k300 Indexing Logix5000

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Lab 1: See What the Kinetix 300 Can Do

The Kinetix 300 can operate in two modes when being controlled over Ethernet from a Logix Controller.

The modes are Ethernet/IP External Reference and Indexing.

Ethernet/IP External Reference:

In this Drive Mode, the controller program can take advantage of the Kinetix 300 Add-On Profile (AOP)

that is included in RSLogix5000 v19. After adding a Kinetix 300 drive to the I/O Configuration the AOP

creates an Input and Output TAG structure that can be used to read status information from the drive and

write configuration data to the drive.

The drive can then perform three different types of motion, based on application need. They are position,

velocity or current. In this lab we will demonstrate a simple point-to-point incremental position motion

profile.

Indexing:

In this Drive Mode, we can execute any of the 32 indexes configured in the drive or write indexes down to

the drive as needed via a message instruction. We will demonstrate how to write several index

configurations to the drive using an AOI and then execute them.

The following lab steps the user through loading the necessary files to get the Kinetix 300 servo drive up

and running to see some of its functionality in action.

In this lab, you will:

Download configuration file to the Kinetix 300 via MotionView software.

Download RSLogix5000 program file (.acd) to the Compact GuardLogix controller.

Run the drive to execute a velocity jog and configured index moves.

IMPORTANT:This demo unit processor contains a flash card with logic files that are designed to

download on a power cycle (demo unit power OFF/ON). WHEN YOU NEED TO CYCLE THE DEMO

POWER, YOU WILL NEED TO DOWNLOAD YOUR LAB PROGRAM (.ACD file) TO OVERWRITE THE

FLASH CARD LOGIC FILE!

Follow the steps below to set up the Demo hardware box (before Lab 1). Important: doing this will reset

your demo unit to a known, default state

1. Turn Power on the demo unit (Power toggle switch above the input power).

2. Connect the Ethernet cable going into the Ethernet module on the Compact GuardLogix rack

3. Make sure there is an Ethernet cable connected from the Ethernet switch and your PC workstation

(this is likely already done for you)


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4. Open the file C:\Lab Files\K300_CMSS_START.ACD

5. Click the Communicationsmenu item and select Who Active.

6. From the dialog navigate to the controller (IP Address 192.168.1.36, slot 0) and click the Download

button.

7. When the download warning dialog displays, click the Downloadbutton to download the .acd file to

the controller.

8. Change the controller to Run Mode.

9. Click the Communicationsmenu item and select Go Offline.

Follow the steps below to complete Lab 1:

10. Power off the demo unit (Power toggle switch above the input power).

11. Important: Disconnect the Ethernet cable going into the Ethernet module on the CompactLogix rack.

12. Using three (3) of the provided patch cables, jumper the K300 Safe Torque Offconnections per the

following diagram below:


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21. Once the configuration loads, a dialog will appear informing you that a REBOOT of the drive is

necessary. Click OKand Cycle Powerto the demo case.

Download Program File to the Controller

22. Connect the Ethernet cable going into the Ethernet module on the Compact GuardLogix rack.

23. Open the file C:\Lab Files\K300_CMSS_LAB_1.ACD


25. From the dialog navigate to the controller (IP Address 192.168.1.36, slot 0) and click the Downloadbutton.


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26. When the download warning dialog displays, click the Downloadbutton to download the .acd file to

the controller.


Spin the Motor

The program starts out in Indexing Mode. The Amber light (labeled DI2/DO0) will be illuminated.

28. Make sure the Redselector switch (labeled DI1/DO3) is turned to the left.

29. Press the Greenbutton to start the indexing routine.

Two different indexes are sent down to the drive and then executed. The indexes are setup as

follows:

Review the Index routine (R6_Index_Mode) to see how the code controls the Kinetix 300 drive.

30. Turn the Redswitch to the rightand back to the leftto stop the Index run sequence.


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31. Now lets run the drive in Ethernet/IP External Referencemode. Press the Amberbutton (labeled

DI2/DO0) to switch drive mode. Amberlight should now be off.

32. Press the Greenbutton to start the Ethernet/IP External Reference routine.

Two point-to-point incremental motion profiles are configured and sent to the drive via the AOP tags.The profiles are as follows:

Review the Ethernet/IP External Reference routine (R5_EnetIP_ExRef_Mode) to see how the code

controls the Kinetix 300 drive.

This concludes Lab 1. The goal was to see how the Kinetix 300 can be controller via Ethernet. The

following labs will go into more detail on configuring the drive and program from the ground up.


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7. Read the warning dialog window and answer YES, I haveprompt.

The MotionView OnBoard Software window opens.

8. To attach to your drive, click Connect.


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9. Enter the drives IP Address and click Connect.

TIP: You could also use the Discoveroption to locate drives on your subnet.

The software uploads the drive information.


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10. After the software connects to the drive, click on the Drive Identificationin the Drive Organizerto

see a system summary.

NOTE: The Drive Identification is labeled with the drive name, IP address and status. The system

summary displays valuable information such as firmware version, catalog number and serial number.

11. Reset the drive, to restore factory defaults to all drive parameters, by clicking the Restore Defaults

button at the top of the window. Click Yesto confirm your action and when the process is complete,

press OKto confirm the reset.

NOTE: The IP Address was not affected by the restore defaults.

Motor Selection

12. Move to the Motorbranch in the Drive Organizer.


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13. Lets look at the motor that is selected.

The motor that is in the demo unit is a TLY-A110P-BJ62AA. This motor has an absolute encoder

(multi-turn), so the drive communicates with the encoder to get the motor model number and

populates it for you.

This TLY motor employs a battery to maintain the absolute motor position, which is usually located in

the feedback low-profile connector. Because the demo does not contain a battery, a Battery Error is

indicated. This will not affect the motor operation, only the ability to maintain position if the motor

rotates more than one revolution without power.

NOTE: Allen-Bradley motors and actuators with intelligent feedback devices will automatically be

populated into the motor configuration. For Allen-Bradley motors and actuators with incremental

encoders, the device would need to be chosen from a listing of available motors.

Choosing the Operating Mode

The Kinetix 300 drive can operate in one of several modes which are shown below:

Auto Tune

EtherNet/IP External Reference

Master Gearing

Step and Direction

Analog Velocity Input

Analog Current Input

Indexing

This lab will focus on modes; Auto Tune, Indexing and EtherNet/IP External Reference.


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14. Move to the Generalbranch in the Drive Organizer.

15. Lets take a look at the General settings.

You can see that the Drive Mode is currently set to Auto Tune (this is the default mode after a restore

defaults is executed). This is the first operation that we will need to complete, and will be covered in

the next section.

16. Examine the drop down list to see the other available drive modes, however make sure not to change

the mode from Auto Tune.

17. Note the User Unitssetting. For this lab we will use the value of 1.000 Revolutions/Units.

This setting will allow the scaling of all other motion parameters in the drive to match your system

output units. For example, if you had a linear system where 2.5 revolutions of the motor equaled

1mm of travel on the output, you would enter 2.5 here.

NOTE: You cant change the name of the user units.

18. Leave all the other settings in this section at their default values.

Auto Tune the Drive for Indexing Mode

In this section of the lab, we will tune both the position loop and velocity loop of the drive. To tune the

drive, we will first need to enable the drive.

19. Move to the Digital IObranch in the Drive Organizer.

20. Scroll to the bottom of the list and from the drop-down list for Enable Switch Functionchoose Run.

The drive should now be enabled. You can verify this by checking either the main drive branch in the

Drive Organizer or the status indicator on the drive display. The Aindicator will be lit orange.

Below is a listing of the other status indicators for reference.


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In the next lab section we will be Indexing the drive, so we need to tune both the velocity and position

loops. The motor will make two short moves, which you should be able to hear, to tune both loops.

When it completes the gain values will display in a dialog window.

25. Accept the gain parameters by clicking Yes.

26. Click the red Stop/Resetbutton (in the top right corner of the java window) to disable the drive.

Command the Drive in Indexing Mode

27. Return to the Generalbranch in the Drive Organizerand from the drop-down list change the DriveModeto Indexing.


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34. Click the Abort Indexingbutton to stop motion.

Homing the Drive

35. Navigate to the Homingbranch of the Drive Organizer.

36. Set the Homingparameters as shown.


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37. For the Homing Method choose Marker Forward (ID 34) from the drop-down list.

38. Click the Start Homingbutton to initiate the homing sequence.

You should see the motor rotate until it finds the index marker on the encoder and then settle in. The

Homing Status should change from Not Homed to Homed. You can re-initiate the sequence again to

see the motor rotate.

NOTE: The motor in the demo unit has an absolute feedback encoder, but because there is no

battery to power the encoder on a power cycle, the motor is seen as an incremental device. That

means on a power cycle we would need to re-home again for absolute positioning.

39. If you click the Monitor branchof the Drive Organizeryou have access to all the status information

within the drive.

40. Go back to the Indexing branch and configure an index to do an Absolute Position move and monitor

the status information. You may need to configure the Action to Stop if the move continuously

executes.


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6. Next, double-click the Controller Tagsand navigate to the K300_N1tags as shown.

7. Click the +beside the K300_N1:I, you will see all the attributes that have been created by the Kinetix

300s AOP (Add on Profile) this is the input image, or the values that are sent from the drive to the

controller every RPI scan. A few of the more used tags include, Actual Position, Actual Velocity,

Motor Current (Torque), and Position Error.

8. Click the +beside the K300_N1:O, you will see all the attributes that have been created by the

Kinetix 300s AOP(Add On Profile) this is the output image, or the values that the controller sends

to the drive every RPI scan. A few of the more used tags include, DriveEn and the various mode

configuration settings that will be explained in the next lab.


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6. Double-Click on the Controller tags again, and you will see now some of the AOP values are now

populated with information as we are now online with the drive. For example, the axis should

have a position value in the ActualPosition tag.

Important: If your Kinetix 300 drive has a yellow ! marknext to it, verify the IP address and the

Drive model number. If something is not correct, delete the existing drive and repeat the steps in Lab

Important: RESETTING DRIVE FAULTS. If the Kinetix 300 drive has an E code (drive fault) on the

front display, you can clear this by toggling the rotary switch DI1/DO3 ON then OFF again.

7. Start the automated sequence by pushing the Greenround button (DI0/DO1)on the demo.

This will start the run sequencer (Note: make sure the rotary switch DI1/DO3is OFF).

8. To end the sequence, turn Rotary switch DI1/DO3 ON.

This switchis used to clear faults on the drive and to stop the sequence.


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9. Double-click on the R5_EnetIP_ExRef_Modesubroutine to open it.

Explanation of the Logic

Rung 1: Starts the sequence (pushing the Greenbutton DI0/DO1).The sequence will only start if

there are no faults on the drive

Rung 2: Sets the correct drive mode of operation. In this case, Mode 1 corresponds to

EtherNet/IP External Reference. This is done via an Explicit Message instruction to a

parameter location in the K300 drive.

Drive Mode of the General tab in MotionView.

Rung 3: Sets the .ReferenceSource to two (2). In this case (as you can see from the rung

comment), we are doing an Incremental Position motion profile.

Rung 4: Set the parameters for the incremental position move, we set the Distance of the index,

the velocity of the index, and Acceleration/Deceleration limits

Note: Notice that the MOVinstruction moves the local value into the Output tag of the drive

(K300_N1:O.CommandPosition, for example). This is how we configure the parameters of

the drive via the Add-On Profile.

Rung 5: Enables the drive. Again, this is all done by writing to the Output tag of the AOP.

Rung 6: Starts executing the first motion profile.


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Rung 8: When the first motion profile is finished, the program will dwell for 500ms and load the

second motion profile values.

Rung 9: Starts executing the second motion profile.

Rung 10 & 11: When the second motion Profile is complete, the program will dwell for 500ms andstart the first profile again.

10. Modify the value for the Motion Profile 1 Distanceby changing Command Position from 20 to

30.

Note: If a negative value for CommandPositionis entered, this will cause the motor to travel in

the reverse direction.

11. Repeat the above step for the Velocity (Must be Positive), Acceleration and Deceleration (Must

be > 0). Choose your own values for these parameters.

12. Runthe new motion profile.

13. Close the RSLogix 5000 program when you are done.


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Lab 5: Configure and Run the Kinetix 300 in Indexing Mode


Use a new RSLogix 5000 file, make some modifications that use an Indexing AOI (Add-On

Instruction).

Sequence between two indexes, with a delay in between each.

Download the Program and Execute an Index Profile

1. Open the file, C:\Lab Files\K300_CMSS_LAB_5_START.ACD


3. From the dialog navigate to the controller (IP Address 192.168.1.36, slot 0) and click the

Downloadbutton.

4. When the download warning dialog displays, click the Downloadbutton to download the .acd file

to the controller.



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6. Double-click on the R6_Index_Modesubroutine to open it.

Notice how the logic is very similar to that of the previous lab.

A tag named IndexMode(rung 1) will allow us to change modes of operation in the drive.

If IndexModeis 0, the Kinetix 300 is in Ethernet/IP External Reference mode

If IndexModeis 1, the Kinetix 300 is in Indexing mode

7. Toggle the IndexModebit so its active (ON).

8. Press and release the Green button (DI0/DO1)as in the previous lab to initiate the index.

The index will repeat if you press the button again.

Note: To stop this sequence, turn the Redrotary switch DI1/DO3, ON then OFF.

Also, notice on rung 4 that the code uses an Indexing AOI (Add On Instruction) created to

configure the index. The AOI takes all the parameters of an index and writes them down to the

Kinetix 300 drives Index Assembly object.


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Explanation of Indexing AOI

K300_IndexConfig: a tag of type K300IndexConfig, this tag is created upon the import of the rung andprovides the status bits, EN,DN,ER and the holding location for move parameters you can enter for the

Index. When the instruction enables, the EN bit is set, if the configuration is valid and completes

successfully, the DN bit is set, and if the instruction errors because of an invalid parameter or something

else, the ER bit is set

OutputValues: a tag of type UDT_K300_Index, this is also created upon import and provides a place for

you to auto load the index parameters from an array or other mechanism to load multiple indexes with

one instruction. If you decide to use one AOI per index, as shown in this example, then your Output

values is no more than a Place Holder for your index information, hence the tag name PlaceHolderIndex0

Set_IndexNumber: This is where you enter the index you would like to configure, valid entries are 0-31

IndexDistance: The distance of the index, in engineering units(i.e.: revs, mm, whatever the drive is

configured for), this value can be or + sense to designate direction of the index

IndexSpeed: The speed of the index also in engineering units, this value is + only, a zero or negative

value will result in an error

Index Accel: The acceleration rate for the index in engineering units, this value is + only, a zero or

negative value will result in an error


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Index Decel: The deceleration rate for the index in engineering units. This value is positive and a zero

(0) or negative value will result in an error.

Index Batch: The number of times to repeat the index. A zero (0) or 1 indicates to execute the index

once.

Index Type: 0=Absolute, 1=Incremental, 2=RegistrationAbsolute, 3=RegistrationIncremental,4=Stitched. Any other value will result in an error.

IndexMoveType: 0=Trapezoidal profile, 1=S-Curve profile.

IndexNextIndex: The next index to perform upon completion of current index. Valid entries are 0-31.

IndexNextAction: The next Action to perform upon completion of this index, 0-Stop motion and hold

zero velocity,1- Wait for Start Index Command over EtherNet,2 - Start Next without Stopping (dwell time is

used).

IndexRegistrationDistance: If the Registration Input is configured, once asserted, the index will perform

either an additional Incremental motion of the Distance here, or if Absolute Registration is selected, will

move to an Absolute Position.

IndexDwell: Time to dwell at completion of the index.

IndexMSG: A tag of type MESSAGE,is also created and populated properly for you upon import of the

AOI (including the comms path), this MSG will write the entire Index Assembly Object (ID 115).

Add Another Index

Follow the steps below to add a second index, to execute after the index already in the program code

(Index 0).

1. Take the project Offline, by clicking RemRun > Go Offline.


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2. Right-Click on Rung 4of R6_Index_Modesubroutine, and select Import Rungs.

3. Navigate to the file C:\Lab Files\Rung_Index_Mode.L5Xand click Import.

4. Click onTagsin the organizer.


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5. Change the three (3) references to Index0, to Index1 by editing the tag changing the 0 to a 1.

This is the new index that we will be creating.

The changed references should look like this:

6. Click OKto finalize the import. The new rung is imported below Rung 4 (new Rung 5).

7. More changes to the logic are required for the sequence to execute correctly. Modify the rungs

as shown below.


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Rung 4 before:

Rung 4 after:


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Rung 5 before:

Rung 5 after:


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Rung 6 before:

Rung 6 after:

Rung 7 before:

Rung 7 after:


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Lab 6: Create a Blended Index


Use the existing RSLogix 5000 program and modify it so the 2 indexes represent 1 Blended move

Look at the trend to observe how Blending is functioning

Explanation of a Blended (or Stitched) Index

If the indexing configuration Type is set to Blended, the acceleration and deceleration parameters are not

programmable. Instead, they are calculated internally by the drive based on distance and velocity

between the two points of the move. The index table contains the position and velocities necessary to

assemble the profile.

IMPORTANT The full profile is assembled by stitching together a sequence of positions and velocitiesrather than complete move operations.

1. Open the lab named C:\Lab Files\K300_CMSS_LAB_5_FINAL.ACD

Note: This file is the same as in the previously completed Lab 5.


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3. Downloadthe program to the controller.

4. Make sure the controller is in Run Mode.

5. Make sure the IndexModebit is ON(Rung 1).

6. The same rules from previous labs apply (i.e. Green button starts the sequence, the Red toggle

switch stops the sequence)

7. The sequence should be running the newly created blended index.

8. Expand the Trendfolder in the Controller Organizer and double-click on the Kinetix300trend to

open it.

9. Click Run in the trend window

Notice the blended index has the first index stitched to the second index (the yellow pen

represents the ActualVelocity tag) to create a single index.

Also, the Accel / Decel portions of the index are calculated for you by the drive.

10. You can close the program when you are complete.


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Lab 7: Demonstrating the Safe Off feature of the Kinetix 300 Drive

About this lab

This lab will demonstrate the use of the Kinetix 300 Safe Off input used in the Safety Task of the 1769-

L43S Processor.

Wire up the safe-off connection to the Kinetix 300 to the Logix Controller

Understand the program to allow the Safe Off inputs to work properly

Understanding the Kinetix 300 Drive Safe Torque-off Feature

The safe torque-off circuit, when used with suitable safety components, provides protection according to

ISO 13849-1 Safety Category 3. The safe torque-off option is just one safety control system. All

components in the system must be chosen and applied correctly to achieve the desired level of operator

safeguarding. The safe torque-off circuit is designed to safely remove power from the gate firing circuits

of the drives output power devices (IGBTs). This prevents them from switching in the pattern necessary

to generate AC power to the motor. You can use the safe torque-off circuit in combination with other

safety devices to meet the stop and protection-against-restart requirements of ISO 13849-1.

The safe torque-off feature provides a method, with sufficiently low probability of failure on demand, to

force the power-transistor control signals to a disabled state. When disabled, or any time power is

removed from the safety enable inputs, all of the drives output-power transistors are released from the

ON state, effectively removing motive power generated by the drive. This results in a condition where themotor is in a coasting condition (stop category 0). Disabling the power transistor output does not provide

mechanical isolation of the electrical output, which may be required for some applications. Under normal

drive operation, the safe torque-off switches are energized. If either of the safety enable inputs are de-

energized, the gate control circuit is disabled. To meet ISO 13849-1 safety category 3 both safety

channels must be used and monitored.

Wiring the Kinetix 300 to Use the Safe Off Function

1. Power off the demo unit by clicking the Main Power button OFF.

IMPORTANT:This demo unit processor contains a flash card with logic files that are designed to

download on a power cycle (demo unit power OFF/ON). WHEN YOU NEED TO CYCLE THE DEMO

POWER, YOU WILL NEED TO DOWNLOAD YOUR LAB PROGRAM (.ACD file) TO OVERWRITE THE

FLASH CARD LOGIC FILE!


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2. The Safe Off feature of the drive is currently disabled from the first lab. Now, re-wire the Safe Off

switch per the diagram below.

3. Open the RSLogix 5000 program C:\Lab Files\K300_CMSS_LAB_7_SAFEOFF.ACD.

4. Power Onthe demo box.

5. Downloadthe file to the controller.


Note: There may bean Error code on your drive, this is ok.

Explanation of Safe-Off Function on Demo Box

This lab demonstrates the use of the 1734 Safety Point I/Omodules to control the Safe Offinput to the

Kinetix 300. This lab uses the Red E-Stop Mushroom button, which is internally wired to the 1734-IB8S

Safety Input Module. The Safety Program in the Logix controller is used to detect when the E-Stop is

pulled out. The Logix program then energizes Safety Outputson the 1734-OB8Sthat were hard wired


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per the diagram at the start of this lab.

Note: There is a Red Mushroom Safe-Offbutton on this demo unit. It is currently is wired to use the

MSR57P smart safety relay to monitor safe speed condition. We do not use this button for this lab.


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7. Double-click on the MainRoutinein the SafetyTaskto open it.

8. There are two rungs of logic that were added to manage the Safe-Off feature.

Rung 0: Built in E-Stop function which is tied to Point I/O Safety Input module points 02 and

03. When those two points are OK (i.e. E-Stop is pulled out), the instruction energizes the

Instructions Output bit which is used in Rung 1.

Rung 1: When the E-Stop is OK, output points 00 and 01 are energized on the 1734-OB8S

module. These are the redundant I/O points that are wired to the Kinetix 300 drive Safe Off

Input.

9. Make sure the IndexModebit in R6_Index_Modesubroutine is ON(Rung 1).

10. The Safe Offfunction can be demonstrated by:

a. Run the index sequence by pushing the Greenbutton (DI1/DO3).b. Press the E-Stopbutton on the demo box.

This will stop the sequence from running and fault (E39) the drive (Safe Off is Active).

c. To reset, pull out the E-Stopbutton and clear any faults by toggling the Redswitch(DI0/D01) ONthen OFF.


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Photograph of Hardware:

Basic Setup Diagram:


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Application/Programming

Location Files

C:\Lab Files K300_CMSS_LAB_1.ACDK300_CMSS_LAB_3_START.ACD

K300_CMSS_LAB_5_FINAL.ACD

K300_CMSS_LAB_5_START.ACD

K300_CMSS_LAB_6_FINAL.ACD

K300_CMSS_LAB_7_SAFEOFF.ACD

K300_CSMM_LAB_1_CONFIG.dcf.xmlRung_Index_Mode.L5XK300_CMSS_START.ACD

Additional Equipment Required

Qty Items

1 6 Ethernet Cable

RSLinx - DDE/OPC Topic Configuration

Topic Name Path to Hardware

RSLinx - Driver Configuration


AB_ETH-1 192.168.1.36


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RSLinx Enterprise - Shortcut Configuration


Application Versions

Vendor SoftwareVersion

ServicePack

RA RSLogix 5000 V19

RA RSLinx Classic 2.55.00.16 CPR9 SR2

Java Java for Windows V6.0 Update 21

Documents

k300 Indexing Logix5000