Integrated Motion Solutions

K endall
C onnection
L ive!

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Automation Fair 2018

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 What do I need to know .... To start to use a RA Motion System

Who gets to choose Is it that easy?

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 So where do we start!

Ideas?
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We meet & start to talk about your concept, your machine!

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How fast – cycle time,
Weight,
Distance,
Acceleration/Deceleration,
Drive pulley dia, belt weight
Mechanical design type

Its all about sizing.

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Motion Analyzer Online

Enter data!

https://motionanalyzer.rockwellautomation.com
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Motion Analyzer Online

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Motion Analyzer Online
The results

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 Motion Analyzer - Cloud / PC

Motion Analyzer 7.20 | Release Notes

New Products Added in Motion Analyzer 7.20
• VPF - Single Connector Food Grade Motors added
Products Updates in Motion Analyzer 7.20
• Frame 165 VPL Motors added
• Network Safety option added for K5500 in “Configure
Axis BOM”
• Product compatibility for K300 and LC & LZ motors
added

NO Kinetix 5700

Additional - Supported Product categories

Motors
Amplifiers

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 MP-Series Low Inertia Product Positioning

0.1 Nm 1 Nm 10 Nm 100 Nm 1000 Nm

400 / 460 Volts

HPK-
Series
MP-Series
Low Inertia MP-Series
Medium
Inertia
230 Volts
Voltage

TL-Series
Motor Options

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Servo Motors – continued.

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Integrated Motion on EtherNet/IP Portfolio
Positioning

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 Kinetix 5500 Servo Drive
Power Density

▪ Best in class power density.

▪ Smaller footprint to reduce cabinet space.
▪ Zero Stacking capability for flexible design.

Kinetix 5500 reduces drive footprint size by up to 60% based on application

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 Kinetix 5500 Servo Drive
Flexible Power Connectivity
Designed for multiple power topologies without any compromise of solution. The Kinetix 5500
can be used as single axis or multi-axis applications with AC/DC supply sharing, DC bus
sharing or in a hybrid combination consisting of shared AC/DC supply with DC bus.

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Kinetix Motion

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Kinetix 5500 & 5700 Control Power

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Kinetix 5700

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LinMot Integration into K5700

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Kinetix 5700

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 Controller compatibility with CIP Integrated Motion Ethernet/IP Servo
Drives (number of axes)
RSLogix version 20 or higher is also required (except where noted).
•1769-L18ERM-BB1B (2 Position Loop Axis CIP motion)
•1769-L27ERM-QBFC1B (4 Position Loop Axis CIP motion)
•1769-L33ERM (8 Position Loop Axis CIP motion)
•1769-L36ERM (16 Position Loop Axis CIP motion)
•1769-L30ERM (4 Position Loop Axis CIP motion)
•1756-L6x (100* Position Loop Axis CIP motion) (K6500 can use V18 thru 20)
•1756-L7x (100* Position Loop Axis CIP motion) (K6500 can use V18 and higher)
•1756-L81E, 1756-L82E, 1756-L83E, 1756-L84E and 1756-L85E (256 Position Loop Axis CIP
motion - using the Embedded EtherNet port at 1 Gbps)

•The ControlLogix EtherNet card MUST be a 1756-EN2T, 1756-EN2TR, 1756-EN3TR or 1756-EN2F

•Kinetix 5500 requires version 21 or higher of Logix Designer
•PowerFlex 755 using CIP is only supported at version 19 or higher
•Kinetix 5700 requires version 26 or higher of Logix Designer

The 1756-L8x Logix Controllers version 30 and below support Integrated Motion
with EtherNet/IP drives only. L8x controllers with firmware version 31 and above
will support Ethernet/IP drives, Sercos, and Analog Servo Modules. 23
 Combined Safety Technology.
Integrated or Hardwired
Safety - Safe Torque-Off
SIL3/PLe

Compact GuardLogix Support and Integrated Motion - Kinetix 5500, Kinetix

5700 and PowerFlex 527

Does the GuardLogix control support Kinetix 5500, Kinetix 5700 and PowerFlex
527 Integrated Motion and Network Safety?

GuardLogix is 1756-L7xS and supports integrated axis CIP drive motion and
network safety commands

CompactLogix is 1768-L4xS but does not support integrated axis CIP drive
motion therefore not the network safety that is utilized. You would need 1769-
LxxERM type processor which does the integrated axis CIP drive motion but not
the integrated safety.

CompactLogix 1769-L30ERMS, 1769-L33ERMS, 1769-L36ERMS support

integrated safety and integrated motion with the PowerFlex 527, Kinetix 5500
and Kinetix 5700.

Note: Only the 5500-ERS2 and the 5700-ERS3 will support this functionality.

The Kinetix 5500-ERS Drive has a Hard Wired Safety option

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Kinetix 5700 Servo Drive

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Integrating motion

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 Integrating motion - Key Topics
For Analog and SERCOS axes:
•SERCOS and Analog Motion Configuration and Startup Publication Motion-UM001.
For EtherNet/IP (CIP) axes:
• Start-up: •Integrated Motion on the EtherNet/IP Network Configuration & Start-Up Publication
MOTION-UM003.
CIP motion drive axis not configured error:

If you have any axes in your motion group that are not powered up or don't have the
motor connected to the drive, they need to be moved to the ungrouped axes folder
and downloaded to the controller. Once all the axes in the motion group are powered up,
the error, axis not configured 16386-0, should go away. If the error persists, verify the
drive is not locally disabled. Also, make certain there is no logic executing in the
controller, such as a motion axis stop (MAS or MSF). Putting the controller in
program mode will eliminate the possibility that any logic is executing.

If a drive's network topology is in a star arrangement, it is possible that power

could be removed from one axis and the remaining axes would continue to run.
Upon a power cycle all the axes that are in the motion group are verified to exist
on the network and since one axis is powered down, the remaining drives will not run
and will display Configuring until all the drives in the motion group are powered up and
found on the network. 27
 Tuningless Features for the Kinetix 5000 Servo Drive Families
Tuning
Document
Don’t AutoTune! Use the quick start & Load Observer
• Tuning:
The Load Observer is a great enhancement for the Kinetix 6500 and 5500
servo drives allowing you to:
•Compensate for Disturbances, unknown or time-varying inertias,
unexpected plant variation in time.
•Provide robustness, enhanced stability and reliability to the system.
•Simplify the tuning process for most applications. (Simply need to regulate
two parameters)

•In case of high performance needs, the observer helps push the gains to the
mechanical limit. (Expert tuning knowledge is required)

The Load Observer will Not:

•Solve all mechanical or resonance issues in your servo application

• The Mechanical design is key
•Reduce Position Error or, in general, improve dynamics of your application
on its own. May need to add some Position or velocity loop integral BW.

Note: Adaptive tuning is only necessary if additional resonance present. 28

 The Home to Torque feature has not yet been implemented in RSLogix/Studio
5000 for the Kinetix 6500, Kinetix 5500, Kinetix 5700, Kinetix 350, PowerFlex
• Homing:
527 or PowerFlex 755(CIP Sync) drives.
An Add-On Instruction (AOI) has been developed by
commercial engineering that should provide a
reasonable substitute for this feature.

Note: This function only works in non frequency control

modes for these drives (PowerFlex 527/755, Kinetix
5500/5700 drives)
You can find the AOI on the Sample Code Library.

Kinetix 5700 digial I/O used for home switch

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 There are two ways to navigate to motion direct commands.
1.Tools --> Motion --> Direct Commands
2.Right click on an axis under the Motion Groups and select
Motion Direct Commands
Note: If the controller is in Run Mode or Remote Run Mode, it
• Motion Direct Commands:
may be necessary to change to Remote Program Mode
because there could still be logic executing that will interfere
with the motion direct commands.

Yes, you must issue an MSO to close the servo loop

before issuing any other motion commands.

Using the Motion Direct commands is a good method to

test motion without logic – program mode.

If logic is not working – verifying basic motion with Motion

Direct Commands will verify basic motion functions

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• Vertical load: A lot to say about this one!

Read this document to get a better understanding for vertical loads!

Reference Publication Application Technique - Vertical Load and Holding Brake

Management Rockwell Automation Publication MOTION-AT003

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• Direction test:

I changed my motion polarity but the hookup test still rotates the same direction. Why
doesn't the direction of the test change?

Answer
The hookup test command and feedback always runs the same direction regardless of
motion polarity.

Try rotating the motor by hand while watching the actual position or by issuing an MSO
and MAJ in direct commands to test.

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 Overtravels - configuration

There are multiple selections for Action; for

simple overtravel recovery, StopPlanner is the
• Overtravels: recommended selection.

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Any other topics to add to these previous items?

• ___________________

• ___________________

• ___________________

• ___________________

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Drives and Motion Accelerator Toolkit (DMAT) is pre-sales support tool for our customer. With these
easy-to-use tools and templates, you can concentrate on developing the unique features of your
Integrated Architecture application using Rockwell Automation Servo and AC Drives — not on the
routine tasks that add to overhead costs. The Drives and Motion Accelerator Toolkit (DMAT)
provides tools to assist with all facets of your design task, from selecting components and
developing drawings, to writing code, laying out HMI screens, starting up your machine - and even
troubleshooting.

First, here is a link to a document that explains what is included in the Drives and Motion
Accelerator Toolkit Publication, IASIMP-QS019

You may need to have a valid login to access the following link in order to download
the Drives and Motion Accelerator Toolkit.

Link to download Drives and Motion Accelerator Toolkit DMAT 1.17.02-DMAT-DVD

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Download the Faceplate/AOI sets for FactoryTalk View ME and SE at the Sample Code
Library Web site by selecting "AOI" or "Faceplates" under Technologies & Functionalities or
click here, Faceplates/AOI Sets.

Here are just some of the Faceplate/AOI sets

available:
•PowerFlex Drives
•E3 Overloads
•Analog and Digital I/O Modules
•Kinetix Servo Drives

Let’s review the DMAT a bit.

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Kinetix 5700 Safe Monitoring Servo Drives

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Kinetix 5700 Safe Monitoring Servo Drives

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Kinetix 5700 Safe Monitoring Servo Drives

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Kinetix 5700 Safe Monitoring Servo Drives

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Kinetix 5700 Safe Monitoring Servo Drives

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DEMO Kinetix 5700 High Performance / Tuning Demo

A Safety Focus

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 Kinetix – Additional resources
Kinetix 300 EtherNet/IP Indexing Drives User Manual, publication 2097-UM001
Kinetix 350 Single-axis EtherNet/IP Drives User Manual, publication 2097-UM002
Kinetix 6200 and Kinetix 6500 Modular Multi-axis Servo Drives User Manual,
publication 2094-UM002

Kinetix 6000 Multi-axis Servo Drives User Manual, publication 2094-UM001

Kinetix 6000M Integrated Drive-Motor System User Manual, publication 2094-UM003
Kinetix 2000 Multi-axis Servo Drives User Manual, publication 2093-UM001
Kinetix 7000 Multi-axis Servo Drives User Manual, publication 2099-UM001
Ultra™3000 Digital Servo Drives Installation Manual, publication 2098-IN003
Ultra3000 Digital Servo Drives Integration Manual, publication 2098-IN005
Kinetix Motion Control Selection Guide, publication GMC-SG001
Kinetix Rotary Motion Specifications, publication GMC-TD001
Kinetix Linear Motion Specifications, publication GMC-TD002
Kinetix Servo Drives Specifications, publication GMC-TD003
Kinetix Motion Accessories Specifications, publication GMC-TD004

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Kinetix 6000 and Kinetix 6200/6500 Drive Systems Design Guide, publication GMC-RM003
Kinetix 300 and Kinetix 350 Drive Systems Design Guide, publication GMC-RM004
Kinetix 2000 Drive Systems Design Guide, publication GMC-RM006
Kinetix 7000 Drive Systems Design Guide, publication GMC-RM007
Ultra3000 Drive Systems Design Guide, publication GMC-RM008
E3™ and E3 Plus™ Solid-state Overload Relay User Manual, publication 193-UM002. Bulletin 193 E EtherNet/IP
Communications Auxiliary User Manual,
E300 Electronic Overload Relay User Manual, publication 193-UM015
SMC™-50 Solid-state Smart Motor Controller User Manual, publication 150-UM011.
Provides mounting and installation instructions for SMC-50 soft-starter modules.
ArmorStart LT Distributed Motor Controller User Manual, publication 290E-UM001
Provides installation and wiring instructions for the ArmorStart motor controllers. Also
ArmorStart Distributed Motor Controller with EtherNet/IP User Manual, provides information on how to set
parameters and troubleshoot the device.publication 280E-UM001
Sercos and Analog Motion Configuration and Startup User Manual, publication MOTION-UM001
Motion Coordinate System User Manual, publication MOTION-UM002
Integrated Motion on the Ethernet/IP Network Configuration and Startup User Manual, publication MOTION-UM003
Integrated Motion on the Ethernet/IP Network Reference Manual, publication MOTION-RM003

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Good Job everyone!

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