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Rockwell Automation Allen-Bradley DriveLogix 5730, User Manual

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Rockwell Automation Allen-Bradley DriveLogix 5730 User Manual Download Page 70

4-2

Configuring DriveLogix Motion

 

 

 

Programming the Controller

In RSLogix 5000, create a new project. 

1.

From the File Menu, select New.

2.

Define the project.

Use Revision 13 or

You must enter a Name.

Click OK.

Summary of Contents for Allen-Bradley DriveLogix 5730

Page 1: ...User Manual DriveLogix 5730 Controller for PowerFlex 700S Drives with Phase II Control Firmware Version 13 XX ...

Page 2: ...ability 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 Important Identifies information that...

Page 3: ... Updates the Drive 2 2 Placing and Configuring the Drive 2 3 Inhibiting the Drive Connection 2 11 Using DriveExecutive Lite 2 12 Accessing Drive Data 2 21 Monitoring Drive Data 2 21 Configuring the Controller s Response to a Connection Failure 2 22 Recommended Programming Techniques 2 25 Chapter 3 Placing and Configuring Local I O De energizing the Drive to Connect or Disconnect a Cable 3 1 Unders...

Page 4: ...ive to Connect or Disconnect a Cable 6 1 Communicating Through the Embedded EtherNet IP Option 6 2 Controller Connections Over EtherNet IP 6 11 Configuring Distributed I O 6 12 Adding a Remote Controller 6 15 Producing and Consuming Data 6 15 Using a MSG Instruction to Send an Email 6 23 Example 1 DriveLogix5730 Controller and Distributed I O 6 31 Example 2 Controller to Controller 6 32 Chapter 7 ...

Page 5: ...ental Specifications A 1 DriveLogix5730 Certifications A 2 Real Time Clock Accuracy A 2 Controller LEDs A 3 Embedded EtherNet IP Option LEDs A 6 Battery Life A 8 Appendix B Access Procedures Removing Power from Drive and Compact I O B 1 Opening Door Over Power Structure and Main Control Board B 2 Removing the Control Cassette from Frame 1 6 Size Drives B 2 Removing the Outside Covers B 3 Removing ...

Page 6: ...4 ...

Page 7: ...ive devices and programmable controllers Purpose of this Manual This manual guides the development of projects for DriveLogix controllers It provides procedures on how to establish communications with the following networks ControlNet DeviceNet EtherNet IP serial with the following devices PowerFlex 700S drive controllers I O workstations PanelView terminals ...

Page 8: ...formation on selecting CompactLogix and Compact I O components and modules Compact I O Selection Guide 1769 SG001 Information on installing configuring and using Compact Analog I O modules Compact I O Analog Modules User Manual 1769 UM002 Information on installing configuring and using PowerFlex 700S drives PowerFlex 700S Phase II User Manual 20D UM006 Information on the DriveLogix Motion Control ...

Page 9: ...are required when installing testing servicing or repairing this assembly Component damage may result if ESD control procedures are not followed If you are not familiar with static control procedures reference A B publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD protection handbook ATTENTION Only qualified personnel familiar with the PowerFlex 700S Drive and...

Page 10: ...p 4 Notes ...

Page 11: ...bedded EtherNet IP option provides communication over an EtherNet IP network 1788 communication daughtercard that provides communication over a standards based ControlNet EtherNet IP DeviceNet or third party network The newer DriveLogix5730 controller offers significant performance and capacity improvements over the DriveLogix5720 controller It offers increased user memory up to 1 5 Mbytes Compact...

Page 12: ...h that launches through RSLogix 5000 software when you download a project to a controller that does not have the current firmware a 1784 CF64 CompactFlash card with valid memory already loaded The firmware is available with RSLogix 5000 software or you can download it from the support website 1 Go to http support rockwellautomation com 2 In the left column frame select Firmware Updates under Techn...

Page 13: ...ick Next when the Welcome screen appears 3 Select the catalog number of the controller and click Next 4 Expand the network until you see the controller If the required network is not shown first configure a driver for the network in RSLinx software If you use an Ethernet connection to load the firmware which is much faster than the serial connection the utility will require a valid IP address befo...

Page 14: ...ct the controller and click OK 6 Select the revision level to which you want to update the controller and click Next 7 To start the update of the controller click Finish and then click Yes 8 After the controller is updated the status box displays Update complete Click OK 9 To close AutoFlash software click Cancel and then click Yes Using a CompactFlash card to load firmware If you have an existing...

Page 15: ...CompactFlash card ATTENTION If you configured the CompactFlash card to restore on power up and you make changes to a project such as online edits or changes to tag values you must store the project to the CompactFlash card again after you make changes Otherwise your changes are not saved and you will lose those changes on the next power cycle to the controller ATTENTION Do not remove the CompactFl...

Page 16: ... periodic or event Only one task can be continuous The DriveLogix5730 controller supports as many as eight 8 tasks A task can have as many as 32 separate programs each with its own executable routines and program scoped tags Once a task is triggered activated all the programs assigned to the task execute in the order in which they are grouped Programs can only appear once in the Controller Organiz...

Page 17: ...ated I O task 500 µs to complete its job of scanning the configured I O However if you schedule two high priority tasks 1 to 6 to run every millisecond and they both require 500 µs or more to execute no CPU time would be left for the dedicated I O task Furthermore if you have so much configured I O that the execution time of the dedicated I O task approaches 2 ms or the combination of the high pri...

Page 18: ...unless a higher priority task is running Defining programs Each program contains program tags a main executable routine other routines and an optional fault routine Each task can schedule as many as 32 programs The scheduled programs within a task execute to completion from first to last Programs that are not attached to any task show up as unscheduled programs You must specify schedule a program ...

Page 19: ...em overhead This percentage specifies the percentage of controller time excluding the time for periodic tasks that is devoted to communication and background functions System overhead functions include communicating with programming and HMI devices such as RSLogix 5000 software responding to messages sending messages The controller performs system overhead functions for up to 1 ms at a time If the...

Page 20: ...ous task every 9 ms of continuous task time as illustrated below The interruption of a periodic task increases the elapsed time clock time between the execution of system overhead as shown below At this time slice The continuous tasks runs for And then overhead occurs for up to 10 9 ms 1 ms 20 4 ms 1 ms 33 2 ms 1 ms 50 1 ms 1 ms TIP For typical DriveLogix applications a setting of 20 33 is recomme...

Page 21: ... is not running Understanding the Virtual Backplane The DriveLogix5730 system has a five slot virtual backplane The controller drive and other components occupy different assigned slots on the backplane 1 ms 1 ms 1 ms 1 ms 1 ms system overhead 4 ms 4 ms 4 ms 4 ms 4 ms continuous task 5 10 15 20 25 elapsed time ms 1 ms system overhead 1 ms continuous task 5 10 15 20 25 elapsed time ms periodic task...

Page 22: ...1 12 What is DriveLogix5730 Notes ...

Page 23: ...mat selection Currently the following five communications formats are available Speed Control for typical speed regulated applications Position Control for typical positioning applications Motion Control for use with Logix motion commands User Defined 1 for general use as required User Defined 2 for general use as required Each communication format contains a number of pre defined tags and user de...

Page 24: ... Determining When the Controller Updates the Drive The DriveLogix controller follows a producer consumer model for the drive connection similar to the interface to an I O module The drive acts as both an input module producing data for the controller and an output module consuming data from the controller Although the producer consumer model multi casts data all data in the drive connection is exc...

Page 25: ...00S drive to the configuration in a manner similar to adding an I O module The Controller Organizer automatically places the drive in slot two Important You must select the correct voltage rating for the drive when adding the drive You can find this on the drive data nameplate 1 In the Controller Organizer select the I O Configuration folder Right click the selected folder and select New Module 2 ...

Page 26: ... drive Use the module properties wizard to specify characteristics for the module Click Next to continue through the wizard 5 Name the drive and specify the Comm Format Click finish when you are done The completed module appears in the Controller Organizer The selection you make for the Comm Format determines the communication format for the connection to the drive This determines the tag names an...

Page 27: ...ation to the drive Each communication format has been structured to meet the requirements of a specific type of application Speed Control Position Control or general purpose and supports a different data structure The links within the PowerFlex 700S required to support the selected format are also different Any of the available communication formats create one direct connection to the drive You se...

Page 28: ...ata 0 618 FromDriveLogix16 User Defined UserDefinedIntegerData 1 619 FromDriveLogix17 User Defined UserDefinedIntegerData 2 620 FromDriveLogix18 User Defined UserDefinedIntegerData 3 621 FromDriveLogix19 User Defined UserDefinedIntegerData 4 622 FromDriveLogix20 User Defined Controller Input Tag Element Drive Parameter Linked Parameter LogicStatus 626 To DriveLogix00 155 Logic Status FilteredSpdFd...

Page 29: ...Data 3 620 FromDriveLogix18 User Defined UserDefinedIntegerData 4 621 FromDriveLogix19 User Defined UserDefinedIntegerData 5 622 FromDriveLogix20 User Defined Controller Input Tag Element Drive Parameter Linked Parameter LogicStatus 626 To DriveLogix00 155 Logic Status FilteredSpdFdbk 627 To DriveLogix01 71 Filtered SpdFdbk OutputCurrent 628 To DriveLogix02 308 Output Current LocalIOStatus 629 To ...

Page 30: ...ntegerData 6 620 FromDriveLogix18 User Defined UserDefinedIntegerData 7 621 FromDriveLogix19 User Defined UserDefinedIntegerData 8 622 FromDriveLogix20 User Defined Controller Input Tag Element Drive Parameter Linked Parameter LogicStatus 626 To DriveLogix00 155 Logic Status UserDefinedRealData 0 627 To DriveLogix01 User Defined UserDefinedRealData 1 628 To DriveLogix02 User Defined UserDefinedRea...

Page 31: ...Data 3 620 FromDriveLogix18 User Defined UserDefinedIntegerData 4 621 FromDriveLogix19 User Defined UserDefinedIntegerData 5 622 FromDriveLogix20 User Defined Controller Input Tag Element Drive Parameter Linked Parameter LogicStatus 626 To DriveLogix00 155 Logic Status UserDefinedRealData 0 627 To DriveLogix01 User Defined UserDefinedRealData 1 628 To DriveLogix02 User Defined UserDefinedRealData ...

Page 32: ...DriveLogix13 User Defined UserDefinedIntegerData 2 616 FromDriveLogix14 User Defined UserDefinedIntegerData 3 617 FromDriveLogix15 User Defined UserDefinedIntegerData 4 618 FromDriveLogix16 User Defined UserDefinedIntegerData 5 619 FromDriveLogix17 User Defined UserDefinedIntegerData 6 620 FromDriveLogix18 User Defined UserDefinedIntegerData 7 621 FromDriveLogix19 User Defined UserDefinedIntegerDa...

Page 33: ...te unsafe operation On the Connection tab during creation or in the Properties window Check the inhibit box to inhibit the connection to the drive When you inhibit the drive module the Controller Organizer displays a yellow attention symbol over the module If you are Inhibit the drive module to offline put a place holder for the drive module to indicate that configuration is not yet complete The i...

Page 34: ...le For example Using DriveExecutive Lite In order to launch DriveExecutive Lite from within RSLogix 5000 the drives power rating must be selected The drive firmware revision must be applied prior to selecting the power rating 1 If not already done enter the drive firmware revision Click the Finish button to apply the revision data ...

Page 35: ...rive Rating This data can be found on the PowerFlex 700S data nameplate TIP If your drive s power rating does not appear as a selection you do not have the DriveExecutive Lite database file for your drive To create a database file connect to the drive with DriveExecutive Lite This will automatically create the database You can also download the database file from http www ab com drives data html ...

Page 36: ...ower rating is selected apply your changes by selecting the Apply button 6 Select the Setup tab 7 Enter the file name for your DriveExecutive Lite parameter file then click the Apply button 8 Click the DriveExecutive button to launch DriveExecutive Lite ...

Page 37: ...Placing and Configuring the Drive 2 15 9 When asked to create a new DriveExecutive Lite file select yes DriveExecutive will then launch and open the newly created file ...

Page 38: ...een the controller and drive From this screen the relationship between drive parameters and controller tags is presented for the selected communication format You can create additional links within the drive for use with the user defined tags in the controller 1 To view the setup screen select Peer Communication from the Drive drop down menu Then select the From Controller tab ...

Page 39: ... two forms The controller closes the connection for example the connection is inhibited A general failure occurs causing the connection to time out Parameter 386 Lgx OutofRunCnfg configures the drive s response to the controller is removed from the Run Mode Parameter 387 Lgx Timeout 2 To send additional data from the drive to the controller go to the To DriveLogix tab Click the button in front of ...

Page 40: ...rive s response to these exception events in the following ways ignore alarm fault and coast to stop fault and ramp to stop fault and stop in current limit Parameter 385 Lgx CommLossData determines what the drive does with data from the controller when communication is lost It determines if the drive resets the data to zero or holds the data in its last state Configure these parameters using Drive...

Page 41: ...ommunication format and power rating in the drive file match the data entered in drive module properties in your DriveLogix application 1 Select Properties from the Drive menu 2 View the revision and ratings on the General tab of the Properties window 3 Refer to Viewing the Communication Interface to the Controller on page 2 16 to view the communication format ...

Page 42: ... 4 In RSLogix 5000 go to the Setup tab o the Properties window Click the Browse button Select the existing DriveExecutive file Existing Drive dno in this example Click the open button 5 Click the Apply button and then launch DriveExecutive ...

Page 43: ...at which you can monitor the drive module You can configure the drive module so that the controller faults if the drive loses its connection to the controller use the programming software to display fault data program logic to monitor fault data so you can take appropriate action This address variable Is ModuleName Identifies the module name entered during the drive module configuration Type Type ...

Page 44: ...ate By default the drive will fault Configure the drive to generate a controller major fault when the drive loses its connection to the controller Or monitor the status of the drive module Check this box to configure the drive module to generate a major fault if it loses its connection to the controller ATTENTION If a drive loses its connection to the controller the controller and other I O module...

Page 45: ...on format provides a drive status word that will indicate when a drive fault or alarm occurs To view this data through the programming software 1 In the Controller Organizer select Controller Tags Right click on the selected icon and select Monitor Tags 2 Expand the data as necessary ...

Page 46: ... or alarm occurs For example you may want a drive alarm to turn on a warning lamp and a drive fault to sound an alarm and set the motor brake Example Energizing Alarm Lamp Siren and Brake in Response to Fault and Alarm Status Bits Given this configuration the following logic checks the fault and alarm drive status bits ...

Page 47: ...rams Function describes the function or signal Suffix identifies the units of the signal or control status Prefix examples Sct1 Section 1 Fan2 Fan 2 RewA Rewind A Function examples SpdRef Speed Reference FaultState Status of a fault Suffix examples Rpm Rotations per Minute Ok status OK Off contact Off Full tag examples Sct2_SpdRef_Fpm Speed Reference in feet per minute on Section 2 Fan5_FaultState...

Page 48: ...o identify machine section association Apply aliases to all external connections including the PowerFlex 700S Communication Format and I O All defined bits should be included Use Periodic Tasks to optimize processor utilization Name periodic tasks to identify the update time e g Periodic_020ms_P9 20ms task with priority 9 Set the periodic task time appropriate programming requirements Important Re...

Page 49: ... voltage must be zero 4 Connect or disconnect the programming or network cable 5 Turn power back on and proceed with placing and configuring the I O Understanding How the DriveLogix5730 Supports I O The DriveLogix5730 controller supports up to 2 banks of modules with a maximum of 8 modules per bank You must distribute the modules within each bank so that no more than 4 modules are on either side o...

Page 50: ...the local DriveLogix5730 controller can scan the local Compact I O A 20D DL2 CL3 cable connects the controller to the left side of an I O bank A 20D DL2 CR3 cable connects the controller to the right side of an I O bank ATTENTION The Compact I O system does not support Removal and Insertion Under Power RIUP While the DriveLogix Compact I O is under power any break in the connection between the pow...

Page 51: ...er This facilitates a vertical I O orientation Validating I O Layout To validate your planned I O layout consider these requirements Each module in a Compact I O system uses a set amount of backplane memory in addition to the data that the module stores or transfers As you add modules the minimum backplane RPI increases The I O modules must be distributed such that the current consumed from the le...

Page 52: ...ller to execute the logic once Input data transfers to the controller and output data transfers to output modules are asynchronous to the logic scan Type of Module Considerations digital and analog any mix 1 4 modules can be scanned in 1 0 ms 5 16 modules can be scanned in 1 5 ms some input modules have a fixed 8 0 ms filter so selecting a faster RPI has no affect specialty full sized 1769 SDN mod...

Page 53: ... the CompactBus When you create a DriveLogix5730 project the programming software automatically creates the local CompactBus You must configure the CompactBus 1 In the Controller Organizer select CompactBus Local icon Right click and select Properties ...

Page 54: ...e changed Using the Connection tab you can specify the RPI for the systems and choose to inhibit or uninhibit the CompactBus The RPI you specify here is the RPI for every 1769 module on this controller s local CompactBus Specify an RPI from 1 750ms for the system You do not specify individual RPI values for each module By inhibiting and uninhibiting the CompactBus you can write new configuration d...

Page 55: ...er 2 Select the new module 1769 IA16 in this example 1 In the Controller Organizer select CompactBus Local icon Right click and select New Module 3 Configure the module using the module wizard to specify characteristics Click Next to advance the wizard Click Finish when you are done The completed module will appear in the Controller Organizer ...

Page 56: ... Safe State Not Supported If a local I O module fails such that its communication to the controller is lost or if any module is disconnected from the system bus while under power the controller will go into the fault mode All outputs turn off when the system bus or any module faults TIP The DriveLogix5730 controller must own its local I O modules No other Logix based controller can own the local C...

Page 57: ... you wire up the control system The controller lets you inhibit individual modules or groups of modules which prevents the controller from trying to communicate with these modules Inhibiting a module shuts down the connection from the controller to that module When you create an I O module it defaults to being not inhibited You can change an individual module s properties to inhibit a module For d...

Page 58: ...status is stored in the project When you download the project the module is still inhibited online stop communication to a module If you inhibit a module while you are connected to the module the connection to the module is closed The module s outputs turn off If you inhibit a module but a connection to the module was not established perhaps due to an error condition or fault the module is inhibit...

Page 59: ...n sets the state of input_module as either inhibited or uninhibited When on inhibits the module When off uninhibits the module ATTENTION If you make a configuration change to any module in the system do one of the following to resend module configuration data cycle power to the controller inhibit and then uninhibit the bus inhibit and then uninhibit the individual module send a MSG instruction of ...

Page 60: ...tion failure by turning off output Accessing I O Data The programming software displays I O data as structures of multiple tags that depend on the specific features of the I O module The names of the data structures are based on the location of the I O module The programming software automatically creates the necessary structures and tags when you configure the module Each tag name follows this fo...

Page 61: ...le Data and Fault are possible fields of data for an I O module Data is the common name for values that are sent to or received from I O points SubMemberName Specific data related to a MemberName Bit optional Specific point on the I O module depends on the size of the I O module 0 31 for a 32 point module Example I O module on the local CompactBus utilizing two banks This address variable Is 1 2 3...

Page 62: ...t module in slot 2 LOCAL Bank 1 Local 2 C Local 2 I Local 2 O analog input module in slot 3 LOCAL Bank 2 Local 3 C Local 3 I analog output module in slot 4 LOCAL Bank 2 Local 4 C Local 4 I Local 4 O analog input module in slot 5 LOCAL Bank 2 Local 5 C Local 5 I Example Description I O structure Local 1 I Data 0 0 Local 1 I Fault 0 The aliases describe the specific I O points alias light_on Local 1...

Page 63: ...g Fault Data on page 3 15 program logic to monitor fault data so you can take appropriate action Refer to Logix5000 Controllers Common Procedures Programming Manual publication number 1756 PM001 for examples Displaying Fault Data Fault data for certain types of module faults can be viewed through the programming software To view this data select Controller Tags in the Controller Organizer Right cl...

Page 64: ...s To recover from module faults correct the module fault condition and send new data to the module by downloading the user program with configuration data inhibiting and then uninhibiting the module or cycling power 23 15 7 0 27 19 11 3 31 Fault_Code_Value FaultInfo FaultCode reserved reserved Connection_Closed Fault_Bit 0 connection open 1 connection closed Bit Description Fault_Bit This bit indi...

Page 65: ... a fault both the module and the controller transition to the fault state Configuring I O Modules Using the Generic 1769 MODULE Use the Generic 1769 Module only when a 1769 I O module does not appear in the list of modules to add to the Controller Organizer To configure a 1769 I O module for a DriveLogix5730 controller using the generic 1769 MODULE 2 Select the 1769 MODULE Generic 1769 Module 1 In...

Page 66: ...mentation for the device to determine which values to enter In this field Specify Name name of the module Description optional provide more details about the module Comm Format communication format 1769 analog output modules digital output modules analog combination modules and digital combination modules use Data INT 1769 analog input modules and digital input modules use Input Data INT Slot slot...

Page 67: ... by the word Local These addresses have the following format Input Data Local s I Output Data Local s O Configuration Data Local s C Where s is the slot number assigned the I O module Open the configuration tag for that module by clicking on the plus sign to the left of its configuration tag in the tag database The configuration information depends on the module See the documentation on the I O mo...

Page 68: ...3 20 Placing and Configuring Local I O Notes ...

Page 69: ... Turn power back on and proceed with configuring DriveLogix motion About this Chapter This chapter introduces DriveLogix5730 motion The steps in this chapter provide the minimum settings required to begin testing DriveLogix motion System Requirements PowerFlex 700S Phase II Drive with firmware revision 1 XX or higher DriveLogix5730 Controller with firmware revision 13 XX or higher DriveExecutive p...

Page 70: ...4 2 Configuring DriveLogix Motion Programming the Controller In RSLogix 5000 create a new project 1 From the File Menu select New 2 Define the project Use Revision 13 or You must enter a Name Click OK ...

Page 71: ...cted folder and select New Module 4 Select the drive PowerFlex 700S 400V in this example Click OK 5 Select the Major Revision 4 Configure the drive Use the module properties wizard to specify characteristics for the module Click Next to continue through the wizard Select the Motion Control Communication Format Click Next ...

Page 72: ...ing DriveLogix Motion Click Next Click New Axis to assign a channel to an axis Change the RPI to 3 0 ms 5 Create new tag structures for Axis00 and Axis01 Type Axis00 in the Name field and click OK Repeat for Axis01 ...

Page 73: ...x Motion 4 5 Click Next Assign the new axes to the channels 6 Return to configuring the new drive Click Finish Select the proper Drive Rating 7 Create a new Motion Group Right click on Motion Groups Select New Motion Group ...

Page 74: ...ssigned side by clicking on the axis and then clicking Add Move both axes Click Next 7 Create a new Motion Group continued Set the Coarse Update Period to 4 ms this is the minimum time usable with DriveLogix motion Set the Auto Tag Update to Enabled Set the General Fault Type to Non Major Fault Click Finish ...

Page 75: ... in this example Select Properties On the General tab Associate the module with the drive Match the Module name with the drive s name in the I O Configuration Set the Channel to the channel being used for the encoder Channel 0 must be selected for the Servo axis and Channel 1 can be used only for feedback ...

Page 76: ...cts the first instance On the Units tab Define the Position Units In this example the Position Units are revs Position Units can be almost anything e g degrees radians pallets widgets etc Define Average Velocity Timebase is the sample rate that is used for the Average Velocity tag in the controller tags 8 Configure Axis00 continued On the Conversion tab Setup Positioning Mode for Linear or Rotary ...

Page 77: ...cs tab Define the limits for speed acceleration and deceleration Important Do not exceed the system dynamics Click Apply and OK when you have completely defined the axis On the Homing tab Setup the Homing Mode Position Offset and Sequence Refer to the tables at the right A B C ...

Page 78: ...when axis motion encounters a home limit switch Marker Sets the Home Position when axis encounters an encoder marker Switch Marker Sets the Home Position when axis first encounters a home limit switch then encounters an encoder marker A B C D Limit Switch If a limit switch is used indicate the normal state of that switch i e before being engaged by the axis during the homing sequence Normally Open...

Page 79: ...pen the drive properties window and launch DriveExecutive drive programming software 1 In the Controller Organizer select the PowerFlex 700S drive Right click the drive module and select Properties That will launch the Module Properties Window for the drive Click on the Setup tab ...

Page 80: ...4 12 Configuring DriveLogix Motion 2 Type the desired DriveExecutive filename or browse for an existing one Then click Apply 3 Click the Launch DriveExecutive button to launch DriveExecutive Lite ...

Page 81: ...eExecutive software connect to the drive and access the Display DriveLogix dialog as shown below 1 From the Drive Menu select Display DriveLogix 2 Click on the From DriveLogix tab 3 Verify the Communication Format is set to Motion Control Click OK to apply and close the DriveLogix Setup Dialog ...

Page 82: ... Next link the appropriate parameters to the words being produced and consumed by the controller 4 On the Links view double click on the desired Sink parameter 6 Type or select the desired Source parameter 5 Click on the Link Source tab ...

Page 83: ...is for speed compensation to reduce position error 626 Integer Out00 155 Logic Status The status of the drive is sent to the DriveLogix 693 Intrep SyncInput 700 Motn Posit Sync The drive receives the synchronization pulse from the DriveLogix This keeps the interpolators synchronized 748 CoarsePosit Trgt 698 Motn Posit Cmmd The position interpolator of the drive receives the coarse position target ...

Page 84: ... Control Bit 1 1 Bit 6 0 Bit 2 1 Bit 8 0 This sets the position regulator to work with the DriveLogix configuration and enables the Integral part of the regulator 742 Posit Ref Sel 0 This configures the drive position loop to receive position commands from DriveLogix via the Interpolator 686 Motn Config Bits 0 2 Bit 0 Change the polarity of the feedback only feedback axis Bit 1 Enable Software Ove...

Page 85: ...6 RM007D Reference Manual Logix Controller Motion Instruction Set 1 From the Drive Menu select Display Download 2 Using the resulting windows and RSLinx navigate to the drive and download the settings and links ATTENTION Running the system without proper tuning can cause unstable and unpredictable operation To avoid potential personal injury and damage to machinery determine the proper values for ...

Page 86: ...Axis Move MAS Motion Axis Stop MAH Motion Axis Home MAG Motion Axis Gearing MCD Motion Change Dynamics MRP Motion Redefine Position MCCP Motion Calculate Position Profile MAPC Motion Axis Position Cam MATC Motion Axis Time Cam Motion Event MAW Motion Arm Watch MDW Motion Disarm Watch MAR Motion Arm Registration MDR Motion Disarm Registration MAOC Motion Arm Output Cam MDOC Motion Disarm Output Cam...

Page 87: ... disconnect the programming or network cable 5 Turn power back on and proceed with configuring serial communication Configuring Your System for a Serial Link For the DriveLogix controller to operate on a serial network you need a workstation with a serial port RSLinx software to configure the serial communication driver RSLogix 5000 programming software to configure the serial port of the controll...

Page 88: ...CP3 cable attaches the controller directly to the controller If you make your own cable it must be shielded and the shields must be tied to the metal shell that surrounds the pins on both ends of the cable You can also use a 1747 CP3 cable from the SLC product family This cable has a taller right angle connector housing than the 1756 CP3 cable 2 Connect the cable to the serial port on the controll...

Page 89: ...ror detection Select None or Even Data bits Specifies the number of bits per message packet Select 8 Stop bits Specifies the number of stop bits to the device with which the controller is communicating Select 1 or 2 Control line Specifies the mode in which the serial driver operates Select No Handshake Full Duplex Half Duplex with Continuous Carrier or Half Duplex without Continuous Carrier If you...

Page 90: ...s 5 9 DF1 slave mode using a controller as a slave station in a master slave serial communication network When there are multiple slave stations on the network link slave stations using modems or line drivers When you have a single slave station on the network you do not need a modem to connect the slave station to the master you can configure the control parameters for no handshaking You can conn...

Page 91: ...ware to configure the serial communication driver Select the DF1 driver 1 In the Communications menu select the Configure Driver From the Available Driver Type list select the DF1 Driver then click Configure 2 Specify a name for the driver and click OK 3 Specify the appropriate communication settings ...

Page 92: ...ller can receive in response to a message transmission Enter a value 0 127 The default is 3 ENQ transmit limit Specifies the number of inquiries ENQs you want the controller to send after an ACK timeout Enter a value 0 127 The default is 3 ACK timeout Specifies the amount of time you want the controller to wait for an acknowledgment to its message transmission Enter a value 0 32767 Limits are defi...

Page 93: ...controller to provide remote access If you use a modem to remotely connect the controller to one workstation use RSLogix 5000 programming software to configure the serial port of the controller for the DF1 point to point full duplex protocol as in the previous example If the controller is part of a master slave serial network configure the serial port of the controller for either the DF1 master or...

Page 94: ...ansmission After all of the messages in the master s message out queue are transmitted the slave to slave queue is checked for messages to send If your application uses satellite transmission or public switched telephone network transmission consider choosing message based communication Communication to a slave station can be initiated on an as needed basis Also choose this method if you need to c...

Page 95: ... contains address of first slave station to poll list 3 contains address of second slave station to poll list n contains address of last slave station to poll Normal poll group size Standard polling modes only The number of stations the master station polls after polling all the stations in the priority poll array Enter 0 default to poll the entire array Priority poll node tag Standard polling mod...

Page 96: ...e stations in the normal poll array have been polled Use the programming software to change the display style of the active station array to binary so you can view which stations are active Example 3 DriveLogix Controller to a Bar Code Reader In the following example a workstation connects to a bar code reader A bar code reader is an ASCII device so you configure the serial port differently than i...

Page 97: ...e cable to the controller and the ASCII device The following table lists the default serial port configuration settings for the ASCII protocol You specify these settings on the User Protocol tab under Controller Properties If the communications Then wire the connectors as follows handshake do not handshake 2 RDX 3 TXD 4 DTR COMMON 6 DSR 7 RTS 8 CTS 9 1 2 RDX 3 TXD 4 DTR COMMON 6 DSR 7 8 9 1 CD ASC...

Page 98: ...pecify the maximum size in bytes of the data array you plan to send and receive The default is 82 bytes Termination characters Specify the characters you will use to designate the end of a line The default characters are r and FF Append characters Specify the characters you will append to the end of a line The default characters are r and l XON XOFF Select whether or not to regulate the flow of in...

Page 99: ...that there is no voltage at the drive s input power terminals 3 Measure the DC bus voltage at the DC DC terminals on the Power Terminal Block The voltage must be zero 4 Connect or disconnect the programming or network cable 5 Turn power back on and proceed with configuring EtherNet IP communication ATTENTION Severe injury or death can result from electrical shock or burn Verify that the voltage on...

Page 100: ...tem an embedded EtherNet IP option card installed on the DriveLogix controller refer to Installing the Embedded EtherNet IP Option Board on page B 7 or a 1788 ENBT EtherNet IP communication daughtercard installed on the DriveLogix controller refer to Installing the Communications Daughtercard on page B 9 Determining Network Settings Before configuring the system you must determine several network ...

Page 101: ...r folder in the Rockwell Software program folder on the Start menu the utility is automatically installed when you install RSLinx software Tools directory on the RSLogix 5000 installation CD The computer running the BOOTP DHCP utility and the DriveLogix5730 controller must be on the same EtherNet IP network To use the BOOTP DHCP utility 1 Start the BOOTP DHCP software 2 From the Tools menu select ...

Page 102: ... addresses of devices issuing BOOTP requests Double click on the hardware address of the device you want to configure 5 The New Entry window appears with the device s Ethernet Address MAC Enter the Ethernet address IP address subnet mask and gateway Click OK The new entry then appears in the Relation List ...

Page 103: ...light the device and click on the Disable BOOTP DHCP button When power is recycled the device uses the configuration you assigned and not issue a BOOTP request Important If you do not select the Disable BOOTP DHCP button on a power cycles and drive resets the controller clears the current IP configuration and will again begin sending BOOTP requests Highlight the device Click Disable BOOTP DHCP If ...

Page 104: ...r the workstation See Chapter 5 for more information 3 Start RSLinx Open the RSWho window Navigate in RSWho to the Ethernet network 4 Right click on the Ethernet port not the controller and select Module Configuration 5 Select the Port Configuration tab choose Static Network Configuration type and enter the IP address network subnet mask and gateway address if needed You must leave the Static radi...

Page 105: ...elect the I O Configuration folder Right click the selected folder and select New Module 3 Select a DriveLogix5730 Ethernet Port from the list of possible communication devices Click OK 4 Enter a Name for the port and the desired address Click Finish Important You must create an offline project and download it to the controller before going online If the controller is already programmed skip these...

Page 106: ...P Link 4 To go online with the controller in RSLogix 5000 programming software select Who Active from the Communications menu Then highlight the controller and click the Download button If the controller is already programmed click Go Online instead ...

Page 107: ...Net IP Link 6 9 5 In the Controller Organizer right click on the icon for the port and select Properties 6 Select the Port Configuration tab and enter the proper data Uncheck the Enable Bootp checkbox Click Set Apply and OK to make changes ...

Page 108: ...gure the AB_ETH Ethernet communication driver perform the following steps in RSLinx 1 From the Communications menu select Configure Drivers 2 Select EtherNet IP Driver from the list of Available Driver Types Then Click Add New 3 Selecte the default driver name i e AB ETHIP 1 or type in your own name Then Click OK After you create the driver configure it to correspond to the Ethernet port on the Em...

Page 109: ...o distributed I O or remote communication modules produced and consumed tags messages You indirectly determine the number of connections the controller uses by configuring the controller to communicate with other devices in the system 4 Select where the EtherNet IP devices reside The software locates valid IP addresses Click OK 5 The driver is now available and you can select the EtherNet IP port ...

Page 110: ...5730 controller supports 32 CIP connections over an EtherNet IP network Configuring Distributed I O The DriveLogix5730 controller supports distributed I O over a EtherNet IP link Configuring I O in a remote chassis is similar to configuring local I O You create the remote communication module and distributed I O modules on the local Ethernet port To communicate with distributed I O modules you add...

Page 111: ...where This address variable Is Location Identifies network location LOCAL local DIN rail or chassis ADAPTER_NAME identifies remote adapter or bridge SlotNumber Slot number of I O module in its chassis Type Type of data I input O output C configuration S status MemberName Specific data from the I O module depends on the type of data the module can store For example Data and Fault are possible field...

Page 112: ... 0 C DelayTime_1 FLEX_io_adapter 0 C DelayTime_2 FLEX_io_adapter 0 C DelayTime_3 FLEX_io_adapter 0 C DelayTime_4 FLEX_io_adapter 0 C DelayTime_5 FLEX_io_adapter 0 I remote output_module in slot 1 rack optimized connection FLEX_io_adapter 1 C FLEX_io_adapter 1 C SSData FLEX_io_adapter 1 O FLEX_io_adapter 1 O Data remote combo_analog in slot 2 direct connection FLEX_io_adapter 2 C FLEX_io_adapter 2 ...

Page 113: ...ween Logix controllers Produced and consumed tags must be controller scoped tags of DINT or REAL data type or in an array or structure 1 Add the remote EtherNet IP port or bridge to the local EtherNet IP port 2 Add the remote controller to the remote EtherNet IP port To Add a Remote Controller Build the I O Configuration in this Order Tag type Description Specify produced These are tags that the c...

Page 114: ...730 controller from the previous example also produced tags for other consuming controllers but did so correctly those tags are still transferred to the additional consuming controllers Maximum Number of Produced and Consumed Tags The maximum number of produced consumed tags that you can configure depends on the connection limits of the Ethernet port on the controller You can have a maximum of 32 ...

Page 115: ...ies dialog box 4 Make sure the tag is controller scope 5 Select the Produce this tag check box Specify how many controllers can consume the tag You can produce a base alias or consumed tag The consumed tag in a receiving controller must have the same data type as the produced tag in the originating controller The controller performs type checking to ensure proper data is being received Produced ta...

Page 116: ...cheduled The type of MSG determines whether or not it requires a connection If the MSG instruction requires a connection it opens the needed connection when it is executed You can configure the In this field Type or select Tag Type Select Consumed Controller Select the name of the other controller You must have already created the controller in the controller organizer for the controller name to b...

Page 117: ...xcept for AXIS MESSAGE or MOTION_GROUP Communicating with other controllers over EtherNet IP The DriveLogix5730 controller also uses MSG instructions to communicate with PLC and SLC controllers The MSG instructions differ depending on which controller initiates the instruction This type of MSG Using this communication method Uses a connection Which you can cache CIP data table read or write CIP X ...

Page 118: ...SINT INT DINT or REAL Example source element array_1 Use the PLC 2 compatibility file Example destination tag 010 DriveLogix5730 reads from PLC 5 or SLC Specify the destination file type based on the destination device PLC 5 typed read S B N or F PLC 5 word range read S B N F I O A or D SLC B N or F Example source element N7 10 In the DriveLogix5730 controller specify the destination data type bas...

Page 119: ...LC 3 PLC 5 or SLC controllers To map addresses 1 From the Logic menu select Map PLC SLC Messages 2 Specify this information For In this field Specify For example PLC 3 PLC 5 and SLC controllers File Number Type the file number of the data table in the PLC SLC controller 10 Tag Name Type the array tag name the local controller uses to refer to the PLC SLC data table address The tag must be an integ...

Page 120: ...dressing so you do not have to map a compatibility file for MSG instructions initiated by a PLC 5 PLC 3 or SLC controller Place the DriveLogix5730 tag name in double quotes You could optionally map a compatibility file For example if you enter 10 for the compatibility file you enter N10 0 for the destination tag PLC 2 writes to DriveLogix5730 source element 010 destination tag 200 The destination ...

Page 121: ...ngs See 6 3 for information on configuring the network settings of the controller and specifying a domain name Important Be careful to write the ladder logic to ensure the MSG instructions are not continuously triggered to send email messages Creating String Type for Email String Data Type The tags for the email text and transmission status can contain as many as 474 characters For these tags you ...

Page 122: ...ail text use EMAILSTRING data type for this tag one for the email transmission status use EMAILSTRING data type for this tag Entering String Data On the Monitor Tags tab of the Controller Tags window click the button in the Value column to launch the String Browser for each tag Click on this button 1 On the Monitor Tags tab of the Controller Tags window click the button in the Value column to laun...

Page 123: ...k 6 25 2 In the String Browser for EmailConfig enter the IP address for your facility s SMTP server Click Apply Click OK Important Obtain this address from your company s systems administrators 3 Repeat this process for EmailText Click on this button ...

Page 124: ...um length of an email message is 474 characters An additional 4 byte string length value is added to the tag As a result the maximum source length is 478 characters Entering Ladder Logic You need two MSG instructions One MSG instruction configures the mail server This only needs to be executed once The second MSG instruction triggers the email transmission This can be executed as often as needed I...

Page 125: ...ddress or host name of the mail relay server In this example enter EmailConfig Source Length the number of characters in the IP address or host name of the mail server plus 4 In this example enter 17 13 characters in the IP address 10 88 128 111 4 1 On the Configuration tab of the Message Configuration fill out the following fields 2 On the Communication tab of the Message Configuration set the Pa...

Page 126: ...Class 32f Attribute 0 Source Element the tag that contains the email text This tag is of the STRING data type you created to contain the email text In this example EmailText Source Length the number of characters in the email text plus 4 In this example enter 114 110 characters in the email 4 Destination a tag to contain the status of the email transmission This tag is also of the STRING data type...

Page 127: ... the mail relay server 0x02 none Resource unavailable The email object was unable to obtain memory resources to initiate the SMTP session 0x08 none Unsupported Service Request Make sure the service code is 0x4B and the Class is 0x32F 0x11 none Reply data too large The Destination string must reserve space for the SMTP server reply message The maximum reply can be 470 bytes 0x13 none Configuration ...

Page 128: ... a Name Server is configured If the hostname is not fully qualified i e mailhost and not mailhost xx yy com then the domain must be configured as xx yy com Try ping mail server address to insure the mail server is reachable from your network Also try telnet mail server address 25 which attempts to initiate a SMTP session with the mail server via telnet over port 25 If you connect then enter QUIT 0...

Page 129: ...ured as a direct connection and others as rack optimized All analog modules require direct connections Diagnostic modules support rack optimized connections but require direct connections to take full advantage of their diagnostic features Total Connections Required by DriveLogix1 The following table calculates the connections used in this example If you configured the distributed I O modules as r...

Page 130: ... data must be of DINT or REAL data type or an array or structure You can use a user defined structure to group BOOL SINT and INT data to be produced You can produce a base alias or consumed tag The consumed tag must have the same data type as the produced tag in the originating controller The controller performs type checking to ensure proper data is being received EtherNet IP DriveLogix1 DriveLog...

Page 131: ...Communicating with Devices on an EtherNet IP Link 6 33 This example shows DriveLogix1 producing tagA and consuming tagB ...

Page 132: ...ion tab 4 On the Communication tab specify the communication path Use the Browse button to select the device that will receive the MSG instruction The communication path in this example is For this item Specify Message Type CIP Data Table Read or CIP Data Table Write Source Tag Tag containing the data to be transferred Number of Elements Number of array elements to transfer Destination Tag Tag to ...

Page 133: ...Logix5730 controller the path for the message must identify the controller Configure a CIP type message in the originating device Specify the path the DriveLogix5730 controller as Connection Amount connected cached MSG from DriveLogix1 to DriveLogix2 1 produced tagA produced from DriveLogix1 to DriveLogix2 other consumer 2 are configured 1 1 consumed tagB 1 total connections used 4 xxx xxx xxx xxx...

Page 134: ...6 36 Communicating with Devices on an EtherNet IP Link Notes ...

Page 135: ...the DriveLogix5730 controller to operate on a ControlNet network you need a workstation with an appropriate ControlNet communication daughtercard a 1788 CNx communication daughtercard installed in the DriveLogix communication slot RSLinx software to configure the ControlNet communication driver RSLogix 5000 programming software to configure the 1788 CNx communication daughtercard as part of the Dr...

Page 136: ...nication driver Select the appropriate communication driver for the communication daughtercard in your workstation For this card See this document 1788 CNC CNCR 1788 IN002 1788 CNF CNFR 1788 IN005 1 In RSLinx software select Configure Driver Select the appropriate driver The installation instructions for the communications daughtercard should identify which communication driver to install 2 Specif...

Page 137: ...n the Controller Organizer add the communication daughtercard to the I O Configuration folder 1 In the Controller Organizer select the I O Configuration folder Right click the selected folder and select New Module 2 Select the proper ControlNet daughtercard from the list of possible communication devices Click OK 3 Enter a Name for the daughtercard and the desired Click Finish Do not change the sl...

Page 138: ...I O You create the remote communication module and distributed I O modules on the local ControlNet daughtercard To communicate with distributed I O modules you add a remote adapter and I O modules to the I O Configuration folder of the controller 1 Add the remote adapter to the ControlNet daughtercard of the controller 2 Add the I O modules to the remote adapter To Add Distributed I O Build the I ...

Page 139: ...here This address variable Is Location Identifies network location LOCAL local DIN rail or chassis ADAPTER_NAME identifies remote adapter or bridge SlotNumber Slot number of I O module in its chassis Type Type of data I input O output C configuration S status MemberName Specific data from the I O module depends on the type of data the module can store For example Data and Fault are possible fields...

Page 140: ...0 C DelayTime_1 FLEX_io_adapter 0 C DelayTime_2 FLEX_io_adapter 0 C DelayTime_3 FLEX_io_adapter 0 C DelayTime_4 FLEX_io_adapter 0 C DelayTime_5 FLEX_io_adapter 0 I remote output_module in slot 1 rack optimized connection FLEX_io_adapter 1 C FLEX_io_adapter 1 C SSData FLEX_io_adapter 1 O FLEX_io_adapter 1 O Data remote combo_analog in slot 2 direct connection FLEX_io_adapter 2 C FLEX_io_adapter 2 C...

Page 141: ...to schedule the ControlNet network The controller project must already be downloaded from RSLogix 5000 programming software to the controller and the controller must be in Program or Remote Program mode 1 In the Network menu select Online 2 Survey the network Enable Edits 3 In the Network menu select Properties ...

Page 142: ...7 8 Communicating with Devices on an ControlNet Link 3 In the Network menu select Properties 4 Edit the parameters as desired Click Apply Click OK 5 In the File menu select Save ...

Page 143: ...are unscheduled The type of MSG determines whether or not it requires a connection If the MSG instruction requires a connection it opens the needed connection when it is executed You can configure the 6 Enter a name and path for the network configuration 7 Click OK to optimize and reschedule the connections This device Support this many unconnected messages Support this many connected messages 175...

Page 144: ...n CIP data table read or write X PLC2 PLC3 PLC5 or SLC all types CIP CIP with Source ID DH X CIP generic CIP Optional 1 block transfer read or write X 1 You can connect CIP generic messages but for most applications we recommend you leave CIP generic messages unconnected If you Then Cache the connection The connection stays open after the MSG instruction is done This optimizes execution time Openi...

Page 145: ...tion For MSG instructions originating from a DriveLogix5730 controller to a PLC or SLC controller Type of MSG Instruction Example Source and Destination Logix based controller writes to Logix based controller CIP Data Table Write source tag destination tag array_1 array_2 Logix based controller reads from Logix based controller CIP Data Table Read source tag destination tag array_1 array_2 Type of...

Page 146: ...ample destination tag 010 DriveLogix reads from PLC 5 or SLC Specify the destination file type based on the destination device PLC 5 typed read S B N or F PLC 5 word range read S B N F I O A or D SLC B or N Example source element N7 10 In the DriveLogix controller specify the destination data type based on the destination device PLC 5 SINT INT DINT or REAL SLC INT Example destination tag array_1 D...

Page 147: ...lity file 200 TIP You can map as many tags as you want to a PLC 3 PLC 5 or SLC controller You can map only one tag to a PLC 2 controller Type of MSG Instruction Example Source and Destination PLC 5 writes to DriveLogix5730 SLC writes to DriveLogix5730 SLC 5 05 SLC 5 04 OS402 and above SLC 5 03 OS303 and above source element N7 10 destination tag array_1 The PLC 5 PLC 3 and SLC controllers support ...

Page 148: ...cified correctly none of the produced consumed tags for that producer and consumer will be transferred However other consumers can still access their shared tags as long as their tags are specified correctly One consumer failing to access shared data does not affect other consumers accessing the same data PLC 5 reads from DriveLogix5730 SLC reads from DriveLogix5730 SLC 5 05 SLC 5 04 OS402 and abo...

Page 149: ...ustments Reduce the Network Update Time NUT At a faster NUT less connections have to share an update slot Increase the Requested Packet Interval RPI of all connections At a higher RPI connections can take turns sending data during an update slot For a ControlNet bridge module CNB in a remote chassis select the most efficient communication format for that chassis The Rack Optimization format uses a...

Page 150: ... tag check box Specify how many controllers can consume the tag You can produce a base alias or consumed tag The consumed tag in a receiving controller must have the same data type as the produced tag in the originating controller The controller performs type checking to ensure proper data is being received Produced tags require connections The number of connections depends on how many controllers...

Page 151: ...ion assuming the RPIs will be the same for all connections You must also make sure that you do not exceed the maximum number of bytes per NUT With the NUT 5ms the limit is 3 connections With the NUT 10ms the limit is 7connections With the NUT 20ms the limit is 9 connections In this field Type or select Tag Type Select Consumed Controller Select the name of the other controller You must have alread...

Page 152: ... the remote 1794 ACN15 module The data the DriveLogix controller receives from the remote I O modules depends on how you configure the remote I O modules You can configure each module as a direct connection or as rack optimized One chassis can have a combination of some modules configured as a direct connection and others as rack optimized If Enter this value for the API RPI NUT and RPI 2 NUT NUT ...

Page 153: ...xample 2 Sending a MSG Instruction To send a MSG from DriveLogix1 to DriveLogix2 1 For DriveLogix1 create a controller scoped tag and select the MESSAGE data type 2 Enter a MSG instruction In this example logic a message is sent when a specific condition is met When count_send is set the ladder logic sends the count_msg MSG Connection Amount DriveLogix1 controller to 3 local I O modules rack optim...

Page 154: ...tag The consumed tag must have the same data type as the produced tag in the originating controller The controller performs type checking to ensure proper data is being received For this item Specify Message Type CIP Data Table Read or CIP Data Table Write Source Tag Tag containing the data to be transferred Number of Elements Number of array elements to transfer Destination Tag Tag to which the d...

Page 155: ...Communicating with Devices on an ControlNet Link 7 21 This example shows DriveLogix1 producing tagA and consuming tagB ...

Page 156: ... one DriveLogix controller communicates with a Logix5550 controller and a ControlNet PLC 5 controller over ControlNet Connection Amount DriveLogix1 controller to 3 local I O modules rack optimized connection for the DIN rail direct connection for each I O module 1 3 DriveLogix1 controller to local 1788 CNC 0 DriveLogix1 controller to remote 1788 CNC 0 connected cached MSG from DriveLogix1 to Drive...

Page 157: ...and consume tags with any Logix controller the same as you do with a DriveLogix controller All Logix controllers follow the same requirements for producing and consuming tags See Example 2 above Type of Logix MSG instruction Source Destination Typed Read any integer element such as B3 0 T4 0 ACC C5 0 ACC N7 0 etc SINT INT or DINT tag any floating point element such as F8 0 PD10 0 SP etc REAL tag T...

Page 158: ...n consecutive 16 bit integers DriveLogix5730 Controller DriveLogix2 ControlNet DriveLogix5730 Controller DriveLogix1 ControlLogix Controller Control1 ControlNet PLC5 Controller PLC5C1 tagA DINT If And you are producing Then INT na Create a user defined data type that contains an array of INTs with an even number of elements such as INT 2 When you produce INTs you must produce two or more Create a ...

Page 159: ...Message 2 In RSLogix 5000 software add the ControlNet PLC 5 controller to the Controller Organizer 3 Create a user defined data type that contains these members 4 Create a consumed tag with the following properties 5 In the RSNetWorx for ControlNet software reschedule save the network Data type Description DINT Status INT x where x is the output size of the data from the ControlNet PLC 5 controlle...

Page 160: ... connections to their associated I O modules and do not need a rack optimized connection Connection Amount DriveLogix1 controller to 3 local I O modules rack optimized connection for the DIN rail direct connection for each I O module 1 3 DriveLogix1 controller to local 1788 CNC 0 DriveLogix1 controller to remote 1756 CNB 1 DriveLogix1 controller to remote ControlNet PLC 5 1 connected cached MSG fr...

Page 161: ...hat there is no voltage at the drive s input power terminals 3 Measure the DC bus voltage at the DC DC terminals on the Power Terminal Block The voltage must be zero 4 Connect or disconnect the programming or network cable 5 Turn power back on and proceed with configuring DeviceNet communication ATTENTION Severe injury or death can result from electrical shock or burn Verify that the voltage on th...

Page 162: ...r refer to Installing the Communications Daughtercard on page B 9 or 1769 SDN DeviceNet scanner module installed on the a bank of local Compact I O controlled by the DriveLogix controller Example Controlling I O Over DeviceNet This example uses a NetLinx DeviceNet communication daughtercard installed on the DriveLogix controller to control a bank of I O attached to a 1769 ADN adapter module Device...

Page 163: ...N Adapter 1 In RSNetWorx for DeviceNet select Online from the Network menu Choose the appropriate driver depending on whether the computer is directly connected to DeviceNet or you are accessing the network through a controller s backplane and using a different port continued ...

Page 164: ...b then choose upload when prompted The actual 1769 ADN I O layout appears From this screen you can configure the I O modules in the 1769 ADN system by simply clicking on the slot number box associated with each I O module 5 When the I O modules are configured click on the Summary tab Note the number of bytes of input and output data This will be used later when adding the adapter to the 1769 SDN s...

Page 165: ... adapter is configured in a scanner s scanlist To make configuration changes the controller must be placed into the Program mode and the adapter must be temporarily removed from the scanner s scanlist 1 Right click on the 1788 DNBO and choose Properties 2 Click the Scanlist tab then click Upload when prompted The area on the left is called Available Devices and the area on the right is called Scan...

Page 166: ...k on the Input tab Then click Apply and OK Download when prompted 4 Verify that the Input Size and Output Size are correct The Output and Input sizes correspond to the total number of output and input bytes noted from the adapter s summary page In this example the scanner transmits 6 bytes to the adapter output data and receives 28 bytes from the adapter input data Click OK when finished with this...

Page 167: ... output data being exchanged by the scanner and adapter is packed data This means that there is no special structure to it that makes it obvious which I O module it is associated with To establish which data is from which module you must list the number of input and output words each module has Then based on its position in the I O bank you can determine where any module s data is in the controlle...

Page 168: ...canner will process I O data as defined by its scanlist To actually scan the network the Fault and Disable Network command bits must be clear 0 1 Fault When set the scanner s I O mode will be Halt messaging will still operate The fault bit is primarily used to artificially set the slave devices into a fault state due to some event or condition within the control program 2 Disable Network When set ...

Page 169: ...ller 1 In the Controller Organizer select the I O Configuration folder Right click the selected folder and select New Module 2 Select the 1788 DNBO DeviceNet Scanner from the list of possible communication devices Click OK 3 Enter a Name for the port and make sure it is assigned to slot 4 Click Finish ...

Page 170: ...Bus 1 In the Controller Organizer select the I O Configuration folder Right click the selected Local CompactBus and select New Module 2 Select the 1769 SDN DeviceNet Scanner from the list of possible communication devices Click OK 3 Enter a Name for the port and make sure it is assigned to appropriate I O slot Click Finish ...

Page 171: ...he controller uses the CommandRegister Local 1 O CommandRegister to send commands to the scanner Tag Definition Local s I s is the slot number I represents Input Data Local s O O represents Output Data Local s C C represents Configuration Data Tag Definition Local 1 I Data 0 1769 ADN Status Information Local 1 I Data 1 Input Data from 1769 IA16 Local 1 I Data 1 Input output echo Data from 1769 OB1...

Page 172: ...8 12 Communicating with Devices on an DeviceNet Link Entering Program Logic The program for this example consists of a single rung that is used to place the scanner into the RUN mode ...

Page 173: ...cause excessive traffic on a DH 485 network may make it impractical to connect to a DriveLogix5730 controller with RSLogix 5000 programming software DriveLogix5730 processors fully support the DH 485 protocol but using the recommended NetLinx networks is more practical The DH 485 protocol uses RS 485 half duplex as its physical interface RS 485 is a definition of electrical characteristics it is n...

Page 174: ...or upload download a program using the Communications Who Active window in RSLogix 5000 software disable the Autobrowse feature to minimize traffic from RSLogix 5000 software on the DH 485 network Step 1 Configure the Hardware The RS 232 port is built in to the front of the DriveLogix5730 controller The 1769 L31 controller has two serial ports Connect the serial port to an RS 232 to RS 485 interfa...

Page 175: ...ction 1747 CP3 or 1761 CBL AC00 port 2 mini DIN 8 RS 232 connection 1761 CBL AP00 or 1761 CBL PM02 3 On the Serial Port tab specify the appropriate communication settings The grayed out settings are selections that do not apply to a DH 485 network 1 In RSLogix 5000 programming software select the Controller folder Right click to select Properties 2 On the System Protocol tab specify the appropriat...

Page 176: ... address that the initiator searches for before starting again with zero is the value in the configurable parameter maximum node address The default value for this parameter is 31 for all initiators and responders Characteristic Description default is shown in bold Baud Rate Specifies the communication rate for the DH 485 port All devices on the same DH 485 network must be configured for the same ...

Page 177: ...ts the process until the token is passed all the way around the network to the first node At this point the network is in a state of normal operation Number of Nodes and Node Addresses The number of nodes on the network directly affects the data transfer time between nodes Unnecessary nodes such as a second programming terminal that is not being used slow the data transfer rate The maximum number ...

Page 178: ...prevent strain on the connector Allow enough extra cable to prevent chafing and kinking in the cable Figure 9 1 Single Cable Connection Important Use shielded twisted pair cable either Belden 3106A or Belden 9842 A daisy chained network is recommended Star connections are not recommended ahw0606 eps Belden 3106A or 9842 Cable 3106A Shown Shrink Tubing Recommended White Wire with Orange Stripe WH O...

Page 179: ...in non jacketed 2 Shield For this Wire Pair Connect this Wire To this Terminal white orange orange with white stripe 5 Data A white with orange stripe 4 Data B blue white white with blue stripe cut back no connection 1 1 To prevent confusion when installing the communication cable cut back the white with blue stripe wire immediately after the insulation jacket is removed This wire is not used by D...

Page 180: ... Shield Important A device s physical location may be independent of its node address Make sure you ground and terminate the proper PHYSICAL locations Termination Data A Data B Common Shield Chassis Ground WH OR OR WH BU 6 5 4 3 2 1 Termination Data A Data B Common Shield Chassis Ground WH OR OR WH BU 6 5 4 3 2 1 Add jumpers to connect pin 6 Termination to pin 5 Data A on the first and last PHYSIC...

Page 181: ... specify a specific range of addresses on the DH 485 network the RSWho function in RSLinx software attempts to locate a device at every node address Trying to locate devices that do not exist adds considerable time to displaying the RSWho window for the network 1 In RSLinx software right click on the DH 485 network you plan to browse and select Properties 2 On the Browse Addresses tab specify the ...

Page 182: ...9 10 Communicating with Devices on a DH485 Link Notes ...

Page 183: ...h maximum number of I O banks 2 maximum number of I O modules 16 8 modules per bank or 4 max on either side of the power supply battery 1769 BA serial cable 1756 CP3 directly to controller 1747 CP3 directly to controller Compact I O Cable 20D DL2 CR3 20D DL2 CL3 Category Specification operating temperature storage temperature relative humidity vibration shock emissions Electrical EMC CISPA11 Group...

Page 184: ...t with EN 50082 2 Industrial Immunity EN 61326 Meas Control Lab Industrial Requirements EN 61000 6 2 Industrial Immunity EN 61000 6 4 Industrial Emissions C Tick 1 Pending at time of printing Australian Radiocommunications Act compliant with AS NZS CISPR 11 Industrial Emissions EtherNet IP ODVA conformance tested to EtherNet IP specifications c UL us UL Listed for Class I Division 2 Group A B C D ...

Page 185: ...ardous Severe injury or death can result from electrical shock burn or unintended actuation of controlled equipment Follow Safety related practices of NFPA 70E ELECTRICAL SAFETY FOR EMPLOYEE WORKPLACES DO NOT work alone on energized equipment RUN Drive 1 RUN DriveLogix I O COM FORCE BAT OK 1 Do not confuse the Drive Run LED with the DriveLogix Run LED The Drive Run LED indicates a drive function N...

Page 186: ... with all the devices in its I O configuration flashing green One or more devices in the I O configuration of the controller are not responding flashing red The controller is not communicating to any devices The controller is faulted COM off No RS 232 activity flashing green RS 232 activity OK off No power is applied flashing red If the controller is Then a new controllerthe controller requires a ...

Page 187: ...ed practices of NFPA 70E ELECTRICAL SAFETY FOR EMPLOYEE WORKPLACES DO NOT work alone on energized equipment ATTENTION Do not remove the CompactFlash card while the controller is reading from or writing to the card as indicated by a flashing green CF LED This could corrupt the data on the card or in the controller as well as corrupt the latest firmware in the controller Indicator Color Description ...

Page 188: ...tended actuation of controlled equipment Follow Safety related practices of NFPA 70E ELECTRICAL SAFETY FOR EMPLOYEE WORKPLACES DO NOT work alone on energized equipment Module Status MS Link Status LNK Network Status NS Condition Status Indicates Recommended Action off no power The controller does not have power Check the controller power supply flashing green standby The port does not have an IP a...

Page 189: ...if no connections are configured No action required If connections are configured check connection originator for connection error code solid green CIP connections established The port has an IP address and CIP connections Class 1 or Class 3 are established Normal operation No action required solid red duplicate IP address The port has detected that the assigned IP address is already in use Verify...

Page 190: ... memory from the time the controller is powered down after the LED first turns on Time ON OFF at 25 C 77 F at 40 C 104 F at 60 C 140 F Always OFF 14 months 12 months 9 months ON 8 hours per day 5 days per week 18 months 15 months 12 months ON 16 hours per day 5 days per week 26 months 22 months 16 months Always ON There is almost no drain on the battery when the controller is always ON Temperature...

Page 191: ... an electrical arc may occur An electrical arc can cause personal injury or property damage by sending an erroneous signal to your system s field devices causing unintended machine motion causing an explosion in a hazardous environment Electrical arcing causes excessive wear to contacts on both the module and its mating connector Worn contacts may create electrical resistance L1 L2 L3 O I Task Des...

Page 192: ...rive and lay on top of adjacent drive if present Frame 5 Slide the locking tab up loosen the right hand cover screw and remove Frame 6 Loosen 2 screws at bottom of drive cover Carefully slide bottom cover down out Loosen the 2 screws at top of cover and remove B R 1 B R 2 DC DC PE U T1 V T2 W T3 R L1 L2 Task Description Open the door of the power structure and disconnect the cables that connect to...

Page 193: ...or reassembly is 7 10 lb in Task Description Loosen screws on face of front cover and remove the cover Loosen screws on side of rear cover and remove the cover A B A B Proper tightening torque for reassembly is 7 10 lb in Task Description Loosen screws on face of front cover and remove the cover A A A A ...

Page 194: ...ery while installing the drive Storing the Battery Battery Plug and socket Battery clip ATTENTION Store batteries in a cool dry environment We recommend 25 C with 40 to 60 relative humidity You may store batteries for up to 30 days between 45 to 85 C such as during transportation To avoid possible leakage do not store batteries above 60 C for more than 30 days ...

Page 195: ...ng the battery lead into the socket 8 Attach the battery label Write on the battery label the date you install the battery 9 Secure the new battery in the battery clip 10 Re install the control cassette 11 Energize the drive and the DriveLogix5730 controller ATTENTION Servicing energized equipment can be hazardous Severe injury or death can result from electrical shock burn or unintended actuation...

Page 196: ...ommunication port 16 Re install the cover s 17 Dispose the old battery according to state and local regulations If Then Yes Go to the next step No A Check that the battery is correctly connected to the controller B If the BATTERY LED remains on install another 1769 BA battery C If the BATTERY LED remains on after you complete Step B contact your Rockwell Automation representative or local distribu...

Page 197: ...mbedded EtherNet IP Option Board with connector on Main Control Board Place Embedded EtherNet IP Option Board on the Main Control Board Install and tighten screws 7 10 lb in A B C C D A B C C C C Task Description Align connector on DriveLogix5730 Expansion Board with connector on Main Control Board Place DriveLogix5730 Expansion Board on the Main Control Board Install and tighten screws 7 10 lb in...

Page 198: ... tie to anchor cable to slots on this flange for strain relief Task Description Remove screws Install clips on controller end of cable Plug controller end of cable into mating connector on the Logix Expansion Board Install and tighten screws 7 10 lb in Route and secure cable A B C C D E ...

Page 199: ...cription Align circuit board in Communications Daughtercard with rail on Daughtercard slot Insert the Communications Daughtercard Tighten screws 7 10 lb in A B C C Important This procedure can be performed without removing the cassette if the Logix Expansion Board is already installed ...

Page 200: ...B 10 Access Procedures Notes ...

Page 201: ...x controller over ControlNet 7 11 communication format 2 1 2 5 3 8 Motion Control 2 8 Position Control 2 7 Speed Control 2 6 User Defined 1 2 9 User Defined 2 2 10 communications driver configuring for serial link 5 5 ControlNet 7 2 EtherNet IP 6 10 CompactBus configuring 3 5 CompactFlash 1 4 1 5 configuring 1769 ADN adapter 8 3 communications driver for serial link 5 5 CompactBus 3 5 controller r...

Page 202: ...ring port 9 3 configuring system for 9 2 configuring the port 9 3 grounding 9 8 installing network 9 6 network initialization 9 5 network planning 9 4 nodes 9 5 terminating 9 8 token rotation 9 4 DriveExecutive 2 12 E Email using an EtherNet IP msg 6 23 EtherNet IP accessing distributed I O 6 13 configuring communications driver 6 10 configuring network settings with BOOTP DHCP 6 3 configuring net...

Page 203: ...firmware 1 2 firmware with AutoFlash 1 4 firmware with CompactFlash 1 4 firmware with ControlFlash 1 3 M mapping 7 12 addresses EtherNet IP communication to non Logix controllers 6 21 Motion Control communication format 2 8 Position Control communication format 2 7 Speed Control communication format 2 6 User Defined 1 communication format 2 9 User Defined 2 communication format 2 10 master slave c...

Page 204: ...r station 5 9 master slave 5 8 remote connection 5 7 slave 5 8 specifications A 1 specifications A 1 electrical A 1 environmental A 1 EtherNet IP A 1 memory A 1 serial port A 1 Speed Control communication format 2 6 system overhead percentage 1 9 T tags aliases 3 14 consuming ControlNet 7 16 consuming EtherNet IP 6 18 producing ControlNet 7 16 producing EtherNet IP 6 17 tasks defining 1 6 task pri...

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Page 208: ...g Kong Tel 852 2887 4788 Fax 852 2508 1846 Headquarters for Dodge and Reliance Electric Products Americas Rockwell Automation 6040 Ponders Court Greenville SC 29615 4617 USA Tel 1 864 297 4800 Fax 1 864 281 2433 Europe Middle East Africa Rockwell Automation Brühlstraße 22 D 74834 Elztal Dallau Germany Tel 49 6261 9410 Fax 49 6261 17741 Asia Pacific Rockwell Automation 55 Newton Road 11 01 02 Reven...

Page 209: ...Allen Bradley User Manual DriveLogix 5730 ...

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