Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC PUBLIC CO900H L09 - Integrated Motion on EtherNet/IP A Scalable Motion System on a Single Network

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Goals of Lab  Learn how to apply Integrated Motion on a wide range of machines:  Using Kinetix® and PowerFlex® drives and Logix controllers  All on standard EtherNet/IP  Designed to provide scalability by simplifying integration of the entire control solution on one network - including HMI, controller, motion and I/O  This lab demonstrates the concepts of Integrated Motion:  Time efficient  Power and performance-oriented  Ease of motion system setup  Benefits of using EtherNet/IP

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC What You’ll Do  Lab 1:  View a working Integrated Motion system  Gain familiarity with the tools and the software  Labs 2 and 3:  Try it for yourself  Configure, commission and command an axis of motion from scratch  Labs 4 and 5:  Investigate the HMI and faceplates provided free of charge  Troubleshoot the system using embedded tools in Logix  Appendix  Advanced Topics: Tuning, CAMs, Coordinated Motion, Network Safety, and Multiplexing

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC The Equipment  CompactLogix™ 5370 Demo Box  CompactLogix™ Controller and Chassis (Bulletin 1769)  Point I/O on EtherNet/IP (Bulletin 1734)  Kinetix® 5500 Demo Box  Kinetix® 5500 Servo Drive (Bulletin 2198)  VP-Series Motors (Bulletin VPL)  PowerFlex® 527 (Bulletin 25C)  Induction Motor  Computer with Studio 5000® and FactoryTalk® ME

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC PowerFlex® 527 AC Drive This IS the PowerFlex® 527 First compact PowerFlex® drive designed to exclusively use a Logix controller and programmed with Studio 5000® integrated motion instructions Ideal VFD to complement machines already using Kinetix® servo drives Common Studio 5000® configuration and programming experience saves start uptime, and delivers a coordinated and synchronized machine Features Integrated Safety — controller based safety delivered via EtherNet/IP Power Range: 0.5 to 30 Hp / 0.4 to 22 kW Global voltage ratings: 100 to 600V

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC PowerFlex® 527 AC Drive HIM Multi-lingual LCD display with QuickView™ scrolling text Terminal Blocks Removable terminal blocks ease installation Safety – SIL3/PLe Integrated Safety for safety over EtherNet/IP and embedded Safe Torque-off for hardwired safety Communications Embedded dual port EtherNet/IP Control & Programming Configure, control, and monitor PowerFlex® drives in a single control platform

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Notes About the Lab  This lab extensively uses the “Drives and Motion Accelerator Toolkit”  This modular framework provides electrical drawings, panel layouts, sample code and HMI screens to speed new machine development and design  The HMI should be loaded on your desktop  Do not click “Start the Lab” until instructed to do so  Do not click the “Exit” button in the HMI

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Advanced Motion Topics Master Driven Speed Control

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Master Driven Speed Control Master Driven speed Control (MDSC) is a new move command mode of operation that significantly expands the capability of the existing Logix motion instruction set  Two New Instructions to define the Master & Slave axes  MDAC (Master Driven Axis Control)  Use with single axis motion instructions  MDCC (Master Driven Coordinated Control)  Use with coordinated move instructions  New parameters in MAJ, MAM, MCLM, MCCM and MATC motion instructions

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Master Driven Speed Control and MAM  MAM has 3 modes of operation  Time Driven (classic or prior to V20)  MDSC (master/slave relationship) used with MDAC  Timed (Driven) Based (go to an end point in a specified amount of time) used with MDAC  Choices for units in MAM  Units per sec (classic)  % Maximum (classic)  Time  Units per Master Unit (gear)  Master Units (cam)  (4) New Parameters  Lock Position and Direction  Event Distance and Calculated Data

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Master Driven Speed Control Lab What are the Key Takeaways for the MDSC lab?  MAM has 3 modes; classic, programmed in time (seconds) and MDSC  MDSC modes require the MDAC command to establish the relationship between the Master and Slave axes  MDSC in ‘Units per Master Units’ is like adding a MAG to your MAM  MDSC in ‘Master Units’ is like a single point MAPC

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Advanced Motion Topics Multi-Axis Coordinated Motion

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Multi-Axis Coordinated Motion Multi-Axis Coordinated Motion – What is it?  Expands the Logix capabilities to provide motion commands in Cartesian space  Integrates profiled motion in 1, 2 or 3 dimensions into the Logix architecture  Linear Interpolation commands motion along a straight line between two points in space.  Circular Interpolation commands motion along a circular path between two points in space.

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Coordinated Motion Lab What are the Key Takeaways for the Coordinated Motion lab?  A Coordinated System consists of 1 to 3 axes  A Coordinate System is an association of Axes within a Motion Group that can be moved in linear or circular path segments  Linear Coordinated Motion – MCLM  Uses the system current position and programmed destination position to plan the path  Circular Coordinated Motion – MCCM  Uses the system current position, programmed end point and a third parameter to plan the unique path (Via Point, Radius, Center and Center Incremental)  Additional Info  A given Axis can be associated with multiple Coordinated Systems  More than one Coordinate System may reside in the Motion Group

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Advanced Motion Topics Position Cam Design

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC 16 Position Cam Design Illustrated with a Rotary Knife Lab  Machine Performance Goals  Minimize the move time while achieving the necessary error tolerances  Minimize the required torque to minimize machine degradation and errors  Cam Design Objectives  How accurately and quickly can the application move?  Does the Cam design minimize the induced torque ripple?  Lab Objectives  Illustrate a design procedure that provides good control of the machine which can be leverage to optimize the machines performance  Demonstrate why it is important to improve your knowledge of Cam Design. Cam design can have a dramatic effect on machine performance.

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Advanced Motion Topics Tuning

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Tuning  Tuning Performance Goals  Minimize the position error to achieve maximum production rates.  Robust to unknown and changing loads such as changing inertia, backlash, and compliance.  Summary & Road Map Discussions  Load Observer: Controls 80% of the applications  Load Observer & Notch Filter Tuning: Controls 95% of the applications  Lab Objectives  Illustrate a tuning procedure that provides good control of each axis without requiring a motion control expert.  Demonstrate how the solution eliminates the need to tune most applications.

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Advanced Motion Topics Network Safety Drives

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Kinetix ® 5500 with Integrated Safety Features and Benefits  Perform Safe Torque-off over EtherNet/IP connection  Safety functionality up to SIL3 / PLe  Reduction in wiring of safety circuit  Fewer number of components required  Reduce system validation costs through code reuse  Reduction in cabinet space requirements Reduce System Cost  Easily integrate control, safety and motion in Logix Designer  Increased flexibility and modularity of system design and safety zoning  Detailed diagnostics to assist in commissioning and troubleshooting safety related faults  Safety zone configuration change without changing hardware Ease of Use Integrated Safety Enhances Machine Performance

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Kinetix® 5500 with Networked Safety Different Connection Types

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Advanced Motion Topics Multiplexing in the Motion Group

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Multiplexing for the Motion Group  Support for ControlLogix® 5570 controllers and CompactLogix™ 5370 controllers  Provides three coarse update periods (CUR) per controller  Available for CIP Motion drives and Virtual axes  Benefit – increase Logix controller drive control capacity  Without drive multiplexing …..  Set CUR based on the highest performance drive (1 CUR supported)… wasted controller capacity  With drive multiplexing….  Set CUR to match drive performance (3 CUR supported) …. optimize controller capacity utilization Fits in 1 - L7x control Fits in 1 - L7x control Requires 2 -L7x controls Requires 2 -L7x controls Reduce the total number of controllers! Rate Selection Rate Selection Estimated and Actual Utilization Estimated and Actual Utilization

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Motion Group Coarse Update Rate Without Multiplexing Only Operate At Machine Set-up Run Continuous Only 1 Coarse Update Rate Fan or Pump

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Motion Group Coarse Update Rate Without Multiplexing AX_Unw AX_GR01 AX_GR02 AX_GR03 AX_SetUp_DS AX_SetUp_Cntr AX_SetUp_OS Multiple Rate Selections AX_Unw AX_GR01 AX_GR02 AX_GR03 AX_SetUp_DS AX_SetUp_Cntr AX_SetUp_OS AX_ExConv Match the Update Rate With The Machine Functionality

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Motion Group Coarse Update Rate Without Multiplexing AX_Unw AX_GR01 AX_GR02 AX_GR03 AX_SetUp_DS AX_SetUp_Cntr AX_SetUp_OS AX_ExConv Estimated & Actual Utilization

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC Multiplexing in IAB

Copyright © 2015 Rockwell Automation, Inc. All Rights Reserved. PUBLIC PUBLIC CO900H Thank you for participating!