connected components accelerator...

Kinetix 300 EtherNet/IP Indexing Servo Drive Indexing Building BlockConnected Components Accelerator Toolkit

Quick Start

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.

Labels may also be on or inside the equipment to provide specific precautions.

Allen-Bradley, Connected Components Workbench, Micro800, Micro830, Micro850, 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.

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.

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).

Where to Start

Connected Components Accelerator Toolkit Outline

Follow this path to complete your Connected Components Accelerator Toolkit (CCAT) project.

1 - Kinetix 300 EtherNet/IP Indexing Servo Drive Setup on page 11

2 - System Validation on page 25

Getting Started Connected Components Accelerator Toolkit with System Design Assistant Quick Start,

publication CC-QS035

Rockwell Automation Publication CC-QS036A-EN-P - June 2014 3

http://literature.rockwellautomation.com/idc/groups/literature/documents/qs/cc-qs035_-en-p.pdf

Where to Start

Notes:

4 Rockwell Automation Publication CC-QS036A-EN-P - June 2014

Table of Contents

PrefaceAbout This Publication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Terminology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Available Connected Components Accelerator Toolkits . . . . . . . . . . . . . . 9

Chapter 1Kinetix 300 EtherNet/IP Indexing Servo Drive Setup

Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Configure the IP Address of Your Computer . . . . . . . . . . . . . . . . . . . . . . . 13Install MotionView OnBoard Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Reset the Drive to Factory Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Drive Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Ethernet Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Digital and Analog I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Dynamics - Auto Tune. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Indexing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Chapter 2System Validation Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26Review the System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27Configure Controller Communication Ports . . . . . . . . . . . . . . . . . . . . . . . 30Configure PanelView Component Terminal

Communication Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Connect Your Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Download Program to Your Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Configure the IP Address for the PanelView Component Terminal . . 39Transfer Your HMI Application to Your PanelView

Component Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Validate Your System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Understand the Machine Function Screen. . . . . . . . . . . . . . . . . . . . . . 42Understand the Status and Command Screen. . . . . . . . . . . . . . . . . . . 42Understanding the Index Values Screen . . . . . . . . . . . . . . . . . . . . . . . . 45Verify the Manual Operation of the Drive . . . . . . . . . . . . . . . . . . . . . . 46Verify Operation of the Fault Help Screen. . . . . . . . . . . . . . . . . . . . . . 48


Table of Contents

Appendix AKinetix 300 Indexing User Defined Function Block

RA_K300_EIP_CFG_READINDEXVALUES User Defined Function Blocks . . . . . . . . . . . . . . . . . . . . . . . 51

RA_K300_EIP_CFG_WRITEINDEXVALUES User Defined Function Block . . . . . . . . . . . . . . . . . . . . . . . . 53

RA_K300_EIP_CMD_INDEX User Defined Function Block . . . . . . 55RA_K300_CMD_EIP_JOG User Defined Function Block. . . . . . . . . . 57RA_K300_EIP_STS_INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59RA_K300_EIP_STS_WATCHDOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Appendix BGlobal Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63


Preface

About This Publication

This quick start is designed to provide instructions for implementing a Kinetix® 300 EtherNet/IP Indexing servo drive motion control indexing application 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 http://www.rockwellautomation.com/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 those steps are required to complete the examples.


http://www.rockwellautomation.com/rockwellautomation/products-technologies/connected-components/tools/accelerator-toolkit.page


Preface

TerminologyTerm (abbreviation) Definition

Application Sequence Programs 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.

Auto/manual operation 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.

Bill of Materials (BOM) A list of components needed for your system.

Building block (BB) 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.

Computer-Aided Design (CAD) A computer-based system developed to facilitate design of mechanical parts.

Connected Components Accelerator Toolkit (CCAT) Software with application files and other information to speed the design and startup of component-based machines.

Connected Components Workbench Software environment for configuring or programming Micro800 controllers, PanelView Component terminals, Kinetix 300 drives, and other component-level products.

Connected Components Workbench project 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 300 drive parameter lists

Global variables Project variables that can be accessed by any program, including all I/O and system variables.

State Machine control code 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.

Tags A PanelView Component terminal term for variables.

User-defined Function Blocks (UDFBs) 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: http://samplecode.rockwellautomation.com/idc/groups/public/documents/webassets/sc_home_page.hcst.

User-defined Object (UDO) A collection of PanelView Component terminal screen objects that can be pasted into a new screen.


http://samplecode.rockwellautomation.com/idc/groups/public/documents/webassets/sc_home_page.hcst



Preface

Additional ResourcesThese documents contain additional information concerning related products from Rockwell Automation.

You can view or download publications at http://www.rockwellautomation.com/literature. 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 http://www.rockwellautomation.com/rockwellautomation/products-technologies/connected-components/tools/accelerator-toolkit.page

• Connected Components Accelerator Toolkit Building Block Project Descriptions Quick Reference, publication CC-QR003

Resource Description

Connected Components Accelerator Toolkit DVD, publication CC-QR002

Provides files for the Connected Component Accelerator Toolkits.

Micro800 Programmable Controller External AC Power Supply Installation Instructions, publication 2080-IN001

Provides information on mounting and wiring the optional external power supply.

Micro830 and Micro850 Programmable Controllers User Manual, publication 2080-UM002

Provides information on installing the Micro830® and Micro850® programmable controllers including wiring and troubleshooting.

PanelView Component Installation Instructions, publication 2711C-IN001

Provides information on installing the PanelView component HMI terminals including wiring, grounding, and troubleshooting.

PanelView Component Operator Terminals User Manual, publication 2711C-UM001

Provides information about using PanelView component HMI terminals.

Kinetix 300 EtherNet/IP Indexing Servo Drives User Manual, publication 2097-UM001

Provides a reference guide for Kinetix 300 drive systems, and accessories. It also contains procedures on how to install, wire, and troubleshoot your drive.

Kinetix 300 EtherNet/IP Indexing Servo Drives Installation Instruction, publication 2097-IN001

Provides information on installing your Kinetix 300 drive system.


http://literature.rockwellautomation.com/idc/groups/literature/documents/in/2080-in001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/um/2080-um002_-en-e.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/in/2711c-in001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/in/2711c-in001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/um/2711c-um001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/um/2097-um001_-en-p.pdf

http://literature.rockwellautomation.com/idc/groups/literature/documents/in/2097-in001_-en-p.pdf

http://www.rockwellautomation.com/literature




http://literature.rockwellautomation.com/idc/groups/literature/documents/qr/cc-qr003_-en-p.pdf

Preface

Notes:


Chapter 1

Kinetix 300 EtherNet/IP Indexing Servo Drive Setup

This is an indexing application building block for the Kinetix 300 EtherNet/IP indexing servo drive with a Micro850 controller. This document contains the necessary information required to setup, configure, and run indexes with software, programs, and HMI screens. If you plan on setting up and controlling a servo drive in Indexing mode, you would be able to save significant amount of time by stepping through this quick start.

In this chapter, you configure your Kinetix 300 drive and setup the indexes for your application.

Before You Begin• Review the Connected Components Accelerator Toolkit with System Design Assistant Quick Start,

publication CC-QS035.• Wire the drive according to the CAD diagram provided.• Apply power to your drive.

What You Need• Personal computer with available Ethernet port and latest Java patch• Ethernet cable• Kinetix 300 drive


http://literature.rockwellautomation.com/idc/groups/literature/documents/qs/cc-qs035_-en-p.pdf

Chapter 1 Kinetix 300 EtherNet/IP Indexing Servo Drive Setup

Follow These Steps

Follow these steps to configure your Kinetix 300 drive with a Micro850 controller.

Start

Configure the IP Address of Your Computer on

page 13

Install MotionView OnBoard Software on

page 16

Reset the Drive to Factory Settings on page 18

Drive Commissioning on page 19


Kinetix 300 EtherNet/IP Indexing Servo Drive Setup Chapter 1

Configure the IP Address of Your Computer

1. Connect the Ethernet cable from your computer to your Kinetix 300 drive.

2. Click Start.

3. In the search field, enter Network and Sharing Center.

4. From the search results, click Network and Sharing Center.

The Network and Sharing Center dialog box appears.

5. Click Local Area Connection.

The Local Area Connection Status dialog box appears.



6. Click Properties.

The Local Area Connection Properties dialog box appears.

7. Select Internet Protocol Version 4 (TCP/IPv4) and click Properties.

8. The Internet Protocol Version 4 (TCP/IPv4) Properties dialog box appears.



9. Check Use the following IP address.

The IP address and other fields are displayed.

10. Enter the IP address within the same subnet network as your Kinetix 300 drive.

The default IP address for Kinetix 300 drive is 192.168.124.200. However, if the drive is not in out-of-box condition, a different IP address can appear on the status indicator when you power up the drive. Use this IP address as reference to set the IP address of your computer on the same network segment as your drive.



Install MotionView OnBoard Software

Kinetix 300 drives are configured by using MotionView OnBoard software, a web-based configuration tool contained within the drive.

1. Connect your Kinetix 300 drive to your personal computer by using an Ethernet cable.

2. If you have not done so already, follow the steps in Configure the IP Address of Your Computer,

3. Run an Internet browser on your personal computer.

4. Enter the drive's IP address in the web browser.

5. The File Download dialog box for MotionView.jnlp appears.

6. Click Open or Save.

Kinetix 300 Drive

Ethernet Communication

Personal computer running MotionView OnBoard software.



A Security Warning dialog box appears.

7. Check I accept the risk and want to run this application.

8. Click Run.

9. Read the Hazard of unexpected motor starting warning.

10. Click Yes, I have.

The Motion View OnBoard interface appears.

11. Click Connect.

12. The Connection dialog box appears.

13. Enter the IP address for the drive and click Connect.

The IP address of the Kinetix 300 drive appears on the status indicator.



Reset the Drive to Factory Settings

To be sure that the Kinetix 300 drive is at a known starting point, you must reset the drive to its factory settings.

Following these steps to reset your Kinetix 300 drive to factory default settings.

1. Click Restore Defaults.

The confirmation dialog box appears.

2. Click Yes.

If successful, the dialog box below appears.



Drive Commissioning

For the Kinetix 300 drive to operate properly, the categories in this section must be configured for your application.

Refer the Kinetix 300 EtherNet/IP Indexing Servo Drive User Manual, publication 2097-UM001, for additional information on configuration parameters.

Motor

Motor category displays motor information and lets you change the motor:• Allen-Bradley® motors and actuators with intelligent feedback devices automatically populate the motor

configuration.• For Allen-Bradley motors and actuators with incremental encoders, you can click Change Motor and choose the

device from the list provided.

The following shows an example of an Allen-Bradley motor with incremental encoders.


http://literature.rockwellautomation.com/idc/groups/literature/documents/um/2097-um001_-en-p.pdf


General

The General category lets you to configure general motion settings. For example, if you want to auto tune your motor, you set the Drive Mode to Auto Tune in this category before you use auto tune.

Other useful parameters are configurable in this category, such as the Master and System encoder ratio and the User Units, which are used to determine the number of revolutions per unit value. Use this category to configure the motion parameters according to your application requirements.

In this Quick Start, we use the factory default settings.

Ethernet Communication

The Ethernet category displays the IP address of the drive, in this category you can manually configure the drive IP address. In this Quick Start we used subnet network 192.168.1.XXX for all connecting devices, and enter the static IP address 192.168.1.10.

If you make any changes to these fields, you must restart your drive for these parameters to take effect. You must also update the IP address for your web browser to configure the drive again.



Digital and Analog I/O

Use the Digital and Analog I/O category to configure additional I/O your application requires.

In this Quick Start, there is no additional I/O, we use the factory default settings.

Limits

Use the Limit category to configure the position or velocity limits your application requires.

In this Quick Start, we use the factory default settings for limit values.

Dynamics - Auto Tune

Tune your motor with the drive for your application.

1. Verify that the motor is connected correctly for your application and it is safe to operate.

2. On the General tab, from the Drive Mode pull-down menu, choose Auto Tune.



3. From the Digital I/O category, from the Select Enable Switch Function pull-down menu, choose Run.

In the top of the left pane, next to the IP address, ENABLED must be displayed.

4. From the Dynamics category, click Autotuning.

TIP If the drive did not enable when you chose RUN, verify that Digital I/O Input B3 is set to True.



5. Review the steps in the Autotuning dialog box.

6. Enter your travel limits and use the check boxes for the tuning you prefer.

7. Click Start.

An Important Message dialog box appears that shows the tuning results.

8. Click Yes to accept the new values.

9. From the Digital I/O category, select the Enable Switch Function pull-down menu and choose Inhibit.

10. From the Menu bar, click Stop/Reset.

11. From the General category, from the Drive Mode pull-down menu, choose Indexing.

Indexing

You can configure up to 32 indexes for your application. We recommended that you define your indexes by using the MotionView OnBoard software interface and use the HMI to update changes later.



To use the Kinetix 300 drive's indexes the Drive Mode in the General category must be set to Indexing. In this Quick Start, we configured Index 00 and Index 01 as shown below.

Homing

Use the Homing category to configure how your application is to be homed. Be sure to connect your home sensor to the Home Switch terminal configured in this category. In this Quick Start we use the Input B1 terminal and Homing Method ID 8 as shown below.


Chapter 2

System Validation

In this chapter you configure the controller and HMI so that all devices are communicating properly and then you validate the system for your indexing application.

Before You Begin• Verify that you have completed all the steps in Chapter 1.• Verify that all of the device are connected per the CAD wiring diagram.• Apply power to all the devices.

What You Need• Micro850 controller• Kinetix 300 drive• PanelView Component terminal• Stratix Ethernet switch• Four Ethernet cables to connect to the Stratix Ethernet switch

– Micro850 controller– PanelView Component terminal – Kinetix 300 drive – Personal computer

• USB cable (required during startup for configuring controller's IP address)


Chapter 2 System Validation

Follow These Steps

Complete these steps to

Start

Review the System Overview on page 27

Configure Controller Communication Ports on

page 30

Configure PanelView Component Terminal

Communication Settings on page 33

Connect Your Devices on page 35

Download Program to Your Controller on

page 36

Configure the IP Address for the PanelView

Component Terminal on page 39

Transfer Your HMI Application to Your

PanelView Component Terminal on page 40

Validate Your System on page 42


System Validation Chapter 2

Review the System Overview

The PanelView Component terminal can be connected to the Micro800 controller with a CIP serial or CIP on Ethernet connection:

• When a CIP serial connection is used, connect the PanelView Component terminal to the Micro800 controller's embedded serial port by using a 1761-CBL-PM02 cable.

• When a CIP on Ethernet connection is used, connect the PanelView Component terminal to the Stratix switch and connect the Stratix switch to the Micro800 controller's embedded Ethernet port by using Ethernet patch cords.

Both methods of connection are explained in this manual, but choose only one method for your project.

The Kinetix 300 drive can be connected directly to the Micro850 controller's embedded Ethernet port if only one Ethernet connection is required. However, if your application requires more than one Ethernet connection, for example connection for HMI and Kinetix 300 drive, you need to connect them through an Ethernet switch. You can refer to the following three network layouts for connecting the PanelView Component, Micro800 controller, and Kinetix 300 drive

Figure 1 - Connection with CIP-Serial

PanelViewComponent

Terminal

1761-CBL-PM02(CIP Serial)

Micro800Controller

192.168.1.3

Ethernet Cable

192.168.1.10

Kinetix 300Drive



Figure 2 - Connection with CIP-Serial and Multiple Drives

PanelViewComponent

Terminal

EthernetSwitch

Micro800Controller

192.168.1.3

Ethernet Cable

192.168.1.10

Kinetix 300DriveEthernet Cable

Kinetix 300Drive

192.168.1.XXX

1761-CBL-PM02(CIP Serial)



Figure 3 - Connection with CIP-Ethernet

PanelViewComponent

Terminal

EthernetSwitch

Micro800Controller

192.168.1.3

Ethernet Cable

192.168.1.10

Kinetix 300Drive

Ethernet Cable

Kinetix 300Drive

192.168.1.XXX

Ethernet Cable

Additional Drives

192.168.1.2



Configure Controller Communication Ports

In the default project, the serial ports are already configured for CIP-Serial. The following settings are used for each serial port.

Table 1 - Default Serial Port Settings

Embedded Serial Port(to PanelView Component terminal)

Setting Value

Driver CIP Serial

Baud rate 38400

Parity None

Unit address 1

Advanced Settings

Error detection CRC

Embedded responses After One Received

Duplicate packet detection Yes

Ack timeout (x 20 ms) 50

NAK retries 3

ENQ retries 3

Transmit retries 3

RTS off delay 0

RTS send delay 0



Follow these steps to modify these settings for the project generated from CCAT version 2 or the project Starting_K300_M850_24QBB_r6 downloaded from sample code web site.

1. In the Project Organizer, double-click the controller icon; this example shows a Micro850 controller.

The Controller Detail view appears in the main project window.

2. Configure the settings for your PanelView Component terminal communication port.



a. If a CIP serial connection is used, select the embedded serial port in the controller configuration list and edit the required settings.



b. If a CIP on Ethernet connection is used, select the Ethernet port in the controller configuration list, click Configure IP address and settings, and edit the IP Address, Subnet Mask, and Gateway Address settings.In this Quick Start, we set the Micro850 IP address to 192.168.1.3 for our application example.

Configure PanelView Component Terminal Communication Settings

In the default project, the CIP serial communication and controller settings have already been configured. The following settings are used.

Table 2 - Default CIP Serial Communication and Controller Settings

Driver Configuration

Protocol CIP Serial

Port RS-232

Baud rate 38400

Data format: 8-N-1 8-N-1

Flow control None

Controller Settings

Name PLC-1

Controller type Micro800

Address 1



Follow these steps to modify communication settings in the default Connected Components Workbench project.

1. From the Project Organizer double-click the PanelView Component device icon to open the PanelView Component application editor.

The PanelView Component Communication Settings pane appears in the main project window.

2. Configure the appropriate communication settings.

For CIP Serial communication, configure the settings shown below.

For CIP on Ethernet communication, configure the settings shown below.



Connect Your Devices

There are three network layouts identified in the Review the System Overview. In this Quick Start, we used the Connection with CIP-Ethernet for our application example.

Figure 4 - Connection with CIP-Ethernet

1. Connect the PanelView Component terminal to the Micro800 controller:• If a CIP on Ethernet connection is used, connect the PanelView Component terminal Ethernet port to the

Stratix Ethernet switch and connect another Ethernet cable from the Stratix switch port to the Micro800 controller's embedded Ethernet port.

• If a CIP serial connection is used, connect the PanelView Component terminal serial RS-232 port to your Micro800 controller's embedded serial port by using a 1761-CBL-PM02 cable.

2. Connect the Kinetix 300 drive to the Stratix Ethernet switch port.

Panel ViewComponent

Terminal

EthernetSwitch

Micro800Controller

192.168.1.3

Ethernet Cable

192.168.1.10

Kinetix 300Servo Drive

Ethernet Cable

Kinetix 300Servo Drive

192.168.1.XXX

Ethernet Cable

Additional Drives

192.168.1.2



Download Program to Your Controller

Follow these steps to download your program to the controller.

1. Connect your personal computer to the controller by using either an Ethernet or USB connection.

If you are prompted to install any drivers, use the recommended drivers.

2. From the project organizer, open the local variables of <DeviceName>_K300_StsCmdCfg, for example ServoIndex1_K300_StsCmdCfg.

3. Search for Cfg_IP_Addr in local variable list.

4. Update the initial value of the variable to the IP address of your drive.



5. In your Connected Components Workbench project, from the Project Organizer, right-click your controller icon and choose Build.

6. When the program is finished building, verify the Output pane at the bottom of your project window for a build success message.a. If the build is successful, continue to step 7.

If the build is unsuccessful, an errors list appears.

b. Double-click an error description to go to that error.c. Correct each error.d. Repeat step 2 and step 6 until the build is successful and continue to step 7.

7. From the Project Organizer, right-click your controller icon and choose Download.

8. From the Connection Browser, select your controller and click OK.

For USB connection.



For Ethernet connection.

9. If prompted to change the controller mode to Remote Program mode, click Yes.



Configure the IP Address for the 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.

In this Quick Start, we set the PanelView Component terminal IP address to 192.168.100.2 for our application example.

4. Press Main.

You are returned to the Main menu.



Transfer Your HMI Application to Your PanelView Component Terminal

Follow these steps to transfer your HMI application to the PanelView Component terminal by using Connected Components Workbench software.

1. Verify that your PanelView Component terminal is connected with your personal computer via a Ethernet switch or Ethernet cable.

2. From the Project Organizer, right-click the PanelView Component device icon and choose Download.

3. In the Graphic Terminal Application Download dialog box, enter the IP address of your PanelView Component terminal that you configured in the steps above.

4. Click Download.

5. Verify that the download completed successfully.



6. From the Main menu of your PanelView Component terminal, press File Manager.

7. From the File Manager screen, select Internal as the source.

8. Select your application.

9. Press Run.



Validate Your System

In this section, you review the Machine Functions screen and explore the Status and Command screens to test the manual control of the building block.

Understand the Machine Function Screen

The Machine Functions screen links to all of the installed building blocks. When this screen is first loaded, you can complete the following tasks:

• Return to the Machine Overview screen by pressing the X in the upper right hand corner of the screen• View a device in detail by pressing its button• View the current machine Auto/Manual state• Change the current machine Auto/Manual state• Clear machine faults, start/stop the machine (while in Auto mode) and go to the machine state diagram overview

screen

The border of the device button changes color to indicate a specific status. For Kinetix 300 drives, the button border colors indicate the following status:

• Green indicates that the drive is enabled• Gray indicates that the drive is disabled and stopped• Red indicates that there is a fault or an alarm is present

Understand the Status and Command Screen

Follow this procedure to understand the drive status and command features.

1. From the Machine Functions screen, switch the operation mode to Manual.

2. Press the device.



The Status and Command screen for the device appears in Manual mode.

3. At any time, press X in the top-right corner to go back to the previous screen.

If this screen is opened while the program is in Auto mode, some of the commands are inactive and some of the input selectors are unavailable.

The left side shows some of the drive status indicators described below.

Figure 5 - Drive Status Indicator

The right side shows numeric displays and inputs described below.

Table 3 - Drive Command and Status

Status Gray Green Red

Ready Drive is not ready. Drive is ready. —

Servo Enabled/ Jog Enabled Drive/jog is enabled. Drive/jog is disabled. —

Homed Drive is homed. Drive is not homed. —

Motion Complete Index is not yet complete. Index is completed. —

In Motion Motor is not moving. Motor is moving as part of an index command. —

In Dwell Motor is moving. Motor is not moving as part of an index command. —

Drive Fault Drive is healthy. — Drive is faulted. An error code would appear beside the status.

Drive Comm Error Drive communication is healthy. — There is a communication error.

Attribute Description Range

First Index This is the index that is initiated when the Start Index command is sent. You can edit it only while the drive is stopped and in Manual mode. It is in the Edit mode when the background is blue.

0…31

Current Index/ Jog Speed While indexing, this displays the current index that is executing in the drive. If the drive is jogging, this editable field lets you change the jog speed.

0…9999999

Position This display is the position feedback for the motor in encoder counts. Homing resets this to the home value. —

Speed Fdbk This display is the speed feedback for the motor in user unit per minute. —



The bottom of the screen has control buttons that can be inactive depending on the program operation mode and the state of the drive.

Parameter Description

Index Values This button takes the you to a screen to change index parameters. It is visible only when the drive is stopped and in Manual mode.

Servo Enable This maintained-push button closes the servo loop and energizes the motor for indexing operation. It is visible when the program is in Manual mode and jogging is not active. Once enabled, the display changes to Servo Disable.

Start Homing This momentary push button starts the drive homing process. It is only available when the drive is stopped and enabled, while the program is in Manual mode.

Start Index This momentary-push button starts the index shown in First Index. It is only available when the drive is stopped and enabled, while the program is in Manual mode. The drive does not need to be homed for incremental position moves, but the drive generates a fault if an absolute move is commanded before an absolute position reference is established.

Stop This momentary-push button stops the homing or indexing process. It is only available when the program is in Manual mode. It is important to create another button for stopping the drive in Auto mode. Your system must have also have physical emergency stop buttons.

Jog Reverse 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 available only while the drive is enabled for jogging.

Jog Enable This maintained-push button enables the drive for jogging. It is available only when the drive is already jogging in Manual mode or when the drive is disabled in Manual mode. Once enabled, the display changes to Jog Disable.

Jog Forward 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 available only while the drive is enabled for jogging.

Fault Help This button displays a screen that shows information about diagnosing and fixing drive faults. It is always available, and displays the information for the last fault code registered on the drive.

Clear Faults/Clear Comms When the Clear Faults button appears, this momentary-push button attempts to clear faults on the drive. When the Clear Comms button appears, this momentary-push button attempts to unlatch the Drive Comms Error status bit.



Understanding the Index Values Screen

Verify that the motor is not in motion, press Index Values button on the Status and Command screen to switch to the Index Values screen where you can change index settings.

Figure 6 - Index Values Screen Page One

The left side of the screen shows the values currently programmed in the drive, the blue fields are used for editing those values.

At any time, press X in the top-right corner to go back to the previous screen.

Parameter Description Range

Index This is the index number. When you enter an index number in the blue field, the parameters for that index are displayed in corresponding fields.

0…31

Index Type This is the move type for that index. 0 = Absolute1 = Relative2 = Registered Absolute3 = Registered Relative4 = Blended

Next Action This is the action to execute upon completing motion in the current index. 0 - Stop1 = Wait for Start2 = Next Index

Next Index This is the number of the index that is executed next, if the next action is set to Start Next or Wait for Start. 0…31

Position This is the position or distance for the index. -268,435… 268,435

Velocity This is the speed of the index. 0…9999999

Dwell This is the time the motor stops for after completing an index. 0… 65535



The buttons at the bottom of the screen are described below.

When you press next page on Index Value Screen page one, an additional list of index parameters appears.

Figure 7 - Index Values Screen Page Two

The left side of the screen shows the values currently programmed in the drive, the blue fields are used for editing.

At any time, press X in the top-right corner to go back to the previous screen.

Verify the Manual Operation of the Drive

Verify manual operation of the drive by checking that the Start, Stop, Fwd, Rev, and Jog buttons are working properly.

1. Confirm that the motor connected to the drive is in a safe state to operate manually.

2. Press Servo Enable.

The servo motor is enabled.

3. Press Start Homing.

The motor moves to home position according to homing sequence.

Parameter Description

Write to Mem/ Write to RAM This is an alternate push button that is used to determine if the indexing parameters are to be written to volatile or nonvolatile memory areaWhen enabled, parameters are written to volatile memory.When disabled, parameters are written to nonvolatile memory.

Apply Changes This is a momentary-push button that applies the new value to the drive.

Next page Press this button to go to the next parameter page.

Parameter Description Range

Index This is the index number. 0…31

Move Type This is the move type it can be Trapezoidal or S-curve. 0 = Trapezoidal1 = S-curve

PositionAftReg This is the relative distance to move after registration event for registration type indexes. 0…26,8435

Acceleration This is the acceleration rate for the index, in rev/s2. 0…9,999,999

Deceleration This is the deceleration rate for the index, in rev/s2. 0…9,999,999

Batch This is the number of times to repeat index. 1…64,285,040



4. Enter 0 in the First Index.

Zero is made the first index number to execute.

5. Press Start Index.

The index operation begins as configured in Indexing for the application example. Your motor executes Index 0 and continues to move back and forward.

6. Press Stop.

All motion stops.

7. Press Index Values

8. Change the indexes to the following values:

For Index 0

For Index 1

9. Press X.

The Status and Command Screen appears.

10. Press Start Index.

Observe the differences.

11. Press Job Enable.

The status indicator changes from Servo Enable to Jog Enabled and the Jog Speed reference is available for input.

12. Press the Jog Reverse.

The motor moves in reverse direction.

13. Press the Jog Forward.

14. The motor moves in forward direction.

Parameter New Value

Position 10.0

Velocity 10.0

Dwell 1

Parameter New Value

Position 5.0

Velocity 5.0

Dwell 1



Verify Operation of the Fault Help Screen

In this section we simulate a fault situation to verify the operation of the Fault Help Screen.

1. Unplug the Ethernet cable from the Kinetix 300 drive.

The Status and Command Screen reports that drive communication is lost. Correct the communication fault by plugging the Ethernet cable back into the Kinetix 300 drive.

2. Press Clear Comms.

When communication error is clear, the Status and Command screen reports a drive fault with code E091.

3. Press the Fault Help button from the Status and Command Screen to access the detail.



The fault help screen always displays the last fault message, so you always see a fault message even when the drive is not at fault. However, when a new fault occurs, the message is updated.

4. Verify that the error has been corrected.

5. Press X.

You are returned to Status and Command Screen.

6. Press Clear Faults.

The drives faults are cleared and the drive is reset. The Ready signal turns green when there is no drive fault or communication error.



Notes:


Appendix A

Kinetix 300 Indexing User Defined Function Block

This appendix lists user defined function blocks that are used in this building block.

RA_K300_EIP_CFG_READINDEXVALUES User Defined Function Blocks

This UDFB reads the index parameters from an index programmed within the drive.

Figure 8 - RA_K300_EIP_CFG_READINDEXVALUES

Table 4 - RA_K300 _EIP _CFG _READINDEXVALUES UDFB Inputs

Variables Data type Description Range

FBEN BOOL To enable function block, set this bit to True. True or False

IP Address STRING This is IP address of the drive. For example 192.168.1.10. 80 char

Index Number UINT This is the number of the index that you want read. 0…31


Appendix A Kinetix 300 Indexing User Defined Function Block

Table 5 - RA_K300 _EIP_CFG _READINDEXVALUES UDFB Outputs

Variables Data type Description

FBENO BOOL This it the state of FBEN.

FB_Q BOOL This bit indicates whether the status message has completed. When 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.

FB_ErrCode UINT These bits enumerate the errors that have occurred within the UDFB.Bit 0 - Communication timeout Bit 1 - Invalid target pathBit 2 - Communication error

FB_Error BOOL This bit indicates that an error has occurred within the UDFB. For a more detailed description of the error code, see FB_ErrCode.

IndexType UINT This is the index type defined in the drive.0 = Absolute1 = Relative2 = Registered Absolute3 = Registered Relative4 = Blended

MoveType UINT This is the motion profile type defined in the drive.0 = Trapezoidal 1 = S-curve

Distance REAL This is the position or distance value defined in the drive.

DisAfterReg REAL This is the offset from the registration event the motor moves to during an incremental or absolute registration based move.

BatchCnt DINT This is the number of times to repeat an index.

Dwell UINT This is the dwell time to remain at current position.

Velocity REAL This is the speed for the index.

Acceleration REAL This is the acceleration for the index.

Deceleration REAL This is the deceleration for the index.

NxtIndex UINT This is the next index number, if NextAction is set to 2, NextAction = Next Index.

NextAction UINT This is the action executed upon completion of the current index.0 = Stop1 = Wait for Start2 = Next Index


Kinetix 300 Indexing User Defined Function Block Appendix A

Figure 9 - RA_K300 _EIP_CFG _READINDEXVALUES UDFB Flowchart

RA_K300_EIP_CFG_WRITEINDEXVALUES User Defined Function Block

This UDFB writes index parameters to configure an index within the drive.

Figure 10 - RA_K300_EIP_CFG_WRITEINDEXVALUES User Defined Function Block

Start

InitializeVariables

Diagnostics

End

ReadParameters



Table 6 - RA_K300 _EIP_CFG _WRITEINDEXVALUES UDFB Inputs

Table 7 - RA_K300 _EIP_CFG _WRITEINDEXVALUES UDFB Outputs


FBEN BOOL To enable this function block set this bit to True. True or False

IP Address STRING This is the IP address of the drive. For example 192.168.1.10. 80 char

Index Number UINT This is the number of the index you want to write to. 0…31

WriteToMem BOOL To write to the drive’s volatile memory set this bit to True.Values written to the drive’s volatile memory are retained after the power is cycled. However, there are a limited number of times volatile memory can be written to.Do not write to volatile memory continuously.We recommended you write to nonvolatile memory during drive operation.

True or False

IndexType UINT This is the index type.0 = Absolute1 = Relative2 = Registered Absolute3 = Registered Relative4 = Blended

0…4

MoveType UINT This is the index motion profile type.0 = Trapezoidal 1 = S-curve

0,1

Distance REAL This is the index position or distance -268,435…268,435

DisAfterReg REAL This is the offset from the registration event that the motor moves to during an incremental or absolute registration based move.

0…26,8435

BatchCnt DINT This is the number of times to repeat the index. 1…64,285,040

Dwell UINT This is the dwell time to remain at current position. 0…6,5535

Velocity REAL This is the index speed. 0…9,999,999

Acceleration REAL This is the index acceleration. 0…9,999,999

Deceleration REAL This is the index deceleration. 0…9,999,999

NxtIndex UINT This is the next index number for the NextAction. 0…31

NextAction UINT This is the action to execute upon completing existing index.0 = Stop1 = Wait for Start2 = Next Index

0…2


FBENO BOOL This is the state of FBEN.



FB_Error BOOL This bit indicates that an error has occurred within the UDFB. For a more information on the error code, see FB_ErrCode.



Figure 11 - RA_K300 _EIP_CFG _WRITEINDEXVALUES UDFB Flowchart

RA_K300_EIP_CMD_INDEX User Defined Function Block

This UDFB sends commands to control the index operation.

Figure 12 - RA_K300_EIP_CMD_INDEX User Defined Function Block

Table 8 - RA_K300 _EIP_CMD _INDEX UDFB Inputs


FBEN BOOL When this bit is change from False to True, the commands configured in this UDFB are sent. True or False

IP Address STRING This is the IP address of the drive. For example. 192.168.1.10. 80 char

Drive_Enable BOOL The drive is enabled when this bit is True. True or False

FaultReset BOOL The drive is reset when this bit is True. True or False

Start

InitializeVariables

Diagnostics

End

WriteParameters



Table 9 - RA_K300 _EIP_CMD _INDEX UDFB Outputs

Figure 13 - RA_K300_CMD_EIP_INDEX UDFB Flowchart

Start_Homing BOOL The drive initiates homing when this bit is True. True or False

Abort_Homing BOOL Homing is aborted when this bit is True. True or False

Define_Home BOOL The drive defines the current position as home when this bit is True. True or False

Start_Motion BOOL The drive initiates indexing when this bit is True. True or False

IndexNumber DINT This is the first index number executed when Start_Motion is True. 0…31

Abort_Index BOOL Indexing is aborted when this bit is True. True or False



FB_Q BOOL This bit indicates 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.

FB_ErrCode UINT These bits enumerates the errors that have occurred within the UDFB.Bit 0 - Communication timeout Bit 1 - Invalid target pathBit 2 - Communication error


Table 8 - RA_K300 _EIP_CMD _INDEX UDFB Inputs (continued)


Diagnostics

InitializeVariables

FaultReset?

Fault ResetSequence End

WriteParameter

Yes

Start



RA_K300_CMD_EIP_JOG User Defined Function Block

This UDFB provide jog function for Kinetix 300 drive

Table 10 - RA_K300_EIP_CMD_JOG UDFB Inputs

Table 11 - RA_K300_EIP_CMD_JOG UDFB Outputs


FBEN BOOL When this bit goes from False to True, the jogging function enables. True or False


Velocity REAL This is the jog speed. A positive jog speed indicates positive direction while a negative value indicates negative direction.

-10,000,000…10,000,000

Acceleration REAL This is the jog acceleration. 0…10,000,000

Deceleration REAL This is the jog deceleration. 0…10,000,000

Jog BOOL When this bit is True, jogging is executed. When this bit False jogging stops. True or False

Reset BOOL When this bit is True all input parameters are initialized. True or False



FB_Q BOOL This bit indicates 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.

FB_ErrCode UINT These bits enumerates the errors that have occurred within the UDFB.Bit 0 - Communication timeout Bit 1 - Invalid target pathBit 2 - Communication errorBit 10 - Setting exceed maximum value for velocityBit 11 - Setting exceed maximum value for accelerationBit 12 - Setting exceed maximum value for deceleration




Figure 14 - RA_K300 _EIP_CMD_JOG UDFB Flowchart

Diagnostics

InitializeVariables

Reset? EnableJog?

EndWrite JogParameters

Yes

Start

Jogging in Process

DisableJog?

Yes No

Yes



RA_K300_EIP_STS_INDEX

This UDFB reads the drive status.

Table 12 - RA_K300 _EIP_STS _INDEX UDFB inputs


FBEN BOOL To enable this function block set this bit to True. True or False


Table 13 - RA_K300 _EIP_STS _INDEX UDFB Outputs


FBENO BOOL This variable defines the state of the FBEN.




Active_Index DINT This field indicates the currently executing index from the drive indexing table.

Actual_Velocity REAL This field indicates the current velocity of the motor controlled by the drive.

Actual_Position REAL This field indicates the current position of the motor controlled by the drive.

Cmd_Position REAL This field indicates the position the drive is moving the motor towards.

Position_Err REAL This field indicates the error between the current command position and the actual position.

Phase_Current REAL This field indicates the average RMS current being applied to the motor.

Reg_Position REAL This field indicates the position the motor was at when the registration input was asserted.



Motion Sts K300_Motion_Sts This field consists of the User Data Type for the motion status of the drive. The following status are available to monitor.

User Data Type Description

Enabled A non-zero value in this field means the drive is currently enabled and the servo loops are closed.

Faulted A non-zero value in this field means the drive has faulted.

InPosition A non-zero value in this field means the drive is within the position tolerance window of the commanded position.

CurrentLimit A non-zero value in this field means the drive has reached the current limit. This does not mean the drive is limiting current if the current limit was set to a lower value than the drive or motor supports.

Indexing_Active A non-zero value in this field means the drive is currently operating out of the drive indexing table.

Motion_Complete A non-zero value in this field means the drive has completed a position based move. This does not apply when in Indexing Current mode.

Positive_Limit A non-zero value in this field means the positive overtravel input to the drive has been asserted.

Negative_Limit A non-zero value in this field means the negative overtravel input to the drive has been asserted.

Homing A non-zero value in this field means the drive is currently homing as configured by the Homing section of the MotionView software.

Homed A non-zero value in this field means the drive has been successfully homed.

Zero_Speed A non-zero value in this field means the drive is within the configured tolerance for being at zero velocity.

In_Speed_Window A non-zero value in this field means the drive is within the configured tolerance around the commanded velocity.

Ready A non-zero value in this field means the drive power structure is currently enabled and providing current to the motor.

Reg_Captured A non-zero value in this field means the drive has captured a registration event and position.

Fault_Code DINT This field consists the error code reported from the drive.

Input_Sts K300_Input_Sts This field consists of the User Data Type for the input status of the drive. The variable names are corresponding to the input terminal.Example:

DigitalInputA1Status correspond to A1DigitalInputA2Status correspond to A2… DigitalInputC3Status correspond to C3DigitalInputC4Status correspond to C4

DataLink K300_DataLink This field is a copy of the current value of whatever parameter it was configured to be in the MotionView softwareThis is a User Data Type that consist of four User Defined Integers:

UserDefinedIntegerData0UserDefinedIntegerData1UserDefinedIntegerReal0UserDefinedIntegerReal1

Table 13 - RA_K300 _EIP_STS _INDEX UDFB Outputs (continued)




Figure 15 - RA_K300 _EIP_STS _INDEX Flowchart

Diagnostics

End

Read DriveFault

Start

Read IndexStatus

InitializeVariables

No

Yes

Stop Updating?



RA_K300_EIP_STS_WATCHDOG

This UDFB provide a function to let the drive fault when communication is lost.

Table 14 - RA_K300 _EIP_STS _INDEX Inputs

Table 15 - RA_K300 _EIP_STS _INDEX Outputs

Figure 16 - RA_K300 _EIP_STS _INDEX Flowchart


FBEN BOOL When this bit goes from False to True, the command configured in this UDFB are sent. True or False


Interval UINT This is the timeout value (ms) for the watch dog timer. 10…1000

Enable BOOL This is the bit to enable the watch dog timer. Reset this bit to disable the watch dog timer. True or False


FBENO BOOL This variable defines the state of the FBEN.

WatchDog_Active BOOL This bit indicates whether the watch dog is active or inactive.When the bit is True, watch dog is active, when the bit is False, watch dog is inactive.

Error BOOL This bit indicates an error has occurred within the UDFB. For a more detailed description of the error code, see FB_ErrCode.

ErrorID UINT This variable defines the communication error message.33- Parameter configuration related error (verify that the IP address is entered correctly).55- Timeout related error (verify that the connection is not lost).When there is an error, the PLC must remain connected to drive, you can reset and set the Enable bit again.

End

EnableWatch Dog

Start

DisableWatch Dog

InitializeVariables

No

Yes

EnableWatch Dog?

Send CyclicUpdates


Appendix B

Global Variables

This appendix contains the global variables used for the user program interfacing.

Variable Name Data Type Description

(User-defined prefix)_Cmd_DefineHome_Auto BOOL Set this bit to define current position as home in machine Auto mode.

(User-defined prefix)_Cmd_FaultReset_Auto BOOL Set this bit to reset the drive in machine Auto mode.

(User-defined prefix)_Cmd_IndexInput_Auto DINT Set the first index number to execute in machine Auto mode.

(User-defined prefix)_Cmd_RefreshComm_Auto BOOL Set this bit to reset communication.

(User-defined prefix)_Cmd_ServoEnable_Auto BOOL Set this bit to enable the drive in machine Auto mode.

(User-defined prefix)_Cmd_StartHoming_Auto BOOL Set this bit to initiate homing in machine Auto mode.

(User-defined prefix)_Cmd_StartIdx_Auto BOOL Set this bit to initiate index in machine Auto mode.

(User-defined prefix)_Cmd_StopIdx_Auto BOOL Set this bit to stop all motion in machine Auto mode.

(User-defined prefix)_Cfg_AccelRead REAL This variable defines the acceleration value for an index.

(User-defined prefix)_Cfg_BatchRead DINT This variable defines the batch value for an index.

(User-defined prefix)_Cfg_DecelRead REAL This variable defines the deceleration value for an index.

(User-defined prefix)_Cfg_DisAftRegRead REAL This variable defines the relative distance to move after registration event for an index.

(User-defined prefix)_Cfg_DwellRead UINT This variable defines the dwell time for an index.

(User-defined prefix)_Cfg_IndexTypeRead UINT This variable defines the index type for an index.0 = Absolute1 = Relative2 = Registered Absolute3 = Registered Relative4 = Blended

(User-defined prefix)_Cfg_MoveTypeRead UINT This variable defines the motion profile type for an index.0 = Trapezoidal 1 = S-curve

(User-defined prefix)_Cfg_NextActionRead UINT This variable defines the next action to execute for an index.0 = Stop1 = Wait for Start2 = Next Index

(User-defined prefix)_Cfg_NextIndexRead UINT This variable defines the next index number to execute.

(User-defined prefix)_Cfg_PositionRead REAL This variable defines the position value for an index.

(User-defined prefix)_Cfg_VelocityRead REAL This variable defines the velocity value for an index.

(User-defined prefix)_Cmd_Disable_WatchDog BOOL Set this bit to disable watch dog timer.

(User-defined prefix)_Cmd_Enable_WatchDog BOOL Set this bit to enable watch dog timer.

(User-defined prefix)_Err_WatchDog BOOL This variable defines that there is an error while watch dog function is executing.

(User-defined prefix)_Sts_AlarmCode DINT This variable defines the drive alarm message.


Appendix B Global Variables

(User-defined prefix)_Sts_AlarmPresent BOOL This variable becomes True when the drive is faulted.

(User-defined prefix)_Sts_CommunicationError BOOL This variable becomes True when there is a communication error.

(User-defined prefix)_Sts_CommunicationLoss BOOL This variable becomes True communication is lost.

(User-defined prefix)_Sts_Enabled BOOL This variable becomes True when the drive is enabled.

(User-defined prefix)_Sts_EndOfSeq BOOL This variable becomes True when the index execution is completed.

(User-defined prefix)_Sts_Homed BOOL This variable becomes True when the drive is homed.

(User-defined prefix)_Sts_Homing BOOL This variable becomes True when drive is homing.

(User-defined prefix)_Sts_IndexSelect UINT This variable shows the number of the index that is currently activated.

(User-defined prefix)_Sts_InDwell UINT This variable becomes True when the index is waiting to move to the next index position.

(User-defined prefix)_Sts_InMotion BOOL This variable becomes True when the motor is moving.

(User-defined prefix)_Sts_JogActive BOOL This variable becomes True when the drive is jogging.

(User-defined prefix)_Sts_JogAvailable BOOL This variable becomes True when drive ready for jogging.

(User-defined prefix)_Sts_JogNotActive BOOL This variable becomes True when the drive is not jogging.

(User-defined prefix)_Sts_PositionFeedback REAL This variable indicates the position of drive.

(User-defined prefix)_Sts_Ready BOOL This variable becomes True when the drive is ready for operation.

(User-defined prefix)_Sts_VelocityFeedback REAL This variable indicates the velocity of drive.

(User-defined prefix)_Sts_WatchDog BOOL This variable becomes True when the drive watch dog function is enabled.

(User-defined prefix)_Sts_Stopped BOOL This variable defines the stop status of the motion.

Variable Name Data Type Description


Global Variables Appendix B

Notes:


Publication CC-QS036A-EN-P - June 2014Copyright © 2014 Rockwell Automation, Inc. All rights reserved. Printed in the U.S.A.

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United States Contact your distributor. You must provide a Customer Support case number (call the phone number above to obtain one) to your distributor to complete the return process.

Outside United States Please contact your local Rockwell Automation representative for the return procedure.

Rockwell Otomasyon Ticaret A.Ş., Kar Plaza İş Merkezi E Blok Kat:6 34752 İçerenköy, İstanbul, Tel: +90 (216) 5698400

http://literature.rockwellautomation.com/idc/groups/literature/documents/du/ra-du002_-en-e.pdf

http://www.rockwellautomation.com/support

https://rockwellautomation.custhelp.com/

http://www.rockwellautomation.com/literature/

http://www.rockwellautomation.com/rockwellautomation/distributor-locator/sales-locator.page

http://www.rockwellautomation.com/services/online-phone

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