryTalk View ME IntegrationAdd a GoTo Display Button

Follow these steps to add a GoTo Axis Status Faceplate display button.

1. Expand the FactoryTalk View Studio Explorer dialog box to gain access to the Graphic Displays.

2. Double-click display 01_Startup to open the display dialog box.

3. Right-click Kinetix N01_Axis01 and choose Duplicate.

4. Double-click the copy of the GoTo display button just created.

The GoTo Display Button Properties dialog box opens.

5. From the Parameter file pull-down menu, choose 02_N03_Axis03 that you created in Add the Parameter File on page 62.

6. Click the Label tab.

7. Change the text to match your axis name.

8. Click Apply.

9. Click OK.

10.Arrange GoTo buttons on the Startup display as needed.64 Publication IASIMP-QS013A-EN-P May 2009

Motion FactoryTalk View ME Integration Chapter 5Modify Axis/Machine Names

Your FactoryTalk View ME application file now contains program code for three axes, however, you may want to rename the axes from N01_Axis01, N02_Axis02, and N03_Axis03 to something more meaningful for your application, like N01_Conveyor, for example.

Follow these steps to rename the axes in your FactoryTalk View ME program.

1. Expand the Explorer dialog box to gain access to Parameters.

Refer to Add the Parameter File, on page 62, to see how that was done.

2. Double-click the N01_Axis01 Parameter file.

3. Rename the #1, #2, and #4 shortcuts to match the axis names used in your RSLogix 5000 program file.

4. Repeat steps 2 and 3 for each axis to rename.

You may also want to rename the machine from MACH01 to something more meaningful, like Cartoner, for example.

Follow these steps to rename the machine in your FactoryTalk View ME program.

1. Expand the Explorer dialog box to gain access to Parameters.

2. Double-click the 01_Startup parameter file.

3. Rename the #2 shortcut to match the machine name used in your RSLogix 5000 program file.

IMPORTANT You must also change the tags in RSLogix 5000 software. It is critical that they match or the FactoryTalk View ME applicatioin will not work properly.

You must also modify the 04_EquipmentStatus parameter file to reflect any axis name changes. Refer to Equipment Status Faceplate on page 81 for more information.Publication IASIMP-QS013A-EN-P May 2009 65

Chapter 5 Motion FactoryTalk View ME IntegrationTest the Project

FactoryTalk View Studio software lets you create and test individual displays or the entire project, so that you can navigate and test all the functionality before downloading your project to a terminal.

Follow these steps to test your FactoryTalk View Studio project.

1. From the Application menu, choose Test Application or click the Test Application icon.

The FactoryTalk View Studio software compiles the project and runs it as if it were executing on the desired terminal.

2. Test the functionality of the project and fix errors, as necessary.

3. Press Ctrl-x from the keyboard to end testing and shut down the application.

IMPORTANT To test run the project, all communication must be configured first.66 Publication IASIMP-QS013A-EN-P May 2009

Motion FactoryTalk View ME Integration Chapter 5Download Fonts to the Terminal

Because PanelView Plus terminals do not include the Arial Bold font when shipped, and the FactoryTalk View ME applications require this font, you must download Arial Bold from your personal computer to the PanelView Plus terminal.

Follow these steps to download fonts to the PanelView Plus terminal.

1. Apply power to the PanelView Plus terminal.

2. Connect your Ethernet cable between your PanelView Plus terminal and personal computer.

3. From the Tools pull-down menu, choose Transfer Utility.

The Transfer Utility dialog box opens.

4. Click to browse for the source font file.

The Select File to Download dialog box opens.Publication IASIMP-QS013A-EN-P May 2009 67

Chapter 5 Motion FactoryTalk View ME Integration5. Navigate to C:\WINDOWS\Fonts.

6. From the Files of type pull-down menu, choose True Type Font Files.

7. Enter Arialbd.ttf in the File name field.

8. Click Open.

The Transfer Utility dialog box returns.

9. Expand the Ethernet, Ethernet driver.

10.Select your PanelView Plus terminal.

11.Click Download.

The font transfers to the terminal.68 Publication IASIMP-QS013A-EN-P May 2009

Motion FactoryTalk View ME Integration Chapter 5Download the Project to a Terminal

Follow these steps to download your FactoryTalk View ME Studio project.

1. Connect your PanelView Plus terminal to your system network.

2. Apply power to the PanelView Plus terminal.

3. From the Application menu, choose Create Runtime Application.

The Create Runtime Application dialog box opens.

4. Make sure Runtime 5.0 Application (*.mer) is set as the Save as Type.

5. Enter a File name for the application.

IMME_PVP1000_1_00.mer is used in this example.

6. Click Save.

7. Click the File Transfer Utility icon from the tool bar.

The Transfer Utility dialog box opens.Publication IASIMP-QS013A-EN-P May 2009 69

Chapter 5 Motion FactoryTalk View ME Integration8. Click to browse for the runtime file.

9. Select the runtime file you created.

IMME_PVP1000_1_00.mer is selected in this example.

10.Click Open.

The Transfer Utility dialog box opens.70 Publication IASIMP-QS013A-EN-P May 2009

Motion FactoryTalk View ME Integration Chapter 511.Check Run application at start-up and then Replace communications.

12.Expand Ethernet, Ethernet to browse for your PanelView Plus terminal.

For more information on configuring communication to your devices, refer tohttp://www.rockwellautomation.com/solutions/integratedarchitecture/resources4.html and click FactoryTalk View Machine Edition Quick Start Videos.

13.Click Download.

The file transfers to the PanelView Plus terminal. When the download has completed, the terminal resets and runs the application.

14.Click OK when the download is complete.

15.Click Exit to close the Transfer Utility dialog box.

16.From the file menu, choose Close to close the FactoryTalk View ME program.Publication IASIMP-QS013A-EN-P May 2009 71

Chapter 5 Motion FactoryTalk View ME IntegrationNotes:72 Publication IASIMP-QS013A-EN-P May 2009


Chapter 6

Motion System Application Guide

In this chapter you are guided through the preconfigured FactoryTalk View ME application that interfaces with the preconfigured Logix program that controls your motion system. You will run your motion system in Program mode and Operator mode, and use the built-in axis status and diagnostics.

Before You Begin




Complete your Logix Integration procedures (refer to Chapter 4) and download the Logix program to your controller.

Complete your FactoryTalk View ME Integration procedures (refer to Chapter 5) and download the FactoryTalk View program to your HMI terminal.

What You Need

Kinetix Accelerator Toolkit DVD, publication IASIMP-SP004. For a copy of the DVD, contact your local Rockwell Automation distributor or sales representative.

Hardware installation and wiring complete with power applied.

Motion Logix application file (IMCMx_v1_00.acd) downloaded to ControlLogix or CompactLogix controller. Controller is set to run.

FactoryTalk View ME runtime application file downloaded to the PanelView Plus terminal. Run Application activated on terminal.

ATTENTIONTo reduce the possibility of unpredictable motor response, disconnect all loads from your motors until initial axis tuning is complete. For the tuning procedure, refer to your servo drive user manual.

Chapter 6 Motion System Application GuideFollow These Steps

Complete the following display overview steps to run the preconfigured application and gain an understanding the general motion system operation.

Start

Start-up Display

page 75

Equipment Status Faceplate

page 81

Kinetix Axis Faceplate

page 77

Alarm History Faceplate

page 80

Accessing Faceplate/Add-on Instruction

Sets


Motion System Application Guide Chapter 6Start-up Display

With power applied to your Kinetix Integrated Motion system, and the Logix controller and PanelView Plus terminal in Run mode, the Startup Screen (01_StartupScreen) display automatically opens on your PanelView Plus terminal.

The Startup Screen display provides a general launch point for various application faceplates (displays) that provide system control, status, and alarm history. You see this display at startup and you can configure it to suit your machine or system. The icons on the screen let you navigate to the other faceplate displays.

Machine Control

The Machine Status indicators provide a view of all the axes for a single machine.

The Reset Machine button attempts to clear faults on all axes. The condition that caused the fault must be corrected before the reset is successful.

The Program/Operator Control mode button lets you toggle between the two Control modes. The active Control mode appears in the Control field. Pressing the Control mode button causes the Control mode to change. The machine must be in a stopped state before you can switch to the other mode.

When in Program control, pressing Start begins the machine cycle and pressing Stop brings the machine to a controlled stop. Start and Stop are disabled when in Operator control.

When in Operator control, you can jog individual axes forward and reverse, and home an axis.

IMPORTANT If the Startup Screen display is not visible or errors are reported on either the Logix controller or PanelView Plus terminal, refer to previous chapters to check system wiring and configuration settings.

Control Mode Button(press to change mode)Active Control ModePublication IASIMP-QS013A-EN-P May 2009 75

Chapter 6 Motion System Application GuideProgram/Operator Mode

Follow these steps to start and stop the motion system in Program control.

1. Press the Control mode button until Program is displayed in the Control field.

Program is now the active mode. Operator appears dimmed beneath Program.

2. Press Start.

The required axes enable and begin operating according to the Logix program. When the system is running, Start appears dimmed and Stop is active.

3. Press Stop.

The motion system stops.

4. Press the Control mode button until Operator is displayed in the Control field.

In Operator control, you can use the Kinetix Faceplate display to manually control an axis.

IMPORTANT Start and Stop on your PanelView Plus terminal do not replace a hardwired start/stop control circuit for safety purposes. Your motion system should also have an emergency start/stop control circuit.

IMPORTANT The machine must be in a stopped state to switch modes.76 Publication IASIMP-QS013A-EN-P May 2009

Motion System Application Guide Chapter 6Kinetix Axis Faceplate

The Kinetix Axis faceplate provides axis status information, fault information, and trending data. The standard faceplate also includes the ability to manually control the axis.

1. Press Kinetix N01_Axis01 on the Startup Screen display.

The Kinetix_Axis_01 faceplate opens.

2. Make sure the Machine Control indicates Operator control.

3. Press Axis CTRL.

The Axis Control display opens. From this display you have the ability to home, enable, disable, and reset an axis fault.

Fault Display

Axis Control Display

Axis Status Display

Configuration Display

Trend Display

HelpPublication IASIMP-QS013A-EN-P May 2009 77

Chapter 6 Motion System Application Guide4. Press the Fault Display icon.

If a fault condition exists, the icon flashes yellow.

The Fault display reads the fault code from the Kinetix drive and displays the code and the fault description.

If there is no active fault, the display shows the last fault condition recorded.

5. Press the Help icon to view the fault description and actions.

You can reset faults from the Startup display or, if in Operator control, from the Axis Control (Axis CTRL) display.

6. Press the Configuration Display icon.

You can enter display names and units as required for your application. Some of the labels are used on the Equipment Status faceplate.

Press arrows to switch between displays.78 Publication IASIMP-QS013A-EN-P May 2009

Motion System Application Guide Chapter 67. Press the Trend Display icon.

The Trend display lets you view torque, actual velocity, and actual position trends of your motion system axes over time.

The Trend Configuration icon is only visible on the Trend Display.

8. Press the Trend Configuration icon.

The Trend Configuration display lets you adjust the trend scale.

9. Press Axis Status.

The Axis Status display lets you view general motion, axis, and drive status.

10.Press the arrow to see more status indicators.

Green = ON state

Gray = OFF state

TrendConfiguration IconPublication IASIMP-QS013A-EN-P May 2009 79

Chapter 6 Motion System Application GuideAlarm History Faceplate

The Alarm History Faceplate files include preconfigured alarm triggers and messages for PowerFlex drives, Kinetix Motion Axes, and the E3 Plus Overload Relay family of devices.

The Alarm History faceplate works in conjunction with other faceplates and provides a history of the device alarms and warnings that are configured to its alarm triggers. The other faceplates include the following:

ME_PowerFlex_Faceplates/AOIs

ME_Kinetix_Faceplates/AOIs

ME_SafeIO_Faceplates/AOIs

ME_E3 Plus_Faceplates/AOIs

This is an example of the Alarm History faceplate.

The Alarm History Faceplate is already configured for use with axes in the Kinetix Accelerator Toolkit DVD, and can be modified to include the other devices.

For more information on configuring Alarm History faceplates, refer to the ME Alarm History Faceplate User Instructions. To download this information from the Sample Code Library, refer to Accessing Faceplate/Add-on Instruction Sets on page 82.80 Publication IASIMP-QS013A-EN-P May 2009

Motion System Application Guide Chapter 6Equipment Status Faceplate

The ME Equipment Status Faceplate files let you quickly load and configure a summary display of preconfigured status and diagnostic displays (faceplates) for FactoryTalk View Machine Edition software. The Equipment Status faceplate works in conjunction with individual device faceplates and provides a single summary display of all the faceplates that may be configured for an application. You can configure up to nine device faceplates to run with the Equipment Status faceplate and each device faceplate can be launched directly from it.

This example shows the Equipment Status Faceplate that is part of the Kinetix Accelerator Toolkit DVD. This faceplate is configured for two Kinetix drives and provides device state along with four status values to be monitored. You can modify the unit labels on the configuration screen of the individual device faceplate.

For more information on configuring Equipment Status faceplates, refer to the ME Equipment Status Faceplate User Instructions. To download this information from the Sample Code Library, refer to Accessing Faceplate/Add-on Instruction Sets on page 82.Publication IASIMP-QS013A-EN-P May 2009 81

Chapter 6 Motion System Application GuideAccessing Faceplate/Add-on Instruction Sets

Follow these steps to access Faceplate/Add-on Instruction Sets.

1. Go to http://www.rockwellautomation.com/solutions/integratedarchitecture/resources5.html.

The IA Tools>Beyond Getting Started dialog box opens.

2. Click Faceplate/Add On Instruction Sets.

3. Click Faceplates/AOI Sets.

The Search Results dialog box opens.

4. Refine your search by using the New Search field.

a. For Alarm History faceplate instructions, type ME Alarm History.

b. For Equipment Status faceplate instructions, type ME Equipment Status.

5. Click to begin your search.

6. Click the Zip file icon and download the contents to your hard drive.82 Publication IASIMP-QS013A-EN-P May 2009


Chapter 7

Motion Analyzer Motion Profile Export

In this chapter you create a Motion Axis Move (MAM) profile by using Motion Analyzer software and exporting the MAM instruction to your Logix program. Motion Analyzer is a comprehensive motion-control software tool with application analysis used for sizing your application.

Motion Analyzer software, version 4.6 or later, creates a move profile while sizing your servo application and includes a Profile Editor that is capable of exporting Motion Moves and Complex Motion Move profiles to your RSLogix 5000 program.

This chapter does not cover the sizing of your motion application by using Motion Analyzer software, only the export of the profile to your RSLogix 5000 program. To download Motion Analyzer software, refer to Installing Motion Analyzer Software on page 11.

Before You Begin


Install Motion Analyzer software, version 4.6 or later, on your hard drive.

Complete your Logix Integration procedures (refer to Chapter 4).

What You Need

Kinetix Accelerator Toolkit DVD, publication IASIMP-SP004. For a copy of the DVD, contact your local Rockwell Automation distributor or sales representative.

Motion Analyzer software, version 4.6 or later.

RSLogix 5000 software, version 17.0 or later.

Logix application file IMCMx_Base_1_00.acd. Logix files are available on the Kinetix Accelerator Toolkit DVD.

Chapter 7 Motion Analyzer Motion Profile ExportFollow These Steps

Complete the following steps to create a Motion Axis Move (MAM) ins

Documents

Iasimp-qs013_-En-p Ab Kineytics Plc Based Motion