simple motion control via ethernet/ip with kinetix 300 ... · simple motion control via ethernet/ip...

Simple Motion Control via EtherNetIP with Kinetix 300 DrivesConnected Components Building BlockQuick Start

Important 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-11 available from your local Rockwell Automation sales office or online at httpwwwrockwellautomationcomliterature) 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

Rockwell Automation Rockwell Software Allen-Bradley Kinetix MicroLogix PanelView RSLogix 500 and TechConnect are either trademarks or registered trademarks of Rockwell Automation Inc

Trademarks not belonging to Rockwell Automation are property of their respective companies

WARNINGIdentifies 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

IMPORTANT Identifies information that is critical for successful application and understanding of the product

ATTENTIONIdentifies 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 HAZARDLabels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present

BURN HAZARDLabels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures

Table of Contents

Where to Start 5

Preface Introduction 7Conventions Used in This Manual 8Additional Resources 9

Kinetix 300 Drive Integration Introduction 11Before You Begin 11What You Need 12Follow These Steps 12Connect to the Kinetix 300 Drive 13Reset the Drive to Factory Settings 15Drive Commissioning 16Configure Drive Home and Index Settings 17Configure the Drive Operating Mode 19Additional Resources 19

System Validation and Application Tips

Introduction 21Before You Begin 21What You Need 21Follow These Steps 22Multiple Drive Considerations 22Messaging IP Address Change 23Configure Controller-to-drive Communication 25Configure PVc Terminal-to-controller Communication 27Understanding the Network Overview Screen Functionality 29Test the Simple Motion Control Functionality 30Additional Resources 39

Control Program Integration Introduction 41Before You Begin 41What You Need 41Follow These Steps 42Review the Ladder Logic Structure 43Review the Modes of Operation 43Review the Program Mode Commands 44Axis User Program Ladder Logic (optional) 46Customize the Machine-control Ladder Logic 48Additional Resources 49Rockwell Automation Support 52

Installation Assistance 52New Product Satisfaction Return 52

Rockwell Automation Publication CC-QS018A-EN-P - June 2010 3

Notes

4 Rockwell Automation Publication CC-QS018A-EN-P - June 2010

Where to Start

Follow the path below to complete your Simple Motion Control application

Chapter 1 Kinetix 300 Drive Integration

Chapter 2 System Validation and Application Tips

Connected Components Building Blocks

publication CC-QS001

Chapter 3 Control Program Integration

5Publication CC-QS018A-EN-P - June 2010 5

Where to Start

Notes

6 Publication CC-QS018A-EN-P - June 2010

Preface

Introduction This quick start is designed to provide a way to implement a connected component for simple motion control

To assist in the design and installation of your system application files and other information are provided on the Connected Component Building Blocks Overview CD publication CC-QR001 The CD provides bills of materials (BOM) CAD drawings for panel layout and wiring control programs Human Machine Interface (HMI) screens and more With these tools and the built-in best-practices design the system designer is free to focus on the design of their machine control and not on design overhead tasks

The beginning of each chapter contains the following information Read these sections carefully before beginning work in each chapter

bull Before You Begin - This section lists the steps that must be completed and decisions that must be made before starting that chapter The chapters in this quick start do not have to be completed in the order in which they appear but this section defines the minimum amount of preparation required before completing the current chapter

bull What You Need - This section lists the tools that are required to complete the steps in the current chapter This includes but is not limited to hardware and software

bull Follow These Steps - This illustrates the steps in the current chapter and identifies which steps are required to complete the examples

IMPORTANT The Simple Motion Control Connected Component Building Block (CCBB) uses predefined configurations in the Kinetix 300 drive and the MicroLogix 1400 controller to create a functional connected-component solution Altering or failing to correctly configure the settings and parameters explained in Chapter 1hellipChapter 3 or failure to use the pre-configured RSLogix 500 files provided with the Simple Motion Control Building Block may result in unexpected behavior and potentially unexpected motion If you want to alter the Simple Motion Control Connected Component configurations or application code consult the user manuals for each related product to understand the ramifications of your desired changes

IMPORTANT Use this Quick Start in conjunction with the Connected Components Building Blocks Quick Start publication CC-QS001

Refer to Additional Resources on page 9 for a listing of other related documents

Publication CC-QS018A-EN-P - June 2010 7

Preface

Conventions Used in This Manual

This manual uses the following conventions

Convention Meaning Example

Check or uncheck To activate or deactivate a checkbox Check Disable Keying

Click Click the left mouse button once while the cursor is positioned on object or selection Click Browse

Double-click Click the left mouse button twice in quick succession while the cursor is positioned on object or selection Double-click the application icon

Expand Click the + to the left of a given item folder to show its contents Expand 1768 Bus under IO Configuration

Right-click Click the right mouse button once while the cursor is positioned on object or selection Right-click the 1768 Bus icon

Select Using the mouse to highlight a specific option Select the New Module folder

Enter What you type Enter your choice

Press Pressing a specific key on the keyboard Press Enter

gt Use this symbol to indicate the sub-menu name Choose FilegtMenugtOptions


Preface

Additional Resources

Resource Description

Connected Components Building Blocks Quick Start publication CC-QS001

Provides information about how to select products and gain access to panel and wiring information

Connected Component Building Blocks Overview CD publication CC-QR001

Provides files for the Connected Component Building Blocks

MicroLogix 1400 Programmable Controllers User Manual publication 1766-UM001

Provides information about using the MicroLogix 1400 programmable controller

MicroLogix 1400 Programmable Controllers Installation Instructions publication 1766-IN001


MicroLogix 1400 Programmable Controllers Instruction Set Reference Manual publication 1766-RM001

Provides information about using the MicroLogix 1400 programmable controller RSLogix 500 instruction set

PanelView Component Operator Terminals User Manual publication 2711C-UM001

Provides information about using the PanelView Component HMI terminals

Kinetix 300 EtherNetIP Indexing Servo Drives User Manual publication 2097-UM001

Provides information about using the Kinetix 300 drive

httpwwwabcom Provides access to the Allen-Bradley website

httpwwwrockwellautomationcomknowledgebase

Provides access to self-service support

httpwwwrockwellautomationcomcomponentsconnected

Provides access to the Connected Components website


Preface

Notes


Chapter 1

Kinetix 300 Drive Integration

Introduction

In this chapter you configure the Kinetix 300 drive parameters as necessary for the MicroLogix 1400 controller to communicate and control the drive Configuration is done by using your personal computer connected to the drive

The Kinetix 300 drive communicates with the MicroLogix 1400 controller via an EtherNetIP connection Each Kinetix 300 drive must have a unique IP address and needs to be configured with MotionView OnBoard software contained within the drive This chapter provides step-by-step instructions for configuring required settings whether you are using the 1-axis 2-axis or 3-axis Simple Motion Control Connected Component Building Block (CCBB) solution

This chapter also specifies the minimum number of parameters that need to be changed from the factory default settings for the Kinetix 300 drive to be controlled by the MicroLogix 1400 controller For your machine application there may also be other drive parameters that need to be adjusted Consult the drive documentation for information on all other drive parameters

Before You Begin

bull Review the Connected Components Building Blocks Quick Start publication CC-QS001

bull Apply power to your drive

IMPORTANT The Kinetix 300 drive the personal computer the MicroLogix 1400 controller and the PV component must all be configured to operate on the same EtherNet network All devices will require configuring to enable EtherNet communication between them Consult the devices documentation for information on configuring EtherNet communications



What You Need

bull Personal computer with EtherNet connection

bull Kinetix 300 drive(s)

bull EtherNet switch

bull MicroLogix 1400 controller

bull RSLogix 500 software

bull Java-enabled web browser

bull Connected Components Building Blocks Overview CD publication CC-QR001

Follow These Steps

Follow these steps to configure each of your Kinetix 300 drives

Start

Connect to the Kinetix 300 Drive page 13

Reset the Drive to Factory Settings page 15

Drive Commissioning page 16

Configure Drive Home and Index Settings page 17

Configure the Drive Operating Mode page 19


Kinetix 300 Drive Integration Chapter 1

Connect to the Kinetix 300 Drive

Kinetix 300 drives are configured by using MotionView OnBoard software a web-based configuration tool contained within the drive itself

To access the MotionView OnBoard software the Kinetix 300 drive and your personal computer must be configured to operate on the same EtherNet network The IP addresses of the Kinetix 300 drive the personal computer or both drive and personal computer may require configuring to enable EtherNet communication between the two devices Consult the Kinetix 300 user manual for information on how to configure the drives IP address settting

1 Connect your personal computerrsquos EtherNet communication port to the Kinetix 300 driversquos 10100 Mbps EtherNet communication port with a standard EtherNet cable

2 Run a Java-enabled web browser and enter the driversquos IP address into the browser A File Download dialog box will prompt you to Open or Save the MotionViewjnlp file

3 Click Open

4 Read the Hazard of Unexpected Motor Starting warning and answer Yes I have to the prompt

Kinetix 300 drive

Personal computer running MotionView OnBoard software

EtherNet communication



The MotionView OnBoard screen is displayed

5 To attach to your drive click Connect

The Connection dialog box is displayed

6 Enter the IP address for the drive and click Connect

When connected the drive will appear in the Drive Organizer on the left side of the MotionView OnBoard window and you will be able to browse the driversquos parameters



Reset the Drive to Factory Settings

To be sure that the Kinetix 300 drive is at a known starting point you must reset the drive to its factory settings

To reset the Kinetix 300 drive to factory settings perform the following steps

1 Click on the Restore Defaults button

2 At the confirmation dialog box click Yes

The dialog box below will display if successful



Drive Commissioning

For the Kinetix 300 drive to operate properly the following items must be configured for your setup

Consult the Kinetix 300 Drive User Manual publication 2097-UM001 for additional information on configuration parameters

Motor

Motor window displays motor information and lets you change the motor

bull Allen-Bradley motors and actuators with intelligent feedback devices will automatically be populated into the motor configuration

bull For Allen-Bradley motors and actuators with incremental encoders click Change Motor and choose the device from the provided list

User Units

Set the units your system will be using under the General tab

EtherNet Communication

The EtherNet window displays the IP address configuration which is where you can manually set the drive IP address

Digital and Analog IO

Configure any additional IO you will be using

Auto-tune

Auto-tune the drivemotor system The drive will need to be in Auto Tune mode (General tab) The Dynamics tab contains the auto-tuning interface and gain values



Configure Drive Home and Index Settings

The Simple Motion Control CCBB includes the ability to home an axis and run any of the Kinetix 300 driversquos 32 indexes To configure the homing parameters complete the following steps

1 Select Homing from the Controller Organizer

2 Set the homing parameter values based on your system requirements

3 Select the Home Method from the drop-down list based on your system requirements



To configure the Indexing parameters complete the following steps

1 Select the Indexing tab from the Controller Organizer

2 Verify the AutoStart Index is set to Disable

3 Expand the Indexes and configure as required for your application

Below is an example of a configured index (00) that will transition to the next index (01) on completion

The Simple Motion Control CCBB can configure any index from the HMI but it is preferred that you configure indexes within MotionView and make adjustments from the HMI



Configure the Drive Operating Mode

Kinetix 300 drives can be configured to run in a variety of operational modes The Simple Motion Control CCBB requires the Kinetix 300 drives to be set to Indexing mode

To configure the Kinetix 300 Drive Mode parameter perform the following steps

1 Select General from the Controller Organizer

2 Set the Drive Mode to Indexing from the drop-down list


Refer to page 9 for a listing of product and information resources

IMPORTANT Repeat the steps in this chapter for each Kinetix 300 drive in your application that will use the Kinetix 300 Control Building Block



Notes


Chapter 2


Introduction

In this chapter you confirm that communication is occurring as intended between the MicroLogix 1400 controller and the Kinetix 300 drives as well as between the MicroLogix 1400 controller and the PanelView terminal

The operation of the sample screens for Simple Motion Control Program mode and Operator mode is described as well

Before You Begin

bull Verify that you have completed all of the steps in Chapter 1

bull Verify that all of the devices are connected per the Simple Motion Control CAD wiring diagram

bull Verify that the MicroLogix 1400 controller Kinetix 300 drive and PanelView Component terminal have power applied to them

bull Review the Connected Components Building Blocks Quick Start publication CC-QS001 verifying that you have completed all of the steps in Chapter 3 of that quick start

What You Need

bull Personal computer with Internet Explorer or Firefox web browser

bull PanelView Component terminal

bull Kinetix 300 drives


bull Previously loaded software

bull EtherNet switch so that you can connect your personal computer to both the MicroLogix 1400 controller and PanelView terminal over an isolated EtherNet network

bull Connected Component Building Blocks Overview CD publication CC-QR001



Follow These Steps

Follow these steps to verify that communication is occurring between your devices

Multiple Drive Considerations

The Kinetix 300 Control Building Block supports one-axis two-axis and three-axis configurations When completing Chapter 3 of the Connected Components Building Blocks Quick Start publication CC-QS001 be sure to use the correct RSLogix Control and PanelView Component HMI Programs for your particular application Additionally Chapter 1 of this document should be completed for each of your Kinetix 300 drives

IMPORTANT The RSLogix Control and PanelView Component HMI Programs must be the same version (one-axis two-axis or three-axis) for the Simple Motion Control Building Block to function correctly

Start

Messaging IP Address Change page 23

Configure Controller-to-drive Communication

page 25

Configure PVc Terminal-to-controller

Communication page 27

Test the Simple Motion Control Functionality

page 30


System Validation and Application Tips Chapter 2

Messaging IP Address Change

The MicroLogix 1400 controller communicates to the Kinetix 300 drive via EtherNet IP Information is read from and written to the Kinetix 300 drive by using MicroLogix CIP Generic (MSG) instruction Explicit messaging lets DINT REAL and String data pass back and forth to and from the drive

Each message instruction is configured with a driversquos IP address so it knows with which drive to communicate Depending on the IP address you configured your Kinetix 300 drive(s) with you may have to modify the IP address parameter of the various Message (MSG) instructions used in the controller program to match those of each drive

A controller program routine has been created to help streamline the process of changing the IP address parameter of the Message (MSG) instructions used throughout the Simple Motion Control via EtherNetIP CCBB The default IP addresses of the three Kinetix 300 drives are as follows

bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817

If your system setup requires you to modify the default IP address perform the following steps to complete the IP address change for the Kinetix 300 drive You must use the MotionView OnBoard configuration software to modify the IP address for the Kinetix 300 drive

1 In the MotionView OnBoard configuration software select Ethernet from the Controller Organizer

2 Make the necessary changes to the IP address configuration

3 You will need to cycle power to the drive for the new settings to take effect

Consult the Kinetix 300 drive user manual 2097-UM001 for additional information



Now that the drive IP address has been changed you must adjust the controller program to modify the IP address parameter in the message instructions to communicate with the Kinetix 300 drive To modify the drive(s) IP address in the controller program complete the following steps

1 Open the Simple Motion Control controller program you will be using

2 Open Data File ST199 and change the string value to match the IP address of your drive

You have the choice of one two or three-axis configurations in this building block The string address ST1990 corresponds to Axis 1 ST1991 to Axis 2 and ST1992 to Axis 3

When you run the program code the message instructions will be updated when the power-up routine is executed For additional information see Review the Program Mode Commands in Chapter 3 and the rung comments in the controller program




Once you have the correct RSLogix control program downloaded to the MicroLogix 1400 controller you are ready to validate the controller-to-drive communication Perform the following steps to complete this validation for each Kinetix 300 drive

1 Make sure that the MicroLogix 1400 controller is in RUN mode by verifying that the RUN status indicator next to the LCD screen is ON (solid green)

If not you can change the controller to RUN mode by using either the programming software or the Mode Switch function of the MicroLogix 1400 LCD display

The Kinetix 300 Control ladder logic should now be constantly communicating with the drive via Message (MSG) instructions

2 Make sure that the Kinetix 300 drive is ready and communicating by verifying that the Kinetix 300 drive front panel display is scrolling the driversquos IP address shows lsquodiSrsquo (for disabled) and the lsquoErsquo status indicator is flashing green to indicate communication activity

Do not worry if the Kinetix 300 drive is faulted (status indicator lsquoDrsquo is solid red) we can clear the fault from the HMI once communication to the PVc is established

IMPORTANT It is critical the Kinetix 300 drive is communicating to the MicroLogix 1400 controller when the controller is put in RUN mode to ensure that the POWER UP routine executes and initializes program values

TIP If the drive is faulted the fault should be E91 (user watchdog has timed out) The watchdog function in the drive is set up in the controller POWER UP routine which causes the drive to fault when communication to the controller is lost

Communication ishappening (flashing)

Drive is faulted (solid)



3 Examine the MicroLogix 1400 data files to make sure that the Kinetix 300 drive and MicroLogix 1400 controller are communicating correctly via explicit messaginga Expand the Custom Data Monitors section located in the Project tree in RSLogix 500 software and

double-click CDM 0 - AX1 INPUT ASSBLY as shown below

b Verify that the Drive Status is as expected by examining some of the data bits

c If possible verify that the Axis Actual Velocity and Actual Position signals are functioning as expected by manually turning your motor and watching the values change

4 Perform steps 2 and 3 for each Kinetix 300 drive in your system

Review the correct Kinetix 300 drive front-panel display in step 2 and the correct Axis Input Assembly data monitor in step 3 for the specific drive you are verifying

IMPORTANT This next step is not be possible for all applications

TIP Explicit message instructions may not be configured with the correct drive IP address if drive status data is not correctly representing a Kinetix 300 drive and values are not updating See Messaging IP Address Change in this chapter for more information on correctly configuring the message instructions



Configure PVc Terminal-to-controller Communication

The PanelView Component (PVc) terminal communicates with the MicroLogix 1400 controller over an EtherNet network The PVc application reads from and writes to the data table of the MicroLogix 1400 controller When the PVc application writes to the MicroLogix 1400 controller the controller program detects the value change and interacts with the Kinetix 300 drive appropriately via explicit messaging Since the controller program is continually updating status data from the Kinetix 300 drives into its data table via explicit messaging the PVc application is monitoring the latest drive status data

The sample Simple Motion Control CCBB programs for the controller and PVc terminal assumes the static IP address for the MicroLogix 1400 controller is 19216812

If you are using a different IP address for the controller you must modify the MicroLogix 1400 IP address in the PVc application

Follow this procedure if you need to modify the MicroLogix 1400 IP address in the PVc application

1 Connect to the PVc terminal with your Internet Explorer or Firefox web browser by entering the terminal IP address in the web browser location bar and pressing Enter

2 Select the application name in the PVc dashboard screen and then click Edit

The PVc Edit dialog box is displayed



3 From the Edit dialog box click on the Communication tab

4 Change the Address field (populated automatically with the static IP address 19816812) by typing your correct IP address

5 Once you have added the correct IP address click on the Screens tab

6 Click on the Validate icon so the new IP address is recognized and validated

7 Once it is validated click on the Save icon to save your entered information

ValidateSave



8 From the Application Dashboard screen click Run to run the PVc Kinetix 300 Control application

Understanding the Network Overview Screen Functionality

Since you have already verified that communication between the MicroLogix 1400 controller and the Kinetix 300 drive is working each axis in your application (one-axis two-axis or three-axis depending on your configuration) should display as being ldquoDisabledrdquo or ldquoFaultedrdquo on the Network Overview screen once the PVc application is running

ldquoDisabledrdquo indicates that the drive is responding when the MicroLogix 1400 controller attempts to communicate with it via explicit messaging and indicates that the drive is not enabled but is ready and not faulted

If you get a yellow banner message like the one at right then the PVc application cannot communicate with the MicroLogix 1400 controller over the EtherNet network at the configured IP address



If these cases use RSLogix programming software and your web browser to verify that the MicroLogix 1400 controllerrsquos IP address configured for channel 1 matches the one in the PVc application If your personal computer can communicate with both devices over the EtherNet network then the PVc terminal should be able to communicate with the MicroLogix 1400 controller over the EtherNet network

Once the PVc terminal is successfully communicating with the MicroLogix 1400 controller you may observe a drive status other than Disabled The other possibilities are

bull Disabled ndash The drive is ready but not enabled

bull Enabled ndash The drive is enabled

bull Faulted ndash The drive is faulted

bull No Comms ndash The EtherNet communication connection has been broken

You can now review the status of each axis in your system from the Network Overview screen

Pressing the button in the top-right corner will return you to the Network Overview screen


Now that the PVc terminal is successfully communicating with the MicroLogix 1400 controller you are ready to navigate the screens and then test the Simple Motion Control functionality first in Operator mode and then in Program mode

TIP On this screen Axis x is a text object that is tied to AX1_DESCRIPTION tag ST1990 in the RSLogix 500 file This axis description can be changed to give the axis a name that is more appropriate to your application Once the axis description string is changed the updated axis description will show on the axis buttons in the Network Overview screen as well as in the Simple Motion Control screen



Navigate the Program Mode Screen

Follow this procedure to understand the Simple Motion Control Program mode functionality

1 Press the Axis x button on the Network Overview screen to select an axis that is ready to test

The Simple Motion Control screen will appear and will be in Program mode (default) Your screen will be similar to the one shown below

2 The Program button in the lower-right corner indicates the Simple Motion Control CCBB is currently in Program mode

The indicators on the left side show

bull Enabled ndash The servo loop is enabled

bull Homed ndash The drive has been successfully homed

bull Motion Complete ndash The drive has completed a position-based move

bull Indexing ndash The drive is currently operating out of the indexing table

The solid green color indicates on or active

TIP On this screen Axis 1 is a text object that is tied to K1_DESCRIPTION tag ST19924 in the RSLogix 500 file (Axis 2 is tag ST199125 and Axis 3 is tag ST19926) This axis description can be changed for an axis name more appropriate to your application Once the axis description string is changed the updated axis description will show on the axis buttons in the Network Overview screen as well as in the Simple Motion Control screens



The numeric displays in the middle show

bull Current Index (0-31) ndash when drive is indexing displays the currently executing index

bull Actual Position (User Units) ndash current position of the motor

bull Actual Velocity (User Unitssec) ndash current velocity of the motor

The control buttons show

bull Starting Index (0-31) ndash defines the first index the drive should execute on Start command transition This value can be changed by the user at anytime but will not take effect until the next Start command transition

bull Index Setup ndash takes you to the Index Setup screen where the user can edit parameters for any of the 32 drive indexes

bull Start ndash the drive will begin executing the index defined by the Starting Index setting when this button is pressed

bull Stop ndash the drive will abort the executing index and decel to zero velocity when this button is pressed The drive will remain enabled




Navigate the Index Setup Screen

Follow this procedure to understand the Index Setup functionality

1 Press the Index Setup button on the Program mode screen to edit any of the 32 indexes for the selected axis

The Index Setup screen is displayed

The Index Setup screen displays the currently-selected index parameters in two different columns

bull Current Values ndash for the selected index the parameter values are read back from the drive and displayed in this column The values are read on transition to the Index Setup screen after selecting a new index or after the Apply (New Values) button is pressed

bull New Values ndash for the selected index allows you to edit the parameters associated with that index Each value can be changed as needed To write the new values to the drive press the Apply button


bull Updown ndash allow you to scroll through the selectable items for three of the index parameters The parameters are Index Type Move Type and Next Action

bull Apply ndash for the selected index writes the parameter in the New Values column to the selected drive

Pressing the button in the top-right corner will return you to the Program mode screen

IMPORTANT When the parameter values for the selected drive are read back from the drive they are not only displayed in the Current Values column but are also copied to the New Values column This allows for minimal input when making minor adjustments to an indexrsquos parameters



Navigate the Operator Mode Screen

Follow this procedure to understand the Simple Motion Control Operator mode functionality

1 To manually control the drive press Program to change the Simple Motion Control screen to Operator mode

The Simple Motion Control screen will be displayed and will be in Operator mode

2 The Operator button in the lower-right corner indicates the Simple Motion Control CCBB is currently in Operator mode The Enable Disable Home and Jog buttons have become visible and a Jog Velocity setpoint numeric entry button is displayed (Jog Vel SP [UUesc])





bull Homing ndash The drive is currently executing the homing method



bull Jog Vel SP (User Unitssec) ndash enter the velocity at which you want to jog the motor Enter a positive value for forward direction and a negative value for reverse direction






bull Enable and Disable ndash enable or disable the driversquos servo loops depending on the current state If the drive is disabled the Enable button is active and the Disable button is inactive (grayed out) If the drive is enabled the Disable button is active and the Enable button is inactive

bull Jog ndash active when the drive is enabled and inactive when the drive is disabled When pressed the controller program sends a jog command to the drive at the speed currently entered in the Jog Velocity Setpoint numeric entry The Jog button is a momentary button and therefore the jog will stop executing when the button is released

bull Home ndash active when the drive is enabled and inactive when the drive is disabled When pressed the controller program sends a home command to the drive and the drive will execute the homing method that was set in the MotionView configuration

bull Stop ndash lets you terminate homing if homing is active


TIP The drive must be enabled to jog or home the axis



Test the Operator Mode Functionality

Follow this procedure to test your axis by using the Simple Motion Control Operator mode functionality

1 Verify that the motor is disconnected from the load (open shaft) and it is safe to turn the motor

2 Navigate to the Operator Mode screen

3 Enable the Kinetix 300 drive by pressing Enable

The Kinetix 300 drive should now be enabled and maintaining position The Enabled status indicator should be green and the Jog and Home buttons should now be active As a check the lsquoArsquo status light on the front panel display should also be on and the scrolling display should show the IP address and the word lsquorunrsquo

If not then go back to the beginning of this chapter and verify the MicroLogix 1400 controller communication to this drive

4 Click the Jog Velocity SP button and enter a valid jog speed

5 Press and hold the Jog button

You should see the motor accelerate and rotate at the set velocity Verify that the actually position value is also changing

6 Release Jog

The drive should decelerate back to stop

7 Enter a negative value for the Jog Velocity SP and repeat steps 5 and 6 verifying that the motor spins in the opposite direction

8 Unplug the motor feedback cable and verify that an Axis Fault E7 is displayed

IMPORTANT Verify that the speed you choose is safe for your setup



Notice that the Kinetix 300 drive is now disabled and the screen indicators and screen buttons have responded appropriately Your screen will be similar to the one shown

Note that two new buttons have appeared on the screen The Clear Fault button will clear the Kinetix 300 drive fault as long as the fault condition is no longer present The long white button flashing lsquoDrive Fault Exrsquo provides more diagnostic information for the displayed fault condition when it is pressed

9 Press the long white button that is flashing to see more diagnostic information

As shown here the fault is displayed along with a fault description and possible solutions (following the -gt symbol)

IMPORTANT The fault code should also be scrolling across the Kinetix 300 drive front-panel display If the fault code displayed does not match the HMI or the HMI display not fault code then the fault is not recognized or is unlisted Contact Rockwell Tech Support for assistance



10 Reconnect the motor feedback cable and press Clear Fault

After doing so the fault clears as indicated by the fault display button disappearing along with the Clear Fault button

11 Enable the drive again

12 Press the Home button to start the homing method you configured in MotionView

You have now completed testing the Simple Motion Control Operator mode functionality

Pressing the button in the top-right corner will return you to the previous screen

Test the Program Mode Functionality

Follow this procedure to test your axis by using the Simple Motion Control Program mode functionality

1 Press the Operator button to return to Program mode

2 Verify the motor is disconnected from the load (open shaft) and it is safe to turn the motor

3 Press the Index Setup button to prompt the Axis screen shown below

4 Enter values for Index 0 similar to those shown above Make any necessary changes for your system

TIP If your configured homing method uses a home switch then homing may not work if the motor is not connected to the system



5 Press Apply when you have finished entering index parameters


6 Press the Starting Index numeric entry button and enter lsquo0rsquo for the starting index

7 Press the Start button to execute Index 0

Verify the motor rotates 20 user units at the set speed and then stops You will also notice the Index Setup and Start buttons are no longer visible They are hidden while the drive is executing an index profile move

You can also press the Stop button at any time an index profile is executing The Indexing status indicator will be solid green while the drive is running an index profile

You have now completed testing all the Simple Motion Control Program mode functionality



TIP When the index profile is complete or the Stop button is pressed the axis will decelerate to a stop but will not disable To disable the drive you would need to switch to Operator Mode and then disable the drive

IMPORTANT Be sure to complete the Test the Operator Mode Functionality and Test the Program Mode Functionality sections for all Kinetix 300 drives in your system




]Chapter 3

Control Program Integration

Introduction

In this chapter you will explore the Simple Motion Control ladder logic structure the modes of operation and the program commands You will learn that there are hooks for the various commands that let you create your own Axis User Program routine for axis control as well as use the Machine Control Program routine for simultaneous control of all your axes

Before You Begin

Verify the following

bull You have completed all steps in Chapter 1 and Chapter 2

bull All of the devices are connected per the Simple Motion Control CAD wiring diagram

bull The MicroLogix 1400 controller Kinetix 300 drive and PanelView terminal have power applied to them

bull The MicroLogix 1400 controller Kinetix 300 drive and PanelView terminal are all properly configured and communicating correctly as explained in Chapter 2

What You Need





bull Standalone EtherNet switch so that you can connect your personal computer to both the MicroLogix 1400 controller and PanelView terminal over an isolated EtherNet network



Follow These Steps

Follow these steps to integrate your control program into the Simple Motion Control ladder logic

Start

Review the Ladder Logic Structure page 43

Review the Modes of Operation page 43

Review the Program Mode Commands page 44

Axis User Program Ladder Logic (optional)

page 46

Customize the Machine-control Ladder Logic

page 48


Control Program Integration Chapter 3

Review the Ladder Logic Structure

The Simple Motion Control CCBB consists of four core ladder routines (Main Power-up Machine Control and STI Control) that are specific to CCBB functionality as well as an additional four ladder routines (Axis Calculation Axis Command Axis Monitor and Axis User Program) for each Kinetix 300 drive axis These routines are briefly described below Consult the ladder logic comments for further information

Review the Modes of Operation

As explained in the previous chapter the Simple Motion Control CCBB has two modes of operation Program mode and Operator mode Each mode has its own Status and Command PLC tags and ladder logic and HMI interlocking keeps each mode mutually exclusive

Operator mode lets you jog home enabledisable clear faults and adjust the jog speed strictly through the HMI The HMI sends HMI commands to the PLC and it responds accordingly

Routine Description

Main Routine (Main) Calls all other routines

Power-up Routine (POWER UP) Clears Axis Command Axis Data and Axis Status values and sets program constant values

Use this to set initial program values for all axes

Machine Control Routine (MCHN CNTRL) Use this routine to control all of the axes in the system at the same time This control can be done by using the Broadcast command functionality or by controlling each axis independently with separate Axis commands

Executes the custom user machine-control code

Message Instruction IP Address(IP CONVERT)

Called by the POWER UP routine

Converts a string value representing an IP address into an equivalent integer value This value is then copied to the message instructions used to communicate with the Kinetix 300 drives

AX1 Command Routine (AX CMD) Executes the commands requested in Operator mode by using the HMI and in Program mode by using the Axis User Program routine or the Machine Control routine

AX1 Monitor Routine (AX MNTR) Monitors the axis status as well as the HMI status The axis status is used throughout the CCBB for axis and drive control The HMI Status is used for HMI screen control by using visibility functionality

IMPORTANT It is critical that the Kinetix 300 drives be communicating to the MicroLogix 1400 controller when the controller is put in RUN mode so the POWER UP routine executes and initializes program values



In Program mode you interact with the axis via the HMI or optional PLC application code The HMI can be used to configure indexes set the starting index and start or stop an index Other Program mode interaction can be done via an optional PLC Axis User Program routine or Machine Control routine by using the Program mode commands that are explained in the next section

Review the Program Mode Commands

There are two types of Simple Motion Control Program mode commands Axis commands and Broadcast commands Axis commands are executed on a particular axis and each axis has its own control tags status tags routine and so forth Broadcast commands are executed on all of the axes in the Simple Motion Control CCBB and can be implemented by using the Machine Control Program

Program mode commands provide pre-defined basic motion-control functionality and can be executed as an Axis command or a Broadcast command and the functionality remains the same The only difference is whether the function is executed on one axis (Axis command) or all axes (Broadcast command) Program mode commands include the following

bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index

All Program mode commands are one-time instructions

IMPORTANT An optional Axis User Program routine is not provided in this Simple Motion Control via EtherNetIP CCBB It is discussed here as another way to control the Simple Motion Control program besides through the HMI An Axis User Program would need to be created by the user

IMPORTANT Axis commands can be executed via an optional Axis User Program routine and affect only that particular axis Broadcast commands are executed in the Machine Control routine and affect all of the axes in the Simple Motion Control CCBB This provides the flexibility to independently control an axis or to consolidate machine control code when possible



The commands are briefly explained in the table below For further detail on each command consult the ladder logic comments

Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL

One-time command that turns OFF the Kinetix 300 driversquos enable and software enable This disables the axis

Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL

One-time command that turns ON the Kinetix 300 driversquos enable and software enable This enables the axis

Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP

One-time command that stops the axis and clears the necessary Axis Command data

The Stop command will be executed automatically if the axis is not ready or not enabled

Start Command

bull K_CMD_PRG_START

bull BDCST_CMD_START

One-time command that starts the axis indexing (or could be used to start an optional Axis User Program) if it is not already in process

Fault Reset Command

bull K_CMD_PRG_RESET


One-time command that clears the Kineitx 300 driversquos fault via software This resets the axis

Home Command

bull K_CMD_PRG_HOME

bull BDCST_CMD_PROG_FWD

One-time command that starts the homing sequence configured in the Kinetix 300 drive

Write Index Command

bull K_CMD_PRG_WRT_IDX

bull BDCST_CMD_PROG_REV

One-time command that writes index parameters to the Kinetix 300s Index Assembly object




The Simple Motion Control via EtherNetIP CCBB does not include an Axis User Program An Axis User Program could be added as a routine in the controller program and with some small modifications could be executed by the HMI Start command the Axis Start command or the Broadcast Start command

An example of when you might use an Axis User Program would be when the axis needs to move to a predefined position before executing the starting index You could have that happen in a user program triggered by the Start command

Any of the Simple Motion Control Program mode commands can be executed in an optional Axis User Program by using the Axis commands as shown below



The Axis User Program can be structured as desired but a state machine (sequencer) is strongly recommended for more complicated motion control In general state machines provide an easier approach to motion control programming and troubleshooting because of their step-by-step nature A sample state machine program is available in the CCBB common folder

Now that you know how to integrate your individual axes into the Simple Motion Control CCBB and control them individually you will explore how to control all the axes simultaneously

IMPORTANT If you want to use a state machine use the K_CMD_PROG_SEQ as your state machine value in the Axis User Program This value is cleared (set to zero) when the Axis Stop command is executed or when the axis is in Operator mode Verify that the initial state of your state machine is when AX_CMD_PROG_SEQ=0 and then your state machine will execute every time the Axis Start command is executed

TIP Be sure to initialize or set the Axis command parameters before you execute each Axis command This will help make sure that each command is always executed using the expected parameters




The optional Axis User Program could control each axis independently while in Program mode while the Machine Control routine is used to control all of the axes simultaneously while in Program mode

Unlike an Axis User Program there is not a lsquostartrsquo command Instead the Machine Control routine will always be scanned when the MACHINE_ENB_USR_CTRL IO (I00) is set which can be removed if not needed or it can be tied to an input or other conditions as needed

The Machine Control routine can use any of the Program mode commands including the Axis commands and the Broadcast commands as shown below This means that you can control axes independently in groups or sections or simultaneously



Although the Machine Control routine can be structured as desired it contains sample ladder logic for Machine Clear Faults Machine Start and Machine Stop operations

Change the operation of the Machine Control to reflect your application needs If simultaneous control is needed consider using Broadcast commands If individual or step-by-step control is needed consider using Axis commands and controlling each axis individually



Table 2 Ladder Logic Examples

Example Description

Machine Clear Faults Example The Machine Clear Fault example in the Machine Control routine uses the Broadcast command functionality to clear all of the axis faults at the same time It executes when the MACHINE_CLEAR_FAULTS bit is set (I01) This bit can be used as needed to control when the machine faults are cleared The Axis command functionality could also be used to clear each axis fault individually providing the ability to customize your machines clear fault process

Machine Start Example The Machine Start example in the Machine Control routine uses the Axis command functionality to clear each axis fault (if faulted) and start each Axis User Program It executes when the MACHINE_START bit is set (I02) This bit can be used as needed to control when the entire machine is started Additionally by using the Axis commands you can control the Machine Start process and start optional Axis User Programs simultaneously one at a time or based upon some other predefined condition The Broadcast command functionality could also be used to start all of the Axis User Programs at the same time

Machine Stop Example The Machine Stop example in the Machine Control routine uses the Broadcast command functionality to stop all of the axes simultaneously It executes when the MACHINE_STOP bit is set (I03) This bit can be used as needed to control when the machine is stopped The Axis command functionality could also be used to stop each axis individually providing the ability to customize your machines stopping process

TIP Be sure to initialize or set the Axis command parameters before you execute each Axis command to ensure each command is always executed with the expected parameters



Notes


Publication CC-QS018A-EN-P - June 2010Copyright copy 2010 Rockwell Automation Inc All rights reserved Printed in the USA

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Front CoverCCBB Quick Start

Important User Information

Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps







Back CoverRockwell Support

Introduction_Catagory Types

Print Spec Sheet

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50 and later) gtgt Namespace [ (Adobe) (Common) (10) ] OtherNamespaces [ ltlt AsReaderSpreads false CropImagesToFrames true ErrorControl WarnAndContinue FlattenerIgnoreSpreadOverrides false IncludeGuidesGrids false IncludeNonPrinting false IncludeSlug false Namespace [ (Adobe) (InDesign) (40) ] OmitPlacedBitmaps false OmitPlacedEPS false OmitPlacedPDF false SimulateOverprint Legacy gtgt ltlt AddBleedMarks false AddColorBars false AddCropMarks false AddPageInfo false AddRegMarks false ConvertColors NoConversion DestinationProfileName () DestinationProfileSelector NA Downsample16BitImages true FlattenerPreset ltlt PresetSelector MediumResolution gtgt FormElements false GenerateStructure true IncludeBookmarks false IncludeHyperlinks false IncludeInteractive false IncludeLayers false IncludeProfiles true MultimediaHandling UseObjectSettings Namespace [ (Adobe) (CreativeSuite) (20) ] PDFXOutputIntentProfileSelector NA PreserveEditing true UntaggedCMYKHandling LeaveUntagged UntaggedRGBHandling LeaveUntagged UseDocumentBleed false gtgt ]gtgt setdistillerparamsltlt HWResolution [2400 2400] PageSize [612000 792000]gtgt setpagedevice

JIT Printing Specifications RA-QR005G-EN-P - 3292010

Printing Specification YOUR DATA HERE Instructions NO

(required) Category D6 Select Print Category ABC or D from category list on Introduction_Catagory Types tab 11rdquo x 17rdquo LOOSE -Loose Leaf YES Pre-sale Marketing TOP

(required) Finished Trim Size Width 85rdquo x 11rdquo 85rdquo x 11rdquo PERFECT - Perfect Bound A1 LEFT

(required) Publication Number CC-QS018A-EN-P Sample 2030-SP001B-EN-P 3rdquo x 5rdquo SADDLE - Saddle Stitch A2 RIGHT CORNER

Use Legacy Number NO YES or NO 18rdquo x 24rdquo Poster PLASTCOIL - Plastic Coil (Coil Bound) A4 BOTTOM SIDE

Legacy Number if applicable Sample Legacy Number 0160-533 24rdquo x 36rdquo Poster STAPLED1 -1 position A3

Publication Title Simple Motion Control via EtherNetIP with Kinetix 300 Drives CCBB Quick Start Sample ElectroGuard Selling Brief80 character limit - must match DocMan Title 36rdquo x 24rdquo Poster STAPLED1B - bottom 1 position A5

(required) Business Group Marketing Commercial As entered in DocMan 4rdquo x 6rdquo STAPLED2 - 2 positions A6

(required) Cost Center 19041 As entered in DocMan - enter number only no description Example - 19021 CMKMKE CM Integrated Arch - 19021CMKMKE Market Access Program - 19105 475rdquo x 7rdquo (slightly smaller half-size) THERMAL - Thermal bound (Tape bound) A7

BindingStitching SADDLE - Saddle Stitch Review key on right Saddle-Stitch Items All page quantities must be divisible by 4Note Stitching is implied for Saddle-Stitch - no need to specify in Stitching Location80 pgs max on 20 (text and cover)76 pgs max on 20 (text) and 24 (cover)72 pgs max on 24 (text and cover)Perfect Bound Items940 pgs max wcover (90 index unless indicated otherwise)70 pgs min for spine without words200 pgs min for spine with words Plastcoil Bound Items530 pgs max of 20 (if adding cover deduct equivalent number of pages to equal cover thickness) (90 index unless indicated otherwise)Tape Bound Items250 pgs max on 20 no cover240 pgs max wcover (90 index unless indicated otherwise) 475rdquo x 775rdquo THERMALO - Thermal Bound (Tape bound - offline) A8

(required) Page Count of Publication 52 Total page count including cover 55rdquo x 85rdquo (half-size) A9

Paper Stock Color White is assumed For color options contact your vendor 6rdquo x 4rdquo Post Sale Technical Communication

Number of Tabs Needed 5 tab in stock at RR Donnelley 7385rdquo x 9rdquo (RSI Std) B1

Stitching Location Blank Corner or Side 825rdquo x 10875rdquo B2

Drill Hole YESNO NO All drilled publications use the 5-hole standard 516 inch-size hole and a minimum of frac14 inch from the inner page border 825rdquo x 11rdquo (RA product profile std) B3 None

Glue Location on Pad Glue location on pads 8375rdquo x 10875 B4 Half or V or Single Fold

Number of Pages per Pad Average sheets of paper 25 50 75100 Max 9rdquo x 12rdquo (Folder) B5 C or Tri-Fold

Ink Color One color assumes BLACK 4 color assume CMYK Indicate PMS number herehellip A4 (8 frac14rdquo x 11 frac34rdquo) (210 x 297 mm) Catalogs DbleParll

Used in Manufacturing NO A5 (583rdquo x 826rdquo) (148 x 210 mm) C1 Sample

Fold Review key on right Short (must specify dimensions between folds in Comments)

Comments C2 Z or Accordian Fold

Part Number JIT POD Microfold or French Fold - designate no of folds in Comments - intended for single sheet only to be put in box for manufacturing

D1 Double Gate

D2

FoldsHalf V Single C or TriDble ParllZ or Accordian Microfold or FrenchDouble Gate Short Fold D3

D4

D5

D6

D7

D8

D9

This tab summarizes Rockwell Automation Global Sales and Marketing preferred printing standards It also provides guidance on whether a publication should be released as JIT (print on demand) or if it requires an RFQ for offset printingFind your publication type in the first section below Use the assigned Printing Category information to determine the standard print specifications for that document type The Printing Categories are defined below the Publication Type section Note there may be slightly different print specifications for the categories depending on the region (EMEA or Americas)For more information on Global Sales and Marketing Printing Standards see publication RA-CO004 in DocMan

Publication Type and Print Category

Publication Type Off Set Print Category Spec (See table below) JIT Spec (See table below) Description Order Min Order Max Life Cycle Usage Release Option

AD NA - Puttman NA Advertisement Reprint Colour NA NA Presale Internal

AP A3 D2 Application Solution or Customer Success Story 5 100 Presale External

AR NA NA ArticleEditorialByline NA NA Presale Internal

(press releases should not be checked into DocMan or printed)

AT B3 B4 D5 Application techniques 5 100 Presale External

BR A2 Primary A1 NA Brochures 5 100 Presale External

CA C2 Primary C1 NA Catalogue 1 50 Presale External

CG NA NA Catalogue Guide 1 50 Presale External

CL NA NA Collection 5 50 Presale External

CO A5 A6 A9 D5 Company Confidential Information NA NA NA Confidential

CP E-only E-only D5 Competitive Information 5 50 NA Confidential

DC E-only E-only Discount Schedules NA NA Presale Internal

DI A1 A3 NA Direct Mail 5 100 Presale Internal

DM NA NA Product Demo 5 50 Presale Internal

DS B3 D5 Dimensions Sheet 1 5 Post External

DU B3 D5 Document Update 1 5 Post External

GR B2 D6 Getting Results 1 5 Post External

IN B3 Primary B2 D5 D6 Installation instructions 1 5 Post External

LM NA NA Launch Materials 5 50 Presale Internal

PC B3 D5 Packaging Contents

PL E-only primary B3 E-only Price List 5 50 Presale Internal

PM B2 D6 Programming Manual 1 5 Post External

PP A3 D1 Profile (Single Product or Service) NOTE Application Solutions are to be assigned the AP pub type 5 100 Presale External

QR B2 primary B3 B5 D5 D6 Quick Reference 1 5 Post External

QS B2 primary B3 B5 D5 D6 Quick Start 1 5 Post External

RM B2 D5 D6 Reference Manual 1 5 Post External

RN B3 D5 Release Notes 1 5 Post External

SG B1 Primary B4 D5 D6 Selection Guide Colour 5 50 Presale External

SG B2 D5 D6 Selection Guide BW 5 50 Presale External

SP A1 A2 A3 A4 NA Sales Promotion NOTE Service profiles are to be assigned the PP pub type 5 100 Presale Internal

SR B2 B3 D5 D6 Specification Rating Sheet 5 100 Presale External

TD B2 Primary B3 B4 B5 D5 D6 Technical Data 5 50 Presale External

TG B2 B3 D6 Troubleshooting Guide 1 5 Post External

UM B2 Primary B4 D6 User Manual BW 1 5 Post External

WD B3 D5 Wiring Diagrams Dwgs 1 5 Post Internal

WP B3 Primary B5 D5 White Paper 5 50 Presale External

Minimum order quantities on all JIT items are based on the publication length

Publication length Minimum Order Quantity

77 or more pages 1 (no shrink wrap required)

33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100

Pre-sale Marketing All paper in this category is White Brightness 90 or better Opacity 90 or better

Category Color Options AP EMEA Paper Requirements Canada LA US Paper Requirements

A1 4 color 170 gsm 2pp 100 gloss cover 100 gloss text

A2 4 color 170 gsm folded 4pp 100 gloss cover 80 gloss text

A3 4 color Cover 170 gsm with Body 120 gsm gt 4pp 80 gloss cover 80 gloss text

A4 2 color 170gsm Silk ndash 120gsm Silk 80 gloss cover 80 gloss text

A5 2 color 170gsm Silk ndash 120gsm Silk 80 gloss cover 80 matt sheet text


A7 4 color cover2 color textSelection Guide Category being deleted 10 Point Cover C2S50 matte sheet text

A8 4 color cover Category being deleted 50 matte sheet text self cover

2 color text

Selection Guide

A9 2 color 100gsm bond 50 matte sheet text self cover

Selection Guide

Gray shading indicates Obsolete Print Catagories

Post Sale Technical Communication


B1 4 color cover 270gsm Gloss 100gsm bond 10 Point Cover C2S

2 color text 50 matte sheet text

B2 1 color 160gsm Colortech amp 100gsm Bond 90 Cover50 matte sheet text

B3 1 color 100gsm bond 50 matte sheet text self cover



Catalogs


C1 4 color cover 270gsm Gloss 90gsm silk 10 Point Cover C2S

4 color text 45 Coated Sheet


2 color text 32-33 Coated Sheet

JIT POD All paper in this category is White Brightness 82 or better Opacity 88 or better


D1 4 color 170gsm white silk 80 gloss cover coated 2 sides

D2 4 color 120gsm white silk 80 gloss text coated 2 sides self cover

D3 4 color Cover 170gsm with Body 120gsm 80 gloss cover 80 gloss text coated 2 sides

D4 1 color 160gsm tab 90 index

D5 1 color 80gsm bond 20 bond self cover

D6 1 color Cover 160gsm tab with Body 80gsm bond 90 index 20 bond




D10 Combination 4 color cover with 2 color body Cover 160gsm with Body 80gsm 90 index 20 bond


Just In Time (JIT) or Off Set (OS)

Use these guidelines to determine if your publication should be JIT (just in timeprint on demand) or if it would be more economical to print OS (offseton a press) OS print jobs require an RFQ (Request For Quote) in US If your job fits into the ldquoEitherrdquo category an RFQ is recommended but not required In the US RA Strategic Sourcing will discourage or reject RFQs for jobs that fall within the JIT category Guidelines differ for black amp white and color printing so be sure to check the correct tables

Black amp White Printing

Color Printing

Color Printing

Important 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-11 available from your local Rockwell Automation sales office or online at httpwwwrockwellautomationcomliterature) 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

Rockwell Automation Rockwell Software Allen-Bradley Kinetix MicroLogix PanelView RSLogix 500 and TechConnect are either trademarks or registered trademarks of Rockwell Automation Inc

Trademarks not belonging to Rockwell Automation are property of their respective companies

WARNINGIdentifies 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

IMPORTANT Identifies information that is critical for successful application and understanding of the product

ATTENTIONIdentifies 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 HAZARDLabels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present

BURN HAZARDLabels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures

Table of Contents

Where to Start 5








Notes


Where to Start








Where to Start

Notes


Preface











Preface














Preface























Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

ltlt ASCII85EncodePages false AllowTransparency false AutoPositionEPSFiles true AutoRotatePages All Binding Left CalGrayProfile (Dot Gain 20) CalRGBProfile (sRGB IEC61966-21) CalCMYKProfile (US Web Coated 050SWOP051 v2) sRGBProfile (sRGB IEC61966-21) CannotEmbedFontPolicy Error CompatibilityLevel 14 CompressObjects Tags CompressPages true ConvertImagesToIndexed true PassThroughJPEGImages true CreateJDFFile false CreateJobTicket false DefaultRenderingIntent Default DetectBlends true DetectCurves 00000 ColorConversionStrategy LeaveColorUnchanged DoThumbnails false EmbedAllFonts true EmbedOpenType false ParseICCProfilesInComments true EmbedJobOptions true DSCReportingLevel 0 EmitDSCWarnings false EndPage -1 ImageMemory 1048576 LockDistillerParams true MaxSubsetPct 1 Optimize true OPM 1 ParseDSCComments false ParseDSCCommentsForDocInfo true PreserveCopyPage true PreserveDICMYKValues true PreserveEPSInfo true PreserveFlatness true PreserveHalftoneInfo false PreserveOPIComments false PreserveOverprintSettings true StartPage 1 SubsetFonts false TransferFunctionInfo Apply UCRandBGInfo Remove UsePrologue false ColorSettingsFile () AlwaysEmbed [ true ] NeverEmbed [ true ] AntiAliasColorImages false CropColorImages true ColorImageMinResolution 300 ColorImageMinResolutionPolicy OK DownsampleColorImages true ColorImageDownsampleType Average ColorImageResolution 300 ColorImageDepth 8 ColorImageMinDownsampleDepth 1 ColorImageDownsampleThreshold 200000 EncodeColorImages true ColorImageFilter FlateEncode AutoFilterColorImages false ColorImageAutoFilterStrategy JPEG ColorACSImageDict ltlt QFactor 015 HSamples [1 1 1 1] VSamples [1 1 1 1] gtgt ColorImageDict ltlt QFactor 015 HSamples [1 1 1 1] VSamples [1 1 1 1] gtgt JPEG2000ColorACSImageDict ltlt TileWidth 256 TileHeight 256 Quality 30 gtgt JPEG2000ColorImageDict ltlt TileWidth 256 TileHeight 256 Quality 30 gtgt AntiAliasGrayImages false CropGrayImages true GrayImageMinResolution 300 GrayImageMinResolutionPolicy OK DownsampleGrayImages true GrayImageDownsampleType Average GrayImageResolution 300 GrayImageDepth 8 GrayImageMinDownsampleDepth 2 GrayImageDownsampleThreshold 200000 EncodeGrayImages true GrayImageFilter FlateEncode AutoFilterGrayImages false GrayImageAutoFilterStrategy JPEG GrayACSImageDict ltlt QFactor 015 HSamples [1 1 1 1] VSamples [1 1 1 1] gtgt GrayImageDict ltlt QFactor 015 HSamples [1 1 1 1] VSamples [1 1 1 1] gtgt JPEG2000GrayACSImageDict ltlt TileWidth 256 TileHeight 256 Quality 30 gtgt JPEG2000GrayImageDict ltlt TileWidth 256 TileHeight 256 Quality 30 gtgt AntiAliasMonoImages false CropMonoImages true MonoImageMinResolution 1200 MonoImageMinResolutionPolicy OK DownsampleMonoImages true MonoImageDownsampleType Average MonoImageResolution 1200 MonoImageDepth -1 MonoImageDownsampleThreshold 150000 EncodeMonoImages true MonoImageFilter CCITTFaxEncode MonoImageDict ltlt K -1 gtgt AllowPSXObjects false CheckCompliance [ None ] PDFX1aCheck false PDFX3Check false PDFXCompliantPDFOnly false PDFXNoTrimBoxError true PDFXTrimBoxToMediaBoxOffset [ 000000 000000 000000 000000 ] PDFXSetBleedBoxToMediaBox true PDFXBleedBoxToTrimBoxOffset [ 000000 000000 000000 000000 ] PDFXOutputIntentProfile (None) PDFXOutputConditionIdentifier () PDFXOutputCondition () PDFXRegistryName () PDFXTrapped False Description ltlt CHS ltFEFF4f7f75288fd94e9b8bbe5b9a521b5efa7684002000500044004600206587686353ef901a8fc7684c976262535370673a548c002000700072006f006f00660065007200208fdb884c9ad88d2891cf62535370300260a853ef4ee54f7f75280020004100630072006f0062006100740020548c002000410064006f00620065002000520065006100640065007200200035002e003000204ee553ca66f49ad87248672c676562535f00521b5efa768400200050004400460020658768633002gt CHT ltFEFF4f7f752890194e9b8a2d7f6e5efa7acb7684002000410064006f006200650020005000440046002065874ef653ef5728684c9762537088686a5f548c002000700072006f006f00660065007200204e0a73725f979ad854c18cea7684521753706548679c300260a853ef4ee54f7f75280020004100630072006f0062006100740020548c002000410064006f00620065002000520065006100640065007200200035002e003000204ee553ca66f49ad87248672c4f86958b555f5df25efa7acb76840020005000440046002065874ef63002gt DAN ltFEFF004200720075006700200069006e0064007300740069006c006c0069006e006700650072006e0065002000740069006c0020006100740020006f007000720065007400740065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e007400650072002000740069006c0020006b00760061006c00690074006500740073007500640073006b007200690076006e0069006e006700200065006c006c006500720020006b006f007200720065006b007400750072006c00e60073006e0069006e0067002e0020004400650020006f007000720065007400740065006400650020005000440046002d0064006f006b0075006d0065006e0074006500720020006b0061006e002000e50062006e00650073002000690020004100630072006f00620061007400200065006c006c006500720020004100630072006f006200610074002000520065006100640065007200200035002e00300020006f00670020006e0079006500720065002egt DEU ltFEFF00560065007200770065006e00640065006e0020005300690065002000640069006500730065002000450069006e007300740065006c006c0075006e00670065006e0020007a0075006d002000450072007300740065006c006c0065006e00200076006f006e002000410064006f006200650020005000440046002d0044006f006b0075006d0065006e00740065006e002c00200076006f006e002000640065006e0065006e002000530069006500200068006f00630068007700650072007400690067006500200044007200750063006b006500200061007500660020004400650073006b0074006f0070002d0044007200750063006b00650072006e00200075006e0064002000500072006f006f0066002d00470065007200e400740065006e002000650072007a0065007500670065006e0020006d00f60063006800740065006e002e002000450072007300740065006c006c007400650020005000440046002d0044006f006b0075006d0065006e007400650020006b00f6006e006e0065006e0020006d006900740020004100630072006f00620061007400200075006e0064002000410064006f00620065002000520065006100640065007200200035002e00300020006f0064006500720020006800f600680065007200200067006500f600660066006e00650074002000770065007200640065006e002egt ESP ltFEFF005500740069006c0069006300650020006500730074006100200063006f006e0066006900670075007200610063006900f3006e0020007000610072006100200063007200650061007200200064006f00630075006d0065006e0074006f0073002000640065002000410064006f0062006500200050004400460020007000610072006100200063006f006e00730065006700750069007200200069006d0070007200650073006900f3006e002000640065002000630061006c006900640061006400200065006e00200069006d0070007200650073006f0072006100730020006400650020006500730063007200690074006f00720069006f00200079002000680065007200720061006d00690065006e00740061007300200064006500200063006f00720072006500630063006900f3006e002e002000530065002000700075006500640065006e00200061006200720069007200200064006f00630075006d0065006e0074006f00730020005000440046002000630072006500610064006f007300200063006f006e0020004100630072006f006200610074002c002000410064006f00620065002000520065006100640065007200200035002e003000200079002000760065007200730069006f006e0065007300200070006f00730074006500720069006f007200650073002egt FRA ltFEFF005500740069006c006900730065007a00200063006500730020006f007000740069006f006e00730020006100660069006e00200064006500200063007200e900650072002000640065007300200064006f00630075006d0065006e00740073002000410064006f00620065002000500044004600200070006f007500720020006400650073002000e90070007200650075007600650073002000650074002000640065007300200069006d007000720065007300730069006f006e00730020006400650020006800610075007400650020007100750061006c0069007400e90020007300750072002000640065007300200069006d007000720069006d0061006e0074006500730020006400650020006200750072006500610075002e0020004c0065007300200064006f00630075006d0065006e00740073002000500044004600200063007200e900e90073002000700065007500760065006e0074002000ea0074007200650020006f007500760065007200740073002000640061006e00730020004100630072006f006200610074002c002000610069006e00730069002000710075002700410064006f00620065002000520065006100640065007200200035002e0030002000650074002000760065007200730069006f006e007300200075006c007400e90072006900650075007200650073002egt ITA ltFEFF005500740069006c0069007a007a006100720065002000710075006500730074006500200069006d0070006f007300740061007a0069006f006e00690020007000650072002000630072006500610072006500200064006f00630075006d0065006e00740069002000410064006f006200650020005000440046002000700065007200200075006e00610020007300740061006d007000610020006400690020007100750061006c0069007400e00020007300750020007300740061006d00700061006e0074006900200065002000700072006f006f0066006500720020006400650073006b0074006f0070002e0020004900200064006f00630075006d0065006e007400690020005000440046002000630072006500610074006900200070006f00730073006f006e006f0020006500730073006500720065002000610070006500720074006900200063006f006e0020004100630072006f00620061007400200065002000410064006f00620065002000520065006100640065007200200035002e003000200065002000760065007200730069006f006e006900200073007500630063006500730073006900760065002egt JPN ltFEFF9ad854c18cea51fa529b7528002000410064006f0062006500200050004400460020658766f8306e4f5c6210306b4f7f75283057307e30593002537052376642306e753b8cea3092670059279650306b4fdd306430533068304c3067304d307e3059300230c730b930af30c830c330d730d730ea30f330bf3067306e53705237307e305f306f30d730eb30fc30d57528306b9069305730663044307e305930023053306e8a2d5b9a30674f5c62103055308c305f0020005000440046002030d530a130a430eb306f3001004100630072006f0062006100740020304a30883073002000410064006f00620065002000520065006100640065007200200035002e003000204ee5964d3067958b304f30533068304c3067304d307e30593002gt KOR ltFEFFc7740020c124c815c7440020c0acc6a9d558c5ec0020b370c2a4d06cd0d10020d504b9b0d1300020bc0f0020ad50c815ae30c5d0c11c0020ace0d488c9c8b85c0020c778c1c4d560002000410064006f0062006500200050004400460020bb38c11cb97c0020c791c131d569b2c8b2e4002e0020c774b807ac8c0020c791c131b41c00200050004400460020bb38c11cb2940020004100630072006f0062006100740020bc0f002000410064006f00620065002000520065006100640065007200200035002e00300020c774c0c1c5d0c11c0020c5f40020c2180020c788c2b5b2c8b2e4002egt NLD (Gebruik deze instellingen om Adobe PDF-documenten te maken voor kwaliteitsafdrukken op desktopprinters en proofers De gemaakte PDF-documenten kunnen worden geopend met Acrobat en Adobe Reader 50 en hoger) NOR ltFEFF004200720075006b00200064006900730073006500200069006e006e007300740069006c006c0069006e00670065006e0065002000740069006c002000e50020006f0070007000720065007400740065002000410064006f006200650020005000440046002d0064006f006b0075006d0065006e00740065007200200066006f00720020007500740073006b00720069006600740020006100760020006800f800790020006b00760061006c00690074006500740020007000e500200062006f007200640073006b0072006900760065007200200065006c006c00650072002000700072006f006f006600650072002e0020005000440046002d0064006f006b0075006d0065006e00740065006e00650020006b0061006e002000e50070006e00650073002000690020004100630072006f00620061007400200065006c006c00650072002000410064006f00620065002000520065006100640065007200200035002e003000200065006c006c00650072002000730065006e006500720065002egt PTB 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50 and later) gtgt Namespace [ (Adobe) (Common) (10) ] OtherNamespaces [ ltlt AsReaderSpreads false CropImagesToFrames true ErrorControl WarnAndContinue FlattenerIgnoreSpreadOverrides false IncludeGuidesGrids false IncludeNonPrinting false IncludeSlug false Namespace [ (Adobe) (InDesign) (40) ] OmitPlacedBitmaps false OmitPlacedEPS false OmitPlacedPDF false SimulateOverprint Legacy gtgt ltlt AddBleedMarks false AddColorBars false AddCropMarks false AddPageInfo false AddRegMarks false ConvertColors NoConversion DestinationProfileName () DestinationProfileSelector NA Downsample16BitImages true FlattenerPreset ltlt PresetSelector MediumResolution gtgt FormElements false GenerateStructure true IncludeBookmarks false IncludeHyperlinks false IncludeInteractive false IncludeLayers false IncludeProfiles true MultimediaHandling UseObjectSettings Namespace [ (Adobe) (CreativeSuite) (20) ] PDFXOutputIntentProfileSelector NA PreserveEditing true UntaggedCMYKHandling LeaveUntagged 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D1 Double Gate

D2


D4

D5

D6

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D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Table of Contents

Where to Start 5








Notes


Where to Start








Where to Start

Notes


Preface











Preface














Preface























Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Notes


Where to Start








Where to Start

Notes


Preface











Preface














Preface























Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Where to Start








Where to Start

Notes


Preface











Preface














Preface























Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Where to Start

Notes


Preface











Preface














Preface























Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Preface











Preface














Preface























Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Preface














Preface























Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Preface























Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Preface

Notes


Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Chapter 1


Introduction




Before You Begin






What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing


What You Need








Follow These Steps


Start













3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing







3 Click Open


Kinetix 300 drive




















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

















Drive Commissioning



Motor




User Units






Auto-tune





























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing



























Notes


Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Chapter 2


Introduction



Before You Begin





What You Need










Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing


Follow These Steps





Start



page 25




page 30







bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing






bull Axis 1 = 19216815

bull Axis 2 = 19216816

bull Axis 3 = 19216817





















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing















































ValidateSave



































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing


































































































6 Release Jog











































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing






































]Chapter 3


Introduction


Before You Begin






What You Need








Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing


Follow These Steps


Start





page 46


page 48








Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing







Routine Description


















bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing






bull Disable

bull Enable

bull Stop

bull Start

bull Fault Reset

bull Home

bull Write Index







Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing



Table 1 Commands

Command Description

Disable Command

bull K_CMD_PRG_DSBL

bull BDCST_CMD_DSBL


Enable Command

bull K_CMD_PRG_ENBL

bull BDCST_CMD_ENBL


Stop Command

bull K_CMD_PRG_STOP

bull BDCST_CMD_STOP



Start Command




Fault Reset Command




Home Command

bull K_CMD_PRG_HOME



Write Index Command





























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

























Example Description







Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing


Notes


















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

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33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

















Table of Contents

Where to Start

Preface

Introduction




Introduction

Before You Begin

What You Need

Follow These Steps



Drive Commissioning

Motor

User Units



Auto-tune





Introduction

Before You Begin

What You Need

Follow These Steps














Introduction

Before You Begin

What You Need

Follow These Steps









Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

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MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing


Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9











































33 to 76 pages 25

3 to 32 pages 50

1 or 2 pages 100











2 color text

Selection Guide


Selection Guide










Catalogs






















Color Printing

Color Printing

Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

























D1 Double Gate

D2


D4

D5

D6

D7

D8

D9

simple motion control via ethernet/ip with kinetix 300 ... · simple motion control via ethernet/ip...

Documents

Introduction_Catagory Types

Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

Introduction_Catagory Types

Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

Introduction_Catagory Types

Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

Introduction_Catagory Types

Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

Introduction_Catagory Types

Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

Introduction_Catagory Types

Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin

MBD000B37AAbin

MBD000C2CF0bin

MBD000CBFEFbin

MBD000B71E5bin

MBD000AB9B4bin

MBD000AF7AAbin

Introduction_Catagory Types

Print Spec Sheet

MBD000CCD74bin

MBD000D141Fbin

MBD000E357Abin

MBD000D05AEbin