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Integrated Motion on the EthernetIP Network Configuration and Startup User Manual

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User ManualIntegrated Motion on the Ethernet/IP Network Configuration and StartupCatalog Numbers ControlLogix, CompactLogix, Kinetix 6500, Kinetix 350, PowerFlex 755Important User InformationSolid-state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local Rockwell Automation™ sales office or online at http://www.rockwellautomation.com/literature/) describes some important differences between solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable.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.Allen-Bradley, Rockwell Automation, ControlLogix, RSLinx, RSLogix, Rockwell Software, Kinetix, PowerFlex, Logix5000, Integrated Architecture, PhaseManager, DriveExecutive, ControlFLASH, Stratix 8000, POINT I/O, CompactLogix, GuardLogix, and TechConnect 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 consequenceSHOCK 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.IMPORTANTIdentifies information that is critical for successful application and understanding of the product.Rockwell Automation Publication MOTION-UM003C-EN-P - October 20113Summary of ChangesThis manual contains new and updated information. Changes throughout this revision are marked by change bars, as shown to the right of this paragraph.New and Updated InformationThis table contains the major changes made to this revision.TopicPageConfiguration and Start-up Scenarios13Updated graphics for RSLogix™ 5000 software, version 20 ThroughoutAdded information related to the Kinetix™ 350 Ethernet drive.ThroughoutY-controllers that support Integrated Motion11Changes to Configure Integrated Motion Control by using Kinetix Drives26Configure the Associated Axis and Control Mode38Example 5: Frequency Control with No Feedback123Programming Time as Units with the MDSC Function2194Rockwell Automation Publication MOTION-UM003C-EN-P - October 2011Summary of ChangesNotes:Rockwell Automation Publication MOTION-UM003C-EN-P - October 20115Table of ContentsPrefaceBefore You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11What You Need. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Configuration and Start-up Scenarios. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13About the Ethernet/IP Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Help for Selecting Drives and Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Where to Find Sample Projects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Additional Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Chapter 1Configure a Project for Integrated Motion on the Ethernet/IP NetworkCreate a Controller Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Set Time Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Add a 1756-ENxTx Communication Module . . . . . . . . . . . . . . . . . . . . . . 20Example Time Synchronization Topology. . . . . . . . . . . . . . . . . . . . . . . . . . 24Chapter 2Configure Integrated Motion Control by Using Kinetix DrivesAbout the Kinetix 6500 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26About the Kinetix 350 Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26Add a Kinetix 6500 Ethernet Control Module. . . . . . . . . . . . . . . . . . . . . . 27Assign a Power Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30Establish Feedback Port Assignments for the Kinetix 6500 Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Create and Configure a Kinetix Drive Module Associated Axis. . . . . . . 32Create an Axis for a Kinetix Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Configure an Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34General Dialog Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Associate Axes and Drives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Configure the Associated Axis and Control Mode. . . . . . . . . . . . . . . 38Create a Motion Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Associate the Axis to the Motion Group. . . . . . . . . . . . . . . . . . . . . . . . 43Set the Coarse Update Period. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44MOTION_GROUP Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Motor Dialog Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48Choose the Catalog Number as the Motor Data Source. . . . . . . . . . 48Choose Nameplate as the Motor Data Source. . . . . . . . . . . . . . . . . . . 50Choose Motor NV as the Data Source. . . . . . . . . . . . . . . . . . . . . . . . . . 51Motor Model Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Motor Feedback Dialog Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Load Feedback Dialog Box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Master Feedback Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Create Reports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

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