APPLICATION TECHNIQUE Using RSLogix 5000 and Kinetix 6000, 460VAC, Series B Inverter to Configure Enhanced Peak Functionality Add-On Instruction(s): Axis_EnhancedPeakConfiguration_ASD.ACD OVERVIEW This program and associated Add-On-Instruction will enable RSLogix 5000 to configure both Axis and Drive when using Kinetix 6000 Series B, 460VAC, Safe-Off Drives that support Enhanced Peak Torque capabilities. BENEFITS A quick and easy way to ensure the Enhanced Peak function of the Kinetix 6000 Series B, 460VAC, Safe-Off drive is enabled and Axis Attributes are automatically calculated and updated.

Description The Kinetix 6000 Series B, 460VAC, Safe Off Inverter provides Enhanced Peak Torque capability. To enable this functionality, the Axis_EnhancedPeak_ASD_8Ax program and associated AOI are provided to configure the drive parameters and axis attributes that are affected by the change in the peak enhancement. This AOI simplifies the setting up of the axis properties to achieve the peak enhancement using RSLogix 5000. This AOI allows for configuration for all drives in the Kinetix 6000 family that are: 460Vac Series B Safe Off 2094-BMP5-S, 2094-BM01-S and 2094-BM02-S 2094-BC01-MP5-S, 2094-BC01-M01-S, 2094-BC02-M02-S Configured Drive Parameters: Change the drive parameter x507 Drv Peak Rating. A value of 0 is default; a value of 1 enables the enhanced peak torque capability Configured Axis Attributes: Peak Torque / Force Limit Torque Limit Positive Torque Limit Negative Stopping Torque Acceleration Limit Bipolar Acceleration Limit Positive Acceleration Limit Negative Maximum Acceleration Maximum Deceleration Maximum Acceleration Jerk Maximum Deceleration Jerk

Description (continued) Parameter Definitions Cfg_MSG_EP_Enable: Message (MSG) Instruction used to enable enhanced peak function in the servo drive. Cfg_MSG_Mtr_Icont: Message (MSG) Instruction used to read the continuous current rating of the servo motor. Cfg_MSG_Mtr_Ipeak: Message (MSG) Instruction used to read the peak current rating of the servo motor. Cfg_MSG_Drv_Icont: Message (MSG) Instruction used to read the continuous current rating of the servo drive. Cfg_MSG_Drv_Ipeak: Message (MSG) Instruction used to read the peak current rating of the servo drive. Inp_Axis: Axis (Servo_Axis_Drive data structure) that will have attributes recalculated for enhanced peak torque Inp_Group: Motion Group the Axis belongs to Sts_EN: Enable bit is set when the rung-in condition is true, indicating the instruction is being scanned. Sts_ER: Error internal to the AOI. Sts_DeviceComms: Verification that the device is communicating and ready to accept commands Sts_DN: Done bit is set when all message instructions have successfully completed and axis configuration is complete.

Configuration - Overview Because most applications require multiple axes to be configured, the Add-On-Instruction has been provided in a program designed to simplify the configuration of a multi-axis system. The program has 2 basic routines – a configuration sequence, and subsequent routines used to configure each axis in the system. (The program is initially set up for configuring a 8 axis system.) To reduce integration time, the same AOI is used for each axis. This allows for 5 message instructions to be configured regardless of axis count. The routines for each axis are nearly identical, with exception of the axis they reference internally. The configuration sequence routine performs 2 very important functions. As the same message control tags are used throughout, the message path is configured programmatically. The configuration sequence sets the path for the specific axis, and controls the scan of the specific axis routine. Program Parameters: Similar to entering tags into AOI parameters, the program uses ‘parameters’ as well. Program ‘parameters’ exist in the form of Program Tags that must be aliased to Controller tags. The following Program Parameters must be configured (MSG configuration to follow later): Cfg_MSG_Mtr_Ipeak Alias to message control tag for motor peak Cfg_MSG_Mtr_Icont Alias to message control tag for motor continuous Cfg_MSG_Drv_Ipeak Alias to message control tag for drive peak Cfg_MSG_Drv_Icont Alias to message control tag for drive continuous

Configuration (continued) Cfg_MSG_EP_Enable Alias to message control tag for enhanced peak enabling in drive Cfg_EnhancedPeak_Configuration Alias to control tag for Axis_EnhancedPeak_ASD Add-On-Instruction Inp_MotionGroup Alias to Motion Group tag Inp_A1_ServoDrive Alias to Axis tag for first axis Inp_A2_ServoDrive Alias to Axis tag for second axis Cmd_EnhancedPeak_ConfigEN Alias to Boolean command bit to initiate the configuration sequence Sts_EnhancedPeak_ConfigDN Alias to Boolean status bit that indicates the configuration sequence is complete In addition to the program parameters that are linked to controller scoped tags, there are local parameters that must be configured as well. These are hard coded in the configuration sequence and must be updated in the configuration sequence code: Loc_Cfg_AxisCount Enter total number of axes to be configured Loc_Cfg_Module_Slot Slot number of SERCOS module the axis is connected to. Module slot number is used in the programmatic configuration of the message instruction path. Loc_Cfg_SercosNode SERCOS Node number of the axis to be updated. SERCOS Node number is used in the programmatic configuration of the message instruction path. Note: If more than 2 axes are required, more program scope tags can be added to program tag database and aliased. Additionally, the CMxx routine can be copied and pasted. A ‘Find and Replace’ can be performed on Inp_Ax_ServoDrive to update with the correct axis tag. See Appendix B for detailed examples.

Configuration (continued) Message Configuration: Message Configuration Located in Appendix A

Configuration – Step-By-Step Open the RSLogix5000 project the Program will be imported to

Configuration – Step-By-Step Go to the controller organizer/tasks/main task Right-Click and select ‘Import Program’

Configuration – Step-By-Step Import file uses a .L5X format type Find ‘Prg_Axes_EnhancedPeakConfiguration_ASD.L5X Select Import

Configuration – Step-By-Step Import Configuration will appear. Go to the Import Content/Main Task/Axes_EnhancedPeakConfig/Preferences/Tags Under Operation, Select Discard GroupA (Motion Group) N1 (Axis) This is done because you will have to link your ACD file motion group and axes to the AOI that does the peak enhancement Finish import by selecting OK

Configuration – Step-By-Step You will get Warning and Name collisions because we are not done yet configuring MSG, Motion Group and Axis links. Continue On at this time. Verify Imports gives you two new functions in your present ACD 1 Program 1 AOI (Add-On-Instructions)

Configuration – Step-By-Step Expand program and open program tag database

Configuration – Step-By-Step In these steps, we need to link the present ACD motion group and axis to the AOI so the mapping properly completes First, map the Axis_Servo_Drive tags in the AOI to the present ACD Axis_Servo_Drive tags The ‘Alias To’ function appears when in tag edit mode Alias each Inp_Ax_ServoDrive for up to eight axis Second, Inp_MotionGroup tag must be Aliased to the motion group in the project as well

Configuration – Step-By-Step The program supports the configuration of up to 8 axes without modification. If 8 axes are not required, simply alias required axes correctly and set the rest of the alias’s to the first axis configured Extra axes with alias to first axis to ensure code can be verified Second Axis First Axis

Configuration – Step-By-Step Open routine ‘ConfigurationSequence’

Configuration – Step-By-Step The AOI steps through each axis you aliased in the previous step and sequentially, A1, A2…A8, configures the peak enhancement configuration. Based on the number of Axis Count you indicate Go to Rung 4 of this routine to indicate Axis Count Configure Axis Count – Enter the number of axes that will be configured Configuration takes place sequentially – A1,A2,A3, etc.

Configuration – Step-By-Step MSG instructions configure each axis peak enhancement parameter as described in the beginning of this document. In order for the AOI to sequentially move to the proper Axis_Servo_Drive, the control needs to link the processor. Therefore, there are two steps to axis configuration Prepare Prepare – Set SERCOS module Slot Number Prepare – Set Kinetix 6000 SERCOS node number Execute Scan control module Terminate Axis Count when maximum reached Prepare Execute

Configuration – Step-By-Step Wrk_Config_Module_Slot is the MxxSE SERCOS Card slot in the IO configuration tree Wrk_Config_SERCOSNode is the Kinetix 6000 IO configuration node address Rung 7 is used to Prepare Axis 1 Rung 10 is used to Prepare Axis 2 Rung 13 is used to Prepare Axis 3 Every 3rd rung thereafter configures the next Axis until the 8th. Slot Node

Configuration – Step-By-Step Execute (no configuration required) Scan Control Module to configure axis When configured, if Axis Count is reached, the sequence is terminated Rung 8 configures Axis 1 and stops if maximum Axis Count is reached else continues on.

Configuration – Step-By-Step Open routine ‘CM01_Axis_01’ and Locate ‘Axis_EnhancedPeak_ASD’ AOI in rung 5 Note you need not do this for all axis as the mapping is automatically completed with this one setting. Configure message instructions as shown in Appendix A. The only required entry is to set the Communication Path to the correct node of the 1st Axis_Servo_Drive being configured.

Configuration – Step-By-Step To run the configuration Go online and download to the controller if not already completed Remote Run status Go to the Controller Organizer/Tasks/Axes_EnhancedPeakConfiguration_ASD, rung 5 Command / Status Cmd_EnhancedPeak_ConfigEN When True the configuration sequence will execute Sts_EnhancedPeak_ConfigDN When True the configuration sequence has successfully completed Ensure the Sts_EnhancedPeak_ConfigDN is true before issuing any axis movement with peak enhanced capability

Appendix A – Message Configuration Cfg_MSG_EP_Enable-

Appendix A (continued) Message Configuration: Cfg_MSG_Mtr_Icont-

Appendix A (continued) Message Configuration: Cfg_MSG_Mtr_Ipeak-

Appendix A (continued) Message Configuration: Cfg_MSG_Drv_Icont-

Appendix A (continued) Message Configuration: Cfg_MSG_Drv_Ipeak-

Appendix B – Adding Additional Axes Open Program folder ‘Axes_EnhancedPeak_ASD’ Right Click on ‘CM01_Axis01’ and copy routine

Appendix B – Adding Additional Axes (continued) Right Click on Program folder ‘Axes_EnhancedPeak_ASD’ and Paste

Appendix B – Adding Additional Axes (continued) Rename Copied Routine

Appendix B – Adding Additional Axes (continued) Open Program Tag Database and add tag Inp_A(x)_ServoDrive Add new Tag for the 9th Axis and alias

Appendix B – Adding Additional Axes (continued) Open new Routine Once Open, Select Search  Replace

Appendix B – Adding Additional Axes (continued) The following Tag (providing the routine copied was ‘CM01_Axis01’ must be changed to reflect the new axis Make sure ‘Find Where’ is set to Current Routine If tags are NOT replaced, Select ‘Find Within’ and ensure ladder has all but Instruction Main Operand Comments selected

Appendix B – Adding Additional Axes (continued) Verify 15 tags replaced Open ‘Configuration Sequence’ Routine

Appendix B – Adding Additional Axes (continued) Copy the Preparation and Execution sequence rungs for Axis 1 and pasted below Axis 8 Copy rungs 6-8 which are for Axis 1 and then paste after rung 29 Prepare Execute

Appendix B – Adding Additional Axes (continued) Change Sequence Numbers on both ‘Prepare’ and ‘Execute’ Rungs Leading Number Represents Axis (as we are adding a 9th axis, we change to 9) Update Routine that will be called for the 9th Axis

Appendix B – Adding Additional Axes (continued) On the ‘Execute’ Rung, change the following instruction to reflect the new Axis number The last MOV of the ‘Execute’ Rung needs to transition to the DN or configure complete rung therefore the source MOV and EQU must be the same.

Notes: Publication xxx-xxxxxx – August 2009 Copyright ©2009 Rockwell Automation, Inc. All rights reserved. Printed in USA.