Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
Contents
Before you begin ......................................................................................................................................... 5
About this lab ................................................................................................................................................ 5
What You Will Accomplish In This Lab ......................................................................................................... 5
Tools & prerequisites .................................................................................................................................... 5
Lab 1: See What the Kinetix 300 Can Do .................................................................................................. 6
Download Configuration File to Kinetix 300 .................................................................................................. 8
Download Program File to the Controller .................................................................................................... 10
Spin the Motor ............................................................................................................................................. 11
Lab 2: Basic Drive Configuration ............................................................................................................ 13
Initial Demo Setup ....................................................................................................................................... 13
Open the MotionView OnBoard Configuration Software ............................................................................ 13
Motor Selection ........................................................................................................................................... 16
Choosing the Operating Mode .................................................................................................................... 17
Auto Tune the Drive for Indexing Mode ...................................................................................................... 18
Command the Drive in Indexing Mode ........................................................................................................ 20
Homing the Drive ........................................................................................................................................ 22
Lab 3: Adding a Kinetix 300 in RSLogix5000 ......................................................................................... 24
Lab 4: Configure and Run the Kinetix 300 in Ethernet I/P Mode .......................................................... 26
Download the Program and Monitor the Kinetix 300 Drive ......................................................................... 26
Explanation of the Logic .............................................................................................................................. 28
3 of 51
Lab 5: Configure and Run the Kinetix 300 in Indexing Mode ............................................................... 30
Download the Program and Execute an Index Profile ................................................................................ 30
Explanation of Indexing AOI........................................................................................................................ 32
Add Another Index ...................................................................................................................................... 33
Lab 6: Create a Blended Index ................................................................................................................. 40
Explanation of a Blended (or Stitched) Index.............................................................................................. 40
Lab 7: Demonstrating the Safe Off feature of the Kinetix 300 Drive .................................................... 43
About this lab .............................................................................................................................................. 43
Understanding the Kinetix 300 Drive Safe Torque-off Feature ................................................................... 43
Wiring the Kinetix 300 to Use the Safe Off Function .................................................................................. 43
Explanation of Safe-Off Function on Demo Box ......................................................................................... 44
Appendix A: Configuration/Setup Guide ................................................................................................ 47
Lab Setup and Configuration Information ................................................................................................... 48
Basic Setup Diagram .................................................................................................................................. 49
4 of 51
Configure and tune the Kinetix 300 drive and motor system via the onboard drive software.
Add the Kinetix 300 drive to a Logix file and command a position motion profile move by using the
Input/Output Assembly objects in the drive.
Configure an indexing AOI (Add-On Instruction) and execute the index motion profile.
The embedded web-based configuration tool included in the Kinetix 300 drive
Kinetix 300 demo case including drive, motor and Compact GuardLogix Controller
5 of 51
The following lab steps the user through loading the necessary files to get the Kinetix 300 servo drive up
and running to see some of its functionality in action.
In this lab, you will:
Download configuration file to the Kinetix 300 via MotionView software.
Download RSLogix5000 program file (.acd) to the Compact GuardLogix controller.
Run the drive to execute a velocity jog and configured index moves.
IMPORTANT: This demo unit processor contains a flash card with logic files that are designed to
download on a power cycle (demo unit power OFF/ON). WHEN YOU NEED TO CYCLE THE DEMO
POWER, YOU WILL NEED TO DOWNLOAD YOUR LAB PROGRAM (.ACD file) TO OVERWRITE THE
FLASH CARD LOGIC FILE!
Follow the steps below to set up the Demo hardware box (before Lab 1). Important: doing this will reset
your demo unit to a known, default state
1. Turn Power on the demo unit (Power toggle switch above the input power).
2. Connect the Ethernet cable going into the Ethernet module on the Compact GuardLogix rack
3. Make sure there is an Ethernet cable connected from the Ethernet switch and your PC workstation
(this is likely already done for you)
6 of 51
7. When the download warning dialog displays, click the Download button to download the .acd file to
the controller.
8. Change the controller to Run Mode.
9. Click the Communications menu item and select Go Offline.
7 of 51
NOTE: The basic lab does not require the use of the safe torque-off function. The drive is supplied
from the factory with the safe torque-off circuit enabled. The diagram above illustrates how to bypass
the safety circuit.
IMPORTANT: This demo unit processor contains a flash card with logic files that are designed to
download on a power cycle (demo unit power OFF/ON). WHEN YOU NEED TO CYCLE THE DEMO
POWER, YOU WILL NEED TO DOWNLOAD YOUR LAB PROGRAM (.ACD file) TO OVERWRITE THE
FLASH CARD LOGIC FILE!
13. Power on the demo unit and make sure the Safe Off and E-Stop buttons are pulled out, and the
K300 Drive Power selector switch is set to ON.
The four character status indicator on the drive should be scrolling the IP address of the drive and
diS, which indicates the drive is disabled. This drives IP address is 192.168.1.35.
8 of 51
16. Read the warning dialog window and answer YES, I have prompt.
The MotionView OnBoard software window opens.
17. To connect to the drive, click the Connect button.
19. Click on the drive in the organizer panel and then click the Load Configuration button.
20. Navigate to the Lab Files folder (shortcut on the desktop), select file
K300_CSMM_LAB_1_CONFIG.dcf.xml and click Open.
9 of 51
21. Once the configuration loads, a dialog will appear informing you that a REBOOT of the drive is
necessary. Click OK and Cycle Power to the demo case.
10 of 51
26. When the download warning dialog displays, click the Download button to download the .acd file to
the controller.
27. Change the controller to Run Mode.
Review the Index routine (R6_Index_Mode) to see how the code controls the Kinetix 300 drive.
30. Turn the Red switch to the right and back to the left to stop the Index run sequence.
11 of 51
31. Now lets run the drive in Ethernet/IP External Reference mode. Press the Amber button (labeled
DI2/DO0) to switch drive mode. Amber light should now be off.
32. Press the Green button to start the Ethernet/IP External Reference routine.
Two point-to-point incremental motion profiles are configured and sent to the drive via the AOP tags.
The profiles are as follows:
Review the Ethernet/IP External Reference routine (R5_EnetIP_ExRef_Mode) to see how the code
controls the Kinetix 300 drive.
This concludes Lab 1. The goal was to see how the Kinetix 300 can be controller via Ethernet. The
following labs will go into more detail on configuring the drive and program from the ground up.
12 of 51
13 of 51
7. Read the warning dialog window and answer YES, I have prompt.
14 of 51
TIP: You could also use the Discover option to locate drives on your subnet.
15 of 51
10. After the software connects to the drive, click on the Drive Identification in the Drive Organizer to
see a system summary.
NOTE: The Drive Identification is labeled with the drive name, IP address and status. The system
summary displays valuable information such as firmware version, catalog number and serial number.
11. Reset the drive, to restore factory defaults to all drive parameters, by clicking the Restore Defaults
button at the top of the window. Click Yes to confirm your action and when the process is complete,
press OK to confirm the reset.
NOTE: The IP Address was not affected by the restore defaults.
Motor Selection
12. Move to the Motor branch in the Drive Organizer.
16 of 51
The motor that is in the demo unit is a TLY-A110P-BJ62AA. This motor has an absolute encoder
(multi-turn), so the drive communicates with the encoder to get the motor model number and
populates it for you.
This TLY motor employs a battery to maintain the absolute motor position, which is usually located in
the feedback low-profile connector. Because the demo does not contain a battery, a Battery Error is
indicated. This will not affect the motor operation, only the ability to maintain position if the motor
rotates more than one revolution without power.
NOTE: Allen-Bradley motors and actuators with intelligent feedback devices will automatically be
populated into the motor configuration. For Allen-Bradley motors and actuators with incremental
encoders, the device would need to be chosen from a listing of available motors.
Auto Tune
Master Gearing
Indexing
This lab will focus on modes; Auto Tune, Indexing and EtherNet/IP External Reference.
17 of 51
You can see that the Drive Mode is currently set to Auto Tune (this is the default mode after a restore
defaults is executed). This is the first operation that we will need to complete, and will be covered in
the next section.
16. Examine the drop down list to see the other available drive modes, however make sure not to change
the mode from Auto Tune.
17. Note the User Units setting. For this lab we will use the value of 1.000 Revolutions/Units.
This setting will allow the scaling of all other motion parameters in the drive to match your system
output units. For example, if you had a linear system where 2.5 revolutions of the motor equaled
1mm of travel on the output, you would enter 2.5 here.
NOTE: You cant change the name of the user units.
18. Leave all the other settings in this section at their default values.
18 of 51
19 of 51
In the next lab section we will be Indexing the drive, so we need to tune both the velocity and position
loops. The motor will make two short moves, which you should be able to hear, to tune both loops.
When it completes the gain values will display in a dialog window.
25. Accept the gain parameters by clicking Yes.
26. Click the red Stop/Reset button (in the top right corner of the java window) to disable the drive.
20 of 51
30. Now Enable the drive again by going to the Digital IO branch in the Drive Organizer and change the
Enable Switch Action to Run. Dont forget to change it back to Inhibit once the drive is enabled.
31. Navigate back to the Indexing branch of the Drive Organizer.
32. Click the Start Indexing button.
You should see the motor rotate per the index configuration. You will notice that there is no dwell (set
at 1 sec) between each of the 4 incremental moves. The dwell only executes between indexes not
within batches.
33. Modify the index as shown to see the effect of adding a dwell. (Remember to click Start Indexing
when ready)
21 of 51
22 of 51
37. For the Homing Method choose Marker Forward (ID 34) from the drop-down list.
38. Click the Start Homing button to initiate the homing sequence.
You should see the motor rotate until it finds the index marker on the encoder and then settle in. The
Homing Status should change from Not Homed to Homed. You can re-initiate the sequence again to
see the motor rotate.
NOTE: The motor in the demo unit has an absolute feedback encoder, but because there is no
battery to power the encoder on a power cycle, the motor is seen as an incremental device. That
means on a power cycle we would need to re-home again for absolute positioning.
39. If you click the Monitor branch of the Drive Organizer you have access to all the status information
within the drive.
40. Go back to the Indexing branch and configure an index to do an Absolute Position move and monitor
the status information. You may need to configure the Action to Stop if the move continuously
executes.
23 of 51
24 of 51
6. Next, double-click the Controller Tags and navigate to the K300_N1 tags as shown.
7. Click the + beside the K300_N1:I, you will see all the attributes that have been created by the Kinetix
300s AOP (Add on Profile) this is the input image, or the values that are sent from the drive to the
controller every RPI scan. A few of the more used tags include, Actual Position, Actual Velocity,
Motor Current (Torque), and Position Error.
8. Click the + beside the K300_N1:O, you will see all the attributes that have been created by the
Kinetix 300s AOP(Add On Profile) this is the output image, or the values that the controller sends
to the drive every RPI scan. A few of the more used tags include, DriveEn and the various mode
configuration settings that will be explained in the next lab.
25 of 51
Lab 4: Configure and Run the Kinetix 300 in Ethernet I/P Mode
In this lab, you will:
Use the open RSLogix 5000 file and download it to the controller and observe logic running
Examine the logic and understand how it executes for the Ethernet IP mode
4. When the download warning dialog displays, click the Download button to download the .acd file
to the controller.
5. Change the controller to Run Mode.
26 of 51
6. Double-Click on the Controller tags again, and you will see now some of the AOP values are now
populated with information as we are now online with the drive. For example, the axis should
have a position value in the ActualPosition tag.
Important: If your Kinetix 300 drive has a yellow ! mark next to it, verify the IP address and the
Drive model number. If something is not correct, delete the existing drive and repeat the steps in Lab
Important: RESETTING DRIVE FAULTS. If the Kinetix 300 drive has an E code (drive fault) on the
front display, you can clear this by toggling the rotary switch DI1/DO3 ON then OFF again.
7. Start the automated sequence by pushing the Green round button (DI0/DO1) on the demo.
This will start the run sequencer (Note: make sure the rotary switch DI1/DO3 is OFF).
8. To end the sequence, turn Rotary switch DI1/DO3 ON.
This switch is used to clear faults on the drive and to stop the sequence.
27 of 51
Rung 3: Sets the .ReferenceSource to two (2). In this case (as you can see from the rung
comment), we are doing an Incremental Position motion profile.
Rung 4: Set the parameters for the incremental position move, we set the Distance of the index,
the velocity of the index, and Acceleration/Deceleration limits
Note: Notice that the MOV instruction moves the local value into the Output tag of the drive
(K300_N1:O.CommandPosition, for example). This is how we configure the parameters of
the drive via the Add-On Profile.
Rung 5: Enables the drive. Again, this is all done by writing to the Output tag of the AOP.
Rung 6: Starts executing the first motion profile.
28 of 51
Rung 8: When the first motion profile is finished, the program will dwell for 500ms and load the
second motion profile values.
Rung 9: Starts executing the second motion profile.
Rung 10 & 11: When the second motion Profile is complete, the program will dwell for 500ms and
start the first profile again.
10. Modify the value for the Motion Profile 1 Distance by changing Command Position from 20 to
30.
Note: If a negative value for CommandPosition is entered, this will cause the motor to travel in
the reverse direction.
11. Repeat the above step for the Velocity (Must be Positive), Acceleration and Deceleration (Must
be > 0). Choose your own values for these parameters.
12. Run the new motion profile.
13. Close the RSLogix 5000 program when you are done.
29 of 51
4. When the download warning dialog displays, click the Download button to download the .acd file
to the controller.
5. Change the controller to Run Mode.
30 of 51
Notice how the logic is very similar to that of the previous lab.
A tag named IndexMode (rung 1) will allow us to change modes of operation in the drive.
31 of 51
K300_IndexConfig: a tag of type K300IndexConfig, this tag is created upon the import of the rung and
provides the status bits, EN,DN,ER and the holding location for move parameters you can enter for the
Index. When the instruction enables, the EN bit is set, if the configuration is valid and completes
successfully, the DN bit is set, and if the instruction errors because of an invalid parameter or something
else, the ER bit is set
OutputValues: a tag of type UDT_K300_Index, this is also created upon import and provides a place for
you to auto load the index parameters from an array or other mechanism to load multiple indexes with
one instruction. If you decide to use one AOI per index, as shown in this example, then your Output
values is no more than a Place Holder for your index information, hence the tag name PlaceHolderIndex0
Set_IndexNumber: This is where you enter the index you would like to configure, valid entries are 0-31
IndexDistance: The distance of the index, in engineering units(i.e.: revs, mm, whatever the drive is
configured for), this value can be or + sense to designate direction of the index
IndexSpeed: The speed of the index also in engineering units, this value is + only, a zero or negative
value will result in an error
Index Accel: The acceleration rate for the index in engineering units, this value is + only, a zero or
negative value will result in an error
32 of 51
Index Decel: The deceleration rate for the index in engineering units. This value is positive and a zero
(0) or negative value will result in an error.
Index Batch: The number of times to repeat the index. A zero (0) or 1 indicates to execute the index
once.
Index Type: 0=Absolute, 1=Incremental, 2=RegistrationAbsolute, 3=RegistrationIncremental,
4=Stitched. Any other value will result in an error.
IndexMoveType: 0=Trapezoidal profile, 1=S-Curve profile.
IndexNextIndex: The next index to perform upon completion of current index. Valid entries are 0-31.
IndexNextAction: The next Action to perform upon completion of this index, 0-Stop motion and hold
zero velocity,1- Wait for Start Index Command over EtherNet,2 - Start Next without Stopping (dwell time is
used).
IndexRegistrationDistance: If the Registration Input is configured, once asserted, the index will perform
either an additional Incremental motion of the Distance here, or if Absolute Registration is selected, will
move to an Absolute Position.
IndexDwell: Time to dwell at completion of the index.
IndexMSG: A tag of type MESSAGE, is also created and populated properly for you upon import of the
AOI (including the comms path), this MSG will write the entire Index Assembly Object (ID 115).
33 of 51
34 of 51
5.
Change the three (3) references to Index0, to Index1 by editing the tag changing the 0 to a 1.
This is the new index that we will be creating.
6. Click OK to finalize the import. The new rung is imported below Rung 4 (new Rung 5).
7. More changes to the logic are required for the sequence to execute correctly. Modify the rungs
as shown below.
35 of 51
Rung 4 before:
Rung 4 after:
36 of 51
Rung 5 before:
Rung 5 after:
37 of 51
Rung 6 before:
Rung 6 after:
Rung 7 before:
Rung 7 after:
38 of 51
Rung 8 before:
Rung 8 after:
8. After making the code changes, check that there are no errors by clicking on the Verify
Controller button.
39 of 51
IMPORTANT
The full profile is assembled by stitching together a sequence of positions and velocities
rather than complete move operations.
40 of 51
2. Make the following changes to the Indexing AOIs in the R6_Index_Mode subroutine.
Rung 4: Change IndexType to a value of 4 (Blended Index).
41 of 51
Notice the blended index has the first index stitched to the second index (the yellow pen
represents the ActualVelocity tag) to create a single index.
Also, the Accel / Decel portions of the index are calculated for you by the drive.
10. You can close the program when you are complete.
42 of 51
Lab 7: Demonstrating the Safe Off feature of the Kinetix 300 Drive
Wire up the safe-off connection to the Kinetix 300 to the Logix Controller
Understand the program to allow the Safe Off inputs to work properly
IMPORTANT: This demo unit processor contains a flash card with logic files that are designed to
download on a power cycle (demo unit power OFF/ON). WHEN YOU NEED TO CYCLE THE DEMO
POWER, YOU WILL NEED TO DOWNLOAD YOUR LAB PROGRAM (.ACD file) TO OVERWRITE THE
FLASH CARD LOGIC FILE!
43 of 51
2. The Safe Off feature of the drive is currently disabled from the first lab. Now, re-wire the Safe Off
switch per the diagram below.
44 of 51
45 of 51
8. There are two rungs of logic that were added to manage the Safe-Off feature.
Rung 0: Built in E-Stop function which is tied to Point I/O Safety Input module points 02 and
03. When those two points are OK (i.e. E-Stop is pulled out), the instruction energizes the
Instructions Output bit which is used in Rung 1.
Rung 1: When the E-Stop is OK, output points 00 and 01 are energized on the 1734-OB8S
module. These are the redundant I/O points that are wired to the Kinetix 300 drive Safe Off
Input.
9. Make sure the IndexMode bit in R6_Index_Mode subroutine is ON (Rung 1).
10. The Safe Off function can be demonstrated by:
a. Run the index sequence by pushing the Green button (DI1/DO3).
b. Press the E-Stop button on the demo box.
This will stop the sequence from running and fault (E39) the drive (Safe Off is Active).
c.
To reset, pull out the E-Stop button and clear any faults by toggling the Red switch
(DI0/D01) ON then OFF.
46 of 51
47 of 51
Hardware Configuration
Qty
1
Communication
Location
Firmware
N/A
N/A
19.11
192.168.1.36
Slot 2
3.1
N/A
Slot 1
19.06
IB8S/IB8S/OB8S/IB8/OB8
IB8S/OB8S 1.1
Ib8/OB8 3.22
192.168.1.37
N/A
3.5
N/A
N/A
N/A
192.168.1.38
N/A
1.2
N/A
N/A
1.006
K300
192.168.1.35
N/A
1.0 or 1.3
PVP
192.168.1.39
N/A
3.23
N/A
MSR57P
Computer/Host Settings
Location
Computer Name
IP Address
Operating System
Files
CORE
192.168.1.1
Windows XP SP3
48 of 51
Photograph of Hardware:
49 of 51
Application/Programming
Location
C:\Lab Files
Files
K300_CMSS_LAB_1.ACD
K300_CMSS_LAB_3_START.ACD
K300_CMSS_LAB_5_FINAL.ACD
K300_CMSS_LAB_5_START.ACD
K300_CMSS_LAB_6_FINAL.ACD
K300_CMSS_LAB_7_SAFEOFF.ACD
K300_CSMM_LAB_1_CONFIG.dcf.xml
Rung_Index_Mode.L5X
K300_CMSS_START.ACD
Items
6 Ethernet Cable
Path to Hardware
Path to Hardware
192.168.1.36
50 of 51
Path to Hardware
Application Versions
Version
Vendor Software
RA
RA
Java
RSLogix 5000
RSLinx Classic
51 of 51
Service
Pack
V19
2.55.00.16
CPR9 SR2
V6.0
Update 21