1. 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.

2. 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

3. 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.

4. 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

5. 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.

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

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

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

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

10. 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

11. 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)

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

13. 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

14. 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

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

16. 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.

17. 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

18. 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

19. 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.

20. 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.

21. 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

22. Appendix A – Message Configuration
Cfg_MSG_EP_Enable-

23. Appendix A (continued)
Message Configuration:
Cfg_MSG_Mtr_Icont-

24. Appendix A (continued)
Message Configuration:
Cfg_MSG_Mtr_Ipeak-

25. Appendix A (continued)
Message Configuration:
Cfg_MSG_Drv_Icont-

26. Appendix A (continued)
Message Configuration:
Cfg_MSG_Drv_Ipeak-

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

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

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

30. 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

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

32. 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

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

34. 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

35. 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

36. 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.

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