RA-11-L09 Kinetix 300 - SiteW€¦ · Two point-to-point incremental motion profiles are configured...

Publication Number -- Date

Architecture Scalability Using the Kinetix 300 Indexing Servo Drive

For Classroom Use Only! (RA-11-L09) (IA-11-L13)

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Architecture scalability using the Kinetix 300

Indexing Servo Drive

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 Etherne t I/P Mode ........................................ .................. 26

Download the Program and Monitor the Kinetix 300 Drive ......................................................................... 26

Explanation of the Logic .............................................................................................................................. 28

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Lab 5: Configure and Run the Kinetix 300 in Indexin g 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 Ki netix 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

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Before you begin

Before you begin this hands-on lab, please be sure to close any applications that are currently running. Also, make sure that there is an Ethernet cable going from the PC to the Ethernet switch in the demo unit.

Prerequisite is to be familiar with the uses of a computer, Internet Explorer web browser, RSLogix5000 software and ladder programming.

About this lab

The versatile Kinetix 300 drive can be used in many ways; the most simplistic of these being as a stand-alone drive. But, where the Kinetix 300 really shines is with its ability to receive motion parameters and configuration information over an Ethernet/IP connection from a Logix controller.

For example, what if the operator is required to enter new production speeds or move distances for point-to-point moves? Or, what if the end user desires some sort of recipe management system for a variety of index moves? The Kinetix 300 can accomplish this and we will explore some of the advanced feature of drive.

The following sections explain what you’ll be doing in this lab session, and what you will need to do to complete the hands-on exercises.

What You Will Accomplish In This Lab

As you complete the exercises in this hands-on session, you will:

� Configure and tune the Kinetix 300 drive and motor system via the onboard drive software.

� Configure and command the drive in indexing mode.

� 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.

� Configure and execute a stitched index

Tools & prerequisites

Software programs required:

� Internet Explorer 6.0 or greater

� The embedded web-based configuration tool included in the Kinetix 300 drive

� RSLogix 5000 v19

Hardware devices required:

� Kinetix 300 demo case including drive, motor and Compact GuardLogix Controller

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Lab 1: See What the Kinetix 300 Can Do

The Kinetix 300 can operate in two modes when being controlled over Ethernet from a Logix Controller. The modes are ‘Ethernet/IP External Reference’ and ‘Indexing’.

Ethernet/IP External Reference:

In this Drive Mode, the controller program can take advantage of the Kinetix 300 Add-On Profile (AOP) that is included in RSLogix5000 v19. After adding a Kinetix 300 drive to the I/O Configuration the AOP creates an Input and Output TAG structure that can be used to read status information from the drive and write configuration data to the drive.

The drive can then perform three different types of motion, based on application need. They are position, velocity or current. In this lab we will demonstrate a simple point-to-point incremental position motion profile.

Indexing:

In this Drive Mode, we can execute any of the 32 indexes configured in the drive or write indexes down to the drive as needed via a message instruction. We will demonstrate how to write several index configurations to the drive using an AOI and then execute them.

The following lab steps the user through loading the necessary files to get the Kinetix 300 servo drive up and running to see some of its’ functionality in action.

In this lab, you will:

� Download configuration file to the Kinetix 300 via MotionView software.

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

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

IMPORTANT: This demo unit processor contains a flash card wit h logic files that are designed to download on a power cycle (demo unit power OFF/ON). WHEN YOU NEED TO CYCLE THE DEMO POWER, YOU WILL NEED TO DOWNLOAD YOUR LAB PROGRAM ( .ACD file) TO OVERWRITE THE FLASH CARD LOGIC FILE!

Follow the steps below to set up the Demo hardware box (before Lab 1). Important : doing this will ‘reset’ your demo unit to a known, default state

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

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

3. Make sure there is an Ethernet cable connected from the Ethernet switch and your PC workstation (this is likely already done for you)

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

5. Click the Communications menu item and select Who Active .

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

7. When the download warning dialog displays, click the 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 .

Follow the steps below to complete Lab 1:

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

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

12. Using three (3) of the provided patch cables, jumper the K300 Safe Torque Off connections per the following diagram below:

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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.


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 drive’s IP address is 192.168.1.35.

Download Configuration File to Kinetix 300

14. Open Internet Explorer by double-clicking on the desktop shortcut and enter in the IP Address of the drive and press Enter .

15. From the File Download window select Open .

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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.

18. Enter the drive’s IP Address and click Connect .

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 .

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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.

Download Program File to the Controller

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

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


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

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Spin the Motor

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

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

29. Press the Green button to start the indexing routine.

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

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

30. Turn the Red switch to the right and back to the left to stop the Index run sequence.

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31. Now let’s 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.

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Lab 2: Basic Drive Configuration

This lab allows the user to become familiar with the web-based configuration tool included in the Kinetix 300 drive.


� Open the drive configuration software and observe its features

� Restore the drive to default settings and verify motor selection

� Auto tune the motor for first usage

� Create index motion profiles and spin the motor

Follow the steps below to complete Lab Section 1.

Initial Demo Setup

1. Make sure the demo unit is powered off.

2. Important: Disconnect the Ethernet cable going into the Ethernet module on the Compact GuardLogix rack.

3. 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 drive’s IP address is 192.168.1.35

Open the MotionView OnBoard Configuration Software

4. Open Internet Explorer by double-clicking on the desktop shortcut.

5. Enter in the IP Address of the Kinetix 300 drive and press Enter .

6. From the File Download window select Open .

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

The MotionView OnBoard Software window opens.

8. To attach to your drive, click Connect .

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9. Enter the drive’s IP Address and click Connect.

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

The software uploads the drive information.

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

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13. Let’s look at the motor that is selected.

The motor that is in the demo unit is a TLY-A110P-BJ62AA. This motor has an absolute encoder (multi-turn), so the drive communicates with the encoder to get the motor model number and populates it for you.

This TLY motor employs a battery to maintain the absolute motor position, which is usually located in the feedback low-profile connector. Because the demo does not contain a battery, a Battery Error is indicated. This will not affect the motor operation, only the ability to maintain position if the motor rotates more than one revolution without power.

NOTE: Allen-Bradley motors and actuators with intelligent feedback devices will automatically be populated into the motor configuration. For Allen-Bradley motors and actuators with incremental encoders, the device would need to be chosen from a listing of available motors.

Choosing the Operating Mode

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

� Auto Tune

� EtherNet/IP External Reference

� Master Gearing

� Step and Direction

� Analog Velocity Input

� Analog Current Input

� Indexing

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

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14. Move to the General branch in the Drive Organizer .

15. Let’s take a look at the General settings.

You can see that the Drive Mode is currently set to Auto Tune (this is the default mode after a restore defaults is executed). This is the first operation that we will need to complete, and will be covered in the next section.

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

17. Note the User 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 can’t change the name of the user units.

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

Auto Tune the Drive for Indexing Mode

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

19. Move to the Digital IO branch in the Drive Organizer .

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

The drive should now be enabled. You can verify this by checking either the main drive branch in the Drive Organizer or the status indicator on the drive display. The “A” indicator will be lit orange. Below is a listing of the other status indicators for reference.

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21. Change the Enable Switch Action back to Inhibit .

Note: Since there is no enable switch on the demo unit (24vdc is directly applied to the enable input, pins 26 and 29) it is necessary to control the input through software. Making the change back to Inhibit will not immediately cause the drive to disable, but only on a transition of the physical input.

If the Enable Switch Action was left at Run, and the drive was power cycled it would immediately enable. The drive could be disabled by sending a disable command via the red Stop/Reset button in the top right of the MotionView software.

22. Move to the Dynamics branch in the Drive Organizer .

The Dynamics window displays the configuration of the dynamics (gain) parameters that you can change.

23. Click the Autotuning button.

The Autotuning dialog displays.

24. Select the Position Tuning check box (Velocity Tuning is checked by default) and press Start .

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In the next lab section we will be Indexing the drive, so we need to tune both the velocity and position loops. The motor will make two short moves, which you should be able to hear, to tune both loops. When it completes the gain values will display in a dialog window.

25. Accept the gain parameters by clicking Yes.

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

Command the Drive in Indexing Mode

27. Return to the General branch in the Drive Organizer and from the drop-down list change the Drive Mode to Indexing .

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28. Now move to the Indexing branch in the Drive Organizer .

29. Expand Index 00 , and set it to make 4 sets of incremental moves, at 10 revs each. Set the other parameters as shown below.

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 . Don’t 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)

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34. Click the Abort Indexing button to stop motion.

Homing the Drive

35. Navigate to the Homing branch of the Drive Organizer .

36. Set the Homing parameters as shown.

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

38. Click the Start 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.

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Lab 3: Adding a Kinetix 300 in RSLogix5000


� Open a RSLogix 5000 file and add and configure a Kinetix 300 drive

� Examine the Input and Output Assembly tag structures

1. Open the file C:\Lab Files\ K300_CMSS_LAB_3_START.ACD

2. Right-click on I/O Configuration > 1768 Bus > [2] 1768-ENBT/A ENBT in the Controller Organizer and select New Module .

The Select Module dialog displays.

3. Expand the Drives group by clicking the [+] .

4. Select the 2097-V31PR0 Kinetix 300 drive.

The New Module dialog displays.

5. Enter the Name and IP Address as shown. It is important that the name and address match exactly , as there is logic we have already created for you. Click OK when you are finished.

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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 300’s 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 300’s AOP(Add On Profile) – this is the output image , or the values that the controller sends to the drive every RPI scan. A few of the more used tags include, DriveEn and the various mode configuration settings that will be explained in the next lab.

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Lab 4: Configure and Run the Kinetix 300 in Ethernet I/P Mode


� 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

Download the Program and Monitor the Kinetix 300 Drive

1. Important: Connect the Ethernet cable going into the Ethernet module on the Compact GuardLogix rack.

With the RSLogix 5000 program from the previous lab still open, we will now download the .ACD file to the controller.


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



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6. Double-Click on the Controller tags again, and you will see now some of the AOP values are now populated with information as we are now online with the drive. For example, the axis should have a position value in the ActualPosition tag.

Important : If your Kinetix 300 drive has a yellow ‘!’ 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.

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9. Double-click on the R5_EnetIP_ExRef_Mode subroutine to open it.

Explanation of the Logic

Rung 1: Starts the sequence (pushing the Green button DI0/DO1). The sequence will only start if there are no faults on the drive

Rung 2: Sets the correct drive mode of operation. In this case, Mode 1 corresponds to EtherNet/IP External Reference . This is done via an Explicit Message instruction to a parameter location in the K300 drive.

Drive Mode of the General tab in MotionView.

Rung 3: Sets the .ReferenceSource to two (2). In this case (as you can see from the rung comment), we are doing an Incremental Position motion profile.

Rung 4: Set the parameters for the incremental position move, we set the Distance of the index, the velocity of the index, and Acceleration/Deceleration limits

Note: Notice that the 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.

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

Rung 9: Starts executing the second motion profile.

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

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


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

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

Download the Program and Execute an Index Profile

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


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



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6. Double-click on the R6_Index_Mode subroutine to open it.

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

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

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

� If IndexMode is 1, the Kinetix 300 is in Indexing mode

7. Toggle the IndexMode bit so it’s active (ON).

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

The index will repeat if you press the button again.

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

Also, notice on rung 4 that the code uses an Indexing AOI (Add On Instruction) created to configure the index. The AOI takes all the parameters of an index and writes them down to the Kinetix 300 drive’s Index Assembly object.

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Explanation of Indexing AOI

K300_IndexConfig : a tag of type K300IndexConfig, this tag is created upon the import of the rung 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

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Index Decel: The deceleration rate for the index in engineering units. This value is positive and a zero (0) or negative value will result in an error.

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

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

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

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

IndexNextAction: The next Action to perform upon completion of this index, 0-Stop motion and hold zero velocity,1- Wait for Start Index Command over EtherNet,2 - Start Next without Stopping (dwell time is used).

IndexRegistrationDistance: If the Registration Input is configured, once asserted, the index will perform either an additional Incremental motion of the Distance here, or if Absolute Registration is selected, will move to an Absolute Position.

IndexDwell: Time to dwell at completion of the index.

IndexMSG : A tag of type MESSAGE, is also created and populated properly for you upon import of the AOI (including the comms path), this MSG will write the entire Index Assembly Object (ID 115).

Add Another Index

Follow the steps below to add a second index, to execute after the index already in the program code (Index 0).

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

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2. Right-Click on Rung 4 of R6_Index_Mode subroutine, and select Import Rungs .

3. Navigate to the file C:\Lab Files\Rung_Index_Mode.L5X and click Import .

4. Click on Tags in the organizer.

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5. Change the three (3) references to Index0, to Index1 by editing the tag changing the 0 to a 1. This is the new index that we will be creating.

The changed references should look like this:

6. Click 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.

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Rung 4 before:

Rung 4 after:

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Rung 5 before:

Rung 5 after:

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Rung 6 before:

Rung 6 after:

Rung 7 before:

Rung 7 after:

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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.

9. If there are no errors to correct, Download the file to the controller.

10. Change the controller to back to Run Mode .

11. If you have any faults on your drive (‘E’ code on the drive display), turn the Red rotary switch (DI1/DO3) ON then OFF to reset the drive.

12. Press the Green (DI0/DO1) button. This will start the sequence running and your 2 indexes should be executing with a delay between them.

Note: If your sequence is not running at this point, you can open C:\Lab Files\ K300_CMSS_LAB_5_FINAL.ACD and repeat Steps 8 to 12.

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Lab 6: Create a Blended Index


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

� Look at the trend to observe how ‘Blending’ is functioning

Explanation of a Blended (or Stitched) Index

If the indexing configuration Type is set to Blended, the acceleration and deceleration parameters are not programmable. Instead, they are calculated internally by the drive based on distance and velocity between the two points of the move. The index table contains the position and velocities necessary to assemble the profile.

IMPORTANT The full profile is assembled by stitching together a sequence of positions and velocities

rather than complete move operations.

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

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

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2. Make the following changes to the Indexing AOI’s in the R6_Index_Mode subroutine.

Rung 4: Change IndexType to a value of 4 (Blended Index).

Rung 5: Change the following; IndexSpeed = 0, IndexDistance = 20, and IndexType = 4.

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3. Download the program to the controller.

4. Make sure the controller is in Run Mode .

5. Make sure the IndexMode bit is ON (Rung 1).

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

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

8. Expand the Trend folder in the Controller Organizer and double-click on the Kinetix300 trend to open it.

9. Click Run in the trend window

Notice the blended index has the first index ‘stitched’ to the second index (the yellow pen represents the ActualVelocity tag) to create a single index.

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

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

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

About this lab

This lab will demonstrate the use of the Kinetix 300 Safe Off input used in the Safety Task of the 1769-L43S Processor.

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

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

Understanding the Kinetix 300 Drive Safe Torque-off Feature

The safe torque-off circuit, when used with suitable safety components, provides protection according to ISO 13849-1 Safety Category 3. The safe torque-off option is just one safety control system. All components in the system must be chosen and applied correctly to achieve the desired level of operator safeguarding. The safe torque-off circuit is designed to safely remove power from the gate firing circuits of the drive’s output power devices (IGBTs). This prevents them from switching in the pattern necessary to generate AC power to the motor. You can use the safe torque-off circuit in combination with other safety devices to meet the stop and protection-against-restart requirements of ISO 13849-1.

The safe torque-off feature provides a method, with sufficiently low probability of failure on demand, to force the power-transistor control signals to a disabled state. When disabled, or any time power is removed from the safety enable inputs, all of the drive’s output-power transistors are released from the ON state, effectively removing motive power generated by the drive. This results in a condition where the motor is in a coasting condition (stop category 0). Disabling the power transistor output does not provide mechanical isolation of the electrical output, which may be required for some applications. Under normal drive operation, the safe torque-off switches are energized. If either of the safety enable inputs are de-energized, the gate control circuit is disabled. To meet ISO 13849-1 safety category 3 both safety channels must be used and monitored.

Wiring the Kinetix 300 to Use the Safe Off Function

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


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

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

4. Power On the demo box.

5. Download the file to the controller.


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

Explanation of Safe-Off Function on Demo Box

This lab demonstrates the use of the 1734 Safety Point I/O modules to control the Safe Off input to the Kinetix 300 . This lab uses the Red E-Stop Mushroom button, which is internally wired to the 1734-IB8S Safety Input Module . The Safety Program in the Logix controller is used to detect when the E-Stop is pulled out. The Logix program then energizes Safety Outputs on the 1734-OB8S that were hard wired

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per the diagram at the start of this lab.

Note : There is a Red Mushroom Safe-Off button on this demo unit. It is currently is wired to use the MSR57P smart safety relay to monitor safe speed condition. We do not use this button for this lab.

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7. Double-click on the MainRoutine in the SafetyTask to open it.

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

Rung 0: Built in E-Stop function which is tied to Point I/O Safety Input module points 02 and 03. When those two points are OK (i.e. E-Stop is pulled out), the instruction energizes the Instructions Output bit which is used in Rung 1.

Rung 1: When the E-Stop is OK, output points 00 and 01 are energized on the 1734-OB8S module. These are the redundant I/O points that are wired to the Kinetix 300 drive Safe Off Input.

9. Make sure the 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.

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Appendix A: Configuration/Setup Guide

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Lab Setup and Configuration Information

Lab Information

Lab Name Introduction to Kinetix 300 Indexing Drive

Lab Description Learn to configure a K300 drive and control the K300 over Ethernet I/P via RSLogix 5000

Lab Creator Amedeo Rubino / Todd Garski Date Created Sept. 2010 Updates:

Hardware Configuration

Qty Demo Cat.# / Description Communication Location Firmware

1 09P123A / CMSS Demo

Compact Guard Logix N/A N/A 19.11

1768-ENBT/A 192.168.1.36 Slot 2 3.1

SERCOS Interface (4 Axis) N/A Slot 1 19.06

Safety I/O N/A IB8S/IB8S/OB8S/IB8/OB8

IB8S/OB8S 1.1

Ib8/OB8 3.22

1734-AENTR 192.168.1.37 N/A 3.5

1606-XLP Power Supply N/A N/A N/A

1783-EMS08T ENET Managed Switch 192.168.1.38 N/A 1.2

MSR57P 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

Computer/Host Settings

Location Files Computer Name CORE

IP Address 192.168.1.1 Operating System Windows XP SP3

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Photograph of Hardware:

Basic Setup Diagram:

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Application/Programming

Location Files C:\Lab Files K300_CMSS_LAB_1.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

Additional Equipment Required

Qty Items 1 6’ Ethernet Cable

RSLinx - DDE/OPC Topic Configuration

Topic Name Path to Hardware

RSLinx - Driver Configuration

Topic Name Path to Hardware AB_ETH-1 192.168.1.36

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RSLinx Enterprise - Shortcut Configuration

Topic Name Path to Hardware

Application Versions

Vendor Software Version Service Pack

RA RSLogix 5000 V19 RA RSLinx Classic 2.55.00.16 CPR9 SR2

Java Java for Windows V6.0 Update 21

RA-11-L09 Kinetix 300 - SiteW€¦ · Two point-to-point incremental motion profiles are configured...

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