Motion Control PTO Application Building Block Connected Components Accelerator Toolkit

Transcription

1 Quick Start Motion Control PTO Application Building Block Connected Components Accelerator Toolkit

2 Important User Information Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws, and standards. Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. 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. WARNING: Identifies 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. 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. IMPORTANT Identifies information that is critical for successful application and understanding of the product. Labels may also be on or inside the equipment to provide specific precautions. 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. ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE). Allen-Bradley, Connected Components Workbench, Micro830, Micro800, PanelView, Kinetix, Rockwell Software, and Rockwell Automation are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.

3 Where to Start Connected Components Accelerator Toolkit Outline Follow this path to complete your Connected Components Accelerator Toolkit (CCAT) project. Getting Started CCAT with System Design Assistant Quick Start, publication CC-QS035 Chapter 1 - Micro800 Controller PTO Axis Setup Chapter 2 - System Validation RockRockwell Automation Publication CC-QS033A-EN-P - February

4 Where to Start Notes: 4 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

5 Table of Contents Preface About This Publication Terminology Additional Resources Available Connected Components Accelerator Toolkits Chapter 1 Micro800 Controller PTO Axis Setup Before You Begin What You Need Follow These Steps Configure the Kinetix 3 Drive Configure Your Kinetix 3 Drive and Personal Computer Connection Connect to Your Drive Configure Your Drive by Using Connected Components Workbench Software Configure the Micro800 Controller Change to Your Controller Type Configure the PTO Channel I/O Assignment Sensors Configure Drive Communication Configure Communication Attributes Chapter 2 System Validation Before You Begin What You Need Follow These Steps System Overview Configure Your Controller Serial Port Configure Input Filter for High Speed Counter Configure PanelView Component Terminal Communication Settings Connect Your Devices Download Your Program to the Controller Configure the IP Address for Your PanelView Component Terminal Transfer Your HMI Application to the PanelView Component Terminal Validate Your System Understand the Machine Overview Screen Understand the Machine Functions Screen Explore the Command and Status Screen Explore the Axis Configuration Screen Explore the Kinetix 3 and HSC Configuration Screen Explore the Advance Move Screen Rockwell Automation Publication CC-QS033A-EN-P - February

6 Table of Contents Explore the Kinetix 3 Status Screen Explore the Fault Screen Kinetix 3 Drive Component-class User-defined Functional Block Appendix A PTO Application Building Block User-defined Function Block RA_Motion_Move_Cmd User-defined Function Block RA_K3_MBUS_STS User-defined Function Block RA_K3_MBUS_STS_Extended User-defined Function Block Appendix B Global Variables Motion Axis Setup for PTO Building Block Appendix C I/O assignment General Motor and Load Limits Dynamics Homing Appendix D Configure a Series A Kinetix 3 Drive What You Need Configure Your Personal Computer and Kinetix 3 Drive Connection Configure Your Drive with Ultraware Software Configure Your Drive for Modbus Communication Protocol Rockwell Automation Publication CC-QS033A-EN-P - February 2014

7 Preface About This Publication This quick start is designed to provide instructions for implementing a Pulse-Train Output (PTO) motion control of a Kinetix 3 component-class drive by using Connected Components Workbench software and a Micro800 programmable logic controller (PLC). To assist in the design and installation of your system, application files and other information are provided by the Connected Components Accelerator Toolkit (CCAT). The CCAT provides bills of materials (BOM), CAD drawings for panel layout and wiring, control programs, Human-machine interface (HMI) screens, and more. 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. The CCAT is available on the Connected Components Accelerator Toolkit DVD, publication CC-QR002, or through the Rockwell Software Download and Registration System (SDRS) at rockwellautomation/products-technologies/connected-components/tools/accelerator-toolkit.page. 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 that 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 section illustrates the steps in the current chapter and identifies the steps that are required to complete the examples. Rockwell Automation Publication CC-QS033A-EN-P - February

8 Preface Terminology Term (abbreviation) Application Sequence Programs Auto/manual Operation Bill of Materials (BOM) Building Block (BB) Computer-Aided Design (CAD) Connected Components Accelerator Toolkit (CCAT) Connected Components Workbench Connected Components Workbench Project Global Variables State Machine Control Code Tags User-defined Function Blocks (UDFBs) User-defined Object (UDO) Definition User-modified programs that work together with the standard state machine logic to control what the machine does while in the abort, clear, reset, run and stop states. When the PanelView Component terminal is in Auto mode, the controller logic controls the machine and monitors machine status. When the PanelView Component terminal switches to Manual mode, the terminal takes over control. Command buttons and numeric entry fields are available only when the machine is in Manual mode. A list of components needed for your system. Tools for accelerating and simplifying the development of a Micro800 controller-based application. A typical building block includes a starting Bill of Material (BOM), Computer- Aided Design (CAD) drawings, Micro800 controller programs, PanelView Component terminal applications, and a quick start document. A computer-based system developed to facilitate design of mechanical parts. Software with application files and other information to speed the design and startup of component-based machines. Software environment for configuring or programming Micro800 controllers, PanelView Component terminals, Kinetix 3 drives, and other component-level products. A project consists of one or more of the following: Micro800 controller configuration Up to 256 Micro800 controller programs, each with program local variables Micro800 controller global variables PanelView Component terminal application Kinetix 3 drive parameter lists Project variables that can be accessed by any program, including all I/O and system variables. Machine logic for coordinating overall machine operation based on states. The state machine broadcasts commands and receives feedback information from each of the building blocks via user-modified application sequence programs. A PanelView Component term for variables. Function block instructions that can be used like standard function block instructions within any Connected Components Workbench programming language. These can be written by anyone using Connected Components Workbench software. Many UDFBs are posted on the Rockwell Automation sample code website: samplecode.rockwellautomation.com/idc/groups/public/documents/webassets/ sc_home_page.hcst. A collection of PanelView Component terminal screen objects that can be pasted into a new screen. 8 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

9 Preface Additional Resources These documents contain additional information concerning related products from Rockwell Automation. Resource Connected Components Accelerator Toolkit DVD, publication CC-QR002 Micro800 and Connected Components Workbench Getting Started Guide, publication 2080-QR001 Micro800 and Connected Components Workbench Application Guide, publication 2080-QR002 Micro800 Programmable Controller External AC Power Supply Installation Instructions, publication 2080-IN001 Micro800 Plug-in Modules User Manual, publication 2080-UM004 Micro820 Programmable Controllers User Manual, publication 2080-UM005 Micro830 Programmable Controllers User Manual, publication 2080-UM002 PanelView Component Installation Instructions, publication 2711C-IN001 PanelView Component Operator Terminals User Manual, publication 2711C-UM001 Kinetix 3 Component Servo Drives User Manual, publication UM001 Kinetix 3 Host Commands for Serial Communication Reference Manual, publication 2071-RM001 Kinetix 3 Component Servo Drives Installation Instruction, publication 2071-IN001 Description Provides files for the Connected Component Accelerator Toolkits. Provides information on basic Micro800 controller and Connected Components Workbench software functions. Provides procedures for completing basic tasks in Connected Components Workbench software and for using Connected Components Workbench software with component-class products. Provides information on mounting and wiring the optional external power supply. Provides information on installing Micro800 plug-in modules and accessories including wiring and troubleshooting. Provides information on installing Micro820 controllers including wiring and troubleshooting. Provides information on installing the Micro830 Programmable Controller including wiring and troubleshooting. Provides information on installing the PanelView Component HMI terminals including wiring, grounding, and troubleshooting. Provides information about using PanelView Component HMI terminals. Provides a reference guide for Kinetix 3 drive systems, and accessories. It also contains procedures on how to install, wire, and troubleshoot your drive. Provides information on the serial communication commands, both ASCII and ModBus-RTU, for interfacing a motion controller with the Kinetix 3 drive. Provides information on installing your Kinetix 3 drive system. You can view or download publications at To order paper copies of technical documentation, contact your local Allen-Bradley distributor or Rockwell Automation sales representative. Available Connected Components Accelerator Toolkits For the most up-to-date listing of available Connected Components Accelerator Toolkits and related quick starts, refer to these resources: Rockwell Automation Connected Components Accelerator Toolkit website at accelerator-toolkit.page Connected Components Accelerator Toolkit Building Block Project Descriptions Quick Reference, publication CC-QR003 Rockwell Automation Publication CC-QS033A-EN-P - February

10 Preface Notes: 10 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

11 Chapter 1 Micro800 Controller PTO Axis Setup In this chapter, you configure a Pulse-Train-Output channel in a Micro800 controller to control a Kinetix 3 drive. You set up the Modbus RTU communication for the controller to monitor drive status. Before You Begin Review the Getting Started CCAT with System Design Assistant Quick Start, publication CC-QS035. What You Need Kinetix 3 Drive Setup: Personal computer with an available USB port Connected Components Workbench software, version 6 or later RSLinx Classic software 1203-USB converter 2090-CCMUSDS-48AAxx Communication cable Kinetix 3 drive Series B or later; firmware revision or later Micro800 Controller Setup: Personal computer with an available USB port Connected Components Workbench software, version 6 or later USB printer cable (A to B) for personal computer to Micro800 controller communication Micro830 or Micro850 controller with transistor output Rockwell Automation Publication CC-QS033A-EN-P - February

12 Chapter 1 Micro800 Controller PTO Axis Setup Follow These Steps Follow these steps to configure your Micro800 Controller and Kinetix 3 drive for PTO. Start Configure the Kinetix 3 Drive on page 13 Configure Your Kinetix 3 Drive and Personal Computer Connection on page 14 Connect to Your Drive on page 18 Configure Your Drive by Using Connected Components Workbench Software on page 21 Configure the Micro800 Controller on page 24 Configure the PTO Channel on page 26 Configure Drive Communication on page Rockwell Automation Publication CC-QS033A-EN-P - February 2014

13 Micro800 Controller PTO Axis Setup Chapter 1 Configure the Kinetix 3 Drive In this section, you configure your personal computer and Series B Kinetix 3 drive with firmware revision by using Connected Components Workbench version 6 or later software. You can find the hardware series identifier on the label attached to the side of the product. See Figure 1 and Figure 2 to identify the Series of your Kinetix 3 drive. Figure 1 - Label of Series B Kinetix 3 Drive - That Is Supported by Connected Components Workbench Version 6 or Later BULLETIN 2071 Kinetix 3 Component Servo Drive, 400W CAT. NO AP1 SERIES B PN MAX SHORT CIRCUIT 1000,000A INSTRUCTION MANUAL 2071-IN001x-EN-P FIRMWARE VER. V03.01 Figure 2 - Label of a Series A Kinetix 3 Drive - That Is Supported by Ultraware Software Only BULLETIN 2071 Kinetix 3 Component Servo Drive, 1.1A CAT. NO AP1 SERIES A MAX SHORT CIRCUIT 1000,000A INSTRUCTION MANUAL 2071-IN001x-EN-P FIRMWARE VER. V02.00 To configure a Series A Kinetix 3 drive, refer to Configure a Series A Kinetix 3 Drive in Appendix D. Rockwell Automation Publication CC-QS033A-EN-P - February

14 Chapter 1 Micro800 Controller PTO Axis Setup Configure Your Kinetix 3 Drive and Personal Computer Connection Follow these steps to configure the connection between your personal computer and your drive. 1. Verify your Kinetix 3 drive is Series B with firmware revision or later. Refer to page 13 for examples. 2. Use the keypad on the front of the drive to set the following parameters. Parameter Name Parameter Setting Drive Address Pr Serial Port Configuration Pr where, 2-19,200 Kbps Baud Rate 0-8 Data Bits, No Parity, 1 Stop Bit 1 - Modbus-RTU protocol 1 - RS Connect the Kinetix 3 drive to your personal computer by using cables shown here Item Description 1 Kinetix 3 drive USB converter cable, catalog number 2090-CCMUSDS-48AAxx USB converter 4 USB cable 5 Personal computer with Connected Components Workbench software If you are prompted to install drivers, use the recommended drivers. 4. Verify the COM port number of the 1203-USB adapter in Device Manager on your computer, from the Start menu, choose Run. The Run dialog box appears. 5. Type devmgmt.msc in the Open field. 14 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

15 Micro800 Controller PTO Axis Setup Chapter 1 6. Expand the Ports (COM & LPT) group, and locate the Allen-Bradley 1203-USB device. The COM port is specified in parenthesis next to the device name, COM3 in this example. It can be different on your computer. 7. Note your COM port name and close the Device Manager window. 8. To configure an RS-232 DF1 driver, start RSLinx Classic software. 9. From the Communication menu, choose Configure Drivers. Rockwell Automation Publication CC-QS033A-EN-P - February

16 Chapter 1 Micro800 Controller PTO Axis Setup The Configure Drivers dialog box appears. 10. From the Available Driver Types pull-down menu, choose RS-232 DF1 devices. 11. Click Add New. The Add New RSLinx Classic Driver dialog box appears. 12. Type a name for your driver, You can use the default name, if desired. 13. Click OK. 16 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

17 Micro800 Controller PTO Axis Setup Chapter Configure the driver settings. a. From the Comm Port pull-down menu, choose the port number of your 1203-USB serial adapter. b. From the Device pull-down menu, choose PLC-CH0. c. From the Baud Rate pull-down menu, choose baud rate. d. From the Error Checking pull-down menu, choose CRC. IMPORTANT Do not click auto-configure. a b c d 15. Click OK. 16. In the RSLinx tool bar, click the RSWho icon to verify that your drive is properly communicating with RSLinx Classic software. Rockwell Automation Publication CC-QS033A-EN-P - February

18 Chapter 1 Micro800 Controller PTO Axis Setup 17. Expand your RS-232 DF1 driver, and verify that your drive is displayed. It is listed as 01, AB DSI. If the drive is not displayed below the driver, check your COM port and driver settings. 18. Close RSLinx Classic software. Connect to Your Drive Follow these steps to connect to the Kinetix 3 drive. The Kinetix 3 drive must be Series B or later with firmware revision or later. 1. From the Connected Components Workbench Device Toolbox, expand Discover, and click Browse Connections. The Connection Browser dialog box appears. 18 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

19 Micro800 Controller PTO Axis Setup Chapter 1 2. From the Connection Browser, under AB_DF1-1, select your drive (01, AB DSI) and click OK. A drive is added to the Project Organizer and the drive's Device Details window appears in the main project workspace. TIP First time uploads take longer. 3. Follow these step to reset the drive to default settings. This provides consistent drive settings. a. From the Toolbar, click the Wizard icon. Rockwell Automation Publication CC-QS033A-EN-P - February

20 Chapter 1 Micro800 Controller PTO Axis Setup b. Select Kinetic 3 Startup Wizard and click Select. c. Click Reset to Factory Settings. The drive is resets. d. Click Finish. 20 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

21 Micro800 Controller PTO Axis Setup Chapter 1 Configure Your Drive by Using Connected Components Workbench Software Follow these steps to configure your drive parameters for the PTO building block. 1. From the Tool bar, click the Wizard icon. The Available Wizards dialog box appears. 2. From the list, select the Kinetix 3 Configuration wizard and click Select. The application window appears. 3. Follow these steps to configure the Follower mode. a. Click Next until Follower is highlighted. b. From the Set Command Type pull-down menu, choose Step/Direction, Positive Logic. c. From the Controller Output Type pull-down menu, choose Open Collector Input. d. From the 1st Gear Ratio Change pull-down menu, choose Always Enable. e. Type 1:128 for 1st Gear Ratio. e d c b Rockwell Automation Publication CC-QS033A-EN-P - February

22 Chapter 1 Micro800 Controller PTO Axis Setup 4. Follow these steps to configure the encoder. a. Click Next to highlight Encoder. b. Type 1:128 for the Output Ratio. c. From the Encoder Backup Battery pull-down menu, choose Not Installed. b c 5. Follow these steps to auto tune your motor. a. Choose Tuning. b. From the right pane, click Start Autotuning. 22 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

23 Micro800 Controller PTO Axis Setup Chapter 1 6. Follow these steps to configure the Digital Inputs. a. Click Next to highlight Digital Inputs. b. From Input 2 pull-down menu, choose Fault Reset. 7. Follow these steps to configure the Digital Outputs. a. Click Next to highlight Digital Outputs. b. From Output 1 pull-down menu, choose Ready. 8. Click Next. 9. Click Finish. 10. Save the project. 11. Click the Disconnect icon. 12. Upload the online values to project file. 13. Change the Drive Address (Pr0.07) to 1 by using the keypad interface. Rockwell Automation Publication CC-QS033A-EN-P - February

24 Chapter 1 Micro800 Controller PTO Axis Setup Configure the Micro800 Controller In this section you generate or get a Connected Components Workbench project with servo drive for a PTO application. You do this by using the CCAT generation function or download the starting project Starting_PTO_r6 from sample code. To get a starting project go to the website: search?site=sample_code&client=samplecode&output=xml_no_dtd&proxystylesheet=samplecode. Change to Your Controller Type If the starting project does not use your controller, this section shows you how to change it. In this Quick Start, we use Micro800 controller catalog number 2080-LC50-24QBB. Follow these steps to change the controller. 1. Right-click the Micro830 and choose Change Controller. The Controller Change dialog box appears. 24 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

25 Micro800 Controller PTO Axis Setup Chapter 1 2. From the Controller Change dialog box, type and use the pull-down menu to set the following attributes. Attribute Setting Project Name PTO_M850_24QBB_r5 Controller Name Micro850 Controller type 2080-LC50-24QBB 3. Click OK. A new project named, PTO_M850_24QBB_r5, is created in your My Document > CCW folder and the output dialog box reports that the controller change is successful. Rockwell Automation Publication CC-QS033A-EN-P - February

26 Chapter 1 Micro800 Controller PTO Axis Setup Configure the PTO Channel The starting project from sample code website is configured to work with the Kinetix 3 drive and wiring diagram. The default configuration includes a PTO axis. You can find out more about the configuration in Micro800 Controller PTO Axis Setup in Appendix C. For project that is generated with the CCAT generation function the PTO is not configured. You must configure it manually by using Appendix C as a reference. I/O Assignment Each PTO channel has its own fixed and default I/O assignments for its motion functions. For example, PTO channel 0 uses embedded output 0 and 3 for pulse and direction signal and PTO channel 1 uses embedded output 1 and 4. If you make any changes to the I/O assignment from the original project, also make the changes to corresponding hard-wiring. The diagram below shows the I/O assignment for a single PTO application, downloaded from sample code website, a more detail list of I/O assignments for double and triple PTO applications is provided in Appendix C. Figure 3 - I/O Assignment for a Single PTO Application 26 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

27 Micro800 Controller PTO Axis Setup Chapter 1 The output terminal for Drive Reset Output must be properly assigned in each ladder program. The output terminal is on the third branch of rung one each <User-defined prefix>_motion ladder diagram. Figure 4 - Output Terminal for Drive Reset Output Assignment Sensors In the I/O assignment diagram above, there is a section for sensor connections. The sensors are connected to dedicated input terminals corresponding to the PTO channel selected. Figure 5 - Sensor Connections When you add a PTO application using the CCAT System Design Assistant (SDA), you must add three sensors for each one. Identify the sensors and enter them in the Sensor section of the System Design Assistant. Rockwell Automation Publication CC-QS033A-EN-P - February

28 Chapter 1 Micro800 Controller PTO Axis Setup Here's an example of photoelectric type sensor selected and added in the Sensor section of SDA. Figure 6 - Example Of Photoelectric Sensor Type Configure Drive Communication There is no default communication configuration in the starting project file. You must enter the attributes for the drivestatus communication you want to monitor. Enter the attributes for the following variables. Table 1 - Communication Variables Attribute Channel Number Node Address Description The example in the table below uses the name [Axis_01] for the PTO motion building block, communicating through the SERIALISOL plug-in module in slot 1, at a refresh rate of 100 ms interval. Table 2 - Communication Variables Example This is the location of the SERIALISOL plug-in module on the Micro800 controller plug-in slot. This is drive address. Interval This is the refresh rate of the drive status in milliseconds. Attribute Global Variable Name Description Initial Value Description Channel Number Axis_01_Cfg_Channel_Man Channel number in Manual mode control. 5 This indicates that the SERIALISOL plug-in module is Axis_01_Cfg_Channel_Auto Channel number in Auto mode. in plug-in slot 1. Node Address Axis_01_Cfg_NodeAddr_Man Node address in Manual mode control. 1 This indicates that the communicating drive has an Axis_01_Cfg_ NodeAddr _Auto Node address in Auto mode. address of 1. Interval Axis_01_Par_Interval_Man Status refresh in Manual mode control. 100 This indicates that the status refresh for the drive status is 100 ms. Configure Communication Attributes Follow these steps to configure the commutation attributes. 1. From the starting project or the project generated by the CCAT generation function, double-click Global Variables. 2. Scroll to find and select the global variable names that require updating. 28 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

29 Micro800 Controller PTO Axis Setup Chapter 1 3. Type value under the Initial Value column for each variable. 4. Repeat starting at step 1 until you have updated all six variables required for monitoring the drive status. 5. Build and download your project. Rockwell Automation Publication CC-QS033A-EN-P - February

30 Chapter 1 Micro800 Controller PTO Axis Setup Notes: 30 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

31 Chapter 2 System Validation In this chapter, you confirm the following: Communication between controller and PanelView Component terminal Controller generates the appropriate pulse output to control the motor Communication between controller and Kinetix 3 servo drive The operation of the sample code and screens is also explained. Before You Begin Review all steps in Chapter 1. Verify that all of the devices are connected as shown in the wiring diagram. Verify that the Micro800 controller, the Kinetix 3 drive, and the PanelView Component terminal have power applied to them. Review the Getting Started CCAT with System Design Assistant Quick Start, publication CC-QS035. What You Need Personal computer with Connected Components Workbench software version 6 or later installed 6 in. (or larger) PanelView Component terminal and 1761-CBL-PM02 communication cable Kinetix 3 drive and 2080-CCMDSDS-48AA01 communication cable Micro830 or Micro850, transistor-type output controller with 2080-SERIALISOL module USB printer cable (A to B) for personal computer to Micro800 controller communication Rockwell Automation Publication CC-QS033A-EN-P - February

32 Chapter 2 System Validation Follow These Steps Complete these steps to configure, connect your devices, down load program to the controller, transfer HMI application to PanelView component terminal, and validate your system. Start Configure Your Controller Serial Port on page 34 Download Your Program to the Controller on page 41 Configure Input Filter for High Speed Counter on page 36 Configure the IP Address for Your PanelView Component Terminal on page 43 Configure PanelView Component Terminal Communication Settings on Transfer Your HMI Application to the PanelView Component Terminal on page 43 Connect Your Devices on page 39 Validate Your System on page Rockwell Automation Publication CC-QS033A-EN-P - February 2014

33 System Validation Chapter 2 System Overview The PTO Building Block is a device building block that consists of screen designs for PanelView Component terminal and logic code for Micro800 controller to send pulse-train-output commands to control servo or stepper drives. Utilizing the screen design and code, you can perform move commands, homing, and troubleshoot motion faults. The PanelView Component terminal is connected to the embedded serial port of Micro800 controller. The two devices communicate though CIP serial protocol over RS232C with the 1761-CBL-PM002 cable. The Kinetix 3 drive is connected to the embedded I/O terminal of Micro800 controller for pulse-train output and other motion signals with the 2090-DAIO-D5003 cable. The Kinetix 3 drive is also connected to the 2080-SERIALISOL plug-in to monitor servo drive status through Modbus protocol over RS485. The figure below shows a 48 point controller supporting pulse-train output to three drives. A 24 point controller supports pulse-train output to two drives. Figure 7 - A 48 Point Controller Connected to Three Drives for PTO PanelView Component Terminal 1761-CBL-PM02 Modbus Micro point Controller 2080-SERIALSOL Plug-in Kinetix 3 Servo Drive Kinetix 3 Servo Drive Kinetix 3 Servo Drive PTO 1 PTO 2 PTO DAIO-D5003 Rockwell Automation Publication CC-QS033A-EN-P - February

34 Chapter 2 System Validation Configure Your Controller Serial Port The Micro800 controller communicates with PanelView Component terminal and Kinetix 3 drive through the embedded serial port and 2080-SERIALISOL plug-in. The embedded serial port is called channel 2 and the first plug-in slot is called channel 5. The following settings are used for each port. Table 3 - Embedded Serial Port Parameter Setting Driver CIP Serial Baud Rate Parity None Station Address 1 Advanced Settings Error Detection CRC Embedded Responses Duplicate Packet Detection TRUE ACK Timeout (x20ms) 50 NAK Retries 3 ENQ Retries 3 Transmit Retries 3 RTS off-delay 0 RTS Send-Delay 0 After One Received Table SERIALISOL Plug-in Module Parameter Setting Driver Modbus RTU Baud Rate Parity Modbus role Advanced Settings Media Data bits 8 Stop bits 1 None Modbus RTU Master RS485 Response Timer 200 Broadcast Pause 200 Inter-Char Timeout 0 RST Pre-Delay 0 RTS Post-Delay 0 34 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

35 System Validation Chapter 2 Follow these steps to modify the serial port settings. 1. From the Project Organizer, double-click the Controller icon. 2. From the Controller tree select the serial port and edit the settings. Rockwell Automation Publication CC-QS033A-EN-P - February

36 Chapter 2 System Validation Configure Input Filter for High Speed Counter The default input filter value can be adjusted to count the high-speed pulses from your encoder. Follow these steps to change the input terminal filter value for your encoder input. 1. Identify the input terminal with reference to the High Speed Counter (HSC) selected for your application. Each HSC ID corresponds to a set of input terminals. High Speed Counter Inputs Used HSC0 0 3 HSC1 2,3 HSC2 4 7 HSC3 6, 7 HSC HSC5 10, From the Controller Organizer, select Embedded I/O. 3. Choose the input filter value for your input terminal identified in step1. The default is 8 ms. Set the input filter value to less than the minimum for you application. You can calculate the minimum requirement by using this formula: Minimum input filter (seconds) = 1/ (max revolution per second * encoder resolution per revolution) 36 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

37 System Validation Chapter 2 Configure PanelView Component Terminal Communication Settings In the default project, the communication and controller settings have already been configured. Here are the default settings. Table 5 - Driver Configuration Parameter Table 6 - Controller Settings Setting Protocol Serial CIP Port RS232 Baud Rate Parity None Stop Bits 1 Flow Control None Report Errors FASLE Station Address 0 Protocol Full Duplex Accept responses for station address only FASLE Parameter Setting Name PLC-1 Controller Type Micro800 Address 1 Follow these steps to modify the settings in your Connected Components Workbench project. 1. From the Project Organizer, double-click the PanelView Component terminal icon. The Design Station is launched. Rockwell Automation Publication CC-QS033A-EN-P - February

38 Chapter 2 System Validation 2. Click the Communication icon. 38 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

39 System Validation Chapter 2 3. Edit the communication settings to your needs. Connect Your Devices 1. Connect the PanelView Component terminal to your controller's embedded serial port by using a 1761-CBL-PM02 cable CBL-PM02 2. Connect your Kinetix 3 drive's IEEE1394 plug to your Micro800 controller's isolated serial port (2080- SERIALISOL) by using a modified 2090-CCMDSDS-48AA01 cable. Rockwell Automation Publication CC-QS033A-EN-P - February

40 Chapter 2 System Validation The modified cable can be made by removing one end to expose the conductors. See the following wiring diagram, but note that the red wire does not need to be connected. Comm0A or Description Signal Comm0B Pin 1 RS-232 transmit XMT 2 RS-232 receive RCV 3 Reserved 4 +5V power ground GND 5 RS-485+ DX+ 6 RS-485 DX- Red Pin 2 Pin 6 Brown Pin 1 Pin 5 Back Black B Front A (View in to terminal block) Pin A1 RS Pin B1 RS232 DCD Pin A2 RS232/485 GNDPin B2 RS232 RXD Pin A3 RS232 RTS Pin B3 RS232 TXD Pin A4 RS232 CTS Pin B4 RS Rockwell Automation Publication CC-QS033A-EN-P - February 2014

41 System Validation Chapter 2 Download Your Program to the Controller Follow these steps to download your program to your controller. 1. Connect an available USB port on your personal computer to the USB programming port on your Micro800 controller by using a USB A-to-B cable. 2. Build your program. If you are prompted to install drivers, specify to use the recommended drivers. 3. From your Connected Components Workbench project, right-click on your device icon. 4. From the Project Organizer, choose Build. When the program is done building, the Output pane at the bottom of your project window displays a build success message. 5. If there are errors, fix your program errors, and build the program again. Rockwell Automation Publication CC-QS033A-EN-P - February

42 Chapter 2 System Validation 6. From the Project Organizer, right-click on your device icon and choose Download. 7. From the Connection Browser dialog box, select your controller and click OK. 8. If prompted to change the Controller mode to Remote Program, click Yes. The program downloads and you are prompted to change the Controller mode to Remote Run. 9. Click Yes. 42 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

43 System Validation Chapter 2 Configure the IP Address for Your PanelView Component Terminal Follow these steps to configure a static IP address on the PanelView Component terminal. 1. From the Main menu, press Communication to open the Communication screen. 2. Press Set Static IP Address. 3. Configure the IP Address and Mask values so they are in the same range as your Micro800 controller. 4. Press Main to return to the Main menu. Transfer Your HMI Application to the PanelView Component Terminal Follow these steps to transfer your HMI application to the PanelView Component terminal operator interface terminal. 1. Choose your HMI application. 2. From the General properties check that Validity is TRUE. 3. If Validity is FALSE, right-click PVC application and choose Validate Application. A Validation Result dialog box shows various warning for overlap object and if the application is valid Validity displays TRUE. Rockwell Automation Publication CC-QS033A-EN-P - February

44 Chapter 2 System Validation 4. In the Project Organizer, right-click the PanelView Component terminal icon and choose Download. 5. In the Graphic Terminal Application Download dialog box, enter the IP address of your PanelView Component terminal that you configured in the section above. 6. Click Download. 7. Verify that the download completed successfully. 8. From the Main menu of your PanelView Component terminal, press File Manager. 9. On the File Manager screen, select Internal as your Source. 10. Select your application. 44 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

45 System Validation Chapter Press Run. Rockwell Automation Publication CC-QS033A-EN-P - February

46 Chapter 2 System Validation Validate Your System In this section, you review the Machine Overview and Machine Functions screens and explore the Status and Command screens to test the manual control of the building block. Understand the Machine Overview Screen The Machine Overview screen in the default project is common to all CCATs. When this screen is first loaded, you can complete the following tasks: a. Return to the Configuration screen and exit the program. b. View and change current machine state. c. Start and stop Auto mode program. d. Go to Machine Functions screen. a c d b Understand the Machine Functions Screen The Machine Functions screen is also common to all CCATs. You can complete the following tasks in the Machine Functions screen: a. Return to Machine Overview screen. b. Look at a particular machine function or device in detail. c. Start and stop Auto mode program. d. View and change current machine state. e. Go to State Diagram for an overview of machine state. b a d e c 46 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

47 System Validation Chapter 2 From Axis_01 screen in Auto mode, you can monitor the following status: Axis command velocity Axis command position High Speed Counter (HSC) count Axis status Servo drive status Here you test the manual control of the Building Block. There are two manual modes for selection, Basic and Advance modes. Press Manual and Axis_01 buttons to enter the first manual screen. Rockwell Automation Publication CC-QS033A-EN-P - February

48 Chapter 2 System Validation Explore the Command and Status Screen The left side shows the servo status indicator is describe here. Parameter Axis Enabled Homed Homing In Motion Axis Error Motion Error Description This status indicator displays whether the axis is active and the drive is maintaining control of the motor. This status indicator displays the home status of the drive. If the status indicator is green, the drive has an absolute position reference. When the box is gray, the drive is not homed. This status indicator displays the homing status of the drive. When the status indicator is green, the drive has started homing and has not yet attained an absolute position reference, otherwise, the status indicator is gray. When is status indicator is green the axis is moving, When this status indicator is gray the motion axis is healthy. When the status indicator is red, there is a fault on the motion axis and the error number is shown in the text. When this status indicator is gray the instruction has been executed properly, When the status indicator is red, there is instruction execution fault and the error number is shown in the text. The right side shows some numeric displays and inputs described below. Parameter Description Range Mode The machine is able to jog when in Maintenance mode. Home Mode There are five different types of homing methods. For more information, refer to the help for MC_Home instruction. 0 4 Deceleration This is the deceleration rate that is used for jogging, in mm/s ,000 Acceleration This is the acceleration rate that is used for jogging, in mm/s ,000 Jog Speed This is the velocity for the jog axis, in mm/s Position This displays the axis position. Homing resets the axis position to the home value. HSC This displays High Speed Counter value if an encoder is properly wired and configured to the controller. 48 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

49 System Validation Chapter 2 The bottom of the screen has control buttons that inactivate depending on the program operation mode. Parameter Servo Enable/ Disable Start Homing Jog Forward Jog Reverse Axis Config Advance move Drive Status Fault Help Clear Faults Description This maintain-push button enables and disables the servo drive. This momentary-push button starts the homing process for the drive. It is available only when the drive is stopped, enabled, and while the program is in Manual mode. This momentary-push button jogs the axis in the forward direction at the specified jog speed. This button must be held down to continue jogging. It is functional only when in Maintenance mode. This momentary-push button jogs the axis in the reverse direction at the specified jog speed. This button must be held down to continue jogging. It is functional only when in Maintenance mode. This is a Go To Button. When pressed, the Configuration page for motion axis screen appears. This is a Go To button. When pressed the Advance Move screen appears where you can perform position and velocity control. This is a Go To Button. When pressed, the Drive Status screen appears. This is a Go To Button. When pressed an information screen appears for diagnosing motion instructions and motion axis faults. When the Clear Faults button appears, you can use this momentary-push button to attempt to clear faults on the controller. Follow these steps to use the Command and Status screen. 1. Press Servo Enable. This energizes the motor, and attempts to hold it at its present position. 2. Set the deceleration, acceleration, and jog speed. 3. Press and hold Jog Forward. The motor turns forward. 4. Release Jog Forward. The motor stops. 5. Press and hold Jog Reverse. The motor turns in the reverse direction. 6. Release the Jog Reverse. The motor stops. 7. Enter your preferred homing mode (0-4). 8. Press Start Homing. Rockwell Automation Publication CC-QS033A-EN-P - February

50 Chapter 2 System Validation The motor begins to home according to the selected homing method shown here. Homing Mode Value Homing Mode Name Homing Mode Description 0x00 MC_HOME_ABS_SWITCH Homing process searches for Home Absolute switch. 0x01 MC_HOME_LIMIT_SWITCH Homing process searches for limit switch. 0x02 MC_HOME_REF_WITH_ABS Homing process searches for the Home Absolute switch and the encoder reference pulse. 0x03 MC_HOME_REF_PULSE Homing process searches for limit switch and the encoder reference pulse. 0x04 MC_HOME_DIRECT Static homing process with direct forcing a home position from user reference. The function block sets current position the mechanism is in as home position, with its position determined by the input parameter, Position. 9. Press Servo Disable. The motor de-energizes and the Advance mode button appears. 10. Press Advance Move. The Advance Move screen is displayed. Explore the Axis Configuration Screen The axis configuration screen is accessed by pressing the Axis Config button. In this screen you can configure some of the advance settings for position and velocity control. Parameter Description Range Enable Positive This is a maintain-push button. Press to enable the motion to travel in the positive direction. Enable Negative This is a maintain-push button. Press to enable the motion to travel in the negative direction. Home Mode There are five different types of homing methods. For more information, refer to the help for MC_Home instruction. 0 4 Home Position Defines the initial position for when axis is homed. Config HSC_K3 This is a Go To Button. When pressed, the configuration screen for Kinetix 3 drive and High Speed Counter appears. 50 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

51 System Validation Chapter 2 Follow these steps to use the Axis Configuration screen. 1. From Command & Status Screen, press the Axis Config button. 2. Press the Enable buttons for Enable Positive and Enable Negative. Explore the Kinetix 3 and HSC Configuration Screen The left side is where you configure communication settings and monitor the status for Kinetix 3 drive. Parameter Description Range Channel This is the channel on the controller that is connected to the drive. The channel number is for the left-most plug-in slot starting with five. Node Each drive has one node address that the building block uses to reference that drive. This address must be unique Interval This parameter indicates the update rate of Kinetix 3 drive parameters. 0 65,536 ms DrvRdy This status indicator shows if a drive is properly configured and connected. It indicates Rdy when there is a valid Kinetix 3 drive. DrvAlarm This status indicator monitors the alarm for Kinetix 3 drive. If there is a fault, the indicator shows Drv Fault. AlmCode This status indicator shows the alarm code if the drive is faulted. 5 9 Rockwell Automation Publication CC-QS033A-EN-P - February

52 Chapter 2 System Validation The right side is where you configure and monitor status of the High Speed Counter. Parameter Description Range HSC ID This parameter shows the ID of HSC selected. The ID selected also corresponds to the input terminals for the encoder. 0 5 HSC mode This is the HSC mode selected, refer to Micro830 and Micro850 Programmable Controllers, publication 2080-UM002 for details. Initial Pos This is the starting count value during initial startup and upon reset. Enable Press this button to start HSC. Disable Press this button to stop HSC. Reset Press this button to reset count value to Initial Pos. HSC Rdy This status indicator shows if a High Speed Counter is properly configured. HSC Err This status indicator shows if there is a HSC fault. HSC Cnt This status indicator shows the count value of the HSC. 0 9 To use the Kinetix 3 and HSC Configuration screen, do the following. 1. Press the Config HSC_K3 button. The Kinetix 3 drive and HSC configuration screen is displayed. 2. Type the following for Kinetix 3 drive configuration. Attribute Setting Channel 5 Node 1 Interval 10 The Kinetix 3 drive status displays the following. Attribute Setting DrvRdy Rdy DrvAlarm no fault (if there is no fault) AlmCode 0 (if there is no fault) 52 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

53 System Validation Chapter 2 3. Type the following for HSC configuration. Attribute Setting HSC ID 2 HSC mode 6 Initial Pos 0 4. Press the Enable button. The HSC status displays the following. Attribute Setting HSC Rdy HSC On HSC Err No Fault HSC Cnt 0 (the value changes as you rotate your encoder) 5. Press the X button. You are returned to Axis Configuration Screen. 6. Press X button again. 7. You are returned to Command & Status Screen. Explore the Advance Move Screen The left side shows the servo status indicators describe below. Parameter Description Range Move type This is a multi-selection button. Press this button to switch between Select Move, Velocity, Absolute, and Relative move types. 0 3 Deceleration This parameter is the deceleration rate that is used for any move command initiated, in mm/s ,000 Acceleration This parameter is the acceleration rate that is used for any move command initiated, in mm/s ,000 Jerk This parameter is the rate of acceleration or deceleration used for any move command initiated. A 0 value denotes a trapezoidal motion profile. 0 90,000 Direction This parameter controls the direction for velocity move. 1 = Positive direction -1 = Negative direction 0 = Follow previous direction Velocity This parameter is the velocity for any move command initiated, in mm/s Position This parameter determines the position value and reference for relative and absolute position control respectively. Rockwell Automation Publication CC-QS033A-EN-P - February

54 Chapter 2 System Validation The right side shows some numeric displays and inputs described below. Parameter Axis Enabled Homed Homing In Motion Axis Error Motion Error HSC cnts mm/s mm Description The status indicator shows whether the axis is active and the drive is maintaining control of the motor. This status indicator shows the home status of the drive. When the status indicator is gray, the drive is not homed. When the status indicator is green, the drive has an absolute position reference. This status indicator displays the homing status of the drive. When this status indicator is green, the drive has started homing but has not attained an absolute position reference; otherwise, it is gray. When this status indicator is green the axis is moving. When this status indicator is gray, the motion axis is healthy. When it is red, there is a fault on the motion axis and the text shows the error number. When this status indicator is gray, the instruction executed properly. When it is red, instruction execution faulted and the text shows the error number. This status indicator shows the count value of the HSC. This display the axis velocity when the controller is controlling the axis. This display the axis position. Homing resets this to the home value. The bottom of the screen has control buttons that are inactive depending on the program operation mode. Parameter Servo Enable/Disable Start Homing Move Halt Axis Config Drive Status Fault Help Clear Faults Description This maintain push button enables and disables the servo drive. This momentary push button starts the homing process for the drive. It is available only when the drive is stopped and enabled while the program is in Manual mode. This momentary push button triggers the move command according to the selection and parameters defined. This momentary push button stops the axis regardless of whether the axis has completed its previous command. This is a Go To Button. When pressed, the configuration page for motion axis screen is displayed. This is a Go To Button. When pressed, the servo drive status screen is displayed. This is a Go To Button. When pressed an information screen appears for diagnosing motion instructions and motion axis faults. When the Clear Faults button appears, you can use this momentary push button to attempt to clear faults on the controller. To use the Advance Move screen, follow these steps. 1. Press the Select Move button once for Velocity. 54 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

55 System Validation Chapter 2 2. Enter value for the following motion parameter for velocity control. Parameter Value Description Deceleration mm/s 2 Acceleration mm/s 2 Direction 1 Forward Velocity mm/s 3. Press the Servo Enable button. This energizes the motor, and it attempts to hold its present position. 4. Press the Move button. The motor turns, accelerates, and cruises at 100 mm/s. 5. Press the Halt button. Motor decelerates to a stop. 6. Press the Move Type button once more till Absolute is displayed. This lets you do Absolute position control. 7. Press the Start Homing button. The motor returns to home position and resets the mm. 8. Type 500 mm for Position. 9. Press the Move button. Motor turn to absolute position 500 and stops. 10. Press Move Type once more to Relative for Relative position control. 11. Enter 100 mm for Position. 12. Press the Move button. Motor turns an incremental of 100 mm to position 600 mm. Rockwell Automation Publication CC-QS033A-EN-P - February

56 Chapter 2 System Validation Explore the Kinetix 3 Status Screen This screen indicates the status of any configured Kinetix 3 drive. It does not work with any other servo drive. Parameter Node Comm Alarm Ready Velocity Position Error code Error text Description This parameter shows the node address of connected drive. When this status indicator is gray, communication is active. When this status indicator is red communication has breaks. When this status indicator is grey, there are no alarms. When the status indicator is red there is an alarm. When this status indicator is green, the drive can be enabled. When the status indicator is red, the drive cannot be enabled. This value is the motor feedback velocity in revolutions per minute. This value is the motor feedback position in encoder counts. This is the most recent alarm code registered by the drive. This is the alarm message associated with the most recent alarm code. 56 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

57 System Validation Chapter 2 Explore the Fault Screen There are two separate faults in this screen. The Command Fault is fault related to the command you issued to an axis. For example, asking the axis to move or stop with invalid parameter. The Axis Fault is fault related to the axis. For example, the axis has detected a hard limit. Parameter Command Fault Error code Error ID Description Axis Fault Error code Error ID Description Description This shows the error code for motion instruction. This shows a short name for the error. This describe the error in detail. This shows the error code for the motion axis. This shows a short name for the error. This describes the error in detail. Use the Fault Screen when you encounter either Axis or Motion Error, press Fault Help for the Fault Screen to look at more descriptive message about the error. Rockwell Automation Publication CC-QS033A-EN-P - February

58 Chapter 2 System Validation Notes: 58 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

59 Appendix A Kinetix 3 Drive Component-class User-defined Functional Block Six user-defined function blocks (UDFBs) are included with the Kinetix 3 Drive Building Block. All are used in the device module code for returning the status of the drive, sending commands to the drive, and configuring parameters. PTO Application Building Block User-defined Function Block This appendix describes the user-defined function blocks used in the PTO building block and the associated inputs and outputs. RA_Motion_Move_Cmd User-defined Function Block Rockwell Automation Publication CC-QS033A-EN-P - February

60 Appendix A Kinetix 3 Drive Component-class User-defined Functional Block Table 7 - RA_Motion_Move_Cmd Inputs Variable Data type Description Range FBEN BOOL Set this bit TRUE to enable the function block. 0, 1 AxisIn Axis_Ref Assign this to the motion axis created via the configurator. MoveMode INT 0: Maintenance mode, Jogging is permitted. 1: Velocity control, Motion is in Velocity Move mode. 2: Absolute control, Motion is in Absolute Position Move mode. 3: Relative control, Motion is in Relative Position Move mode. PositionData Real Valid only in Mode 2 and 3. 2: Absolute position. 3: Relative position. Table 8 - RA_Motion_Move_Cmd Outputs E E+38 VelocityData Real This value sets the speed of the motor E E+38 AccData Real This value sets the acceleration of the motor E E+38 DecData Real This value sets the deceleration of the motor E E+38 JerkData Real This value sets the jerk of the motor E E+38 DirData SINT Valid only in Velocity control mode. This value sets the rotating direction of the motor Execute BOOL Set this bit TRUE to execute motion. 0, 1 Halt BOOL Set this bit TRUE to stop motion. 0, 1 Jog_Positive BOOL Set this bit TRUE to execute jog in the positive direction. Set this bit FALSE stops jog. Jog_Negative BOOL Set this bit TRUE to execute jog in the negative direction. Set this bit FALSE stops jog. Variable Data type Description Range FBENO BOOL This variable reflects the state of FBEN. 0, 1 AxisState USINT This value returns the status of the axis with respect to the motion currently in progress. 0 7 CurrentMoveMode INT This value returns the Current Move mode. 0 3 MoveDone BOOL When Move mode is: 0 or 1: This bit is TRUE when the motor has reached the set velocity. 2 or 3: This bit is TRUE when the motion is complete. MoveBusy BOOL This bit is TRUE when the motion axis is busy. 0, 1 MoveActive BOOL This bit is TRUE when the function block is in control of the axis. 0, 1 MoveAborted BOOL This bit is TRUE when the command was aborted by another command. 0, 1 Error BOOL This bit is TRUE when an error was detected. 0, 1 ErrorID UINT This value returns the motion error code. ErrorMsg String This value returns the command that caused the error. 0, 1 0, 1 0, 1 60 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

61 Kinetix 3 Drive Component-class User-defined Functional Block Appendix A Figure 8 - RA_Motion_Move_Cmd Function Block Flowchart Start Servo Off Axis Error? Yes Servo On Clear Fault No Select Move Mode Error? Yes No Read Motion Parameters Correct Parameter Execute Halt? No Execute Move? Correct Parameter Yes Yes Yes Motion Error? Motion Error? Yes No No Stop PTO Await Action Completed Start PTO End Rockwell Automation Publication CC-QS033A-EN-P - February

62 Appendix A Kinetix 3 Drive Component-class User-defined Functional Block Table 9 - RA_HSC_CfgAndSts Inputs Variable Data type Description Range FBEN BOOL Set this bit TRUE to enable the function block. 0, 1 HscID UINT This value sets the ID in use. 0 5 HscMode USINT This value sets the HSC mode. 0 9 Enable BOOL Set this bit TRUE to enable the HSC. 0, 1 Disable BOOL Set this bit TRUE to disable the HSC. 0, 1 InitialPosition REAL This value sets the initial position after reset E E+38 Reset BOOL Set this bit TRUE to reset HSC count value and HSC error. 0, 1 HPSetting DINT This value sets the High preset setting LPSetting DINT This value sets the Low preset setting Table 10 - RA_HSC_CfgAndSts Outputs Variable Data type Description Range FBENO BOOL This variable reflects the state of FBEN. 0, 1 HscOK BOOL This bit is TRUE when HSC is counting. 0, 1 HscCount DINT This value return the count value LP_Reached BOOL Low preset reached. 0, 1 HP_Reached BOOL High preset reached. 0, 1 Underflow BOOL Underflow detected. 0, 1 Overflow BOOL Overflow detected. 0, 1 Error BOOL This bit is TRUE when an error was detected. 0, 1 ErrorCode UINT This value returns the HSC error code: 00: No error. 01: Invalid HSC Counting mode. (Can require a re-download of program to correct). 02: Invalid high preset. (Can require a re-download of the program to correct). 03: Invalid overflow. (Can require a re-download of the program to correct). 04: Invalid underflow. (Can require a re-download of the program to correct). 05: No PLS data. (Can require a re-download of the program to correct). 06: Invalid HscID. 07: Invalid HscMode Rockwell Automation Publication CC-QS033A-EN-P - February 2014

63 Kinetix 3 Drive Component-class User-defined Functional Block Appendix A Figure 9 - RA_HSC_CFGandSTS Function Block Flowchart Start Initialize HSC Read HSC Parameter No Rest HSC? Yes Rest Initial Count Value Enable HSC? No Yes Invalid Parameter? Yes Reset HSC No HSC Counting Yes Disable HSC No End Rockwell Automation Publication CC-QS033A-EN-P - February

64 Appendix A Kinetix 3 Drive Component-class User-defined Functional Block RA_K3_MBUS_STS User-defined Function Block This UDFB provides the basic status word for the Kinetix 3 drive. The outputs are updated at the interval specified on the input side of the function block. 64 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

65 Kinetix 3 Drive Component-class User-defined Functional Block Appendix A Table 11 - RA_K3_MBUS_STS Inputs Variable Type Description Range FBEN BOOL The Function Block Enable bit (FBEN) controls the operation of the function. On the rising edge of this bit, the function block initialization takes place. While this bit is held high, the function block continues to execute. Channel UINT This is the port or channel on the controller that is connected to the drive. For this UDFB, it is recommended to use a 2080-SERIALISOL module instead of the embedded serial port. NodeAddr USINT Each drive has a node address that the Modbus Master uses to reference that drive. For each Modbus network, those addresses must be unique. Interval UDINT This parameter controls how often the UDFB sends Modbus messages to the device, with zero representing the Continuous Operation mode. In Continuous mode, the drive status updates as often as possible given the network traffic and buffer. 1, 0 2, 5, 6, 7, 8, and ,536 ms Table 12 - RA_K3_MBUS_STS Outputs Variable Type Description Range FBENO BOOL This variable reflects the state of the Function Block Enable bit (FBEN). 1, 0 FB_Q BOOL This variable shows whether the status message has completed. After the response from the drive has been received, this bit becomes true. It stays true until another message is sent or until the UDFB sees a rising edge of the enable input. CommLoss BOOL This bit signifies a communication timeout between the controller and the drive. This also triggers FB_Error to be true. This is cleared after a successful completion of a message to the drive, or the UDFB sees a rising edge of the enable input. FB_Error BOOL This bit shows that an error occurred within the UDFB. For a more detailed description of the error code, see FB_ErrCode. FB_ErrCode UDINT This variable enumerates the errors that have occurred within the UDFB. Bit 0 - Modbus Message Communication Error. Bit 1 - Invalid Channel. Bit 2 - Invalid Node Address. ServoAlarm BOOL This bit is normally true for a healthy drive. If the bit changes to false, there is a servo alarm within the drive. WithinPosn BOOL This bit is true when the motor feedback position is within the position tolerance specified by parameter Pr In Position Size. UpToSpeed BOOL) This bit is true when the motor feedback velocity is greater than the value in Pr Up To Speed. Active BOOL This bit is true when the drive is disabled and goes false when the drive is enabled. This operates opposite of the digital output associated with the Brake. WithinSpeed BOOL This bit is true when the motor feedback velocity is within the speed tolerance specified by parameter Pr Speed Window. PosnValid BOOL This bit is true when the drive is connected to an absolute encoder configured with battery backup and it can read a valid position from the encoder. Ready BOOL This bit is true when the drive is not faulted and can be enabled. 1, 0 CurrentLmt BOOL This bit is true when the current is being limited by the drive. The current limits are entered in parameters Pr Positive Internal Current Limit, Pr Negative Internal Current Limit, Pr Positive External Current Limit, and Pr Negative External Current Limit. VelocityLmt BOOL This bit is true when the velocity is being limited by the drive. The velocity limit can be derived from the analog velocity input or the manual limit entered in parameter Pr Manual Velocity Limit. 1, 0 1, 0 1, 0 1, 0 1, 0 1, 0 1, 0 1, 0 1, 0 1, 0 1, 0 Rockwell Automation Publication CC-QS033A-EN-P - February

66 Appendix A Kinetix 3 Drive Component-class User-defined Functional Block Table 12 - RA_K3_MBUS_STS Outputs (continued) Variable Type Description Range NearPosn BOOL This bit is true when the motor feedback position is within the position tolerance specified by parameter Pr Near Position Size. Warning BOOL This bit is true when there is a warning on the drive. Warning descriptions can be seen in the Kinetix 3 drive s user manual. See the Additional Resources on page 9. InMotion BOOL This bit is true when the drive is moving as part of an index. 1, 0 InDwell BOOL This bit is true when the drive is holding position for a specified time as part of an index. 1, 0 Homed BOOL This bit is true when the drive has completed the homing sequence and has a valid home position. This bit does not clear if the encoder exceeds its range; however, it does not have a valid absolute position reference. IndexSelect UINT This is binary combination representing the current index that is being acted on. If no index is in process, it represents the value of the last index that was acted on. EndOfSeq BOOL This bit is true when motion has stopped on the axis in Indexing mode. This could be due to completion of the motion cycle, or an aborted index. Figure 10 - RA_K3_MBUS_STS Function Block Flowchart 1, 0 1, 0 1, , 0 Start First Scan? No Yes Initialize Variables Are Channel and Node Address Within Range; Yes Set Error Bits Read Drive Status Run Diagnostics No End Diagnostics? Yes End 66 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

67 Kinetix 3 Drive Component-class User-defined Functional Block Appendix A RA_K3_MBUS_STS_Extended User-defined Function Block This UDFB retrieves the extended status information from the drive. The drive supports only two analog outputs; this lets many more values be updated. The output values are updated at the interval specified by the input interval. Table 13 - RA_K3_MBUS_STS_Extended Inputs Variable Type Description Range FBEN BOOL The Function Block Enable bit (FBEN) controls the operation of the function. On the rising edge of this bit, the function block initialization takes place. While this bit is held high, the function block continues to execute. 1, 0 Rockwell Automation Publication CC-QS033A-EN-P - February

68 Appendix A Kinetix 3 Drive Component-class User-defined Functional Block Table 13 - RA_K3_MBUS_STS_Extended Inputs (continued) Variable Type Description Range Channel UINT This is the port or channel on the controller that is connected to the drive. For this UDFB, it is recommended to use a 2080-SERIALISOL module instead of the embedded serial port. NodeAddr USINT Each drive has a node address that the Modbus Master uses to reference that drive. For each Modbus network, those addresses must be unique. Interval UDINT This parameter is used to control how often the UDFB sends Modbus messages to the device. Zero representing the Continuous Operation mode. In Continuous mode, the drive status updates as often as possible given the network traffic and buffer. 2, 5, 6, 7, 8, and ,536 ms Table 14 - RA_K3_MBUS_STS_Extended Input Variable Type Description Range FBENO BOOL This variable reflects the state of the Function Block Enable bit (FBEN). 1, 0 FB_Q BOOL This variable shows whether the status message has completed. After the response from the drive has been received, this bit becomes true. It stays true until another message is sent or until UDFB sees a rising edge of the enable input. CommLoss BOOL This bit signifies a communication timeout between the controller and the drive. This also triggers FB_Error to be true. This is cleared after a successful completion of a message to the drive or the UDFB sees a rising edge of the enable input. FB_Error BOOL This bit shows that an error occurred within the UDFB. For a more detailed description of the error code, see FB_ErrCode. FB_ErrCode UDINT This variable enumerates the errors that have occurred within the UDFB. This UDFB has the following error designations: Bit 0 - Modbus Message Communication Error. Bit 1 - Invalid Channel. Bit 2 - Invalid Node Address. VelocityFdbk INT This value is the motor feedback velocity in revolutions per minute. VelocityCmd INT This value is the motor command velocity in revolutions per minute. VelocityErr INT This value is the difference between the motor command and motor feedback velocity, in revolutions per minute. TorqueCmd REAL This value is the commanded current to the motor, in percent of maximum for the drive. PosnFdbk DINT This value is the motor feedback position in encoder counts. PosnCmd DINT This value is the motor command position in encoder counts. PosnErr DINT This value is the difference between the motor command and motor feedback position, in encoder counts. PlsCmdFreq REAL This is the frequency of pulses, in pulses per second, while in Position Follower mode. ElecAngle REAL This is the electrical angle of the motor, in degrees. MechAngle REAL This is the mechanical angle of the motor, in degrees. ShuntLoad INT This is the regenerative loading, in percent of maximum. BusVoltage INT This is the bus voltage, in volts. EncTurnCount INT This is the absolute encoder turn count. It is active only when the encoder is using absolute feedback with a battery. AlarmCode INT This is the most recent alarm code registered by the drive. AlarmText STRING This is the alarm message associated with the most recent alarm code. 1, 0 1, 0 1, 0 68 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

69 Kinetix 3 Drive Component-class User-defined Functional Block Appendix A Figure 11 - RA_K3_MBUS_STS_Extended Function Block Flowchart Start First Scan? No Yes Initialize Variables Are Channel and Node Address Within Range? Yes Set Error Bits Read Drive Status Run Diagnostics No End Diagnostics? Yes End Rockwell Automation Publication CC-QS033A-EN-P - February

70 Appendix A Kinetix 3 Drive Component-class User-defined Functional Block Notes: 70 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

71 Appendix B Global Variables This appendix contains the global variables used for the user program interfacing. Table 15 - Global Variable Variable Name Data Type Variable Description (User-defined prefix)_cfg_movemode_auto INT 0: Maintenance mode (lets only the axis jog) 1: Velocity Move mode 2: Absolute Move mode 3: Relative Move mode (User-defined prefix)_cfg_ennegative_auto BOOL Enable motion in the negative direction. (User-defined prefix)_cfg_enpositive_auto BOOL Enable motion in the positive direction. (User-defined prefix)_cmd_reset_auto BOOL Execute to clear FB fault. (User-defined prefix)_cmd_rsetdrv_auto BOOL Execute to clear servo drive fault. (User-defined prefix)_cmd_home_auto BOOL Execute to home axis. (User-defined prefix)_cmd_move_auto BOOL Execute to move axis according to Move mode, acceleration, deceleration, jerk, position, direction and velocity value. (User-defined prefix)_cmd_enable_auto BOOL Execute to power on servo drive. (User-defined prefix)_cmd_stop_auto BOOL Execute to stop PTO with reference to emergency stop profile (Setting not available in faceplate). (User-defined prefix)_cmd_halt_auto BOOL Execute to stop Pulse Train Output (PTO). (User-defined prefix)_cfg_homemode_auto SINT Selection of homing method. (User-defined prefix)_par_accdata_auto REAL Set acceleration value for Move command. (User-defined prefix)_par_decdata_auto REAL Set deceleration value for Move and Halt command. (User-defined prefix)_par_stopdec_auto REAL Set deceleration value for Stop command. (Setting not available in faceplate) (User-defined prefix)_par_dirdata_auto SINT Set direction value for Move command. (User-defined prefix)_par_jerkdata_auto REAL Set jerk value for Move command. (User-defined prefix)_par_stopjerk_auto REAL Set jerk value for Stop command. (Setting not available in faceplate) (User-defined prefix)_par_positiondata_auto REAL Set Position value Move command. (User-defined prefix)_par_homeposition_auto REAL Set the absolute home position value when axis is homed. (User-defined prefix)_par_velocitydata_auto REAL Set velocity value for Move command. (User-defined prefix)_cfg_channel_auto Channel number of serial port for communication to drive (User-defined prefix)_par_interval_auto Set polling interval for drive (User-defined prefix)_cfg_nodeaddr_auto Set the node address of drive. For communication with controller (User-defined prefix)_cmd_hscdsen_auto Execute to disable High Speed Counter (User-defined prefix)_cmd_hscen_auto Execute to enable High Speed Counter UINT UDINT USINT BOOL BOOL For drive communication. For drive communication. For drive communication. Applicable only when using an encoder. Applicable only when using an encoder. Rockwell Automation Publication CC-QS033A-EN-P - February

72 Appendix B Global Variables Table 15 - Global Variable (continued) Variable Name Data Type Variable Description (User-defined prefix)_cmd_hscrset_auto Execute to reset High Speed Counter (User-defined prefix)_cfg_hscmode_auto Selection of High Speed Count mode (User-defined prefix)_cfg_hscid_auto Selection of High Speed Counter (User-defined prefix)_cfg_hscinipos_auto Set initial value for High Speed Counter (User-defined prefix)_cfg_hpsetting_auto Set the high preset setting for High Speed Counter (Setting not available in faceplate) (User-defined prefix)_cfg_lpsetting_auto Set the low preset setting for High Speed Counter (Setting not available in faceplate) BOOL UINT UINT DINT DINT DINT Applicable only when using an encoder. Applicable only when using an encoder. Applicable only when using an encoder. Applicable only when using an encoder. Applicable only when using an encoder. Applicable only when using an encoder. (User-defined prefix)_alm_drvcode INT This is the most recent alarm code registered by the drive. (User-defined prefix)_alm_drvtext STRING This is the alarm message associated with the most recent alarm code. (User-defined prefix)_err_axiserrid UINT This shows a short name error for motion axis. (User-defined prefix)_err_hscerrid UINT (Status not available in faceplate) (User-defined prefix)_err_motionerrid UINT This shows a short name error for motion instruction. (User-defined prefix)_sts_axisen BOOL True when axis is powered on. (User-defined prefix)_sts_axiserr BOOL True when there is a motion axis error. (User-defined prefix)_sts_axishomed BOOL True when axis is homed. (User-defined prefix)_sts_axishoming BOOL True when axis is homing. (User-defined prefix)_sts_axisstate USINT This value returns the status of the axis with respect to the motion currently in progress. (Status not available in faceplate) (User-defined prefix)_sts_cmdpos REAL This value returns the actual command position of the axis (User-defined prefix)_sts_cmdvel REAL This value returns the actual command velocity of the axis. (User-defined prefix)_sts_currentmode INT This value returns the Move mode. (Status not available in faceplate) (User-defined prefix)_sts_drvalm BOOL True when the drive faulted. (User-defined prefix)_sts_drvcomm BOOL True when drive communication is lost. (User-defined prefix)_sts_drvposfdbk DINT This value returns the position feedback from drive. (User-defined prefix)_sts_drvrdy BOOL True when drive is not faulted. (User-defined prefix)_sts_drvvelfdbk INT This value returns the velocity feedback from drive. (User-defined prefix)_sts_er_hsc BOOL True when there is an error in the configured High Speed Counter. (User-defined prefix)_sts_homedone BOOL True when home instruction is completed. (Status not available in faceplate) (User-defined prefix)_sts_hscrdy BOOL True when High Speed Counter is ready to count. (User-defined prefix)_sts_inmotion BOOL True when axis is in motion. (User-defined prefix)_sts_motionerr BOOL True when there is a motion instruction error. (User-defined prefix)_sts_movedone BOOL True when move instruction is completed. (Status not available in faceplate) (User-defined prefix)_sts_rsetdone BOOL True when axis is reset. (Status not available in faceplate) (User-defined prefix)_sts_stopdone BOOL True when Stop command is completed. (Status not available in faceplate) (User-defined prefix)_val_hsccnt DINT This value returns the encoder count value. 72 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

73 Appendix C Motion Axis Setup for PTO Building Block I/O Assignment The I/O assignments differ for the number of PTO applications used. The following figures are shown for your reference. You can change the assignment as needed for your application. Figure 12 - I/O Assignment for a Drive with One PTO Application Rockwell Automation Publication CC-QS033A-EN-P - February

74 Appendix C Motion Axis Setup for PTO Building Block Figure 13 - I/O Assignment for a Drive with Two PTO Applications 74 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

75 Motion Axis Setup for PTO Building Block Appendix C Figure 14 - I/O Assignment for a Drive with Three PTO Applications Rockwell Automation Publication CC-QS033A-EN-P - February

76 Appendix C Motion Axis Setup for PTO Building Block The output terminal for each Drive Reset Output is assigned in each ladder program. The assignment is on the third branch of rung 1 for each of the PTO building block ladder diagrams Figure 15 - Sample of a PTO Building Block Ladder Diagram General 1. Type your axis name in the Axis Name field. A system variable is created for the name entered in the Axis Name field. The name of the motion axis created in the starting project downloaded from the sample code website is Axis_ Rockwell Automation Publication CC-QS033A-EN-P - February 2014

77 Motion Axis Setup for PTO Building Block Appendix C If your project was generated by CCAT System Design Assistant, use the name given when you set up the PTO application. By default, the first PTO application is call ServoDrive1 and subsequent applications are called ServoDrive2 and ServoDrive3. The names of axes for PTO applications created with Connect Components Workbench motion configuration are shown here. 2. Select your preferred PTO channel. Each PTO channel has its own corresponding Pulse Output and Direction Output terminal. PTO channel 0 has been selected for this building block. Pulse and direction signal are generated from output 0 and 3. Rockwell Automation Publication CC-QS033A-EN-P - February

78 Appendix C Motion Axis Setup for PTO Building Block 3. Verify Drive Enable Output is enabled. In the configuration shown, the motion command, MC_Power, activates the output when executed successfully. a. Check Drive Enable Output. When this box checked the MC_Power initiates motor enable. b. From the Output pull-down menu, choose the output terminal to initiate motor enable. c. From the Active Level pull-down menu, choose the Output signal active level. If Active Level is set to High the output terminal becomes TRUE when MC_Power is executed successfully. a b c 4. Verify In-Position Input has been disabled. In the configuration shown, the controller does not wait for an external input signal to indicate the servo motor has reached a valid position. If you want to use In-Position Input do the following. a. Check In-Position Input When the box is checked, In-Position function is enabled. b. From the Input pull-down menu, choose the input terminal you want to use for In-Position signal. c. From the Active Level pull-down menu, choose your Input signal active level. If Active Level set to High, the controller acknowledges that drive is at a valid position when input is TRUE. a b c 78 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

79 Motion Axis Setup for PTO Building Block Appendix C 5. Verify Drive Ready Input has been enabled. In the configuration shown, the controller requires an external signal to indicate that the drive is ready. It is usually used to show if a drive is faulted. The drive sends a TRUE to this input if it is ready. a. Check Drive Ready. When checked, Drive Ready Input is enabled. b. From the Input pull-down menu, choose the input terminal you want to use for Drive Ready signal. c. From the Active Level pull-down menu, choose your Input signal active level. If Active Level is set to High, the controller acknowledges that drive is ready when input terminal is TRUE. a b c 6. Verify Touch Probe Input has been disabled. In the configuration shown, the fixed input dedicated for touch probe can be reassign for other use. For more details on Touch Probe, please refer to Connected Components Workbench Help on MC_TouchProbe function block. If you want to use the Touch Probe Input do the following. a. Check Touch Probe Input. When checked, Touch Probe function is enabled. b. No action, the input terminal is fixed according to PTO channel. It cannot be reallocated. c. From the Active Level pull-down menu, choose your Input signal active level. If Active Level is set to High, the controller activates Touch Probe when input is TRUE. a b c Rockwell Automation Publication CC-QS033A-EN-P - February

80 Appendix C Motion Axis Setup for PTO Building Block Motor and Load 1. Verify the SI unit for position has been set to mm. This unit is used in the rest of the configuration for position and speed. This setting does not have any effect on the configuration. 2. Verify the ratio of 10:1,024 has been set. This ratio generates the number of pulses to reach the required position value. a. Type value for Pulse per Revolution. This value syncs up with the drive settings. The drive has been configured to rotate the motor by one revolution when it receives 1,024 pulses. b. Type value for Travel for Revolution. This value syncs up with the mechanical system, such as ball screw, lead screw or linear belt. The mechanical system moves 10 mm when the motor rotates one revolution. a b 80 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

81 Motion Axis Setup for PTO Building Block Appendix C 3. Verify the direction configuration for the PTO channel. a. From the Polarity pull-down menu, choose the setting appropriate for your application. This setting lets you to invert the directional signal. b. From the Mode pull-down menu, choose the Mode appropriate for your application. The Bi-Directional setting to let the motion axis to move in the positive and negative direction. c. From the Change Delay Time pull-down menu, choose a delay time for your application. In this example the minimum time delay has been set to 10ms. This is the minimum time delay for any directional change motion command. c a b Limits 1. Verify the hard limit configuration. a. From the When hard limit us reached, apply pull-down menu, choose a profile that is appropriate for your application. In the configuration shown, the Emergency Stop Profile has been selected for when hard limit is triggered. b. Check Lower Hard Limit and Upper Hard Limit. When the boxes are checked, the hard limit inputs are enabled. c. From the Active Level pull-down menus, choose the active level for your input signals. If Active Level is set to Low, the controller acknowledges that hard limit is reached when input terminal is FALSE. d. No action, the input terminals correspond with the PTO channel selected. It cannot be reallocated. b c d a Rockwell Automation Publication CC-QS033A-EN-P - February

82 Appendix C Motion Axis Setup for PTO Building Block 2. Verify the soft limit configuration. In the configuration shown the soft limits are not used, if your application uses soft limits do the following. a. Check Lower Soft Limit and Upper Soft Limit. When the boxes are checked, the soft limit are enabled. b. Type the values for the soft limit position. The SI unit is in mm, as defined in Motor Load section. a b 82 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

83 Motion Axis Setup for PTO Building Block Appendix C Dynamics 1. Verify the maximum motion profile level for your application. a. Type the value for maximum speed for your application. The maximum speed for a Kinetix 3 drive is 5000 rpm. b. Type the value for Start/Stop Velocity. The Start and Stop velocity is define as 50% of the max velocity. c. Verify the values for acceleration, deceleration and jerk. In this example the maximum value has been set for acceleration, deceleration and jerk. For definition of each parameter, please refer to Connected Components Workbench Help. b a c Rockwell Automation Publication CC-QS033A-EN-P - February

84 Appendix C Motion Axis Setup for PTO Building Block 2. Define the motion type and dynamics for Emergency Stop Profile. a. From the Stop Type pull-down menu, choose an Emergency Stop Profile for your application. In this example Deceleration Stop is defined as the Emergency Stop Profile. b. Type the value for Stop Velocity In this example the Stop Velocity has been set to 50.0 rpm. c. Type values for Stop Deceleration and Stop Jerk. In this example Stop Deceleration and Stop Jerk has been set to 90,000 and 0 respectively. a b c 84 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

85 Motion Axis Setup for PTO Building Block Appendix C Homing 1. Define the parameters for the homing sequence. a. From the Homing Direction pull-down menu, choose a home direction for your application. In this configuration the Home direction is set to negative. The axis moves in the negative direction when motion home command is executed. b. Type a the value for Homing Velocity. In this configuration the axis moves at 5.0 mm/s when MC_Home is executed. c. Type the values for Homing acceleration, deceleration, and jerk. d. Type the value for Creep Velocity. In this configuration the Creep Velocity is 5.0 mm/s. It can be set to a lower value. This speed is activated when home switch is triggered while the axis is homing. e. Type the value for Home Offset. In this configuration no position offset is required when the axis is homed. f. Check Home Switch Input. When this box is checked, motion axis requires Home switch to trigger during homing. This indicates that the axis is near home position. g. No action, the Home Input Terminal corresponds to the selected PTO channel. It cannot be reallocated. h. From the Active Level pull-down, choose the active level for your Home Switch Input. If Active Level is High the controller acknowledges that the home sensor is triggered when terminal is TRUE. i. Clear Home Marker Input. In this configuration the Home Marker Input is set to disabled. When the Home Marker Input is set to enabled, motion axis requires additional trigger from the selected input during homing. This is usually the Z phase of encoder input. j. If your application uses a home marker, from the Input pull-down menu, choose an input terminal for the Home Marker Input. k. If your application uses a home marker, from the Active Level pull-down menu, choose an active level for the Home Marker Input signal. If Active Level is High the controller acknowledges that Home Marker Input is triggered when terminal is TRUE. a b c d e f g h i j k Rockwell Automation Publication CC-QS033A-EN-P - February

86 Appendix C Motion Axis Setup for PTO Building Block Notes: 86 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

87 Appendix D Configure a Series A Kinetix 3 Drive This appendix provides the steps for configuring Kinetix 3 drive Series A hardware with Ultraware software. What You Need Kinetix 3 drive setup: Personal computer with an available RS232 port If RS232 port is not available, you can use an available USB port and USB/RS232 converter. Ultraware Software version or later 2090-CCMPCDS-23AAxx communication cable for Kinetix 3 drive Kinetix 3 drive Configure Your Personal Computer and Kinetix 3 Drive Connection Series A drives ship configured to communicate with Ultraware software. You can verify the configuration by using the keypad. Do this before you connect the drive to your personal computer. Follow these steps to verify the current drive configuration. 1. Apply control power to the drive. 2. Press Mode/Set until the first two characters of the 7-segment status indicator display Pr. 3. Press the arrow key until the status indicator displays Pr Press Enter to view the setting. The status indicator displays If 0005 is not displayed, do the following. a. Use the arrow keys to change the value to b. Press Mode/Set. Rockwell Automation Publication CC-QS033A-EN-P - February

88 Appendix D Configure a Series A Kinetix 3 Drive 6. Connect the drive to your personal computer with the RS-232 serial communication cable. If RS232 port is not available, you can do this with an available USB port and USB/RS232 converter Item Description 1 Kinetix 3 drive 2 RS-232 serial communication cable, catalog number 2090-CCMPCDS-23AA 3 Personal computer with Ultraware software Follow these steps to connect the Kinetix 3 drive to your personal computer and the Ultraware software. 1. From your personal computer, start the Ultraware software. 2. Select Create new file and click OK. 3. If you receive a warning that the COM port is not available, click OK. 4. Connect the IEEE1394 connector of 2090-CCMPCDS-23AA, RS-232 serial communication cable to your drive and the serial connector to your personal computer. 88 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

89 Configure a Series A Kinetix 3 Drive Appendix D 5. Navigate to your personal computer s Device Manager or use the Run command and enter devmgmt.msc. 6. Determine the COM port you want to use with Ultraware software. This example shows a serial-to-usb converter on Port From the Tools menu in Ultraware software, choose Serial Port. Rockwell Automation Publication CC-QS033A-EN-P - February

90 Appendix D Configure a Series A Kinetix 3 Drive 8. In the personal computer Communication Setup dialog box, configure the serial port, as follows: Serial Port chosen in step 6 Baud Rate: Format: 8 Data Bits, No Parity 9. Click OK. 10. From the Tools menu, choose Rescan. The drive attaches at Node 1 and appears in the On-Line Drives tree when the scan is complete. If Communication was established. Communication was not established Then You are prompted to use a wizard to set up the Kinetix 3 drive. You are not required to use it, but it simplifies configuration. There is an error in the communication setup, the drivers, or the wiring 90 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

91 Configure a Series A Kinetix 3 Drive Appendix D Configure Your Drive with Ultraware Software Follow these steps to configure your Kinetix 3 drive for the building block. 1. Factory reset the drive to provide a consistent starting point. a. From the top-level branch, double-click Drive. b. From the right pane, click Reset to Factory Settings. c. Click Yes. 2. Configure the Follower mode. a. Expand Mode Configuration. b. Double-click Follower branch. The parameters are shown in the right pane. c. Set the Command Type to Step/Direction. Positive Logic. d. Set the 1st Gear Ratio Change to Always Enable. e. Set the 1st Gear Ratio to 1:128. Rockwell Automation Publication CC-QS033A-EN-P - February

92 Appendix D Configure a Series A Kinetix 3 Drive 3. Configure the Encoders settings. a. Double-click the Encoders branch. The parameters are shown in the right pane. b. Set Output Ratio to 1:128. c. Set the Encoder Backup Battery to Not Installed. d. Click Yes. 4. Auto tune the servo motor. a. Double-click the Tuning branch. The parameters are shown in the right pane. b. Click Start Autotuning. c. Check that the motor is safe to operate. d. Click Yes. The motor enables and moves a few steps. Auto tune is completed when the motor is disabled. 92 Rockwell Automation Publication CC-QS033A-EN-P - February 2014

93 Configure a Series A Kinetix 3 Drive Appendix D 5. Configure Digital Input. a. Double-click the Digital Inputs branch. b. Set Input 2 to Fault reset. 6. Configure Digital Output. a. Double-click the Digital Output branch. b. Set Output 1 to Ready. Configure Your Drive for Modbus Communication Protocol After you configure your Kinetix 3 drive with Ultraware software, follow these steps to set the drive to Modbus mode. 1. Disconnect the serial cable from the personal computer and the drive. 2. Press Mode/Set until the first two characters of the status indicator display Pr. 3. Use the arrow keys to change the status indicator to display Pr Press Enter. The status indicator displays Use the arrow keys to change the value to Press Mode/Set. 7. Press Enter. 8. Use the arrow keys to change the number until the display reads Pr Press Enter. 10. Change the node address shown to a unique Modbus node address for the drive, and press Mode/Set. By default, the node address is Click Enter. Rockwell Automation Publication CC-QS033A-EN-P - February