1. To Join the Telephone Conference . . .
Dial
Please specify conference ID
Upgrade Boundaries
RS5K
V2 to present– CFlash local chassis modules only
V13 and prior f/w releases – Hyperterminal was required to SERCOS drives, UltraWARE for U3K
V13 – Implemented “Browsing” over SERCOS to the servo drive using RSLinx
Important because you can now see the drive through RSLinx, although you cannot flash to it.
V13 - AutoFlash was implemented for motion modules in the chassis (not drives).
V15 - ControlFlash & AutoFlash over SERCOS implemented (1756-RN619C-EN-E & 2094-RN006E).
V16 - Firmware Supervisor Implemented
V17 – Kinetix 6200 introduced – CFlash capable
V18 –Kinetix 6500 introduced – CFlash capable
V19 – Kinetix 300 – Uses MotionView for upgrades
V20 – Kinetix 350 introduced – CFlash capable (hardware available now)
We will send a link to a recording of
this broadcast following the WebEx session.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

2. Integrated Motion on EtherNet/IP Overview
January 2012 TechConnect Genius Webinar
Kurt Mathson & Jason Nadeau

3. Machine Architectures  EtherNet/IP
Single Network Architecture
Lowers system cost
High system performance
Flexible
Simplified integration
Multi-Network Architecture
Reduces wiring cost
Each network optimized for application
High system performance
Flexible
EtherNet/IP supports HMI, I/O, standalone Drives & now Integrated Motion
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

4. Copyright © 2012 Rockwell Automation, Inc. All rights reserved.
Integrated Motion
Motion-capable Logix Controllers, Motion Modules and RSLogix 5000 programming software provide Integrated Motion control support
RSLogix 5000
Motion Planner
(Coarse)
Axis Configuration
Motion Programming
Motion Modules
1756-MxxSE
(Fine Interpolator)
SERCOS
-Digital-
Fiber Optic
Kinetix 2000
Kinetix 6000 / 6200
Kinetix 7000
1756-Lxx
Controller
(Fine Interpolator)
Motion Modules
1756-EN2T(R)
1756-EN3TR
Ethernet
-Digital-
Cat5e
Kinetix 6500
Kinetix 350
PowerFlex 755
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

5. Copyright © 2012 Rockwell Automation, Inc. All rights reserved.
Motion Programming
40+ Motion Instructions
Used to generate position and velocity profiles within the controller to be sent to the Motion Modules & then Drives
Can be programmed in:
Ladder Logic
Structured Text
Sequential Function Charts (structured text)
Motion instructions can also be used within Add-On Instructions to generate custom motion instructions
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

6. Integrated Motion on EtherNet/IP
CIP Motion & CIP Sync provide Synchronization and Motion Support on EtherNet/IP
CIP Sync time services
Distributed node time sync on EtherNet/IP using IEEE-1588
Input time stamping, events & alarms time stamping
Time scheduled outputs
CIP Motion drive sync
Single Network Solution for all Factory Automation Needs
No dedicated motion network required
Flexible network layout
Can utilize existing Ethernet Infrastructure
True interoperability and open architecture
Standard Unmodified Ethernet
Increased diagnostics
Covers both Kinetix and PowerFlex products
Integrated Motion on EtherNet/IP =
&
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

7. How Does CIP Motion Work? --- Simple Analogy
CIP Motion coordinates devices in a manner that’s similar to our own methods for coordinating meetings and events
All members (devices) have clocks to compare time to an absolute base and scale
A destination (position) is targeted for the event
A time (timestamp) is set for when the event shall occur
A message is sent to each member (device) to meet at a given place at the pre- determined time
Not all messages will arrive at precisely the same time…
Meeting
Conf Rm
2:00 pm
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

8. How Does CIP Motion Work? --- Simple Analogy
CIP Motion coordinates devices in a manner that’s similar to our own methods for coordinating meetings and events
All members (devices) have clocks to compare time to an absolute base and scale
A destination (position) is targeted for the event
A time (timestamp) is set for when the event shall occur
A message is sent to each member (device) to meet at a given place at the pre- determined time
Not all messages will arrive at precisely the same time…
…but all members arrive in the proper destination at the proper time for the meeting to take place.
Conf Rm
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

9. Coarse Update / Fine Interpolation
Coarse Command Position generated by Motion Planner in the Controller, the Fine Command Position is interpolated by the Drive
Controller  Coarse (typically msec)
Fine Interpolated Command Positions
Drive  Fine
(typically µsec)
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

10. Copyright © 2012 Rockwell Automation, Inc. All rights reserved.
CIP Sync Example
Slide under construction
CIP Sync clock example
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

11. Command Position Targeting Using Time Stamp
Last Command
Position
Target Command
Position
Motor
Fine Interpolation Polynomial
Last Target Time
Target Time
‘n’ usec
Drive
Task
Drive
Task
Drive
Target Time = T1 + 2*CUR
Process Repeats
Motion Task
Motion Task
Controller T1 T2 T3
Course Update Rate (CUR)
Delivering Command Position with Time Stamp allows the Drive to compute a Trajectory to hit the Command Position at the Target Time
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

12. Why Ethernet? …Is It Capable?
100 Mbps “Fast Ethernet”
Delivers raw speed that’s fast enough to handle motion applications
Raw data bandwidth can support 100 axes of data in one msec
Market moving to Gigabit Ethernet
100Mbps “Fast Ethernet”…
----CLICK----
Delivers raw speed that’s fast enough to handle motion applications.
Raw data bandwidth that can support up to 100 axes in 1ms.
With the market moving to Gigabit Ethernet, CIP Motion will be able to migrate with improvements to Ethernet and leverage increased bandwidth in the future.
The Ethernet wire speed is not the “bottleneck”…most often the “bottleneck” exists at the end devices and not the wire.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

13. Why Ethernet? …Is It Capable?
100 Mbps “Fast Ethernet”
Switch-based Distribution
QoS Frame Prioritization
IEEE-1588 Time Sync Service
Proven Industrial Reliability
Low Cost per Node (Built-in)
Switched Technology
Switches provide point-to-point connections between devices
Full two-way communications between devices using full-duplex equivalent to 200 Mbps
No transmission collisions because every link is point-to-point and each direction has dedicated physical connections in a full duplex mode of operation
Switched Technology…
----CLICK----
Switches provide point-to-point connections between devices.
Full 2-way communications between devices using full-duplex equivalent to 200Mbps.
No transmission collisions because every link is point to position and each direction has dedicated physical connections in a full duplex mode of operation.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

14. Why Ethernet? …Is It Capable?
100 Mbps “Fast Ethernet”
Switched Technology
QoS Frame Prioritization
IEEE-1588 Time Sync Service
Proven Industrial Reliability
Low Cost per Node (Built-in)
QoS Prioritization (DSCP)
Message types can be prioritized so that switches handle higher priority messages first
Motion, I/O, other
QoS or Quality of Service Prioritization (DSCP – Differentiated Services Code Point)…
----CLICK----
Messages types can be prioritized so that switches handle higher priority messages first. Basically, high priority messages…like motion…are serviced before lower priority messages like I/O. This prioritization ensures high priority data is delivered in a timely manor.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

15. Quality of Service
Quality of Service (QoS) prioritizes the order in which traffic is sent
Utilizes the Differential Services Code Point (DSCP) field in IP header
Ensures timely data delivery of high-priority traffic – i.e., PTP messages, Motion, etc…
1588 PTP Messages
Ethernet
Switch
Traffic Type DSCP (Priority)
Time Sync 59, 47 (Highest)
Motion
I/O 31, 43, 47
Other 27 (Lowest)
Motion Control Messages
We have spent a majority of this presentation discussing many of the components behind how the CIP Sync and PTP maintain time synchronization, let’s briefly discuss one additional topic that helps ensure that all of those time critical PTP messages are delivered in a timely manner.
Quality of service or QoS prioritizes the order in which traffic is processed in network switches. QoS helps reduce or minimize network delay.
QoS is important as PTP messages are time critical and need to be transmitted with minimal delay.
Priority is assigned based on the differential services code point or DSCP field located in the IP header.
Let’s take our example above. Let’s say PTP, motion control, distributed I/O, and other device message frames arrive at a switch at the same instance of time. The pink PTP frames have the highest priority or DSCP value and as such will be processed by the switch first. The green motion frames are next, followed by the red I/O and blue other device frames.
The main concept of QoS is…whenever possible…to process the highest priority data first. This ensures time critical data is delivered in a timely manner.
We will speak more about QoS in another presentation.
Distributed I/O Messages
Other Devices Messages
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

16. Why Ethernet? …Is It Capable?
100 Mbps “Fast Ethernet”
Switched Technology
QoS Prioritization (DSCP)
IEEE-1588 Time Sync Service
Proven Industrial Reliability
Low Cost per Node (Built-in)
IEEE-1588 Time Sync Service
Time Synchronization Services allow for synchronization of distributed clocks on a network to a high degree of accuracy (+/- 100 nanoseconds)
IEEE-1588 Time Sync Service…
----CLICK----
Time sync services allow for synchronization of distributed clocks on a local area network to a high degree of accuracy. Remember CIP Sync is Rockwell Automation’s deployment of the Precision Time Protocol over a CIP network…specifically Ethernet in this case.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

17. Why Ethernet? …Is It Capable?
100 Mbps “Fast Ethernet”
Switched Technology
QoS Prioritization (DSCP)
IEEE-1588 Time Sync Service
Proven Industrial Reliability
Low Cost per Node (Built-in)
Proven Industrial Reliability
Ethernet has been used in Industrial Environments for many years
Proven Industrial Reliability…
----CLICK----
Ethernet has been used in industrial environments for many years and is becoming the network of choice for industrial applications.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

18. Why Ethernet? …Is It Capable?
100 Mbps “Fast Ethernet”
Switched Technology
QoS Prioritization (DSCP)
IEEE-1588 Time Sync Service
Proven Industrial Reliability
Low Cost per Node (Built-in)
Low Cost per Node (Built-in)
Driven by commercial market (COTS)
Low Cost per Node…
----CLICK----
CIP Motion benefits from the commercial market standardizing on Ethernet; offering significant savings in procurement, development, and maintenance by leveraging commercial off the shelf (COTS) components.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

19. Why Ethernet? …Is It Capable?
100 Mbps “Fast Ethernet”
Switched Technology
QoS Prioritization (DSCP)
IEEE-1588 Time Sync Service
Proven Industrial Reliability
Low Cost per Node (Built-in)
There is a misconception that standard Ethernet is not deterministic network.
----CLICK----
When in fact today’s Ethernet is a deterministic network.
Ethernet is more than capable to handle the demands of a motion network.
Today’s Ethernet is Deterministic & Capable
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

20. The CIP Motion Solution
CIP Motion uses standard unmodified Ethernet to handle deficiencies associated with traditional motion control networking solutions
The time-slotted approach normally used in traditional motion networks introduces system limitations that have been tolerated as part of any motion networking architecture. These limitations include:
Inability to add or remove drives during runtime
Inability to obtain additional diagnostic from the drives during runtime
Inability to change drive configuration during runtime
CIP Motion handles the deficiencies associated with traditional motion control networking solutions.
The time-slotted approach normally used in traditional motion networks introduces system limitations that have been tolerated.
These limitations include the following runtime restrictions:
Inability to add or remove drives.
Inability to obtain additional diagnostic or status data from the drives.
Inability to change the drive config.
Typically, making these type of changes require the network to be “scheduled” offline.
Let’s now take a look at how the time-slotted approach works.
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

21. CIP Motion Network Flexibility
CIP Motion can handle deficiencies typically associated
with traditional motion control networking solutions
What happens when we try to add another drive during runtime?
 There is no fixed / scheduled network
 CIP Motion simply delivers the data and the timestamp for execution as a part of the packet on the network
Drive 4 Cmd D r i v e 1 D r i v e 2 D r i v e 3 D r i v e 4
Drive 4
Drive 1
Drive 2
Drive 3
Drive 1 Cmd
Drive 2 Cmd
Drive 3 Cmd
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

22. CIP Motion Network Flexibility
CIP Motion can handle deficiencies typically associated
with traditional motion control networking solutions
What happens when we try to add another drive during runtime?
 There is no fixed / scheduled network
 CIP Motion simply delivers the data and the timestamp for execution as a part of the packet on the network
What happens when we try to obtain additional data from an existing drive during runtime?
 CIP Motion can handle the change in packet size because it does not depend on a time slot for system determinism
 Data – and a timestamp – are delivered prior to its needed execution D r i v e 1 D r i v e 2 D r i v e 3 D r i v e 4
Drive 1
Drive 2
Drive 3
Drive 1 Cmd
Drive 4
Drive 2 Cmd
Drive 3 Cmd
Drive 4 Cmd
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

23. Copyright © 2012 Rockwell Automation, Inc. All rights reserved.
Product Overview
RSLogix 5000
v18 Kinetix 6500
v19 PowerFlex 755
v20 Kinetix 350
ControlLogix
1756-EN2T, EN2TR, EN2F
Max of eight position loops
1756-EN3TR
Max of 128 position loops
1756-L6x / L7x
Max of 100 axes per motion group
CompactLogix
1769-L36ERM 16 position loops
1769-L33ERM  eight position loops
1769-L30ERM  four position loops
1769-L27ERM  four position loops
1769-L18ERM  two position loops
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

24. Topology Support for any Ethernet topology
Linear
Star
Ring (DLR)
Tree
Mix drives and other Ethernet devices on a common subnet
Max of 255 drives per EN3TR module
The Right Topology Option for Any Machine
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

25. Embedded Switch Technology
Enables Linear and Device Level Ring (DLR) topologies on EtherNet/IP
EtherNet/IP device with an embedded switch can “daisy-chain” to neighboring devices
Or complete ring to enable DLR resiliency
Linear
Linear Ethernet segments greatly extend the length of the application
No need to run cables from each device back to a centralized switch
Device-Level Ring
Single fault tolerant network provides resiliency
Device level ring requires no additional hardware to implement
Resiliency at the device level to keep production running
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

26. Embedded Switch Technology
1756-EN2TR, EN3TR, 1769-L3y, L2y, L1y
Enabling DLR technology
Two Ethernet ports for Ring and Linear topologies
Ring supervisor-capable
1783-ETAPs
Enabling DLR technology on single port devices
Three Ethernet ports for connecting in Ring and Linear topologies
Logix 5000 Add-On profile for configuration and diagnostics
Optimized for EtherNet/IP, I/O and motion applications
QoS, IGMP, VLAN, and Port mirroring
Manual or Auto-negotiate settings
Three versions available to best fit application requirements
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

27. Topology Examples With Motion Drives
ENxT line connection drives only
Connect drives without using an external switch
Up to 50 drives per line
ENxT line connection mixed device
Connect devices without using an external switch
Up to 50 devices per line
ETAP for connecting devices without embedded switch support
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

28. Topology Examples With Motion Drives
ENxTR DLR ring connection mixed device
Connect drives without using an external switch
DLR provides single fault resiliency
ENxTR DLR ring connection with external switch branch
ETAP for connecting devices without embedded switch support
External switch for connecting devices without embedded switch support
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.

29. Topology Examples With Motion Drives
ENxT Star with line
Support line of devices with embedded switch capability on a single switch port
Typically requires managed switch with 1588 transparent clock and QoS support
ENxT line with external switch branch STAR
ETAP for connecting devices without embedded switch support
External switch for connecting devices without embedded switch support
Copyright © 2012 Rockwell Automation, Inc. All rights reserved.