Integrated Motion on the EtherNet/IP Network ...

1 Integrated Motion on the EtherNet/IP Network : Configuration and Startup ControlLogix, CompactLogix, GuardLogix, Compact GuardLogix, iTRAK 5730, Kinetix 350, Kinetix 5300, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 527, PowerFlex 755. User Manual Original Instructions Integrated Motion on the EtherNet/IP Network : Configuration and Startup User Manual 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.

2 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.

3 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.

4 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.

5 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). 2 rockwell automation Publication Motion -UM003L-EN-P - November 2020. Table of Contents Preface .. 9. About This Publication .. 9. Download Firmware, AOP, EDS, and Other Files .. 9. Summary of Changes.. 9. Additional Resources .. 9. Chapter 1. Components of a Motion System Controller, Communication, Drive, and Software Options .. 11. Help for Selecting Drives and Motors .. 14. Chapter 2. Configure Drive Properties Before You Begin .. 16. Add a Kinetix Drive .. 18. Add a PowerFlex Drive.. 19. Add a Peripheral Device for PowerFlex 755 Drives.

6 20. Add an iTRAK Section, Mover, or Power Supply .. 21. Configure Module Definition .. 23. Safety Application Types .. 24. Connection Types .. 25. Safety Instance .. 25. Motion Safety Type .. 26. Configure Power Settings.. 26. Configure Digital Inputs.. 29. Configure Digital Outputs .. 31. Configure Safety Settings.. 31. Configure Safety Connections .. 32. Generate the Safety Network Number ( Integrated safety drives only) .. 33. Configure Track Sections .. 35. rockwell automation Publication Motion -UM003L-EN-P - November 2020 3. Table of Contents Chapter 3. Configure Axis Properties Create an Associated Axis .. 37. Create an Axis .. 37. Specify Feedback Assignments.. 39. Create a Motion Group.

7 40. Set the Base Update Period .. 41. Associate Axes to the Motion Group.. 43. Configure an Axis and Control Mode .. 43. Specify the Motor Data Source .. 49. Choose the Catalog Number as the Motor Data Source .. 50. Choose Nameplate as the Motor Data Source .. 51. Choose Motor NV or Drive NV as the Motor Data Source .. 53. Display Motor Model Information .. 53. Use Motor Analyzer .. 54. Assign Motor Feedback .. 55. Configure Load Feedback .. 59. Configure Master Feedback .. 60. Configure Feedback Only Axis Properties .. 60. Configure Actions.. 60. Configure Exceptions .. 62. Chapter 4. Axis Scheduling Timing Model .. 65. One Cycle Timing.. 66. Axis Scheduling Configuration .. 68. Configure the Update Periods.

8 69. Motion Utilization .. 76. Chapter 5. Configuration Examples for a Example 1: Position Loop with Motor Feedback Only .. 77. Kinetix Drive Example 2: Position Loop with Dual Feedback .. 80. Example 3: Feedback Only .. 85. Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback.. 89. Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback.. 93. Example 6: Kinetix 5700 Drive, Frequency Control with No Feedback.. 97. Example 7: 842E-CM Integrated Motion Encoder with Master Feedback .. 100. 4 rockwell automation Publication Motion -UM003L-EN-P - November 2020. Table of Contents Chapter 6. Axis Configuration Examples for Example 1: Position Loop with Motor Feedback Via a the PowerFlex 755 Drive UFB Feedback Device.

9 104. Example 2: Position Loop with Dual Motor Feedback Via a UFB Feedback Device.. 107. Example 3: Velocity Loop with Motor Feedback Via a UFB Feedback Device.. 111. Example 4: Velocity Loop with No Feedback .. 114. Example 5: Frequency Control with No Feedback.. 116. Example 6: Torque Loop with Feedback .. 121. Chapter 7. Axis Configuration Examples for Example 1: Frequency Control with No Feedback .. 125. the PowerFlex 527 Drive Example 2: Velocity Control with Motor Feedback.. 130. Example 3: Position Control with Motor Feedback.. 133. Chapter 8. Commission an Axis Scaling .. 137. Direct Coupled Rotary .. 139. Direct Coupled Linear.. 140. Rotary Transmission.. 140. Linear Actuator.. 141. Changing Scaling Factors.

10 141. Hookup Tests .. 142. Run a Motor and Feedback Test .. 144. Run a Motor Feedback Test .. 146. Run a Marker Test .. 146. Applying the Commutation Hookup Test .. 147. Unknown Commutation Offset .. 148. Verification of Known Commutation Offset.. 148. Non-standard or Incorrect Wiring .. 148. Run a Commutation Test .. 149. Polarity .. 150. Autotune .. 150. Load .. 154. Load Observer .. 156. Benefits of Load Observer .. 156. How Load Observer Functions .. 157. Load Observer Configuration .. 158. Adaptive Tuning.. 159. Benefits of Adaptive Tuning .. 159. How Adaptive Tuning Functions .. 159. Adaptive Tuning Configuration .. 161. Command Notch Filters .. 165. Load Ratio Data from Motion Analyzer.