Integrated Motion on the EtherNet/IP Network - Rockwell Automation

Integrated Motion on the EtherNet/IP Network

ControlLogix, CompactLogix, Compact GuardLogix, GuardLogix, Kinetix 350, Kinetix 5300, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 527, PowerFlex 755

Reference Manual

Rockwell Automation Publication MOTION-RM003N-EN-P - November 2022 Supercedes Publication MOTION-RM003M-EN-P - March 2022

Original Instructions

Integrated Motion on the EtherNet/IP Network

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.

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.

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

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).

Rockwell Automation recognizes that some of the terms that are currently used in our industry and in this publication are not in alignment with the movement toward inclusive language in technology. We are proactively collaborating with industry peers to find alternatives to such terms and making changes to our products and content. Please excuse the use of such terms in our content while we implement these changes.

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Rockwell Automation Publication MOTION-RM003N-EN-P - November 2022

Summary of changes

This manual contains new and updated information. Use these reference tables to locate new or changed information. Grammatical and editorial style changes are not included in this summary.

Global changes

This table identifies changes that apply to all information about a subject in the manual and the reason for the change. For example, the addition of new supported hardware, a software design change, or additional reference material would result in changes to all of the topics that deal with that subject.

None for this release.

New or enhanced features

This table contains a list of topics changed in this version, the reason for the change, and a link to the topic that contains the changed information.

Topic Name

Identify Motion Axis Attributes Based on Device Function Codes on page 101 Motion Control Configuration Attributes on page 496

Reason

Added Test Mode Configuration and Test Mode Enable. Updated Registration. Added Accelerator Feedback Device. Updated Control Mode.

Motion Scaling Attributes on page 560

Updated Travel Range, Motion Polarity.

Kinetix 350 Drive Module Optional Attributes on page 124 Removed a typo.

General Motor Attributes on page 576

Updated Motion Polarity.

Feedback Configuration Attributes on page 478

Updated Feedback N Polarity.

Torque/Force Control Configuration Attributes on page 298 Updated Backlash Compensation Window and Friction

Compensation Window.

Converter Current Control Signal Attributes on page 695 Updated Converter Current Limit Source.

Converter Current Control Configuration Attributes on page Updated Converter Current Vector Limit.

692

Fault Log Attributes on page 467

Updated CIP Axis Fault Log.

Configuration Fault Attributes on page 431

Updated Attribute Error Code.

Rockwell Automation Specific Axis Exceptions on page 712 Updated Regenerative Power Supply Failure.

Start Inhibit Attributes on page 648

Updated the Usage column for CIP Start Inhibits, CIP Start

Inhibits - RA.

Motor Test Result Attributes on page 416

Updated Motor Test Status.

Hookup Test Result Attributes on page 408

Updated Hookup Test Status.

Inertia Test Result Attributes on page 413

Updated Tune Status.

Structural Vibration Attributes on page 676

New section with Accelerometer Feedback Device Y, Z, X

RMS, Y RMS, and Z RMS.

CIP Axis Status Attributes on page 352

Updated Power Structure Enabled and Bus Voltage Lock.

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Summary of changes

Topic Name

Reason

Event Capture Attributes on page 370

Updated the data type for: Registration 1 Positive Edge

Time, Registration 1 Negative Edge Time, Registration 2 Positive Edge Time, Registration 2 Negative Edge Time, Home Event Time, Watch 1 Event Time, Watch 2 Event Time.

Torque/Force Control Configuration Attributes on page 298 Updated Backlash Compensation Window and Friction

Compensation Window.

Current Control Configuration Attributes on page 270

Update Kqi, and Commutation Polarity.

Converter Current Control Signal Attributes on page 695 Updated Converter Current Limit Source.

Drive General Purpose I/O Attributes on page 374

Updated Digital Output Configuration and Regenerative Power OK Input Pulse Reject Filter.

Inertia Compensation on page 77

Updated Backlash Compensation and Friction Compensation.

Motion Control Modes on page 16

Added content for Axis Test Mode.

Position Control Mode on page 17

Added content for Axis Test Mode.

Motion Control Modes in Axis Test Mode on page 21

New section.

Motion Instruction Compatibility on page 23

Updated the table.

Event Input Sources on page 39

Added content for Axis Test Mode.

Fault and Alarm Behavior on page 41

Added content for Axis Test Mode.

Exceptions on page 41

Added content for Axis Test Mode.

Absolute Position Recovery on page 43

Added content for Axis Test Mode.

Motion Control Axis Behavior Model on page 52

Added content for Axis Test Mode.

Axis Test Mode on page 75

New section.

Torque Control Behavior on page 75

Added content for Axis Test Mode.

Velocity Control Behavior on page 84

Added content for Axis Test Mode.

MSG Instruction Access Only Attributes on page 242

Updated the table with Axis Test Mode information.

CIP Axis Attributes on page 247

Added new table for Axis Test Mode.

Device Commissioning and Tuning Attributes on page 398 Added content for Axis Test Mode.

Safety Attributes on page 599

Added content for Axis Test Mode.

Axis Test Mode Attributes on page 677

New section.

Axis Test Mode Configuration Attributes on page 677

New section.

Module Configuration Block Attributes on page 719

Added content for Axis Test Mode.

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Rockwell Automation Publication MOTION-RM003N-EN-P - November 2022

Summary of changes Preface

Table of Contents

Studio 5000 environment .......................................................................... 11 Additional Resources ..................................................................................11 Legal Notices ...............................................................................................13

Integrated Motion on the EtherNet/IP Network

Chapter 1

Integrated Motion Axis Control Modes and Methods .............................15 Motion Control Modes......................................................................... 16 Position Control Mode ...................................................................17 Velocity Control Mode ...................................................................18 Torque Control Mode ................................................................... 20 No Control Mode........................................................................... 20 Motion Control Modes in Axis Test Mode..........................................21 Motion Control Methods .....................................................................21 Motion Instruction Compatibility ......................................................23

Behavior models used in CIP Motion

Chapter 2

Acceleration Control Behavior .................................................................. 25 Acceleration Limiter............................................................................. 26 Load Observer....................................................................................... 27

Command Generation Behavior .............................................................. 28 Command Data Sources..................................................................... 29 Command Fine Interpolation ............................................................ 30 Command Ramp Generator ................................................................33 Feedforward Signal Selection .............................................................34 Command Notch Filter ........................................................................ 35

Current Control Behavior .......................................................................... 35 Current Vector Limiter ........................................................................36 Voltage Output ..................................................................................... 37 Current Feedback.................................................................................37 Motor Commutation............................................................................38

Event Capture Behavior .............................................................................38 Event Input Sources.............................................................................39 Event Latches....................................................................................... 40 Event Time Stamps ............................................................................. 40

Fault and Alarm Behavior .......................................................................... 41 Exceptions ............................................................................................ 41 Absolute Position Recovery .................................................................43 Absolute Position Loss without APR Faults .................................44 APR Fault Conditions ....................................................................45 APR Fault Generation ....................................................................46 APR Fault Examples.......................................................................47

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