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Integrated Motion on the EthernetIP Network Reference Manual

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Integrated Motion on the Ethernet/IP NetworkCatalog Numbers ControlLogix, CompactLogix, Kinetix 6500, Kinetix 300, Kinetix 350, PowerFlex 755, PowerFlex 700 Reference ManualImportant 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, RSLogix, PowerFlex, Kinetix, EnDat 2.1, EnDat 2.2, Hiperface, Logix5000, 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 consequence.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.IMPORTANTIdentifies information that is critical for successful application and understanding of the product.Rockwell Automation Publication MOTION-RM003B-EN-P - October 20113Summary of ChangesChanges throughout this revision are marked by change bars, as shown to the left of this paragraph. Minor changes are not necessarily included in the Summary of Changes. New and Updated InformationThese tables contain the major changes made in this revision.Table 1 - Summary of Changes for Control Modes and MethodsTopicPageCIP Motion changed to Integrated Motion on the Ethernet I/P NetworkThroughoutChanges made to Acceleration Control Method23Changes made to Conditional Implementation25Changes made to various attributes See change barsAdded the Motion Instruction Compatibility41Table 2 - Summary of Changes for Axis AttributesTopicPageCIP Motion changed to Integrated Motion on the Ethernet I/P NetworkThroughoutAdded Interpolated Position Configuration70Added Motion Control Status Bits and descriptions related to MDSC73Made changes to various attributesSee change barsChanges to Command Generation BehaviorSee change bars4Rockwell Automation Publication MOTION-RM003B-EN-P - October 2011Summary of ChangesNotes:Rockwell Automation Publication MOTION-RM003B-EN-P - October 20115Table of ContentsIntroduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Where to Find Sample Projects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Additional Resources. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Chapter 1CIP Motion Axis Control ModesControl Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Control Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Axis Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Control Nomenclature. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17No Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Position Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Open Loop Position Control Method. . . . . . . . . . . . . . . . . . . . . . . . . . 19Closed Loop Position Control Method. . . . . . . . . . . . . . . . . . . . . . . . . 20Velocity Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Open Loop Velocity Control Method. . . . . . . . . . . . . . . . . . . . . . . . . . 21Closed Loop Velocity Control Method. . . . . . . . . . . . . . . . . . . . . . . . . 22Acceleration Control Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Torque Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Required versus Optional Axis Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . 25Required Implementation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Conditional Implementation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Device Control Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28Device Control Code Combinations. . . . . . . . . . . . . . . . . . . . . . . . . . . 28Identify Motion Axis Attributes Based on Device Control Codes . . . . 29Motion Instruction Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Chapter 2CIP Axis AttributesIntroduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Accessing Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Attribute Access Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45Access Attributes from Ladder Logic. . . . . . . . . . . . . . . . . . . . . . . . . . . 46Access with an MSG Instruction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Input Filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48Tag Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Attribute and Parameter Organization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50Accessing Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Cyclic Read and Cyclic Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Motion Control Axis Attributes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Interpreting the Attribute Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Attribute Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Motion Control Interface Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Motion Control Configuration Attributes . . . . . . . . . . . . . . . . . . . . . . . . . 61Motion Control Signal Attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65No Control (feedback only) Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

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