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Allen-Bradley GuardLogix User Manual
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Integrated Motion on the EtherNet/IP Network:
Configuration and Startup
ControlLogix, CompactLogix, GuardLogix, Compact GuardLogix, Kinetix 350, Kinetix 5500,
Kinetix 5700,
Kinetix 6500,
PowerFlex
527, PowerFlex 755
User Manual
Original Instructions
2
Table of Contents
Default Chapter
3
Table of Contents
3
Additional Resources
9
Preface
9
Summary of Changes
9
Chapter 1
11
Controller, Communication, Drive, and Software Options
11
Module Options
11
Integrated Motion on Ethernet/Ip Drives
13
Software Options
13
Options for Powerflex 755 Drives
16
Configuration and Startup Scenarios
18
Help for Selecting Drives and Motors
20
Create a Controller Project
21
Configure Integrated Motion Control Using Kinetix Drives
21
Chapter 2
24
Set Time Synchronization
24
Add an Ethernet Communication Module
26
Network
27
Network
28
Network
29
Network
31
Add a Kinetix Ethernet/Ip Drive
32
Chapter 3
36
Configure the Safety Category - Kinetix 5500 Drives
36
Configure the Power Options
37
Configure Digital Inputs
39
Create an Associated Axis
40
Create an Axis for a Kinetix Drive
40
Establish Feedback Port Assignments
41
Create a Motion Group
42
Set the Base Update Period
44
Configure the Axis Properties
46
Configure the Associated Axis and Control Mode
47
Specify the Motor Data Source
50
Choose the Catalog Number as the Motor Data Source
51
Choose Nameplate as the Motor Data Source
52
Choose Motor NV as the Motor Data Source
53
Assign Motor Feedback
54
Display Motor Model Information
54
Configure the Load Feedback
55
Configure Feedback Only Axis Properties
57
Configure Integrated Motion Control Using Kinetix 5700 Drives
59
Configure the Master Feedback
57
Chapter 4 Ethernet/Ip Drive
60
Configure the DC-Bus Power Supply and Associate an Axis
60
Configure the Regenerative Bus Supply
64
Continue Inverter Configuration
69
Configure the Inverter Drives
72
Create an Associated Axis and Establish Feedback Assignments for an Inverter Drive
80
Create a Motion Group
83
Set the Base Update Period
84
Configure the Axis Properties
86
Configure the Associated Axis and Control Mode
88
Specify the Motor Data Source
91
Choose the Catalog Number as the Motor Data Source
91
Choose Nameplate as the Motor Data Source
93
Choose Motor NV as the Motor Data Source
94
Assign Motor Feedback
95
Display Motor Model Information
95
Configure the Load Feedback
97
Configure the Master Feedback
98
Add a Powerflex 755 Drive
99
Configure Integrated Motion Using a Powerflex 755 Drive
99
Chapter 5
101
Select a Peripheral Feedback Device and Slot Assignment
101
Select an I/O Device
102
Assign a Power Structure
104
Configure Power Options
106
Configure Digital Inputs
107
Configure Digital Outputs
108
Create an Associated Axis
109
Create an Axis for a Powerflex 755 Drive
109
Establish Feedback Port Assignments
110
Create a Motion Group
111
Set the Base Update Period
112
Configure the Axis Properties
115
Configure the Associated Axis and Control Mode
116
Specify the Motor Data Source
119
Choose Catalog Number as the Motor Data Source
119
Choose Nameplate as the Motor Data Source
121
Choose Drive NV as the Motor Data Source
122
Display Motor Model Information
123
Assign Motor Feedback
125
Rockwell Automation Publication MOTION-UM003K-EN-P - January
126
Configure Integrated Motion Using a Powerflex 527 Drive
129
Add a Powerflex 527 Drive
130
Chapter 6
130
Set the Network Configuration
130
Configure the Powerflex 527 Drive
132
Configure the Drive with Hard-Wired Safety Connections
132
Configure the Drive with Integrated Safety Connections
134
Configure Power Options
137
Configure Digital Inputs
138
Create an Axis for a Powerflex 527 Drive
138
Create the Motion Group
139
Configure the Axis Properties
140
Configure the Associated Axis and Control Mode
142
Chapter 7 About Axis Scheduling
146
Timing Model
147
One Cycle Timing
148
Two Cycle Timing
149
Axis Scheduling Configuration
150
Configure the Update Periods
151
Motion Utilization
158
Example 1: Position Loop with Motor Feedback Only
159
Chapter 8
163
Example 2: Position Loop with Dual Feedback
163
Example 3: Feedback Only
167
Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback
172
With Motor Feedback
176
Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback
176
With no Feedback
180
Example 6: Kinetix 5700 Drive, Frequency Control with no Feedback
180
Example 7: 842E-CM Integrated Motion Encoder with Master Feedback
183
Chapter 9
188
UFB Feedback Device
188
Example 1: Position Loop with Motor Feedback Via a UFB Feedback Device
188
Example 2: Position Loop with Dual Motor Feedback Via a UFB Feedback Device
191
Example 3: Velocity Loop with Motor Feedback Via a UFB Feedback Device
196
UFB Feedback Device
196
Example 4: Velocity Loop with no Feedback
199
Example 5: Frequency Control with no Feedback
202
Example 6: Torque Loop with Feedback
206
This Chapter Provides Example Axis Configurations When Using a
209
Example 1: Frequency Control with no Feedback
210
Chapter 10 Example 2: Velocity Control with Motor Feedback
214
The Powerflex 527 Drive Example 2: Velocity Control with Motor Feedback
214
Example 3: Position Control with Motor Feedback
217
Chapter 11 Commission an Axis Scaling
222
Direct Coupled Rotary
223
Direct Coupled Linear
224
Rotary Transmission
224
Linear Actuator
225
Changing Scaling Factors
225
Scaling
222
Hookup Tests
226
Run a Motor and Feedback Test
228
Run a Motor Feedback Test
230
Run a Marker Test
230
Applying the Commutation Hookup Test
232
Unknown Commutation Offset
232
Verification of Known Commutation Offset
233
Non-Standard or Incorrect Wiring
233
Run a Commutation Test
234
Autotune
235
Polarity
235
Load
239
Load Observer
241
Benefits of Load Observer
241
How Load Observer Functions
241
Load Observer Configuration
242
Adaptive Tuning
243
Benefits of Adaptive Tuning
244
How Adaptive Tuning Functions
244
Adaptive Tuning Configuration
245
Status Bits
248
Load Ratio Data from Motion Analyzer
249
Test an Axis with Motion Direct Commands
249
Access Motion Direct Commands for an Axis or Group
250
Motion Direct Commands
252
Rockwell Automation Publication MOTION-UM003K-EN-P - January
253
Chapter 12 Guidelines for Homing
256
Active Homing
256
Passive Homing
257
Homing
256
Examples
258
Active Homing
258
Passive Homing
261
Absolute Position Recovery (APR)
262
APR Terminology
262
Controllers
262
Absolute Feedback Device
263
SERCOS Versus Integrated Motion on Ethernet Networks
263
APR Scenarios
264
APR Faults
269
APR Fault Conditions
269
APR Fault Generation
270
Scaling
272
Online Scaling
272
Resetting an APR Fault
273
Absolute Position Loss Without APR Faults
273
Behavior of APR for Incremental Encoders
274
Saving an ACD File Versus Upload of a Project
274
Chapter 13 When to Manually Tune an Axis
275
Axis Configuration Types
275
Current Tuning Configuration
276
Loop Responses
277
Motion Generator and Motion Direct Commands
279
Manual Tune
275
Additional Tune
281
Feedforward Parameters
281
Compensation Parameters
282
Filters Parameters
283
Limits Parameters
284
Planner Parameters
284
Configure Torque Values
285
Monitor Tags with the Quick Watch Window
285
Use Motion Generator
286
Faults and Alarms Dialog Box
289
Chapter 14
291
Quickview Pane
291
Connection Faults and Errors
292
Data Monitor
292
Drive Status Indicators
292
Manage Motion Faults
293
Troubleshoot Faults
293
Configure the Exception Actions for AXIS_CIP_DRIVE
294
Inhibit an Axis
297
Example: Inhibit an Axis
298
Example: Uninhibit an Axis
299
Digital I/O Status Indicators
300
Parameter Dialog-Box Listings
303
Appendix A
305
Appendix B
305
Definition of Jerk
305
Choose a Profile
306
Use % of Time for the Easiest Programming of Jerk
307
Velocity Profile Effects
308
Jerk Rate Calculation
308
Profile Operand
313
Program a Velocity Profile and Jerk Rate
305
Enter Basic Logic
316
Example Motion Control Program
317
Download a Project
318
Choose a Motion Instruction
318
Troubleshoot Axis Motion
321
Why Does My Axis Accelerate When I Stop It
321
Why Does My Axis Overshoot Its Target Speed
322
Why Is There a Delay When I Stop and then Restart a Jog
325
Why Does the Axis Reverse Direction
327
When Stopped and Started
327
Programming with the MDSC Function
329
Powerflex Out-Of-Box Configuration
332
Recommended Out-Of-Box Settings
332
Setting the ACO/AVO Attributefor PF527 Drives Only
336
Glossary
337
Index
341
Rockwell Automation Publication MOTION-UM003K-EN-P - January
342
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Allen-Bradley GuardLogix Specifications
General
Brand
Allen-Bradley
Model
GuardLogix
Category
Controller
Language
English
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