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Ultraware Software v1.8 User Manual, 2098

Contents

1. 005 208 Understanding the Faults Window 0 cece cece eee eee 210 Understanding the Service Information Window 217 Rockwell Automation Publication 2098 UM001G EN P February 2011 7 Table of Contents Configuring the Kinetix 3 Drive Chapter 5 latod CHO Misaki 3s tone a PE ah kh a Aerie ok A 221 Contigurne the Kanetix 3 DUVE asennan aaa 222 Configuring Properties for the Kinetix 3 Drive 222 Understanding the Kinetix 3 Drive Branch 005 225 Velocity Control Panel Window 0 ec cece cece ences 234 Using the Setup Wizatdcecwiascteidene erube iania cea 236 Understanding the Analog Window 0 cece eee eee ees 237 Understanding the Preset Window 0 ce cece eee cece eens 239 Understanding the Follower Window 0 0 c eee eee eens 241 Understanding the Indexing Window 00 eee e eee ee eee 243 Understanding the Homing Window 0 cee seen eee ee 246 Understanding the Motor Window 0 cece eee eee eee ee 249 Understanding the Tuning Window 0 cee eee eee eee 253 Auronin Window seirian e pane EEEE 258 Manual Position Tuning Window 0c cece eee ee eee 260 Manual Velocity Tuning Window 00 c eee eee ee eee 262 Understanding the Encoders Window 0 cece eee eee ees 265 Understanding the Digital Inputs Window 008 267 Understanding
2. Motor Encoder Interpolation 256 OO Motor Feedback Diagnostics postion Feedback Source Motor Encoder E Motor Encoder Output oap Sona buttered O Dae Maxima Opt Fremery S00 Marler Out Gating roa E AuiliayEncoder O Encoder Rato LosdMeto it fie tery O O UnestReveidion 00D ses f voe e E motor Encoder S Poston Motor Feeaback o eats Be es A Motor Marker Diagnostics Auxiliary Feedback Diagnostics Auxiliary Marker Diagnostics Ej nay Encoder W Show Status tl Sean Caracas Setup Revert Close Help Use the Encoders window to describe the motor and auxiliary encoders Doing this configures the motor encoder and optional auxiliary encoder Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 This window has these parameters Parameter Motor Encoder Interpolation Position Feedback Source Motor Encoder Output Output Signal Divider Maximum Output Frequency Marker Output Gating Auxiliary Encoder Encoder Ratio Load Motor Type Lines Revolution Lines Meter Description The amount of interpolation to be used with sine cosine encoders e x4 x8 x16 x32 x64 x128 x256 x512 e x1024 For example if a Stegmann encoder outputs 1024 cycles per revolution and Encoder interpolation is set to x256 the drive will use 262144 1024 x 256 counts per revolution as the effective feedback
3. W A A A A A Ne SA paw CA CA CA Le CA So V Show Status gt Show Commande Setup Revert Close Help Use the Digital Outputs window to name monitor and toggle the status of the eight digital outputs You can edit parameters for both an online and an offline Digital Outputs branch However you can monitor status and execute direct commands executed through the Ultraware interface rather than through a compiled loaded and executed program only for a Digital Outputs branch that is the child of an online drive The following parameters can be entered and edited in the Digital Outputs window Parameter Description Output 1 8 Name Type in the name of the output The default value is a number from 1 to 8 Output 1 8 Polarities The desired polarity for each output Active High The output is turned ON by applying a positive voltage to the output Active Low The output is turned ON by setting the voltage at the output to zero The following display is the default status for a Digital Outputs branch of an online drive Status Description Output 1 8 State The current state or condition of each digital output is depicted by a light bulb icon as follows e ON A bright light bulb e OFF A darkened light bulb 182 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 The following commands can be executed in the Digital Outputs
4. 0 00 ee 99 Understanding the Analog Outputs Window 005 103 Understanding he MONTON nin danse r Erina bani eananiaancaats 105 Understanding the Oscilloscope Window eee ee eee 108 Channel setup Widowed dasa iaraa ee thee A aeena wines 111 Understanding Ultra3000 with DeviceNet 0 00 112 Understanding Ultras000 Status lt ciccaudereaddaetespcaeneiun 118 Understanding the Faults Window ice wean cetera eect pea 126 Understanding the Service Information Window 135 6 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Table of Contents Chapter 4 TCEOCMCLION i giwius atiayeuaaenuadtec one oie eira a tamu 137 Configuring the Ultra5000 Drivese sinka toh dene eeeweakeauta bau 138 Configuring Properties for the Ultra5000 Drive 139 Understanding the Ultra5000 Drive Branch 06 141 Installing Driyo Seriar nii E A O Senses 145 DriveRepoit serorei ii Naad 145 Understanding the Motion Branch sci 5 ciasisuwiaraeensqevevnes 146 Understanding the Jog Window ce cece cece cece e eee ees 147 Understanding the Move Window 0 cece eee eee ee ee ees 149 Understanding the Gam Window asiccccivosn siden cedvesbecetin os 151 lnisertine a Cam able x iesalsde eas ne wena nda EES 154 Importing a Cam Table cnn tut ie iat itackerqeiimastsceas 154 Importing 4 CSV Pilescuicicusumensniode
5. AsisGetCommandCur AxisGetCommandPas AxisGetCommandy el AxisGetFeedbackOffset AxisGetFeedbackPos AxisGetFeedback el Add definitions and variable declarations here FUNCTION main Beginning of main program Peat tee See a tee ene eee eee AxisGetLowerCurLimit AxisGetPGain AsisGetPosError AxisGetU pperCurLimit i AxisGet elError AxisPosLimitG etStatus AxisPosLimitlsT riggered AxisResetPosLimit AxisS etFeedbackOffset AxisSetFGain int main InitMotionLibrary Initialize motion library functions while StopRequested Loop until program stopped AxisS oftLimitEnable Add main body of program here end while loop Add statements here to execute when program is stopped return l end of program main function long AxisDefinePos long position Returns 0 if successful 1 if error position new feedback offset in cot El DE Ansci T Z The Motion Library is displayed when a source or header file is open and is hidden when source and header files are closed or not the top view windows The Motion Library dialog is docked to the right side of the main window by default To find and copy a specific command perform these steps 1 Click a command group to display all commands belonging to that group 2 Click a command from the list A Help window will list the argument
6. HE S eS B a SS La i i E isabled 2147483647 38400 Data No Parity 2147483647 2147483647 Greater Than Counts sec Counts Counts sec sec Counts sec Counts Counts sec sec i e oO m a al gt a A olo a a 0 o 2 lt T o o 0 O lt 5 53 olo S S CO eae Rockwell Automation Publication 2098 UM001G EN P February 2011 41 Chapter 3 Configuring the Ultra3000 Drive Use this Ultra3000 window to e configure the parameters for an offline or an online drive e monitor the status of an online drive e execute commands that clear faults reset the drive or reset the EEPROM e open the Control Panel windows where you can issue commands that control drive motion If the drive is a SERCOS drive with its SERCOS interface active the drive is displayed with a small S next to the drive icon The software displays a custom workspace tree and property windows limiting the display appropriately for a SERCOS drive You can edit parameters for both an online and an offline drive However you can monitor status and execute direct commands executed through the Ultraware interface only for an Ultra3000 drive in the On Line Drives branch The following parameters apply to the Ultra3000 Drive window Parameter Name Auto Motor Iden Motor Model Motor Forward Dir Displayed Units Operation Modes Descr
7. 18 x Enabled Els a _ i _ a mE E E a a Co E a E BE _ E _ a EE E a E E a m E TEE a i EE E Seun Revert Cose Heb Use the Motor window to e Enter a motor for the associated online or offline drive The status values associated with the motor appears in the Status pane of this window e Monitor the status that relate to the selected motor e Perform diagnostics on an online motor encoder You can edit parameters for both an online and an offline Motor branch However you can monitor status only for a Motor branch that is the child of an online drive Rockwell Automation Publication 2098 UM001G EN P February 2011 163 Chapter4 Configuring the Ultra5000 Drive The following parameters can be entered and edited in the Motor window Parameter Description Auto Motor Iden select e Enabled Causes the drive to read motor parameters from an intelligent encoder or e Disabled Causes the drive to use motor parameters for a Motor Model selected below Motor Model The model name of the selected motor Only listed motor models are valid Ultraware software ships with a utility that lets you create custom motor configurations Use that utility to add customized motor selections to the Motor Model list Total Inertia For rotary motors The total inertia of the motor and load combined Total Moving Mass Only for linear motors The moving mass of t
8. Phase connection Remove power and verity missing all physical connections Fault Delay parameter is Increase the Fault Delay set too short parameter setting E 053 E ACoFF User Parameter Error in parameter e Re initialize Initialization Error memory storage parameter e Reset drive to factory defaults E 054 E oFSEt Current Feedback Offset Defective hardware Replace drive E 055 E CHSUN User Parameter Checksum error e Confirm and reset Checksum Error parameter e Reset drive to factory defaults E 056 E CPUFt Watchdog Time out Excessive system noise e Verify wiring and installation methods e Defective hardware e Replace drive E 057 EHWArE PWM Hardware Error Defective hardware Contact A B E 058 E rAnGE User Parameter Range Range of parameter is e Enter parameter with Error invalid value s within range e Reset drive to factory defaults E 060 E dinlt Drive Initialization Error Replace drive E 075 E SHtoL shunt Overload Power at regenerative e Adjust motion profile Protection resistor exceeds the to stay within the permitted value range of the regenerative resistor e Shunt resistor is disconnected or damaged e Verify resistance of shunt resistor Rockwell Automation Publication 2098 UM001G EN P February 2011 293 Chapter5 Configuring the Kinetix 3 Drive Status E 079 E SHtoC E 083 E AbSbE E 084 E ABSos E 085 E AbSCt E 100 E SEtUP E 101 E CAbLE E 102
9. Understanding the Motor Window Fa Ultraware Workspace UW_3000 Motor fy Eile Edit View Insert Program Tools Commands Parameter Value Units m aa EO OEE seus vawe units B fenert O waww o o O eweg e O e a ata Fin Seturetin2 01620 TH peak Fux Saturation 0710 38 peak xc Seturationd 0588 172 peak Fix Seturions 0502 Speck Fl Seturetians 0 420 Speak Fux Saturation 0380 7 peak Flux Setuion 041 peak E Rains OOO OO Maximum Speed 2800 RPM ermitent Curent A200 Amps Continuous Curent 1340 Ams El Feedback O OOOO O Commutation Sinusaidat O Srusona Starup Haliputs i cl Lin sRevolution El therm eral Thermostat Li e i a O anwe nw w chews sO wan If Show Status lichen Cuende Setup Revert Close Help Software Protection Use the Motor window to The Properties window for Motors looks like this O x Window Help z my x Commutation Diagnostics Motor Feedback Diagnostics Motor Marker Diagnostics Retresh Data e Pair a motor with an online or offline Ultra3000 drive Once you select a motor the status values associated with the selected motor appears in the Status pane of this window e Monitor the status that relate to the selected motor e Perform diagnostics on the motor TIP Diagnostics commands are not available for a SERCOS drive Rockwell Automation Publication 2098 UM001G EN P February 2011 73 Chapter
10. website htto Awww rockwellautomation com products certification National Electrical Code published by the National Fire Protection Association of Boston MA Rockwell Automation Industrial Automation Glossary publication AG 7 1 Description Ultra3000 drive installation and programming procedures How to configure the Ultra3000 SERCOS interface hardware with the ControlLogix SERCOS module Object models for Ultra3000 DeviceNet applications Ultra5000 drive installation and programming procedures How to configure and monitor the Ultra5000 drive using the DeviceNet interface Information on installing your Kinetix 3 drive system Information on the serial communication commands both ASCII and ModBus RTU for interfacing a motion controller with the Kinetix 3 drive Information on programming the Ultra5000 using the Ultraware programming environment Intended for programmers with a basic understanding of the C programming language Instructions for installing Ultraware software Information examples and techniques designed to minimize system failures caused by electrical noise specifications motor servo drive system combinations and accessories for Kinetix motion control products Drive and motor sizing with application analysis software Online product selection and system configuration tools including AutoCAD DXF drawings Website for declarations of conformity DoC currently available from Rockwell
11. Replace Replaces the highlighted text in the source or header file with the text in the Replace With field then finds and highlights the next text string that equals the text in the Find What field Replace All Replaces each occurrence of the text in the Replace With field with the text in the Find What field Rockwell Automation Publication 2098 UM001G EN P February 2011 317 Chapter 6 318 Creating and Running Programs Select All Use this command to select all the text in the selected source c or header h file The Select All command is enabled only if a source or header file is selected in the Client Area To execute the Select All command perform these steps 1 Select either a source or header file in the Client Area 2 Either e Select All from the Edit menu e Simultaneously press the Ctrl A keys All text in the text editor is highlighted You can now execute the Edit menu s Cut Copy and Delete commands Undo Use this command to reverse the last command or delete the last entry you typed in a header h or source c file in the Client Area Ultraware software keeps up to 2048 previous actions in memory This command is enabled only for selected source or header files with at least one command or typing entry in memory To execute the Undo command perform these steps 1 Select a source or header file for which Ultraware software has stored at least one command or typing entry in its c
12. The Motor Database window has a Main menubar with File Edit and Help menus providing these drop down menu selections the File menu contains New Open Import Export and Exit functions the Edit menu contains Duplicate Delete and Properties functions the Help menu contains an About function a Toolbar with Open Duplicate and Delete buttons a scrolling Motor window which provides a display of the basic motor parameters for all standard and custom motors currently stored in the Ultraware motor database Rockwell Automation Publication 2098 UM001G EN P February 2011 333 Chapter7 Creating Custom Motors The window displays and sorts the motor files into these categories e Std standard motor files provided by Rockwell Automation as part of the Ultraware software package are denoted by an asterik e Model lists motor files by Series Designator Frame Size Winding Ke and Encoder Line Count e Type designates whether the file is for a Rotary or Linear motor e Speed lists the maximum speed in rpms for rotary motors or meter per second mps for linear motors e Rated Current lists the Continuous Current rating in Amps e Mass Inertia lists linear motor Mass in Kg or rotary motor Inertia in Kg cm Command buttons for creating and modifying motor files include e New Rotary creates a custom rotary motor e New Linear creates a custom linear motor Edit displays the complete set of parameters fo
13. The value in counts necessary to adjust the cam between its final output position and the output position for the beginning of the next cam cycle A cam wraps around to start again at its beginning if there is a difference between the final and beginning output position of the cam table the offset is adjusted by the difference so the Current Position of the cam is always the actual output position described by the cam table the filename describing the cam motion Cam files are generated by Ultraware software when you insert a cam table under the Cam branch in the workspace The cam files generated are stored in the drives flash file system under a directory named Cam dir If a cam table is created with the default name of Table cam and loaded into drive memory the File Name is Cam dir Table cam User programs may set the File Name attribute to different paths The current cam memory load status Yes a cam file has been loaded into memory No a cam file is not loaded into memory Note The Filename attribute can be changed by a user program after a cam file is loaded so the Filename displayed may not be the name of the file that is loaded The current mode of the cam e Locked the cam is active and a different cam file cannot be loaded e Unlocked the cam table is inactive and a cam file may be loaded into memory The Cam Table is Locked whenever the Cam is enabled The number of segments in the load
14. Up To Speed 284 The frequency of the position command input in thousand counts per second ON indicates that the Negative Software Limit as defined in Understanding the Kinetix 3 Drive Branch on page 230 is being exceeded ON indicates that the Positive Software Limit as defined in Understanding the Kinetix 3 Drive Branch on page 230 is being exceeded Refer to Understanding the Tuning Window on page 253 Gunite AN bane 76 on page 253 Refer to Understanding the Tuning Window on page 253 Note The resolution of this signal may be confusing when using the Oscilloscope See the topic Velocity Motor Feedback Resolution for information on how resolution is derived for various motor and feedback combinations Refer to Understanding the Tuning Window on page 253 ie oa E on page 253 Refer to Understanding the Kinetix 3 Drive Branch on page 225 Refer to Understanding the Kinetix 3 Drive Branch on Rockwell Automation Publication 2098 UM001G EN P February 2011 page 225 Status Current Signals Current Command Current Feedback U Phase Current V Phase Current W Phase Current Encoder Signals S1 S2 S3 Digital Inputs Input 1 7 State Digital Outputs Output 1 3 State Power Status Shunt Power Limit Ratio Instantaneous Shunt Power Output Power Limit Ratio Configuring the Kinetix 3 Drive Chapter 5 Description Oscilloscope Oscilloscope Analog Outpu
15. e Right click the drive in the Workspace and click Properties from the pop up menu e Double click the drive branch A Properties window such as the Drive Properties window displayed below appears for the selected drive branch Fa Ultraware Workspace U W_ 5000 OR E Parameter vawe Unts Save Power Up Values pe o Gear Fats stano Tyee Sows OOOO E E Postiontimts O Decoration Rats o eeurtsiec Reset Factory Sevres Motor Lins Enable False Postive SoftLing 0 curds Negative SoftLint 0 courts T postive Hera Limit Unassigned WegetveHerdLint Unsssined status vane funis pe O Ne E Postion timis pe pe postest O 9 o Negative SoftLint F Postive Herding Negative Herding Postive MotorLint 9 Negative MotorLint O F O W Show Status tl Seats Commend Setup Revert Close Help Ready eal 4 Rockwell Automation Publication 2098 UM001G EN P February 2011 139 Chapter4 Configuring the Ultra5000 Drive 3 To configure properties for the selected drive branch use the features of the Properties window as follows Section Description Parameters Located in the upper left part of the Properties window Type or click values in the parameter fields to configure the settings of the selected drive branch Commands Located in the upper right part of the Properties window Click any button to issue the associated command Click show Commands to display command butto
16. 2 147 483 647 counts per second The deceleration rate used to change to a lower velocity The range Is 0 2 147 483 647 counts per second The number 0 63 of the next indexed move to execute when Action When Complete is not set to Stop The drive s action when the index has completed e Start next immediately commands execution of the Next Index move without additional input but after the scheduled Dwell e Start next on input commands execution of the Next Index move the next time the Start Index input becomes active e Start next without stopping commands execution of the Next Index move without additional input and without the scheduled Dwell e Stop ends the execution of indexed move commands The following status can be displayed from a Indexing window of an online drive Status In Motion In Dwell Axis Homed Description ON indicates the motor is moving in response to an indexed motion command Note The In Motion status has a value of 1 when ON and 0 when OFF ON indicates the motor is holding position and waiting the commanded dwell time Note The In Dwell status has a value of 1 when ON and 0 when ON indicates the position command value is complete which is by definition the Home position Note The At Home status has a value of 1 when ON and 0 when OFF 244 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 The f
17. 500 of the motor s continuous current rating The default is 300 e Positive External A positive current limit only in effect when the Current Limit Positive signal is active in the Digital Inputs window The range is 0 500 of the motor s continuous current rating The default is 100 e Negative External A negative current limit only in effect when the Current Limit Negative signal is active in the Digital Inputs window The range is 0 500 of the motor s continuous current rating The default is 100 Rockwell Automation Publication 2098 UM001G EN P February 2011 229 Chapter 5 230 Configuring the Kinetix 3 Drive Parameter Position Limits Speed Functions Position Functions Description sets available Software Overtravel Limits Off Turns off software overtravel limit checking On Causes the drive to compare the motor feedback position to the Positive and Negative Software Limits below to determine if the ate has exceeded an overtravel limit e Positive Software Limit If the motor feedback position is greater than this value the drive has exceeded the software overtravel limit The range is 2 147 483 647 2 147 483 647 counts The default is 2 147 483 647 Negative Software Limit If the motor feedback position is less than this value the drive has exceeded the software overtravel limit The range is 2 147 483 647 2 147 483 647 counts The default Is 2 147 483 647 Positive
18. Command Description save Parameters saves the current working values as power up values in flash memory for the selected On Line drive and all of its children Customize the Digital Outputs window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup Window on page 276 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 273 Chapter5 Configuring the Kinetix 3 Drive Understanding the Analog Outputs Window The Properties window for Analog Outputs looks like this fo UW_K3 Analog Outputs E a j l Fo File Edit View Insert Program Tools Commands Window Help la x Oe GS i s we x MA O o Show Statue E e mad Setup Revert Close Help rr Use the Analog Outputs window to assign drive signals to analog outputs The Analog Outputs parameters window has these parameters Parameter Description Analog Output 1 Signal sets the drive signal assigned to the output Click the down arrow to the right of this input box to open the Channel Setup dialog scale The output scale in units per volt It is dependent on the signal selected Analog Output 2
19. Configuring the Ultra5000 Drive Parameter Negate Positive Input Buffer Positive Input Unbuffer Positive Input Motor Encoder Output Fault State A S1 S2 S3 Master Encoder Output Fault State A B Ratchet Settings Ratchet Buffer Ratchet Output Current Position Current Velocity Description Master encoder input in a positive direction generates motor movement in a negative direction Note Selecting Ignore Positive Input above overrides this selection Positive direction master encoder input is accumulated in a buffer without generating motor movement Note This selection is often used together with Unbufter Negative Input above Positive direction master encoder input is used first to reduce the accumulated negative directional buffer then only after this buffer is reduced to zero generates motor movement in the positive direction Note This assumes Buffer Positive Input above is not selected The following status is displayed by default for an Encoders branch of an online drive Status Description The motor encoder s output in counts The current state of fault checking for the motor encoder The motor encoder s index The motor encoder s Channel A The motor encoder s Channel B The motor encoder s Hall Input 1 The motor encoder s Hall Input 2 The motor encoder s Hall Input 3 The master encoder s output in counts The current state of fault checking for the mast
20. Description Opens the Velocity Control Panel window Refer to Velocity Control Panel Window on page 50 for more information about how to set a drive s velocity command and monitor its motor velocity or current Opens the Current Control Panel window Refer to Current Control Panel Window on page 52 for more information about how to set a drive s current command and monitor its motor velocity or current Opens the Indexing Control Panel window Only for Indexing drives Refer to Indexing Control Panel on page 54 for more information about how to set one of sixty four possible indexes monitor the status of the selected index and send direct commands to the selected drive Attempts to clear all drive faults Resets or reboots the hardware and firmware for a drive Resets a drive s parameters by reinitializing them to factory default settings Stored faults and the Time in Service clock remain unchanged Customize the window for your Ultra3000 Drive branch by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 49 Chapter3
21. For rotary motors the total moving Inertia of the motor and attached load as calculated by the autotuning algorithm For linear motors the total moving mass of the motor and attached load as calculated by the autotuning algorithm Proportional gain for the velocity loop Must be gt 0 Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop Must be gt 0 Note gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Acceleration feedforward gain Must be gt 0 Note FF gain reduces velocity following error However high values can cause velocity overshoot Lowpass output filter bandwidth Valid values range from 0 2000 Hz Note Bandwidth reduces noise generated by encoder resolution or mechanical resonance in the system Setting to zero disables filtering Input the maximum positive current the drive may output to the motor in amperes Must be gt 0 Input the maximum positive current the drive may output to the motor In amperes Must be gt 0 Rockwell Automation Publication 2098 UM001G EN P February 2011 173 Chapter4 Configuring
22. Hall Input Offset Lines Revolution Lines Meter Thermal Integral Thermostat Software Protection Rth w e Configuring the Kinetix 3 Drive Chapter 5 Description Only for linear motors The distance between motor poles or Magnet Pitch 2 in meters Indicates whether the motor provides built in feedback for travel limits e Yes e No Voltage rating of the motor in Volts The phase to phase resistance of the motor stator in Ohms The phase to phase inductance of the motor stator in milliHenries mH Maximum motor output shaft speed in e revolutions per minute rom for rotary motors e meter per second mps for linear motors Maximum intermittent current of the motor in peak Amperes Continuous current rating of the motor in peak Amperes The encoder type e Incremental e SA35 The type of commutation e Brush e rapezoidal e Sinusoidal The type of startup for sinusoidal commutation e Self Sensing Note The Kinetix 3 does not support self sensing startup e Hall Inputs e Serial Hall Input offset from standard Rockwell Automation Orientation in electrical degrees Encoder lines per revolution of the output shaft Note This parameter is visible only if the Type is Rotary Encoder lines per meter of travel Note This parameter is visible only if the Type is Linear Indicates whether the motor has a built in thermostat Settings are Yes or No Indicates whether the motor th
23. If fault remains call your A B representative If fault clears a wiring error or an error internal to the motor exists 35 Soft Starting ON indicates a soft fault Low AC input voltage Check AC input voltage Fault at startup on all phases Internal malfunction Call your A B representative 36 Power ON indicates an Excessive heat in power Reduce acceleration Module overtemperature circuitry rates Overtemperature condition in the power e Reduce duty cycle module ON OFF of commanded motion e Increase time permitted for motion e Use larger Ultra5000 and motor 37 AC Input ON indicates incorrect Loss of one or more Check AC input voltage Phase Loss power phasing phases of power on all phases Rockwell Automation Publication 2098 UM001G EN P February 2011 215 Chapter4 Configuring the Ultra5000 Drive Status Possible Cause Suggested Action 36 Power ON indicates a self Motion required for self Verify that there are Module sensing error was sensing startup was no impediments to Overtemperature encountered during obstructed motion at startup Startup such as hard limits Increase self sensing current if high friction or load conditions exist Check motor or encoder wiring using wiring diagnostics 58 Excessive scheduled processes User functions added to Reduce the length of CPU Load running on the drive have sequencer frames are user functions added to overrun the CPU t
24. The custom motor appears in the Motor Database window with the abbreviated pp parameter set as created modified or unaltered 332 Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating Custom Motors Chapter 7 Motor Database Each motor controlled by an Ultra Series drive requires a unique parameter set The parameter set provides the drive with the information about the motor to achieve proper commutation precise control and protection When Ultraware software is used to assign a motor with a drive the motor parameter set is obtained from a motor database motors mdb The motor database is populated with standard motors available from Allen Bradley during installation of Ultraware software Ultraware software also provides a motor configuration utility for defining custom motors To access the motor database mdb perform these steps 1 Click Windows Start and then sequentially click Programs the Ultraware software program and Motor Configuration to display the Open Motor Database window Click Motors mdb from the Ultraware directory to display the Motor Database window Two types of motors are displayed in the motor database window and may be loaded to drives e Standard motors are read only in the motor database e Custom motors may be added to the motor database The motor configuration utility creates or duplicates a motor s parameter set save it and then modify or delete it
25. The source for position loop feedback e Motor Encoder e Auxiliary Encoder Specifies the type of encoder output from the drive e Buffered The encoder input is passed through the drive directly without interpolation or division e Divided The encoder input is divided and output See Divider e Interpolated The interpolated encoder counts are output Type the amount of division used for generating output encoder signals For example if the Divider is set to 4 the encoder output frequency is 1 4th the encoder input frequency Note This parameter is active only if Divided is selected as the Output Signal The encoder output frequency limit e 500 kHz e 1 MHz e 4 MHz e 8 MHz Note This parameter is active only if Divided or Interpolated is selected as the Output Signal Permits the drive to produce and use a more precise marker signal The options are e Not Gated The drive uses and outputs the normal marker input as received from the encoder e Gated with A and B The marker output of the drive is the logical And of the marker input from the encoder and the A and the B inputs This produces a more precise marker signal for homing Type the ratio of encoder counts between the load encoder and the motor encoder Note This parameter is active only if the Position Feedback source is selected to be the Auxiliary Encoder The type of auxiliary encoder e Rotary e Linear Encoder lines per revolution Note Thi
26. Trigger Status Idle y axis Labels Default Stop Triggering V Show Properties V Show Commands Use the Oscilloscope window to trace one of four drive signals by e Configuring the oscilloscope by selecting a the drive signal to trace e Executing commands that run the oscilloscope s tracing function continuously or in response to the configured trigger e Monitoring the oscilloscope as it traces the selected drive signal The Oscilloscope window has these parameters and commands associated with it Parameter Channel A B and D Description Assign a drive signal to the selected Channel A B C or D from the Channel Setup dialog box that opens when you click the down arrow to the right of this input box Note The resolution of this signal may be confusing if Velocity Feedback is selected See the topic Velocity Motor Feedback Resolution for information on how resolution is derived for various motor and feedback combinations Input Signal Scale Types are e Auto Manual Same As ChA available for Channels B C and D Same As ChB available for Channels C and D Same as ChC available for Channel D only scale Type Rockwell Automation Publication 2098 UM001G EN P February 2011 Parameter Scale Offset Sweep Parameters sample Period samples per Division Trigger Source Trigger Mode Trigger Threshold Trigger Status Oscilloscope Display Y axis Labe
27. 16 if active 0 if not e Index Select 5 32 if active 0 if not Ifa Preset Select Line is not assigned to a digital input the Preset Select Line is considered inactive Rockwell Automation Publication 2098 UM001G EN P February 2011 243 Chapter5 Configuring the Kinetix 3 Drive The following parameters status and commands apply to Indexing Parameter Auto Start Indexing Abort Index Deceleration Index 0 to 63 Setup Mode Distance or Position Dwell Velocity Acceleration Deceleration Next Index Action When Complete Description When this field is set to ON the drive begins executing the selected index whenever the drive enables The deceleration used to stop motion when the Stop Index input terminates an index move The type of move commanded e Absolute moves from Its starting position to the specified Position below Note The axis must be homed before the drive can execute an absolute index Incremental moves from Its starting position the Distance specified below For Incremental and Registration mode moves the relative distance the motor travels The range is 2 147 483 647 2 147 483 647 counts The amount of time the drive holds position before beginning the next index The range is 0 65 535 ms The commanded velocity used when executing the index The range Is 0 2 147 483 647 counts per second The acceleration rate used to change to a higher velocity The range is 0
28. 2 Use one of these commands e Click Properties in the File menu e Right click Properties from the pop up menu e Double click the selected source file Rockwell Automation Publication 2098 UM001G EN P February 2011 305 Chapter6 Creating and Running Programs The Header File window appears Header File Properties Fa Mame Retun_oh 3 Type the name of the header file If you do not include the h extension to the header file name Ultraware software adds it for you The name of the header file must e beat least one but not more than eight characters in length exclusive of the h extension e be unique within its branch of the tree e not contain a space or backslash forward slash colon asterisk cc question mark double quote greater than symbol gt less than symbol lt or pipe 4 Click OK or Cancel Executing Source or Header File Commands In addition to the Cut Copy and Delete commands you can execute other commands for a source or header file To execute source or header file commands perform these steps 1 Click click the source or header file in the Workspace window 2 Right click in the Workspace window for a pop up menu 3 Click one of these commands from the pop up menu Command Description Edit Opens the text editor in the Client Area where you can edit the file s C programming language code Export Opens the Export To dialog box
29. Build Description Adds a new Source File to a Project in the offline Ultraware file Adds a new Header File to a Project in the offline Ultraware file Opens the Import From dialog box where you can retrieve previously exported Workspace window Header or Source Files in the form of an User data eXchange File with a uxt extension and add them to the Project Opens the Export To dialog box where you can copy the Project File including any child Header and Source Files and save them as an User data eXchange File with a uxf extension Creates an executable program file with an exe extension by compiling all project Header and Source Files Rockwell Automation Publication 2098 UM001G EN P February 2011 Using Source Files Creating and Running Programs Chapter 6 A source file is a text file that contains C programming language code which Ultraware software uses to create an executable program file for an Ultra5000 drive when you execute the Program menu s Build command A source file is identified by its c extension Each source file contains e include statements which refer to external header files identified by their h extensions e the C code that is the body of the source file You can move a source file to an Ultra5000 drive s Archives branch for storage Creating a New Source File To create a new source file do one of these actions e Click Source File in the Insert menu e Click project
30. Cancel Rockwell Automation Publication 2098 UM001G EN P February 2011 Common Commands for Ultra Drive Configuration Chapter 2 Copy The Copy command copies selected items from the Workspace window Any branch or item copied in the Workspace window replaces any other branch or item previously copied or cut and stored in the clipboard The following Workspace window items cannot be copied e An Ultraware file e Child branches of a drive To copy an item in the Workspace window perform these steps 1 Click a Workspace window item other than one of those listed above 2 Do one of these actions e Click Copy in the Edit menu e Right click on a drive in the Workspace window then click Copy from the pop up menu e Simultaneously press the Ctrl C keys e Click the Copy icon in the Edit toolbar Paste The Paste command inserts a previously copied or cut Workspace window item or branch into the selected location of the Workspace window When pasting into the Workspace window three results can occur e Ifthe selected Workspace window item is of the same type as the item to be pasted the pasted item replaces the selected item e Ifthe selected Workspace window item is a parent branch that must always have one child of the same type as the item to be pasted the pasted item replaces the selected branch s child of the same type e Ifthe selected Workspace window branch can have multiple child branches of the same type
31. Desired options include e Define Home Define Position Disable Serial Communications Drive Enable Fault Reset Follower Enable Integrator Inhibit Operation Mode Override Pause Homing Pause Index Position Strobe Preset Select 0 Preset Select 1 Preset Select 2 Preset Select 3 Preset Select 4 Preset Select 5 Remove Command Offset Reset Drive Start Homing Stop Indexing Stop Homing start Indexing Rockwell Automation Publication 2098 UM001G EN P February 2011 115 Chapter 3 Configuring the Ultra3000 Drive The following status is displayed by default for an Ultra3000 drive in the DeviceNet window Status Disable Serial Pause Index Abort Index Pause Homing Abort Homing Preset Select 0 through Preset Select 5 Define Position Integrator Inhibit Follower Enable Operation Mode Override Position Strobe Start Index Description An active state Indicates that serial communication have been disabled An active state indicates a temporary pause In a indexing sequence decelerating to a stop The state of the input Is continuously monitored to determine if the motion should be stopped or If it may continue A transition to an active state abruptly terminates a indexing sequence An active state indicates a temporary pause In a homing sequence decelerating to a stop The state of the input is continuously monitored to determine if the motion should be stopped or if i
32. M 27 Axis Not Homed pM Start Homing V 28 Encoder Data Range Fault om M Stop Homing f 30 Encoder Cable Open Fault ie Ads Homed V 31 Encoder Data Parameter Fault Indexing i V 36 Drive Overtemperature Fault M In Dwell u A 37 AC Line Loss Fault M In Motion M 53 User Parameter Initialization Fault M Pause M 54 Curent Feedback Offset Fault M Start M 55 User Parameter Checksum Fault M Stop M 56 Watchdog Timeout Fault V End of Sequence M 57 PWM Hardware Fault M Index Select 0 Input M 58 User Parameter Range Fault M Index Select 1 Input M 60 Drive Initialization Fault M Index Select 2 Input M 75 Shunt Overload Protection Fault V Index Select 3 Input oo 79 Shunt Overcurrent Protection Fault M Index Select 4 Input M 83 Absolute Encoder Battery Fault M Index Select 5 Input i V 84 Absolute Encoder Overspeed M Index Select 0 Output i V 85 Absolute Encoder Multitum Count Fault M Index Select 1 Output M 100 Drive Set Up Fault M Index Select 2 Output 101 Motor Power Cable Open Fault Index Select 3 Output A 102 Motor Instantaneous Current Overload Faut Index Select 4 Output M 103 Motor Mismatch Fault i M Index Select 5 Output M 105 Encoder Type Mismatch Fault M 106 Encoder Communication Fault fev V 106 Encoder Communication Fault be T bd Cancel Cancel 216 Use this window to a
33. Monitoring Your Ultra5000 Drive 196 Ultra5000 Status 199 Understanding the Programs Branch 205 Understanding the Archives Branch 205 Rockwell Automation Publication 2098 UM001G EN P February 2011 137 Chapter4 Configuring the Ultra5000 Drive Topic Page Understanding the Files Branch 206 Understanding the Global Variables Branch 206 Understanding the Faults Window 210 Understanding the Service Information Window 217 Co nfiguring the Ultra5000 Every Ultra5000 drive in the Workspace window has these child items or branches Drive e Motion e Jog e Move e Cam e Gear e Motor e Tuning e Encoders e Digital Inputs e Digital Outputs e Analog Inputs e Analog Outputs e Oscilloscope e Monitor e Programs e Archives e Global Variables e Faults e Service Information An Ultra5000 drive with a DeviceNet interface has these additional child item or branch in the Workspace window e DeviceNet Except for the Motion Monitor Programs Archives and Global Variable items all of a drive s child branches can and must be configured in a Properties window 138 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Configuring Properties for the Ultra5000 Drive To configure the properties for an Ultra5000 drive s child branches 1 In the Workspace window click the drive branch to configure 2 Do one of these e Click Properties from the Edit menu
34. Rockwell Automation Publication 2098 UM001G EN P February 2011 327 Chapter6 Creating and Running Programs Ultra3000 Direct Commands Ultra3000 Drive Branch Direct Commands Drive Clear Faults Reset Drive Reset EEPROM to Factory Settings Velocity Control Panel containing Set to Zero Enable Drive Disable Drive Clear Faults Velocity Command Acceleration Current Control Panel containing Set to Zero Enable Drive Disable Drive Clear Faults Current Command Indexing Control Panel containing start Index Start Homing stop Homing Enable Drive Disable Drive Clear Faults Define Home Index Number Analog Remove Velocity Input Offset Remove Current Input Offset Remove Position Input Offset Analog Command In Motor Commutation Diagnostics Motor Feedback Diagnostics Motor Marker Diagnostics Refresh Data all containing start Test Stop Test Tuning Autotuning Manual Velocity Tuning Manual Position Tuning all containing start Autotune Tuning stop Autotune Tuning Clear Faults Encoders Commutation Diagnostics Motor Feedback Diagnostics Motor Marker Diagnostics Auxiliary Feedback Diagnostics Auxiliary Motor Marker Diagnostics 328 Rockwell Automation Publication 2098 UM001G EN P February 2011 Ultra3000 Drive Branch Digital Outputs Analog Outputs Monitor Oscilloscope Faults Ultra5000 Direct Commands Ultra5000 Drive Branch Drive Jog Move Cam Gear Motor Tuning Digi
35. Saving an Ultraware File To save all changes made to a drive or a project perform these steps 1 Choose one of these options e Click Save in the File menu e Click the Save icon in the File toolbar e Press the Ctrl S keys 2 Click Save As in the File menu to open the Save As dialog box jave As Save itr E Inventory Es 22 uw 3000 Save az type Ultraware Database udb Cancel 3 Type or click a file name in the Save As dialog box Navigate to the location where the new Ultraware file should be stored 5 Click Save TIP Save As saves the entire Ultraware database udb file to a new name Rockwell Automation Publication 2098 UM001G EN P February 2011 27 Chapter2 Common Commands for Ultra Drive Configuration Creating a New Drive Importing and Exporting a Drive 28 With an Ultraware file open in the Workspace window you can add a new offline Ultra3000 Ultra5000 or Kinetix 3 drive To add a new drive perform these steps e Click Ultral500 Ultra3000 Ultra5000 or Kinetix 3 in the Insert Menu e Right click the Ultraware file and then click the drive type Kinetix 3 Ultra1500 Ultra3000 Ultra5000 A new drive appears in the Workspace window The name of the new drive is Drive or if Drive already exists Drive where z is the lowest positive integer that creates a unique drive name for the specific drive model For example two 2098 DSD 005 drives may be named Drive and Dri
36. Stop Velocity Tuning Start Position Tuning Stop Position Tuning Autotuning Description Drives the motor with a square or step wave The shape of the wave is determined by the commanded Step Size velocity in pulses per second and the selected Tuning Direction stops velocity tuning Drives the motor with a square or step wave The shape of the wave is determined by the commanded Step Size position in pulses and the selected Tuning Direction Stops position tuning Opens the autotuning window Customize the Tuning window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 171 Chapter4 Configuring the Ultra5000 Drive Autotuning Window Use the Autotuning window to e configure autotuning parameters e start autotuning for an online drive and monitor autotuning status To access the Autotuning window do one of these e Click Autotuning from the Commands menu e Right click the Tuning icon and then click Commands and Autotuning from the pop up menu e Right click the Tuning icon and then c
37. User specified velocity level exceeded Absolute positioning attempted without homing Connection to an improperly programmed or incompatible smart encoder An attempt to load a SERCOS blob for a motor that is not supported by the drive Encoder output frequency exceeds the maximum user specified value This applies only when the encoder output is synthesized by the drive Communication was not established with an intelligent encoder e Reduce acceleration rates e Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion Check system tuning Use larger Ultra3000 and motor Verify ambient temperature is not too high Operate within the continuous power rating Increase Motion Time Or program dwell periods Increase Velocity Error Fault Limit or Velocity Error Fault Time value or both Reduce Acceleration Retune the drive Assign a sensor to a digital input Increase User Velocity Fault Level and Time to a less restrictive setting Define the Home position Use a different motor Load a different SERCOS motor blob Increase the encoder output maximum frequency parameter Decrease the encoder interpolation parameter Increase the encoder output divider parameter Reduce motor speed Verify motor selection Verify motor encoder wiring Replace the motor encoder Status 32 Excessive Interpolated Feedback Frequency 33 Absolute P
38. around the commanded position where integral gain is active If the position error is greater than Ki Zone the integrator is reset The range is 0 32 67 counts Proportional gain for the velocity loop The P gain generates a control signal proportional to the velocity error The range Is 0 4000 Note Increasing the P gain improves response time and Increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop The gain generates a control signal proportional to the integral of the velocity error The range is 0 4000 Note gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Derivative gain value for the velocity loop The D gain generates a control signal proportional to measured acceleration The range is is 1000 1000 Note Positive D gain reduces velocity overshoot and negative D gain should be used only in systems that exhibit mechanical resonance The following display is the default status for a Kinetix 3 drive in Rockwell Automation Publication 2098 UM001G EN P February 2011 261 Chapter5 Configuring the Kinetix 3 Drive The following display is the default status for a Kinetix 3 drive in the Manual Position
39. dimmed if no commands are associated with the selected drive branch setup Opens the Monitor Setup window where you can customize the Status display Refer to Understanding the Monitor Window on page 275 for more information about using the Monitor window Rockwell Automation Publication 2098 UM001G EN P February 2011 223 Chapter5 Configuring the Kinetix 3 Drive Section Description Revert Returns parameter settings to the values they had when you first opened this window Close Closes the window Help Click Help to get online help for this window The remainder of this chapter describes the process of entering and editing drive configuration settings the status that are displayed by default for each drive branch when the drive is online and the commands available to a user for each drive branch when the drive is online 224 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understandi Ing the Kinetix 3 L Properties window for the Kinetix 3 Drive branch looks like this UW_K3 Drive Branch EEEE EAEE AEE Parameter O eme AC Line Loss Ches Enable Atte Motoriden Ensbled Motor Mode Deteult Morr Normal Metric Follower None Velocity Limits o Velocity Limit Mode Disses OOO Manual Velocity limit o0 fem i Acceleration Limits OZ Deseterstion ate sCuweTime bp E Driv
40. e Kp See Kp Gain description in the Main Position Regulator Gains section above e Low Pass Bandwidth Reg See Low Pass Filter Bandwidth description in the Main Current Regulator Gains section above 3rd Regulator Gains The drive uses these tuning values when the Alternate Gain Select acon is assigned to an input and that input Is active e P See the P Gain description in the Main Velocity Regulator Gains section above e Integrator Time See Integrator Time description in the Main Velocity Regulator Gains section above e Low Pass Bandwidth VReg See Low Pass Filter Bandwidth description in the Main Velocity Regulator Gains section above e Kp See Kp Gain description in the Main Position Regulator Gains section above e Low Pass Bandwidth IReg See Low Pass Filter Bandwidth description in the Main Current Regulator Gains section above Ath Regulator Gains The drive uses these tuning values when the Alternate Gain Select function is assigned to an input and that input is active e P See the P Gain description in the Main Velocity Regulator Gains section above e Integrator Time See Integrator Time description in the Main Velocity Regulator Gains section above e Low Pass Bandwidth VReg See Low Pass Filter Bandwidth description in the Main Velocity Regulator Gains section above e Kp See Kp Gain description in the Main Position Regulator Gains section above e Low Pass Bandwidth Reg See Low Pass Filter Bandw
41. or status to the selected channel 1 Be sure no check marks appear next to any input signal or status 2 Click OK The word Unassigned appears in the selected Channel in the Oscilloscope window Rockwell Automation Publication 2098 UM001G EN P February 2011 111 Chapter3 Configuring the Ultra3000 Drive Understandi ng Ultra3000 The Properties window for DeviceNet looks like this with DeviceNet Fa UW _ 3000 DeviceNet Parameter Value O O O Data Rate 125 kps Units pax Assembly Instance 10 a a e 10 CA Erse Beheer Hewes Romea O C Uressines WleFaukAclin Fai TeroOse Comm Fat aon Fai ZeroDae Fated Loge Commend messed saus vave Software Input Preset Select 0 tine Ho move C Preset Select 0 rial a ex C ming ti ing 5 J Show Status Show Commands Setup l i Revert Close Help Use the DeviceNet window to e configure a Ultra3000 drive with the Node Address PGM and e define message formats to transmit and receive 112 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The DeviceNet window has these parameters and statuses Parameter Node Address Data Rate I O Receive Select Poll Transmit Select COS Cyclic Transmit Select Description Node address used for DeviceNet communication This value is used only if the rotary switch on the front panel is config
42. replace the text described in the Find What field Match Case The characters in the text to be found must match the case upper or lower of the characters in the Find What field Regular expression Permits searches using expressions made with Wildcard Search Characters on page 316 Wrap around search Continues the search beyond the end Direction Down or beginning Direction Up of the file back to the cursor Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Control Continued Description Direction The search direction beginning at the cursor Select Up to search backward toward the top of the file Down to search forward toward the bottom of the file Find Next Finds the next occurrence of the selected text in the specified Direction Displays a message box If the selected text is not found Replace Replaces the highlighted text in the header file with the text in the Replace With field then finds and highlights the next text string that equals the text in the Find What field Replace All Replaces each occurrence of the text in the Replace With field with the text in the Find What field Select All Use this command to select all the text in a header h file The Select All command is enabled only if a header file is selected in the Client Area To execute the Select All command Select a header file in the Client Area and t
43. you can monitor status and execute direct commands executed through the Ultraware interface rather than through a compiled loaded and executed program only for a Move branch that is the child of an online drive The following parameters can be entered and edited in the Move window Parameter Description Profile Distance The distance in counts that the motor is to move Velocity The commanded motor velocity in counts per second Acceleration The acceleration rate used when ramping up to the move s Velocity in counts per second squared Must be gt 0 Deceleration The deceleration rate used when ramping down from the move s Velocity to zero in counts per second squared Must be gt 0 Rockwell Automation Publication 2098 UM001G EN P February 2011 149 Chapter4 Configuring the Ultra5000 Drive The following display is the default status for a Move branch of an online drive Status Description state Describes the relation between the move s Program and Current Velocity as follows e Idle No move is in progress e Profiling The move is in progress e Calculating Preparing to move according to a corrected move command e Correcting Corrected move is in progress Floating Zero In the event that the Current Position value is changed by the execution of a program exe file the value of this field changes so that the sum of Floating Zero and Current Position remains unchanged Current Position The position i
44. 1 flag should be set Note Displayed if Posn Compare 1 Type is set to Within Window or Outside Window Posn Compare 1 Polarity The type of comparison that determines if the Posn Compare 1 flag should be set Either e Greater Than the flag is set if the motor feedback position is greater than the Posn Compare 2 value e Less Than the flag is set if the motor feedback position is less than the Posn Compare 2 value Note Replaced with Posn Compare 1 Type starting with firmware revision 1 29 Posn Compare 2 Type The type of comparison that will determine if the Posn Compare 2 flag should be set Either e Greater Than the flag will be set if the motor feedback position is greater than the Posn Compare 2 value e Less Than the flag will be set if the motor feedback position is less than the Posn Compare 2 value e Within Window the flag will be set if the motor feedback position is greater than Posn Compare 2 Min and less than Posn Compare 2 Max e Qutside Window the flag will be set if the motor feedback position is less than Posn Compare 2 Min or more than Posn Compare 2 Max Note This parameter is supported in firmware revision 1 29 and higher Posn Compare 2 Enter the position in counts that is compared to the motor feedback position to determine if the Posn Compare 2 flag should be set 46 Rockwell Automation Publication 2098 UM001G EN P February 2011 Parameter Posn Compare 2 Min Posn Compare 2 Max Posn
45. Analog Outputs Monitor Oscilloscope A Faults BY Service Info Ey Uw_5000 2 Motion Motor j Tuning Toolbars Motion Library dialog Workspace window Properties windows Ultra3000 Ultra5000 i J Digital Inputs 9 Digital Outputs i Analog Inputs Analog Qutputs Oscilloscope ial Programs mi Archives jj Files HH Global Variables Client area Fats A Service Info Output window Status bar p File Edit Yiew Insert Program Tools Commands Window Help E pionerene a rane oa somers ec e rahe Modes Limits Speed Functions Position Functions H Display Precision Motor Encoder Units E Auxiliary Encoder Units fa sae vawe os Bret G r nrt S O wose inspection S ese peson L O room 9 Ze Bus Power Beve ec in Source c E uwa F Uw 5000 Current Control Panel Indexing Control Panel Reset Drive Reset EEPROM to Factory Settings Bh Off line Drives Project Source c finclude lt motion h gt Include the Add definitions and variable declarations he g Ee ime UW_5000 Digtal WO Type Sourcing E Position Limits Deceleration Rete E Max Decel Distance E Soft Limits Enable Hard Limits Enable Motor Limits Enable Positive Soft Limit E Negative Soft Limit Positive Hard Limit Unassign Unassign e O e g O e O e O ree O Peo Ne M Show Status M Show Commands R
46. Automatic Disable Velocity controller is Automatically changed from PI Controller to P Controller Derivative gain value for the velocity loop The D gain generates a control signal proportional to the derivative of the velocity error The range is 0 1000 Note D gain reduces velocity overshoot The velocity loop s low pass filter bandwidth This value indicates the cutoff frequency of the pass filter that is applied to the velocity command input to the regulator The range is 0 10 000 Hz Note If this value is set to 0 the low pass filter is disabled This value indicates the cutoff frequency of the pass filter that is applied to the velocity differential error to the regulator The range is 0 2 500 Hz The default is 30 Hz 254 Rockwell Automation Publication 2098 UM001G EN P February 2011 Parameter Configuring the Kinetix 3 Drive Chapter 5 Description Main Position Regulator Gains Kp Kff Kvff Low Pass Filter Bandwidth High Error Output Offset High Error Output Threshold Proportional gain for the position loop The Kp gain generates a control signal proportional to the position error The range is 0 700 Note Increasing the Kp gain improves response time and increases the stiffness of the system Too high a Kp gain value causes instability too low a Kp gain value results in loose or sloppy system dynamics Feedforward gain for the position loop The Kff gain generates a feed forward
47. Can cause position overshoot 78 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Description Low Pass Filter Enable Enable or disable the drive s low pass filter Selections are e Enabled e Disabled Bandwidth The connected drive s low pass filter s bandwidth This value indicates the cutoff frequency of the low pass filter It has a range of 1 992 Hz Note This filter reduces noise generated by encoder resolution or mechanical resonance in the system The status is displayed by default for the Tuning branch of an online drive Velocity Loop Velocity Motor Feedback Actual motor velocity Velocity Error The difference between commanded motor velocity Velocity Command and actual motor velocity Velocity Motor Feedback Velocity Command The commanded motor velocity Position Loop Position Motor Feedback Actual motor position Position Error Peak The positive peak Position Error Position Error Peak The negative peak Position Error Position Error The difference between commanded motor position Position Command and actual motor position Position Feedback Position Command The commanded motor position Current Loop Current Feedback The actual current in the motor producing torque in a rotary motor or force in a linear motor Current U Phase The current through the U Phase of the mot
48. Compare 2 Polarity Display Precision Velocity Precision Position Precision Acceleration Precision Current Precision Motor Encoder Units Velocity Label Velocity Scale Position Label Position Scale Acceleration Label Acceleration Scale Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Description Enter the minimum position in counts that will be compared to the motor feedback position to determine if the Posn Compare 2 flag should be set Note Displayed if Posn Compare 2 Type is set to Within Window or Outside Window Enter the maximum position in counts that will be compared to the motor feedback position to determine if the Posn Compare 2 flag should be set Note Displayed if Posn Compare 2 Type is set to Within Window or Outside Window specify the type of comparison that determines if the Posn Compare 2 flag should be set Either e Greater Than the flag is set if the motor feedback position is greater than the Posn Compare 2 value e Less Than the flag is set if the motor feedback position Is less than the Posn Compare 2 value Note Replaced with Posn Compare 1 Type starting with firmware revision 1 29 The number of characters displayed to the right of the decimal point for velocity values The number of characters displayed to the right of the decimal point for position values The number of characters displayed to the r
49. Configuring the Ultra3000 Drive Velocity Control Panel Window The Properties window for the Velocity Control Panel looks like this UW_3000 Velocity Control Panel 51x Velocity Command 0 Acceleration 13 Revs s 2 Setup Revert Close Help Use the Velocity Control Panel window to directly set the drive s velocity in a temporary velocity mode Opening the Velocity Control Panel will stop any motion commands originating from the drive s normal operation mode set in the Kinetix 3 Drive window operation mode The motor will move in response to Velocity Control ATTENTION The Velocity Control Panel commands override the normal AN Panel commands The Jog Forward and Jog Reverse commands of the Velocity Control Panel are not changed by the Command Polarity selection in the Kinetix 3 Drive Window They always behave as though the Command Polarity were set to Normal The Velocity Control Panel has these parameters status and direct commands Parameter Description Velocity Command The speed at which the motor will turn when the Jog Forward or Jog Reverse command executes provided that the drive is online and enabled The range is 0 6000 rpm for rotary motors 0 6000 millimeters per second for linear motors The default is 50 Acceleration Displays the maximum rate of acceleration or deceleration the drive uses to ramp up or down to the commanded velocity when velocity chan
50. Current Command The current in Amperes that is sent to the motor when the Current Mode command executes provided that the drive is online and enabled 52 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The status can be displayed from the Current Control Panel window of an online drive Status Description Drive Enabled ON indicates that the power stage of the drive is enabled For the power stage to be enabled e the drive cannot have any faults and e any digital inputs configured as a Drive Enabled must be active and e the drive must be set to Enabled in the Commands menu Note The Drive Enabled status has a value of 1 when ON and 0 when OFF Velocity Motor Feedback The actual motor velocity Current Feedback The actual motor current These commands can be executed from a Current Control Panel window of an online drive Command Set to Zero Enable Drive Disable Drive Clear Faults TIP Description sets the Current Command to zero Enables the power stage of a drive Disables the power stage of a drive Resets all drive faults Closing the window returns the drive to its normal operating mode but the software is disabled To make the drive operational click the drive and then the Enable command as instructed in the Windows message Customize the Current Control Panel window for your Ultra3000 Drive by selecting one or mor
51. Current Limit Refer to Understanding the Ultra3000 Drive Branch on page 41 Current Peak Refer to Understanding the Tuning Window on page 77 Tisiniy Window on wane 77 age Current Peak Refer to Understanding the Tuning Window on page 77 Timing Window on tare 77 on page 77 Pos Current Limit Refer to Understanding the Ultra3000 Drive Branch on Drive Branch on page 41 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 SERCOS Drive Status Description Non SERCOS Continued Drive Motor Output Position Strobe Refer to Understanding the Digital Inputs Window on page 95 Tracking Refer to Understanding the Digital Outputs Window on Monitor page 99 Motor Input Position Motor Refer to Understanding the X X Feedback Encoders Window on page 86 Encoder Refer to Understanding the Temperature e aaa a Window on page 86 A Refer to Understanding the EP ANA Window on page 86 B Refer to Understanding the FE TA Window on page 86 Z Refer to Understanding the e Window on page 86 Negative ON indicates that the Overtravel Negative Soft Limit as defined in Understanding the Ultra3000 Drive Branch on Page 3 45 is being exceeded Positive Overtravel ON indicates that the Positive soft Limit as defined in Understanding the Ultra3000 Drive Branch on Page 3 45 Is being exceeded S1 Refer to Understanding the a ee Window on page 86 S
52. Decel Distance The stopping distance when the drive encounters a positive overtravel limit The range is 0 2 147 483 647 counts The default is 0 Negative Decel Distance The stopping distance when the drive encounters a negative overtravel limit The range is 0 2 147 483 647 counts The default is 0 aoc available Speed Functions e Speed Window If the Within Speed Window signal is assigned to a digital output and the speed error is within this value the assigned output is turned ON The range is 0 1000 rpm millimeters per second for linear motors The default is 10 Up to Speed Up to Speed signal is assigned to a digital output and the motor speed Is higher than this speed the assigned output is turned ON The range is 1 5000 rpm millimeters per second for linear motors The default is 20 Zero Clamp An Analog Speed Command less than the Zero Clamp speed is ignored and the commanded motor speed is set to 0 zero rpm The range is 0 5000rpm millimeters per second for linear motors The default is 0 Sets available Position Functions In Position Size If the In Position signal is assigned to a digital output and the position error is within this value the assigned output is turned ON The range is 0 2500 counts The default is 10 Near Position Size If the Near Position signal is assigned to a digital output and the position error is within this value the assigned output is turned ON The range
53. Drive Switching the SERCOS Interface A SERCOS interface to the Ultra3000 may be activated and deactivated through Ultraware software When the SERCOS interface is active Ultraware software shows the drive as aSERCOS drive with a limited set of subtopics An active SERCOS interface requires primary control and communication with the drive be assigned to the SERCOS controller However Ultraware software permits you to deactivate the SERCOS interface If you deactivate the SERCOS interface Ultraware software recognizes the drive with full communication and control capabilities including reactivating SERCOS control and communication To Deactivate the SERCOS Interface 1 Right click the SERCOS drive icon Pci and then click Deactivate Sercos from the pop up menu 2 Click OK to reset the drive as non SERCOS drive 3 Wait several seconds for the software to scan and recognize the drive When the SERCOS interface is deactivated the drive may be configured through Ultraware software Reactivating the SERCOS interface passes control of the drive from Ultraware software to the SERCOS controller To Activate the SERCOS Interface 1 Right click the drive icon Hg and then click Sercos Activation 2 Click OK to reset drive as a SERCOS drive 3 Verify the drive icon changes to a SERCOS drive When the SERCOS interface is activated the drive is controlled by the SERCOS controller and Ultraware software maps the drive with the SERCOS dr
54. Drive temperature too e Check for clogged high vents or a defective fan e Ensure cooling is not restricted by insufficient space around the drive Drive has a bad IPM e Verify ambient output short circuit or temperature is not too overcurrent high e Operate within the continuous power rating e Reduce acceleration rates e Remove all power and motors connections then perform a continuity check from the DC bus to the U V and W motor terminals If continuity exists check for wire fibers between terminals or send drive in for repair 290 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Status Possible Cause Suggested Action E 009 E UdutG Bus Undervoltage Low AC line AC power input Attempted to enable drive without main power active E 010 E ouutG Bus Overvoltage Excessive regeneration of power When the motor is driven by an external mechanical force it may regenerate too much peak energy through the drive s power supply and the drive faults to save Itself from an overload Excessive AC input voltage E 012 E HFAIL Home Search Failed Homing is not complete until the time defined in Homing time limit IN 01 11 is elapsed E 018 E ouSPd Motor Overspeed Motor speed exceeds maximum E 019 E PoSEr Excess Position Error Position error exceeds permitted value Rockwell Automation Publication 2098 UM001G EN P Februa
55. E E E w E E 2 x E x R kaika Use the Faults window to e Set fault limits e Monitor fault statuses e Execute the Clear Faults command e Open a window where you can review the drive s fault history Enable or disable user faults 126 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The Faults window has these parameters status and commands associated with It Parameter User Current Fault User Velocity Fault User Velocity Fault Enable Velocity Error Fault Limit Velocity Error Fault Time Following Error Limit Following Error Time Description The level in amperes that generates a fault when exceeded by the average current level The drive automatically protects itself and the motor from average currents that exceed their ratings and this protection cannot be disabled This value is only needed if a lower average current fault is desired For example if another part of a machine would overheat It has a range of 0 256A Note Not available for a SERCOS drive The minimum velocity that causes the User Velocity fault The drive automatically protects the motor from exceeding its ratings and this protection cannot be disabled This value is only needed if a lower velocity fault is desired For example if another part of a machine could be damaged Note Not available for a SERCOS drive Enable or disable User Veloci
56. February 2011 197 Chapter4 Configuring the Ultra5000 Drive 3 The Monitor window now displays all the selected statuses fq UW _3000 Monitor a m a E m E E T l m T m a m _ a m T a Decnal oy 198 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Ultra5000 Status The following Ultra5000 drive status and position loop settings can be displayed in the Monitor window as shown below Status UW_5000 Drive Enabled Fault Jog State Mode Current Position Current Velocity Current Acceleration Move State Floating Zero Current Position Current Velocity Current Acceleration Current Jerk Cam State Cycle Count Input Position Input Velocity Current Position Current Velocity Current Accel Index Offset File Name File Loaded Mode Count Order Length Offset Gear Gear Enabled Offset Rockwell Automation Publication 2098 UM001G EN P February 2011 199 Chapter4 Configuring the Ultra5000 Drive Status Current Position Current Velocity Current Acceleration Slew State Current Gear Ratio General Motor Flag Motor Type Torque Constant Inertia Poles Revolution Integral Limits Electrical Rated Voltage Resistance Inductance Flux Saturation 1 Flux Saturation 2 Flux Saturation 3 Flux Saturation 4 Flux Saturation 5 Flux Saturation 6 Flux Saturation 7 Flux Saturation 8 Rating
57. Global Variables container The Global Variables container has no parameters or statuses Except for the Insert Variable and Paste commands no other commands are associated with the Global Variables container 206 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Creating a new Global Variable To create a new Global Variable perform these steps 1 Click the Global Variables branch for an Ultra5000 drive in the Workspace window 2 Click Variable in the Insert menu or place the cursor on the Global Variables branch and right click Insert Variable from the pop up menu The New Variable dialog box opens New Yarable x Mame Type i Integer i Float Number of Elements fo Cancel 3 Enter this information in the New Variable dialog box Property Description Name Type the variable or array name Type The variable type e Long Int e Float Number of Elements Type an integer from 1 to 200 The total number of elements from all global variables cannot exceed 8191 IMPORTANT Ultraware software automatically assigns each global variable an instance number When viewed online the read only field Array Instance N appears at the top of a global variable s properties window This instance number must be used to access and use a global variable from a user created program The instance number can change when a global variable is copied or moved to a
58. Its The Properties window for the Faults branch looks like this Wi n d OW UW S000 Faults fT Disabled 1000 agod 100 Status Value _ Units a ee ee ee ee a ee ee ee ee eS ee ee ee eS ee ee ee a a m La a Lo E H m M _ i m E E a H E m5 Use the Faults window to e set fault limits e monitor fault statuses e execute the Clear Faults command e open a window where you can review the drive s fault history and e Enable and Disable user faults The Faults window has these parameters status and commands 210 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive The following parameters can be entered and edited in the Faults window Parameter User Current Fault User Current Fault Enable User Velocity Fault User Velocity Fault Enable Velocity Error Limit Velocity Error Time Following Error Limit Following Error Time Description The level in amperes that generates a fault when exceeded by the average current level The drive always protects Itself and the motor from average currents that exceed their ratings This value is needed only if a lower average current fault is desired For example if another part of a machine would overheat The status of the User Current Fault detection e Enabled turns on User Current Fault detection by the drive or e Disabled turns off User Current Fault detection by the drive
59. Line branch of the Workspace window Rockwell Automation Publication 2098 UM001G EN P February 2011 Common Commands for Ultra Drive Configuration Chapter 2 Creati ng Open i ng and An Ultraware file is a container that can hold any number or combination of Savin g Ultraware Files offline Ultra3000 and Ultra5000 drives projects and their children An Ultraware file is distinguished by its extension of udb Creating a New Ultraware File To create a new Ultraware DataBase udb file perform these steps 1 Open an Ultraware file using one of these options e Click New in the File menu e Click the New icon in the File toolbar e Press the Ctrl N keys IMPORTANT fan Ultraware file is already open a Save Changes window opens and requires a response before the request to open a new file executes Choose one of these commands e Yes Saves the open file under the filename in the designated location Saves the open file under the filename in the designated location e No Discards the changes to the open file e Cancel Aborts the new Ultraware file leaving the previous file open 2 Anew Ultraware file titled Unsaved appears in the Workspace under On Line Drives Fa Ultraware Workspace File Edit Yiew Insert Program Tools Commands Window Help Pde On Line Drives i J Unsaved DE S Ss NUM z 3 The Ultraware file can be populated with drives as described in Creating a New Drive on page 28
60. Mechanically disengage motor from system e Cycle power to drive and reset alarm e Cycle power to drive and reset alarm e Defective encoder e Replace motor Change the operating mode the motor selection or both and then reset the drive Verify power connection between motor and drive Verity motor wiring Confirm motor selection Verify phase currents Install a different motor Verify motor selection Replace motor e Verify serial cable e Check for noise on serial interface Configuring the Kinetix 3 Drive Chapter 5 Status E 108 E CdFrE E 112 EEStor E 11e E lrAnG E 114 E ouCUr Position Command Frequency Error Emergency Stop Indexing Position Range Overflow Motor Phase Over Current Input frequency limit exceeded Emergency stop E STOP signal detected The value of a Position Parameter for indexing is out of the range Problem with control or main power circuitry if this error occurs when power is turned on Excessive current to the motor if this error occurs during operation current more than 300 of the rated current to the motor more than 10 ms The Faults window has these commands Command Fault History Clear Faults Fault Detail Save Parameters Description Possible Cause Suggested Action e Verify hardware type selected in the drive matches the physical hardware e Change from open collector to line drive e Reduce the
61. Moving Mass Poles Revolution Electrical Cycle The model name for the motor being used by the drive If Auto Motor Iden is enabled this displays the motor model obtained from the motor Either e Automatic indicates the drive automatically determines the motor settings by communicating with the encoder e Standard indicates a motor whose status settings come preconfigured by Ultraware software e Custom indicates a user configured motor that was added to the Motor Model list above using the utility that ships with Ultraware software The type of motor selected e Linear e Rotary Only for rotary motors The sinusoidal force constant in Newton meters Ampere N m A Only for linear motors The sinusoidal force constant in Newtons Ampere N A Rotor inertia in Kilogram centimeter squared kg cm Only for linear motors Rotor mass in Kilograms kg Only for linear motors The moving mass of the motor and load combined in Kilograms kg The number of motor poles per revolution Only for linear motors The distance between motor poles or Magnet Pitch 2 in meters 74 Rockwell Automation Publication 2098 UM001G EN P February 2011 Status Integral Limits Gear Box Electrical Rated Voltage Resistance Inductance Flux Saturation at 1 8 1 4 3 8 1 2 5 8 3 4 7 8 and 8 8 100 of the motor peak current Ratings Maximum Speed Intermittent Current Continuous Curren
62. Pause Indexing A transition to an active input state causes the to Initiate the indexing pause routine Index Select 0 Input Used in combination to assign index see the explanation in Tip preceding this table Index Select 1 Input Index Select 2 Input Index Select 3 Input Index Select 4 Input Index Select 5 Input e Stop Homing A transition to an active input state causes the to initiate the homing routine start Indexing A transition to an active input state begins an indexing move Gain Bank Select An active state causes the drive to use the 2nd and 4th Alternate Gain Values instead of the 1st and 3rd Main Gain values Note The Input value displays Not Assigned if there is nothing selected Multiple if there are multiple functions selected or the name of the function if only one Is selected The following display is the default status for a Kinetix 3 drive in the Digital Inputs window Status Description Input 1 8 State The current state or condition of each digital input is depicted by a light bulb icon as follows e ON a bright light bulb e OFF a darkened light bulb No commands are associated with the Digital Inputs window Customize the Digital Inputs window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup Window on page 276 where you can customize the status display for
63. Position Refer to Understanding the X X X X Command Tuning Window on page 77 Position Error Refer to Understanding the Tuning Window on page 77 PENETAN on page 77 Position Motor Refer to Understanding the Feedback Tuning Window on page 77 AE A on page 77 Position Auxiliary Refer to Understanding the Position ee ee Window on page 86 In Position Refer to Understanding the Ultra3000 Drive Branch on Drive Branch on page 41 In Position Window Refer to Understanding the Ultra3000 Drive Branch on page 41 Position Error Refer to Understanding the Peak Tuning Window on page 77 Tunina Window on Dade 77 on page 77 Position Error Refer to Understanding the Peak Tuning Window on page 77 uana indoen page ay on page 77 Position Compare 1 Refer to Understanding the Digital Digital Outputs Window on Window on page 99 Position Compare 2 Refer to Understanding the Digital Outputs Window on page 99 Negative Refer to Understanding the Overtravel Input Digital Inputs Window on page 99 Position Signals Positive Overtravel Refer to Understanding the Input Digital Inputs Window on page 95 Negative ON indicates that the Overtravel Negative Soft Limit as defined in Understanding the Ultra3000 Drive Branch on page 45 is being exceeded Positive Overtravel ON indicates that the Positive X X Soft Limit as defined in Understanding the Ultra3000 Drive Branch on Page 3 45 Is being exceeded Rockwell Automat
64. Print About Locate Edit Cut Copy Paste Erase Find Find Next Undo Redo Toggle Bookmark Next Bookmark Previous Bookmark Clear All Bookmarks Program Build Run Stop Kill Enable Enable Disable All Use the Toolbars command in the View menu to open the Toolbars dialog box and enable or disable existing toolbars and create new toolbars Use the Customize command in either the Toolbars dialog box or the Tools menu to open the Customize dialog box where you can e addacommand icon to a toolbar by dragging it from the Command tab and dropping it on the desired toolbar e delete a command icon from a toolbar by dragging it from a toolbar and dropping it off the toolbar Status Bar To display the Status bar use the View menu Status Bar command The status bar contains e Tooltip help a description of the menu or button command immediately beneath the pointer e indicators for caps lock CAP num lock NUM and scroll lock SCRL row and column reference for the cursor if a source file or header file has focus in the Text Editor When the status bar is visible a check mark appears to the left of the Status Bar command in the View menu Motion Library Dialog The Ultraware Motion Library dialog lets you to quickly find and insert specific motion library commands and C statements in a motion program The Motion Library is displayed when a source or header file is open and is hidden when source and he
65. Reverse Jog Enable Description Moves the motor at the Velocity Command level in the forward direction increasing encoder count Moves the motor at the Velocity Command level in the reverse direction decreasing encoder count Brings the motor to a stop using the Program Deceleration rate TIP Closing the window returns the drive to its normal operating mode but with the software disabled Select the drive and then execute an Enable command as Instructed in the Windows message to make the drive operational Customize the Velocity Control Panel window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Commands to display or hide the Commands pane e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 235 Chapter 5 236 Configuring the Kinetix 3 Drive Using the Setup Wizard The Kinetix 3 Setup Wizard helps you to perform the minimal configuration necessary on a new Kinetix 3 drive Perform these steps to open and run the Setup Wizard l1 Zs In the Workspace window click an online Kinetix 3 drive Do one of these steps to access the Setup Wizard e Click Setup Wizard in the Commands menu e Right click Commands and Setup Wizard from the pop up menus e Connect to an online Kinetix 3 drive to receive a prompt to run the Setup Wizard The prompt can be disable
66. Rockwell Automation Publication 2098 UM001G EN P February 2011 Before You Begin Chapter 1 Output Window The Output window is by default beneath the Workspace window above the Status Bar The Output window is visible when the View menu s Output command is active denoted by a check mark it is hidden when the Output command is not active The Output window is also visible when you execute the Program menu s Build command The Output window describes the progress of the current or most recent Build command If a Build succeeds the Output window displays the message Build completed successfully Ifa Build fails the Output window displays the message Build failed along with an fault message describing the cause of the failure Ultraware software removes any pre existing executable program exe file bearing the project name if a Build fails When a Build fails double click the Output window fault message with the this format lt Filename gt lt Line number gt lt fault or warning message gt This will open the associated source or header file and position the cursor at the line referenced by the fault or warning message You can resize and move the Output window in several ways e In its default state attached to the interface you can double click the title bar to detach the Output window from the interface e Once detached the Output window possesses all the properties of any window It can be resized or moved ent
67. Signal sets the drive signal assigned to the output Click the down arrow to the right of this input box to open the Channel Setup dialog scale The output scale in units per volt It is dependent on the signal selected The following commands can be executed on an online drive using the Analog Outputs window Command Description save Parameters saves the current working values as power up values in flash memory for the selected On Line drive and all of its children Customize the Analog Outputs window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Revert to return parameter settings to the values they held when you opened this window 274 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understandi ng the Monitor The Properties window for the Monitor looks like this Wi n d OW T UW_K3 Monitor 5 x 5 x Setup Close Help UW_K3 Mo The Monitor tool lets you display any combination of drive status settings for an online Kinetix 3 drive The Monitor tool is similar to the status pane of the branch Properties window Use this window to e View acollection of statuses e Open the Monitor Setup window where you can set the drive status to display in this window e Load a monitor previously saved e Save a monitor for later use This w
68. Status Description General Motor Flag Either e Automatic indicates the drive automatically determines the motor settings by communicating with the encoder e Standard indicates a motor whose status settings come preconfigured e Custom indicates a user configured motor that was added to the Motor Model list above using the Ultraware utility Motor Type The type of motor selected e Linear e Rotary 164 Rockwell Automation Publication 2098 UM001G EN P February 2011 Status Torque Constant Force Constant Inertia Mass Poles Revolution Electrical Cycle Integral Limits Electrical Rated Voltage Resistance Inductance Flux Saturation at 1 8 1 4 3 8 1 2 5 8 3 4 7 8 and 8 8 100 of the motor peak current Ratings Maximum Speed Intermittent Current Continuous Current Feedback Encoder Commutation Sinusoidal Startup Hall Input Offset Lines Revolution Lines Meter Configuring the Ultra5000 Drive Chapter 4 Description Only for rotary motors The sinusoidal force constant in Newton meters Ampere N m A Only for linear motors The sinusoidal force constant in Newtons Ampere N A Rotor inertia in Kilogram centimeter squared kg cm Only for linear motors Rotor mass in Kilograms kg The number of motor poles per revolution Only for linear motors The distance between motor poles in Meters Indicates whether the motor provides built in feedback for t
69. Status Description Note All ON status have a value of 1 all OFF status have a value of 0 Drive Enabled ON indicates the power stage of the drive is enabled As a precondition all software and hardware enable inputs must be active and the drive cannot have any faults In Position ON indicates position error has been less than the In Position size setting for longer than the In Position Time setting and the speed is less than the Zero Speed setting In Position Window ON indicates position error has been less than the In Position size setting for longer than the In Position Time setting Up To Speed ON indicates motor velocity feedback is greater than the Up To Speed setting In Speed Window ON indicates motor velocity feedback falls within the range of programmed velocity the Speed Window value Zero Speed ON indicates the motor velocity feedback value is less than the Zero Speed setting Pos Current Limit ON indicates the current of the drive is limited by the Positive Current Limit above Neg Current Limit ON indicates the current of the drive is limited by the negative Current Limit above Bus Power ON indicates power is applied to the DC Bus Bus Voltage The present measure of Bus voltage 233 Chapter5 Configuring the Kinetix 3 Drive The following commands can be executed for a Kinetix 3 Drive window that is in the On Line Drives branch These commands are explained in these sections Command Description
70. Stop Test to halt the test Close the window Click the drive in the workspace and then Commands Enabled or click Enable in the toolbar to re enable the drive Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Understand i ng the Dig ital The Properties window for Digital Inputs looks like this In p uts Window UW 3000 Digital Inputs Ox Parameter vawe Junts o meta urassa meta resso meta resso mts Unassigned nts Unassigned O ptr nesse mpte urassa O Status Vaie _ Units mws g tze 9 taste O metase O etss teste 9 merse O O teste 9 Oo W Show Status hero en Seton Revert Close Help Use the Digital Inputs window to e assign digital inputs and e monitor the status of digital inputs Selecting a function in the Value selection box causes that function to become active when the associated Digital Input becomes active For a SERCOS drive the function of the digital inputs is predetermined A customized property window is displayed for SERCOS drives that lets you unassign the Drive Enable function for Input 1 The status area is also customized to display the predetermined input functions you change the assignments so that Drive Enable is not assigned to any ATTENTION By default Input 1 is assigned the function Drive Enable If AN input the drive automatically enables at system powerup Be aware that in this case the motor
71. The minimum velocity which causes the User Velocity fault The drive always protects the motor from exceeding Its ratings This value is needed only if a lower velocity fault is desired For example if another part of a machine could be damaged The state of the User Velocity Fault e Enabled turns on User Velocity Fault detection by the drive or e Disabled turns off User Velocity Fault detection by the drive The minimum velocity error that triggers the Velocity Error fault The minimum time which the velocity error must be greater than the Velocity Error Fault Limit to cause a Velocity Error fault The minimum position error that triggers the Following Error fault The minimum time during which the position error must be greater than the Following Error Fault Limit to cause a Following Error fault The following status is displayed by default for the Faults branch of an online drive Status Possible Cause Suggested Action Note The value of status that are ON 1 The value of status that are OFF 0 04 Motor Overtemp ON indicates the motor thermostat has tripped Motor thermostat trips due to high motor ambient temperature excessive current or both 40 C maximum e Lower ambient motor cooling Motor wiring error Check motor wiring Incorrect motor selection has been selected Rockwell Automation Publication 2098 UM001G EN P February 2011 e Operate within not above the con
72. Tuning Begins manual velocity tuning Stop Tuning Stops manual velocity tuning Clear Faults Attempts to clear all drive faults Customize the Manual Velocity Tuning window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Revert to return parameter settings to the values they held when you opened this window 264 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understanding the The Properties window for Encoders looks like this Encoders Window 01x Fi File Edit View Insert Program Tools Commands Window Help als X x Cu D ae ae m lsmax laa s AA aA fo tz Installed Increments Feedback Loss Monitored Show Status V Show Commands Use the Encoders window to e configure the motor encoder e execute a command that will reset an absolute encoder position to zero This window has these parameters and direct commands Parameter Description Encoder Output Forward The order of the A and B signals for the encoder output Direction e A Leads B e B Leads A Output Ratio The ratio of encoder output counts to motor encoder counts received from the motor The range is of 1 65 535 Encoder Backup Battery The encoder back up battery if installed in the drive powers a
73. Tuning window of the Tuning branch Status Description Drive Enabled ON indicates the power stage of the drive is enabled As a precondition all software and hardware enable inputs must be active and the drive cannot have any faults Note Drive Enable has a value of 1 when ON and a value of 0 when OFF The following commands can be executed on an online drive using the Manual Position Tuning window of the Tuning branch Command Description Start Tuning Begins manual position tuning Stop Tuning stops manual position tuning Clear Faults Attempts to clear all drive faults Customize the Manual Position Tuning window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Revert to return parameter settings to the values they held when you opened this window Manual Velocity Tuning Window Use the Manual Velocity Tuning window to configure manual velocity tuning parameters start and stop manual velocity tuning for an online drive and monitor the Drive Enable status During manual velocity tuning the drive commands an internal step velocity waveform and the user sets the gains manually The user sets the desired tuning command parameters and selects the Start Tuning button to begin manual velocity tuning ATTENTION The motor shaft moves during the tuning process Ensure that the motor
74. Ultraware software has been restarted or the drive has been reset 344 Rockwell Automation Publication 2098 UM001G EN P February 2011 Ultraware Software Updates Appendix A Ultra5000 Drive related Enhancements e Template for new projects When a new project is created it is automatically populated with a source file containing the skeleton of a basic UltraS000 motion program The template may be customized as well The template is in the form of an Ultraware export file uxf named New Project uxf in the Ultraware installation directory You can replace this uxf file with your own exported project to define your own project template e Ratchet Enable Disable commands have been removed Disabling the ratchet is unnecessary and can lead to confusion when using gearing e Reset Drive to Factory Settings The main Ultra5000 drive window now contains a button which resets the drive to factory settings The flash file system is cleaned removing all user programs drivers cam files and archives All attributes are returned to their default values e The Service Info page now displays current and peak CPU utilization levels for all four frames of the sequencer General Enhancements e The way Ultraware software manages a udb files has been updated All changes are made to a temporary file until you perform a File Save or File Save As This also lets you open a file make changes and exit without saving your changes Ultraware soft
75. VO Receive Select No Data Consumed VO Transmit Select No Data Produced Loader Yersion 0 Server Version 0 IV Show Status Tal Shety Comare Setup Revert Close Help Use the DeviceNet window to e configure a Ultra5000 drive with the Node Address PGM and e define message formats to transmit and receive The DeviceNet window has these parameters and statuses Parameter Description Node Address Node address used for DeviceNet communication This value is only used if the rotary switch on the front panel is configured for PGM Data Rate Data rate used for DeviceNet communication This value is only used if the rotary switch on the front panel is configured for PGM The options are e 125 kps e 250 kps e 500 kps e Autobaud I O Receive Select Selects the output consumed assembly that is updated when a polled change of state or cyclic O message is received by the drive The options are e No Data Consumed e Assembly Instance 1 e Assembly Instance 2 e Assembly Instance 3 e Assembly Instance 4 e Assembly Instance 5 e Assembly Instance 6 e Assembly Instance 7 e Assembly Instance 8 Note Refer to the Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 for information on these options Rockwell Automation Publication 2098 UM001G EN P February 2011 193 Chapter4 Configuring the
76. Velocity Control Panel Opens the Velocity Control Panel window Refer to Velocity Control Panel Window on page 234 for more information about how to set a drive s velocity command and monitor its motor velocity or current Reset Drive Resets or reboots the hardware and firmware for a drive Reset to Factory Setting Resets a drive s parameters by reinitializing them to factory default settings Stored faults and the Time in Service clock remain unchanged save Parameters saves the current working values as power up values in the flash memory for the selected online drive and all of its children setup Wizard Provides a quick way to perform the minimal configuration necessary for a new Kinetix 3 drive Refer to Using the Setup Wizard on page 236 for more information about this wizard Customize the window for your Kinetix 3 Drive branch by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup button to open the Refer to Monitor Setup Window on page 276 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Velocity Control Panel Window The Properties window for the Velocity Control Panel looks like this ae UW_Kinetix_3 veal Control Panel 0 x WT Show Status WT Show Commands Revert Clo
77. View Insert Program Tools Commands Window Help lel x D ae Ae em s Bax ms K Cu Reset Drive Reset to Factory Settings Default Motor Save Parameters Normal Metric Operation Modes Msin Overide Follower None Initial Current Bias 0 HAHH HAH Setup Revert Close _ Hee 3 To configure properties for the selected drive branch use the features of the Properties window as follows Section Description Parameters Located in the upper left part of the Properties window Enter values in the parameter fields to configure the settings of the selected drive branch Commands Located in the upper right part of the Properties window Click any command to issue that command Select Show Commands below to display command buttons Not every drive branch has associated commands Status Located beneath the Parameters and Commands sections These default fields display the online status of the selected drive branch Click Setup to open a window where you can customize the status to be displayed Status fields are read only select Show Status to display the status section Note Status values for offline drives may not be meaningful show Status Displays the status for the selected drive branch show Commands Displays commands for the selected drive branch Commands can be executed only for online drives This selection is
78. Within Position Window An active output state indicates that the position error has been less than the Position Functions In Position Size setting for longer than the Position Functions In Position Time setting in the Ultra3000 Drive window e Within Speed Window An active output state indicates that the velocity error is less than the In Speed Window setting in the Ultra3000 drive window e Zero Speed An active output state indicates that the speed is less than the Zero Speed setting in the Ultra3000 drive window Relay The function to be assigned to the relay The selections are the same as for the Digital Outputs Brake Active Delay The time delay between enabling the drive and activating the Brake output that releases the motor brake Negative values indicate the time that the function is activated before enabling the drive The value has a range of 32 67 32 67 ms Brake Inactive Delay The time delay between disabling the drive and deactivating the Brake output that applies the motor brake Negative values indicate the time that the Brake output is deactivated before disabling the drive The value has a range of 32 67 32 767 ms Note If a drive fault occurs when a negative value is assigned to the Brake Inactive Delay parameter the drive is disabled and the Brake output is activated simultaneously The following status is displayed by default for an Ultra3000 Drive in the Digital Outputs window Sta
79. a network failure while an I O messaging connection is active The options are e DeviceNet Fault E14 e Ignore Note Refer to the Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 for information on these options 194 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 The following status is displayed by default for an Ultra5000 drive in the DeviceNet window Status Description Fault Status Indicates the last module s fault status This value defaults to No Fault on powerup and reset The status are e No Fault e dle Fault e Comm Fault Loader Version Indicates the current version of DNetLoad exe Server Version Indicates the current version of DnetServ exe No commands are associated with the DeviceNet window Customize the DeviceNet window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 195 Chapter4 Configuring the Ultra5000 Drive Monitori ng Your U ltra5000 The Monitor tool lets you display all or any combination of dr
80. and 0 when OFF ON indicates position error has been less than the In Position size setting for longer than the In Position Time setting 68 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Status In Position Position Command Actual Position Description ON indicates the position error has been less than the In Position Window Size setting for longer than the In Position Window Time setting and the speed is less than the Zero Speed setting as configured in the Ultra3000 Drive window Note The In Position status has a value of 1 when ON and 0 when OFF The motors commanded position relative to the Home position of zero The motor s actual position relative to the Home position of zero This command can be executed from a Indexing window of an online drive Command Index Control Panel Description Opens the Indexing Control Panel window Customize the Indexing window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2
81. and status apply to the Service Information window Status Description Drive Model The model number of the drive This is the number you selected from the Select New Drive dialog box after executing the Insert Kinetix 3 command Firmware Version The revision of the selected On Line drive s firmware in the format XX YY where e XX major revision e YY minor revision CPLD Version The revision of the CPLD device in the drive Customize the Service Information window for your Kinetix 3 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 297 Chapter5 Configuring the Kinetix 3 Drive Notes 298 Rockwell Automation Publication 2098 UM001G EN P February 2011 Introduction Using a Project Branch Chapter 6 Creating and Running Programs This chapter describes how to create and run programs called executable program files An executable program file is identified by its exe extension Topic Page Using a Project Branch 299 Using Source Files 303 Using Header Files 305 Using the Motion Library Dialog 307 Using the Text Editor 309 Using Executable Program Files 320 Importing and Exporting Files
82. as the item to be pasted the pasted item replaces a child branch with the same name as the pasted item or is added as an additional child branch if no other child branch shares the pasted item s name Any Workspace window item can be selected to receive a pasted item except these items e a source c file e a header h file e child branches of an Ultra3000 drive e some child branches of an Ultra5000 drive Rockwell Automation Publication 2098 UM001G EN P February 2011 31 Chapter2 Common Commands for Ultra Drive Configuration To paste an item in the Workspace window perform these steps l pap Click a Workspace window branch in which to paste the item IMPORTANT The Workspace window branch selected can not be any of these branch types e an on line drive e achild project in the archives e a source c file e a header h file e achild or the children of an Ultra3000 drive Do one of these actions e Click Paste in the Edit menu e Click on a branch drive in the Workspace window then right click Paste from the pop up menu e Click Paste from the pop up menu e Simultaneously press the Ctrl V keys e Click the Paste icon in the Edit toolbar If you are pasting an item into the Workspace window that replaces another item of the same name a message box asks if you wish to continue Click OK to paste or Cancel to quit Delete The Delete command removes selected branches or
83. below the Trigger Threshold value The value of the Trigger Source drive signal that begins tracing Trigger Mode selections are e Rising Edge e Falling Edge The current status of the oscilloscope trigger e idle e Awaiting Trigger e Collecting Data Rockwell Automation Publication 2098 UM001G EN P February 2011 109 Chapter3 Configuring the Ultra3000 Drive Parameter Description Oscilloscope Display Y axis Labels The labels to display on the y axis e Default One reference point for each channel is displayed e Channel A e Channel B e Channel C e Channel D Legend Displays the color of the trace for each input signal or channel Click the color rectangles displayed in the legend to modify a color The following commands can be executed for the Oscilloscope window of an online drive Command Description Arm Trigger Turns the oscilloscope trigger ON Run Continuous Runs the oscilloscope continuously circumventing the trigger Stop Triggering Turns the oscilloscope trigger OFF Customize the Oscilloscope window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Properties to display or hide the Properties pane e Click Show Commands to display or hide the Commands pane e Click Save to save the oscilloscope data to a tab delimited file on your PC that can be read by spreadsheet or presentation software Information saved includes the Oscilloscope data points from one or more channels e C
84. binary values are as follows e Preset Select 1 1 if active 0 if not active e Preset Select 2 2 if active 0 if not active e Preset Select 3 4 if active 0 if not active TIP Velocity Direction in the Digital Inputs window selects the direction of motion If a Preset Select is not assigned to a digital input the Preset Select is considered inactive If all of the Preset Select inputs are inactive the drive sets the commanded velocity to zero Rockwell Automation Publication 2098 UM001G EN P February 2011 239 Chapter5 Configuring the Kinetix 3 Drive The Preset window has no associated status or direct commands The Preset window has these parameters and direct commands Parameter Description Preset Velocities Preset 1 through 7 The drive s preset velocity values The range is 6000 6000 rom millimeters per second for linear motors Note The drive will ramp up or ramp down to the selected velocity at the rate of acceleration set in the Acceleration Limits in the Kinetix 3 Drive window Command Description save Parameters Type the fixed position to which the motor should travel The range Is 2147483647 2147483647 counts Click Revert to return parameter settings to the values they held when you opened this window 240 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understanding the Follower The Properties window for Foll
85. compute new tuning gains It has a range of 1 100 80 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Description Velocity Regulator Gains P Proportional gain for the velocity loop The P gain generates a control signal proportional to the velocity error It has a range of 0 4000 Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop The gain generates a control signal proportional to the integral of the velocity error It has a range of 0 4000 Note gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability D Derivative gain value for the velocity loop The D gain generates a control signal proportional to measured acceleration It has a range of 1000 1000 Note Positive D gain reduces velocity overshoot and negative D gain should be used only in systems that exhibit mechanical resonance The status is displayed by default for an Ultra3000 drive in the Autotuning window of the Tuning branch Status Description Drive Enabled ON indicates the power stage of the drive is enabled As a
86. drive The following parameters can be entered and edited in the Gear window Parameter Description Gear Ratio The number of counts the motor should move for each master encoder count received in Motor Counts per Master Count Floating point numbers are permitted Slew Gear Slew Enabled the gear ratio ramps up or ramps down using the acceleration and deceleration specified below Disabled the acceleration and deceleration are effectively infinite Accel If the gear is enabled while the gear input is in motion or the gear ratio is changed to a greater value The gear ratio ramps up to the specified value at this rate Decel If the gear is disabled while it is in motion or the gear ratio Is changed to a smaller value The gear ratio ramps down to the specified value or zero if disabling at this rate Rockwell Automation Publication 2098 UM001G EN P February 2011 161 Chapter4 Configuring the Ultra5000 Drive The following display is the default status for a Gear branch of an online drive Status Description Gear Enabled Light ON indicates the gear is enabled Offset The floating point or fractional component of Current Position Because Current Position is represented in whole counts adding the Offset to Current Position yields actual position Current Position The position in counts generated by gearing This value is automatically reset to zero at drive powerup Current Velocity The velocity command i
87. e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 98 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Understanding the Digital Outputs Window The Properties window for Digital Outputs looks like this uw 3000 Digital Outputs Parameter Value umts Over oups ompa fere ooo S Outs atone Cupid AtHome rae farme o O Broke Active Delay 0 mimes Brake Inactive Delay 0 milseconds vae Units opare G Opt 2Siae Opasi Opts 9 O ane BE E D Staus BE a B Relay State W Show Status A Setup Revert Close Help Use the Digital Outputs window to e assign functions to digital outputs e set both active and inactive brake delays e monitor the status of digital outputs and the digital relay and e open other windows where you can override the state of digital outputs and the relay The following parameters are associated with this window Parameter Description Output 1 4 The functions to be assigned to each digital output 1 4 Note If multiple functions are assigned to a digital output the output is active If any of the assigned functions would make it active
88. e The Add button brings up a file selection dialog box from which you choose an exe file to install as a driver e The Remove button removes the currently selected driver from the list If firmware is to be installed see Upgrading Drive Firmware on page 22 Drive Report Use the Drive Report command to generate a text file in the Client Area The text file lists the parameter settings for the selected Ultra drive Once created you can print a copy of the Drive Report To execute the Drive Report command perform these steps 1 In the Workspace window click Ultra500 drive 2 Right click to select Drive Report from the pop up menu Use the Drive Report s text editor window to e Display all the parameter settings for the selected Ultra5000 drive e Print all the parameter settings for the selected Ultra5000 drive In addition to the Cut Copy Paste Delete Print commands these commands apply to the Drive Report text editor window Command Description Find Search for text in the source c or header h file Find Next Find the next occurrence of header file or source file text sought by the previous Find command Replace Search for and replace the text in a source c or header h file select All Select all of the text in the selected source c or header h file Rockwell Automation Publication 2098 UM001G EN P February 2011 145 Chapter4 Configuring the Ultra5000 Drive Understanding the Motion B
89. existing Motion branch Except for Copy and Paste no parameters status or commands are associated with the Motion item 146 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understand i ng the Jog The Properties window for the Jog branch looks like this Window Parameter value Units jog Forwerd rowan Velosty _0_ Courtsiseo Jog Reverse Program acosleation 0 Courtsise0r2 Program Deceleration 0 Countsisec 2 Abort O staus vawe une e a S O oe Stopped O O O OmetPosion 0 O Coms O Cume Velocty 0 Couwrtsisse Current Acceleration Oo Counts fsec W Show Status Jf Show Commands Setup Revert Close Help Use the Jog window to e set jog velocity acceleration and deceleration parameters e monitor status relating toa jog as it executes e issue commands that start stop and set the direction of a jog You can edit parameters for both an online and an offline Jog branch However you can monitor status and execute direct commands executed through the Ultraware interface rather than through a compiled loaded and executed program only for a Jog branch that is the child of an online drive The following parameters apply to the Jog window Parameter Program Velocity Program Acceleration Program Deceleration Description The commanded motor velocity in counts per second T
90. in the Workspace window to display a pop up menu 3 Use one of these commands from the pop up menu Command Description Run This command tells an online drive to start or resume execution of the selected executable program exe file While the program is running the Workspace window Icon for the selected program Is animated Stop This command tells an online drive to stop executing a selected executable program exe file This command provides a controlled stop to program execution unlike the Kill command When the Stop command executes animation for the selected program s icon stops Kill This command tells an online drive to immediately stop executing the selected executable program exe file Unlike the stop command this command does not provide a controlled stop to program execution When the Kill command executes animation for the selected program s icon stops Rockwell Automation Publication 2098 UM001G EN P February 2011 321 Chapter6 Creating and Running Programs Refer to Executing Your Program on page 325 for more information regarding these commands You can move an executable program file from a Project in an offline Ultraware file to the Programs branch of an online Ultra5000 drive for execution or an offline Ultra5000 drive for storage 322 Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Importi ng and Export i ng Instead of crea
91. in which you can specify the percent of the data to collect before the trigger occurs e Reset to factory settings after an E55 is detected e Includes tuning parameters in scope window Ultra5000 e Includes fault numbers in fault history e Includes tuning parameters in scope window 340 Rockwell Automation Publication 2098 UM001G EN P February 2011 Ultraware Software Updates Appendix A General e A prompt reminds the user to save a udb file when user shuts down logs out of OS e Adds feature to show all hidden messages e Adds additional messages to help customers understand how to save online drive data to a file Rockwell Automation Publication 2098 UM001G EN P February 2011 341 Appendix A _Ultraware Software Updates Version 1 50 Ultra3000 Drive related Enhancements e Changes two existing position comparators to permit the use of a position window Within Window and Outside Window in addition to a Greater Than and Less Than e A new parameter Absolute Direction permits the user to specify the direction of motion for each absolute index Directions include Forward Uni Directional Reverse Uni Directional or Bi Directional when Position Rollover is Enabled e A new parameter Single Turn Absolute permits the user to specify whether an SRS encoder should be considered an absolute feedback device or not e Extends the range of scaling for position signals when mapped to the analog output e A
92. input values in the cam table and velocities if necessary are adjusted to maintain the same overall cam shape scales in counts the positions defined in the cam table The initial default value for Position Scale is 1000 counts This does not limit the positions that can be created in the table However when the Position Scale is changed the positions of all points in the table are adjusted according to the ratio of the new and old position scales For example if Position Scale is changed from 1000 to 2000 a position of 600 counts would become 1200 counts Linear This type of cam executes with linear first order curve segments Velocity discontinuities are likely with this type of cam However this type of cam may be most appropriate for cam tables imported from a CSV file with lots of points Polynomial This type of cam executes with 5th order curve segments There are no discontinuities in velocity or acceleration if all segments have polynomial type If the cam has adjacent linear segments then there will be discontinuities in velocity Description Saves the current cam definition to a file on the associated drive Closes the cam table editing window Note If the cam table has been changed but not saved Ultraware software prompts the user with the opportunity to save the cam file to the drive Displays the online help topic for the cam table editing window Rockwell Automation Publication 2098 UM001G EN P Februar
93. is properly mounted and guarded TIP Closing the window returns the drive to its normal operating mode but software is disabled Select the drive and execute an Enable command as instructed in the message to make the drive operational 262 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 The following parameters status and commands apply to this window Parameter Description Manual Velocity Tuning Settings Motor Direction Velocity Time Velocity Regulator Gains P Low Pass Filter Enable Bandwidth The direction in which the motor rotates during tuning e Bi Directional e Forward Only or e Reverse Only The the amplitude of the drive s commanded velocity step The range Is 1 2 147 483 647 counts per second The period of the drive s commanded velocity step The range is 1 32 67 ms Proportional gain for the velocity loop The P gain generates a control signal proportional to the velocity error The range Is 4000 Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop The gain generates a control signal proportional to the integral of the velocity error The range is 0 4000 Note gain improves the steady state velocity performance of
94. loop The difference between Command Velocity and Feedback Velocity The velocity error summation used by integral gain The generated output from the velocity loop Rockwell Automation Publication 2098 UM001G EN P February 2011 Status Tuning State Position Loop Command Position Command Velocity Command Acceleration Feedback Position Error Error Sum Output Tuning State Command Offset Feedback Offset Configuring the Ultra5000 Drive Chapter 4 Description The state of the Tuning branch Displays include Running stopping and Idle The command position input to the position loop The command velocity input to the position loop The command acceleration input to the position loop The feedback position returned from the motor to the position loop The difference between Command Position and Feedback Position The position error summation used by integral gain The generated output from the position loop Displays Idle or Tuning depending on whether a Stop or Start tuning command is selected Offsets the Command Position value displayed on the Oscilloscope to prevent the command trace from incrementing walking off the display Offsets the Feedback Position value displayed on the Oscilloscope to prevent the feedback trace from incrementing walking off the display The following commands can be executed for a Tuning branch of an online drive Command Start Velocity Tuning
95. of percent of peak current The range as a percentage is 40 40 V Peak current is the minimum of the drive intermittent current rating and the motor intermittent current rating This peak current scaling is consistent with the scaling of the Positive and Negative Current limits The default setting is 10 Current Offset The drive s current input offset value This value indicates the offset of the Analog Command Input It has a range of 10 000 10 000 mV Position Command Input Position Scale The drive s position input scale value This value indicates the change in position per Volt of change in the Analog Command Input It has a range of 32 67 32 767 counts V Position Offset The drive s position input offset value This value indicates the offset of the Analog Command Input It has a range of 10 000 10 000 mV You can edit Analog parameters for both an online and an offline drive However you can monitor status and execute direct commands executed through the Ultraware interface only for a Analog window that is the child of an online drive The status is displayed by default for an Analog window of an online drive Status Description Analog Command In The Analog Command Input value before the scale and offset are applied These commands can be executed for an Analog window that is stored in the On Line Drives branch Command Description Remove Velocity Input Offset This command automatically measures
96. of the boot firmware on the drive The revision of the firmware containing the FPGA image and the burn in self test code The maximum current the drive can continuously produce without faulting The maximum current the drive can on an intermittent basis The hours and minutes the drive has been powered up A visual graph showing the percentage of available CPU time 125 microseconds 100 actually used in each Frame Load 1 4 The Peak Frame Load 1 4 since the peaks were reset The Properties window for the Service Information branch of older Ultra5000 drives firmware revision 1 1 5 or earlier displays these information Status Drive Type Description The type of Ultra5000 drive e Invalid prevents the drive from being enabled 2098 IPD 005 2098 IPD 010 2098 IPD 020 2098 IPD 030 2098 IPD 050 2098 IPD 100 2098 IPD 150 2098 IPD HV030 2098 IPD HV050 2098 IPD HV100 2098 IPD HV150 2098 IPD HV220 Note the drive uses the selection to e decide when to signal an IPM Filter fault and e properly scale the feedback from the power stage of the drive The output of the velocity regulator stage of the drive is limited by the selected drive type 218 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 The following commands can be executed in the Service Information window of an online drive Command Description Reset Peak Loads Resets each of the
97. of type User data exchange File uxf x Cancel I Open as read only 3 In the Import From window navigate to and click the User data eXchange File uxf that contains the desired drive settings 4 Click Open to display the imported drive in the offline Ultraware file Rockwell Automation Publication 2098 UM001G EN P February 2011 29 Chapter 2 Working Window 30 Common Commands for Ultra Drive Configuration in the Workspace You can use the Edit menu commands to Cut Copy Paste and Delete Erase items in the Workspace window You can also use a Drag and Drop function in place of Cut and Paste Cut The Cut command removes selected items from the Workspace window Any item cut from the Workspace window replaces any other item previously cut or copied and stored on the clipboard These Workspace window items cannot be cut an On Line Drives branch a drive in the On Line Drives branch an Ultraware file any child branch of a drive a program with an exe extension for a project in an offline Ultraware file To Cut an item from the Workspace window perform these steps l1 Zs Click a Workspace window item other than one of those listed above Do one of these actions e Click Cut in the Edit menu e Click Cut from the pop up menu e Simultaneously press the Ctrl X keys e Click the Cut icon in the Edit toolbar 3 A message box asks you if you wish to continue Click OK to cut or
98. offset to the drive s command position When you run the program with the drive enabled the motor may immediately begin to move as the program issues commands Stop Program Use this command to tell an online drive to stop executing a selected executable program exe file This command provides a controlled stop to program execution unlike the Kill command When the Stop command executes animation for the selected program s icon stops Rockwell Automation Publication 2098 UM001G EN P February 2011 325 Chapter 6 326 Creating and Running Programs When you execute this command Ultraware software sends the SYSTEMSIGNAL_STOP signal to the executing program selected in the Workspace window In order to stop program execution your program must include code that receives and implements this command Ultraware software sends the SYSTEMSIGNAL_STOP signal each time the Stop Program command is issued In order to stop program execution the program must be written to recognize when a stop has been requested The Ultra5000 Motion library contains a function Stop_Requested which is set to zero until a stop is requested To respond to the stop request write your program like this int main void Initialization code A while Stop_Requested repeating program code Code to stop smoothly j Kill Program Use this command to tell an online drive to immediately stop executing the selected executable p
99. one of your own projects to replace the file New Project uxf Oncea project is created you can e edit the parameters of the new project e adda new header file or e add anew source file Configuring a Project To configure a project follow these steps 1 Select the project in the Workspace window 2 Use one of these commands to open the Project window e Click Properties in the File menu e Right click Properties from the pop up menu e Double click the project branch Powrerup Mode Targeted Firmware 2 Compiler wersion 2 Haw status Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 3 Use the Project window to edit these parameter values for the project selected in the Workspace window Parameter Description Name Edit the project s name The name of the project must e be at least one but not more than eight characters in length e be unique within its branch of the tree and e not contain a space or backslash forward slash colon asterisk question mark double quote greater than symbol gt less than symbol lt or pipe Powerup Mode The action you want an online drive a drive in the On Line Drives branch of the Workspace window to take with respect to the selected project s child executable program exe file e Fun to automatically run the program when power Is first applied to the online dr
100. panel 52 indexing control panel 54 velocity control panel 50 Encoders window 86 parameters 87 Statuses 88 Faults window 126 commands 134 parameters 127 Statuses 128 Follower window 64 parameters 65 Homing window 70 parameters 0 Statuses 2 Indexing control panel commands 56 parameters 55 Statuses 95 Indexing window 66 commands 69 parameters 67 Statuses 68 Monitor 105 Statuses 118 Monitor window commands 105 status display 107 Motor window 73 commands 76 166 parameters 4 Statuses 4 Oscilloscope window 108 channel configuration 111 commands 110 parameters 109 Preset window 62 digital input values 63 parameters 63 SERCOS Interface switching 58 service Information window 135 Tuning window 77 autotuning 80 172 commands 81 February 2011 parameters 80 Statuses 81 commands 79 manual position tuning 82 commands 84 parameters 82 Statuses 83 manual velocity tuning 84 commands 85 88 parameters 84 Statuses 85 parameters 8 Statuses 79 Ultra3000 command 28 Ultra5000 Analog Inputs branch parameters 184 Statuses 184 Analog Outputs branch parameters 186 Statuses 187 Cam branch commands 153 Statuses 151 Cam table branch commands 160 Configuring properties 139 DeviceNet window parameters 193 Status display 195 Digital Inputs branch parameters 181 Statuses 181 Digital Outputs branch commands 183 parameters 182 Statuses 182 Drive branch 141 parameters 142 Status
101. precondition all software and hardware enable inputs must be active and the drive cannot have any faults Note Drive Enable has a value of 1 when ON and a value of 0 when OFF Autotune Complete ON indicates the autotune completed successfully Autotune Failed ON indicates the autotune failed These commands can be executed on an online drive using the Autotuning window of the Tuning branch Command Description Start Autotune Begins autotuning Stop Autotune Stops autotuning Clear Faults Attempts to clear all drive faults Customize the Autotuning window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 81 Chapter 3 82 Configuring the Ultra3000 Drive Manual Position Tuning Window Use the Manual Position Tuning window to configure manual position tuning parameters start and stop manual position tuning for an online drive and monitor the Drive Enable status During manual position tuning the drive commands an internal step position waveform and the user sets the gains manually The user sets the desired tuning command parameters and selects the Start Tuning button to begin manual position tuning ATTENTION
102. read by spreadsheet or presentation software Information saved includes the Oscilloscope data points from one or more channels e Click Revert to return parameter settings to the values they held when you opened this window Channel Setup Window The collapsed Properties window for the Channel Setup looks like this vee Channel Options oe Position Regulator se Velocity Regulator E Curent Regulator i Cancel Use this window to e Assign a specific Input Signal to the selected Channel in the Oscilloscope window for an Ultra5000 drive or e Assign no Input Signal to the selected channel in the Oscilloscope window for an Ultra5000 drive 190 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Much like the Monitor window this window lets you customize the display for the selected online Ultra5000 drive The window displays a tree diagram with all the status settings that can be monitored for the selected drive Channel Option Position Regulator Command Position PReg Command Velocity PReg Feedback Position PReg Error PReg Output PReg Tune Command PReg Tune Feedback PReg Velocity Regulator Command Position VReg Command Velocity VReg Feedback Position VReg Error VReg Output VReg Tune Command VReg Tune Feedback VReg Current Regulator Shaft Position IReg Shaft Angle IReg Sine IReg Cosine IReg Loop Gain I
103. response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop Must be gt 0 gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability FF Acceleration feedforward gain Must be gt 0 FF gain reduces velocity following error However high values can cause velocity overshoot Bandwidth Lowpass output filter bandwidth Valid values range from 0 2000 Hz Bandwidth reduces noise generated by encoder resolution or mechanical resonance in the system Setting to zero disables filtering Upper Limit The maximum positive current the drive may output to the motor in amperes Must be gt 0 Lower Limit The maximum negative current the drive may output to the motor in amperes Must be lt 0 Position Regulator Gains Kp Proportional gain for the position loop Must be gt 0 Increasing the Kp gain improves response time and increases the stiffness of the system Too high a Kp gain value causes instability too low a Kp gain value results in loose or sloppy system dynamics Kpz Proportional gain for the position loop when the position error falls within the Kpz Zone defined below Must be gt 0 Kpz Zone E
104. sec oF Counts sec Counts sec Counts sec O o 0 0 O m a wo o mp Use the Tuning window to configure monitor and execute commands for position and velocity tuning ATTENTION Excessive tuning step profile values may cause uncontrolled motion Refer to the appropriate Hardware and Installation manual listed in Additional Resources on page 12 for tuning details Ultraware software uses a nested digital servo control loop consisting of e an outer position loop or regulator using proportional integral and feedforward gains around e an inner velocity loop or regulator using its own set of proportional integral and feedforward gains 168 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Together these gain regulators provide software control over the servo dynamics and let the servo system stabilize You can edit parameters for both an online and an offline Tuning branch However you can monitor status and execute direct commands executed through the Ultraware interface rather than through a compiled loaded and executed program only for a Tuning branch that is the child of an online drive The following parameters can be entered and edited in the Tuning window Parameter Description Velocity Regulator Gains P Proportional gain for the velocity loop Must be gt 0 Increasing the P gain improves
105. speed command e Apply gearing e Remove Emergency stop conditions e Clear E STOP Use a value within the range of 2 147 483 647 2 147 483 647 Check wiring and power Check power and set or adjust the acceleration and deceleration times Opens the Fault History window where you can view a list of the last 20 fault events that occurred since the drive was powered up Clears all drive faults Opens the Fault Detail window saves the current working values as power up values in memory for the selected online drive and all of its children Customize the Faults window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 295 Chapter5 Configuring the Kinetix 3 Drive Understandi ng the Fault Use the Fault Detail window to view traces of selected drive signals for a period of Detail Window time immediately prior to the occurrence of a fault This feature is helpful when because a fault event is always at the right of the screen The Faults window has these parameters and commands associated with it Parameter
106. the Creep Velocity is used for all the remaining motion e To Sensor Fwd to Marker After the active going edge of the sensor is detected the drive looks for the marker After the marker is detected the drive moves the motor the Offset Move Distance from the marker reversing if necessary The final position becomes the new Home position Auto Start Homing on Enable Causes the drive to begin the homing procedure automatically when the drive is enabled Selections are e Active automatically starts homing every time the drive is enabled and e Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed e Inactive Home Sensor Back off Causes the drive to move in the direction opposite the direction specified by the Homing Velocity setting when the homing procedure is started with the Sensor input active Motion continues in the reverse direction moving at the Homing Accel Homing Decel and Homing Velocity settings until the Sensor input is detected inactive at which point the normal homing procedure takes over e Active automatically starts backoff when the input is detected e Inactive normal homing procedure occurs Note This does not apply if Home to Marker is selected as the Homing Type Homing Velocity The commanded velocity used during homing The sign of the this value indicates the direction of motion during homing It has a range of 2 147 483 647 2
107. the Hall phasing Incorrect wiring e Verify the Hall wiring ON indicates there is a problem with the motor s Hall Effect sensors 11 Illegal Hall State e Verify power supply to encoder 17 User Current 18 Overspeed 19 Following Error ON indicates the User Current Fault level input above has been exceeded ON indicates the motor speed has exceeded 125 of maximum rated speed ON indicates the Following Error Limit set above has been exceeded User specified average current level exceeded Motor exceeded 125 of the specified maximum rated speed Position error limit exceeded Rockwell Automation Publication 2098 UM001G EN P February 2011 e Increase User Current Level and Time to a less restrictive setting e Increase motion time interval e Check cables for noise e Check motor wiring e Retune drive amp motor combination e Use an actual oscilloscope to check encoder phasing e Retune the drive starts by setting the feed forward gain to 100 e Increase the Following Error Limit above e f in Follower Mode increase the Slew Limit in the Follower window 213 Chapter4 Configuring the Ultra5000 Drive Status 20 Motor Encoder State ON indicates the motor encoder encountered an illegal transition ON indicates the auxiliary encoder encountered an illegal transition 21 Auxiliary Encoder State ON indicates the internal fi
108. the Ultra5000 Drive Status Description Position Regulator Gains Kp Proportional gain for the position loop Must be gt 0 Note Increasing the Kp gain improves response time and increases the stiffness of the system Too high a Kp gain value causes instability too low a Kp gain value results in loose or sloppy system dynamics Kpz Proportional gain for the position loop when the position error falls within the Kpz Zone defined below Must be gt 0 Kpz Zone Enter the region in counts around Command Position where Koz will be used in place of Kp as the position loop proportional gain value Must be gt 0 KI Integral gain for the position loop Must be gt 0 Note Ki gain improves the steady state positioning performance of the system and virtually eliminates steady state positioning errors Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Ki Zone Enter the region in counts around Command Position where integral gain is active Must be gt 0 Kft Velocity feedforward gain for the position loop Must be gt 0 Note Kff gain reduces position following error However high values Can cause position overshoot These commands can be executed on an online drive using the Autotuning window of the Tuning branch Command Description Start Autotune Begins autotuning Clear Faults
109. the file back to the cursor Rockwell Automation Publication 2098 UM001G EN P February 2011 309 Chapter 6 310 Creating and Running Programs Control Continued Description Direction The search direction beginning at the cursor Select e Up to search backward toward the top of the file e Down to search forward toward the bottom of the file Find Next Finds the next occurrence of the selected text in the specified Direction Displays a message box if the selected text is not found Mark All Places a Bookmark a blue circle to the left of every line containing the search text Find Next Finds the next occurrence of header file text sought by the previous Wildcard Search Characters command by searching in the specified direction Replace Use this command to open the Replace dialog box which you can use to search for and highlight text in a selected header h file and replace highlighted text with standard text The Replace command is enabled only if a header file is currently selected in the Client Area To use the Replace dialog box make entries in these fields Field Description Find What Type Use the drop down list or describe in an expression the text that is the subject of your search TIP If Regular Expression is checked you can search using expressions constructed with these search conditions Control Description Replace With Type or select from the drop down list the text you want to
110. the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Derivative gain value for the velocity loop The D gain generates a control signal proportional to measured acceleration The range is 1000 1000 Note Positive D gain reduces velocity overshoot and negative D gain should be used only in systems that exhibit mechanical resonance Enable or disable the drive s low pass filter Selections are e Enabled e Disabled The connected drive s low pass filter s bandwidth This value indicates the cutoff frequency of the low pass filter The range is s e A Hz Note Bandwidth reduces noise generated by encoder resolution or mechanical resonance in the system The following display is the default status for a Kinetix 3 drive in the Manual Velocity Tuning window of the Tuning branch Status Drive Enabled Description ON indicates the power stage of the drive is enabled As a precondition all software and hardware enable inputs must be active and the drive cannot have any faults Note Drive Enable has a value of 1 when ON and a value of 0 when OFF Rockwell Automation Publication 2098 UM001G EN P February 2011 263 Chapter5 Configuring the Kinetix 3 Drive The following commands can be executed on an online drive using the Manual Velocity Tuning window of the Tuning branch Command Description Start
111. value entered here is divided by the lesser of intermittent drive current rating and intermittent current rating of the motor and is stored on the drive as a percentage If a different motor is selected for the drive with a different current capacity this parameter value changes Durog runtime the drive limits positive current to the lesser of e the Positive Current Limit this value e the analog current limit Input an analog input of the drive that limits current proportionately to Its value e the Intermittent Current rating of the drive a fixed value hard coded into the drive or e the Intermittent Current rating of the motor stored in the motor database The drive s negative current limit runtime value Note The value entered here is divided by the lesser of intermittent drive current rating and intermittent current rating of the motor and is stored on the drive as a percentage If a different motor is selected for the drive with a different current capacity this parameter value changes During runtime the drive limits negative current to the lesser of e the Negative Current Limit this value e the analog current limit Input an analog input of the drive that limits current proportionately to its value e the Intermittent Current rating of the drive a fixed value hard coded into the drive or e the Intermittent Current rating of the motor stored in the motor database The stopping distance used whe
112. window of an online drive Command Description Toggle Output 1 8 Changes the state of the selected digital output from ON to OFF or OFF to ON Turn All On Transitions all Qutput to ON Turn All Off Transitions all Output to OFF Customize the Digital Outputs window for your Ultra5000 Drive by selecting one or more of these commands Click Show Status to display or hide the Status pane Click Show Commands to display or hide the Commands pane Click Setup to open the Monitor Setup window where you can customize the status display for this window Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 183 Chapter4 Configuring the Ultra5000 Drive Understand ng the Analog The Properties window for the Analog Inputs branch looks like this n p uts Wi n d OW UW_5000 Analog Inputs Parameter value _ Units E anatoginputt W Show Status Eel Saar Canney Setup Revert Close Help Use the Analog Inputs window to e name two 2 analog inputs e set the scale gain adjustment and offset for each analog input e monitor the status of each analog input You can edit parameters for both an online and an offline Analog Inputs branch However you can monitor status settings only for an Analog Inputs branch that is the child of an online drive The following parameters can be entered and edited i
113. 0 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 2098 UM001G EN P February 2011 PN 98806 Supersedes Publication 2098 UMO001F EN P June 2002 Copyright 2011 Rockwell Automation Inc All rights reserved Printed in the U S A
114. 0 and do not assign the Preset Select 0 1 or 2 to any digital inputs TIP Binary values for an active digital input s Preset Select Lines 3 4 and 5 do not apply to this calculation The Preset window has no associated status or direct commands The Preset window has these parameters Parameter Description Preset Velocities Preset 0 through 7 The drive s preset velocity values Preset Velocity Input Limits Accel Decel Limits Indicates the state of the Acceleration and Deceleration Limits below for the drive Preset Velocity either e Active e Inactive Acceleration If Accel Decel Limits is set to Active this is the drive s acceleration limit when e the drive is in Preset Velocity operation mode as set in the Ultra3000 Drive window and e changes in the Preset Select Line 0 1 or 2 settings result in a change to a higher Preset Velocity value This value has a range of 0 2 147 483 647 counts per second Deceleration If Accel Decel Limits is set to Active this is the drive s deceleration limit when e the drive is in Preset Velocity operation mode as set in the Basic Drive Setup window and e changes in the Preset Select Line 0 1 or 2 settings result in a change to a lower Preset Velocity value This value has a range of 0 2 147 483 647 counts per second Preset Currents Preset 0 through 7 The drive s preset current values Rockwell Automation Publication 2098 UM001G EN P February 2011 63 Cha
115. 00 Hz Regulator Gains Regulator Gains V Show Status fo aa aa Setup Revert Close Help aar UW_K3 T M Use the Tuning window to e Configure Velocity Position and Current Regulator Gains e Configure and execute autotuning e Configure an alternative set of gains that can be activated by a digital input e Monitor Velocity Position and Current loop statuses The Inertia Ratio in the Motor window is the most fundamental property to adjust for proper tuning The Inertia Ratio can be set automatically by running the Autotuning command or entered manually if it is known One of these should be done as the first step in tuning Rockwell Automation Publication 2098 UM001G EN P February 2011 253 Chapter5 Configuring the Kinetix 3 Drive The following parameters status and commands apply to this window Parameter Description Parameters Velocity Regulator Response Level system Gain Velocity Regulator Gains P Integrator Gain Integrator Mode Low Pass Filter Bandwidth Error Filter Bandwidth The Velocity Regulator Response Level defines maximum system gain percentage recommended by the drive based on the inertia ratio determined by auto tuning The range is 0 150 The default is 50 system Gain is the same as the Bandwidth of overall velocity control loop of the servo drive The range is 0 500 The default is 50 Proportional gain for the velocity loop The P gain gen
116. 000 Drive The following parameters apply to the Ultra5000 Drive branch Parameter Name Digital I O Type Position Limits Deceleration Rate Max Decel Distance Soft Limits Enable Hard Limits Enable Motor Limits Enable Positive Soft Limit Negative Soft Limit Positive Hard Limit Negative Hard Limit Description The name of the selected Ultra5000 drive It must e be at least one but not more than eight characters in length e be unique within its branch of the tree and e not contain a space or backslash forward slash colon asterisk question mark double quote greater than symbol gt less than symbol lt or pipe Click the digital I O type e Sinking Digital Inputs should be connected to ground so current flows from the drive when the input is ON Digital Qutputs should be connected to a 24 volt power supply so current flows into the drive when the output is ON e Sourcing Digital Inputs should be connected to a 24 volt power supply so current flows into the drive when the input is ON Digital Outputs should be connected to ground so current flows from the drive when the output is ON When a limit is detected the drive uses this deceleration rate to bring the axis to a stop unless doing so would violate the Max Decel Distance see below If necessary to stay within the Max Decel Distance the drive calculates a greater deceleration rate When a limit
117. 000 Drive Branch The Properties window for the Ultra5000 Drive branch looks like this Fa Ultraware Workspace U W_5000 Oy x Fl File Edit View Insert Program Tools Commands window Help l x T Parameter Vawe unts Save Power Up Values E Postiontimts 0 A Decelerton Rets 0 eourtsiec Deseti rector Seta Motor Lims Enebe False Postive SoftLint 0 courts Negative SoftLint 0 courts T postve Herati brassed NegetveHerdLint Unessined O Status vawe nite pe Fete E Position timis pe O pe postive somtingt 9 o Neaetve soning postive raraLint F eoeta F Postventortint F eoste wr W Show Status Pohoedt eminence Setup Revert Close Help Ready E E fea Use this window to configure an Ultra5000 drive by e editing the drive name e specifying the type of digital I O used by the drive e monitoring faults and other drive status e executing commands that save current working values as power up values clear all runtime faults enable or disable position limits or reset the drive You can edit parameters for both an online and an offline drive However you can monitor status and execute direct commands executed through the Ultraware interface rather than through a compiled loaded and executed program only for an Ultra5000 drive in the On Line Drives branch Rockwell Automation Publication 2098 UM001G EN P February 2011 141 Configuring the Ultra5
118. 000 Drive related Enhancements 00000 340 General Enhancements ccccccccccceecescccceeeeues 340 Help File Enhincenmentsesriio enio AEE T 340 BLA Eo Ol EEE EEE E T E EEE EE E E E ie AT 342 Ultra3000 Drive related Enhancements 00000 342 Ultra5000 Drive related Enhancements 00000 342 CENE eeraa AAE E pena cosa tae 343 Verion LAO serne a a baer E EEI eek uae 343 Ultra3000 Drive related Enhancements 220000 343 Ultra5000 Drive related Enhancements 02000 343 General Enhancements 0cccceccccceecescccceeeeues 344 VersiOn Ee o2iacedeteneetuc bad adeteietendetoudoaetieisawreeiies 344 Ultra3000 Drive related Enhancements 2000 344 Ultra5000 Drive related Enhancements 2200 345 General Enhancements ce cece ccc eeeeeccceeeeeee 345 Installation Notes occas cede oun 6 oko haa e a ba bee dora 346 10 Rockwell Automation Publication 2098 UM001G EN P February 2011 Preface About Th iS Publ ic ation This manual provides detailed installation instructions defines software interface features and programming assistance for Ultraware software Who Should Use this Use this manual when Ultraware software release 1 8 is used to configure and Manual operate Ultra1500 Ultra3000 Ultra5000 and Kinetix 3 drives or when designing testing or running ModBus C language programs or cam tables on these drives Co nv
119. 011 165 Chapter 4 166 Configuring the Ultra5000 Drive Status Description Thermal Integral Thermostat Indicates whether the motor has a built in thermostat Settings are Yes or No software Protection Indicates whether the motor thermal protection software is activated Settings are Yes or No Rth w e Thermal resistance from the winding to the encoder in degrees centigrade watt C Waitt Note This setting applies and is visible only if Software Protection is set to Yes Cth w e Thermal capacitance from the winding to the encoder in Watt seconds per degree centigrade Watt second C Note This setting applies and is visible only if Software Protection is set to Yes Rth w a Thermal resistance from the winding to ambient in degrees centigrade watt C Watt Note This setting applies and is visible only if Software Protection is set to Yes Cth w a Thermal capacitance from the winding to ambient in Watt seconds per degree centigrade Watt second C Note This setting applies and is visible only if Software Protection is set to Yes The following command can be executed for a Motor window of an online Ultra5000 drive Command Description Refresh Data Reads the motor definition information from the motor database and reapplies it to the drive Note This command is useful when a motor definition in the motor database has been changed Rockwell Automation Publication 2098 UM001G EN P Februa
120. 011 69 Chapter3 Configuring the Ultra3000 Drive Understand i ng the Homing The Properties window for Homing looks like this Wi n dow Ta Ultraware UW 3000 Homing Parameter SSSawe dCi Fone type To SensorFwatoMerter Aao Start HomingonEnabe nective OOO Home Sensor Back oft mece O Honing Velcty 78 OffeetMoveDitance OSS Home Sensor Polly Acie Gong ranstin HomePoston OS Gevey SR M Show Status satiate Setup Revert Close Help tin Use the Homing window to configure the type of homing operation the drive performs TIP Homing operations are performed by issuing the Start Homing command from the Indexing Control Panel Homing has no associated status Except for Copy and Paste it has no direct commands TIP A homing operation is performed by issuing the Start Homing command in the Indexing Control Panel These parameters apply to Homing Parameter Description Home Type The type of homing operation the drive performs e Home Sensor After the active going edge of the sensor is detected the drive moves the motor the Offset Move distance from the sensor edge reversing if necessary The final position becomes the new Home position e Home to Current Value The drive moves the motor at the Homing Velocity until the feedback current reaches the Home Current Value After the Home Current Value is hit the drive immediately stops the motor motion and moves the Offset Move Di
121. 098 RM001 for information on these options Rockwell Automation Publication 2098 UM001G EN P February 2011 113 Chapter 3 Configuring the Ultra3000 Drive Parameter Logic Command Mask Enable Behavior Change of State Mask Description specifies the digital inputs functions that can be overridden Check the items that can be overridden The digital input functions are e Define Home Define Position Disable Serial Communications Drive Enable Fault Reset Follower Enable Integrator Inhibit Operation Mode Override Pause Homing Pause Index Position Strobe Preset Select 0 Preset Select 1 Preset Select 2 Preset Select 3 Preset Select 4 Preset Select 5 Remove Command Offset Reset Drive start Homing stop Indexing stop Homing Start Indexing Drive enable logic configuration The options are e Hardware OR DNet Input e Both The change of state mask is used with change of state 1 0 messaging If a particular option is selected in Change of State Mask then a change of state I O message is produced whenever the corresponding bit in the O message changes value Otherwise a change of state I O message is not produced Check the options that should generate change of state 1 0 messages e At Home At Index 0 Position At Index 1 Position Axis Homed Brake DC Bus Charged Drive Enabled End of Sequence In Motion In Dwell In Position Negative Current Limit Negative Hardware Overtrav
122. 2 147 483 647 rpm rotary or counts per second linear Homing Accel Decel The rate of acceleration and deceleration used during homing It has a range of 0 2 147 483 647 revolutions per second or counts per second 2 Offset Move Distance The distance the motor position is from the marker edge or sensor edge for Sensor only Homing Type after the homing sequence is complete It has a range of 2 147 483 647 2 147 483 647 counts Rockwell Automation Publication 2098 UM001G EN P February 2011 71 Chapter 3 Configuring the Ultra3000 Drive Parameter Stop Home Decel Home Sensor Polarity Home Position Creep Velocity Home Current Value Description The rate of drive deceleration revolutions per second or counts per second2 used when the Stop Homing command executes or by activating a Digital Input set to Stop Homing specifies the digital input state that indicates to the drive the Home Sensor input is active e Active Going Transition or e nactive Going Transition The home position when a homing procedure is completed It has a range of 2 147 483 647 2 147 483 647 counts For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge specifies the feedback current at which the drive stops moving the motor at the Homing Velocity The status can be displayed from a Homing window of an on
123. 2 Refer to Understanding the Peer EPL IR ETE Window on page 86 3 Refer to Understanding the eae a ee Window on page 86 Thermostat ON indicates that the motor has an integral thermostat and that it has tripped due to excessive current or ambient temperature When the motor s thermostat input is tripped the Motor Overtemp fault occurs Startup Refer to Understanding the X X Commutation Digital Outputs Window on Complete page 99 Rockwell Automation Publication 2098 UM001G EN P February 2011 123 Chapter 3 Configuring the Ultra3000 Drive SERCOS Drive Status Description Non SERCOS Continued Drive Auxiliary Input Position Auxiliary Refer to Understanding the X X Encoders Window on page 86 Refer to Understanding the ee Window on page 86 Monitor Refer to Understanding the ee ee Window on page 86 Refer to Understanding the Oe ee ae Window on page 86 Digital Inputs Input 1 through 8 Refer to Understanding the State Digital Inputs Window on page 95 Drive Enable Refer to Understanding the Digital Inputs Window on page 95 Home Sensor Refer to Understanding the Digital Inputs Window on page g5 Registration Sensor Refer to Understanding the j1 Digital Inputs Window on page go Registration Sensor Refer to Understanding the 91 Digital Inputs Window on page g9 Positive Refer to Understanding the J Negative Refer to Understanding the g5 1 Digital 1 0 on the SERCOS drives
124. 3 Configuring the Ultra3000 Drive These parameters status and commands apply to motors Parameter Auto Motor Iden Motor Model Total Moving Mass self Sensing Current Description Select e Enabled Causes the drive to read motor parameters from an intelligent encoder or e Disabled Causes the drive to read motor parameters from a Motor Model selected below Only if Auto Motor Iden is disabled The model name of the selected motor Only listed motor models are valid Note Ultraware software ships with a Motor Configuration utility that lets you create custom motor configurations Use that utility to add customized motor selections to the Motor Model list Click Start then click Programs Ultraware and Motor Configuration from the pop up menus Only for linear motors The moving mass of the motor and load combined Note The Motor Model list may not include any linear motors You can add linear or other motors using the Motor Configuration utility referenced in the Motor Model section above Only for motors with Self Sensing startup The percent of the motors rated peak current to use for self sensing startup This value may need to be adjusted when the motor is moving a high inertia load The status is displayed by default for the Motor branch of an online drive Status Description General Motor Model Motor Flag Motor Type Torque Constant Force Constant Inertia Mass Total
125. 3000 Analog Outputs Units Override Output counts ots Analog Output Valus O milivots W Show Status fh Show Commands a Revet _ Close Hep Use the Analog Outputs window to assign drive signals to analog outputs monitor the status of Analog Output and open a window where you can monitor and override the analog output value The Analog Outputs parameters window has these parameters Parameter Description Signal The drive signal to be assigned to the analog output e Unassigned No signals assigned to the output e Current Average The average value of Current Command e Current Command The commanded current to the motor e Current Feedback The actual current sent to the motor e Position Command The commanded motor position e Position Error The difference between commanded and actual motor position e Position Feedback The output of the position control loop e Velocity Command The commanded motor velocity e Velocity Error The difference between commanded and actual motor velocity e Velocity Feedback The output of the velocity control loop scale The output scale in units per volt It is dependent on the signal selected The value is reset to 0 whenever the signal selection Is changed Offset The offset for the analog output It has a range of 10 000 10 000 mV The following status is displayed by default for an Ultra3000 drive in the Analog Outputs window Status Descriptio
126. 323 Executing Your Program 329 Using Direct Commands 327 The Project branch functions as both a container for its child source files header files and executable program files and the platform from which you can e Open a window where you can edit project parameters e Create new source and header files e Execute the Build command to create new executable program files You can move an entire Project along with its child source and header files to an Ultra5000 drive s Archives branch for storage Creating a New Project To create a new Project do one of these e Click Project in the Insert menu e Click the offline Ultraware file and then right click Insert Project from the pop up menu A new project appears beneath the open Ultraware file in the Workspace window The default name of the new project is Project or if Project already exists Projectz where x is the lowest integer that creates a unique project name within the selected path Rockwell Automation Publication 2098 UM001G EN P February 2011 299 Chapter 6 300 Creating and Running Programs When you create a project Ultraware software automatically populates the project with the project information contained in the New Project uxf file in the Ultraware installation directory The default New Project uxf file is a project containing a source file with the outline of a typical motion program You may customize this default project template by exporting
127. 5 general 343 Ultra3000 342 Ultra5000 342 version 1 6 general 340 Ultra3000 340 Ultra5000 340 version 1 63 Ultra3000 339 Ultra5000 339 version 1 64 Ultra3000 339 version 1 8 general 339 Rockwell Automation Publication 2098 UM001G EN P Index Kinetix 3 339 Replace command 316 Rescan command 21 Revert 40 140 224 Run command 325 running a program 299 325 S Save As command 27 Scan For On Line Drives dialog box 21 searching by wildcard s 316 Select All command 318 SERCOS Interface Ultra3000 58 Serial Port command 22 Service Clock display Ultra 5000 218 Service Information window Kinetix 3 297 Service Information window Ultra3000 135 Service Information window Ultra5000 Statuses 218 Setup 40 140 223 Show Commands 40 140 223 Show Status 40 140 223 source file 303 commands 306 properties 303 Source File command 303 starting Ultraware 21 Status Bar 20 Stop command 325 SYSTEMSIGNAL_STOP signal 326 T text editor 309 Tile Tall command 18 Tile Wide command 18 Time in service display Ultra 3000 135 tip of the day 14 Toggle Bookmark command 312 313 toolbars custom motor 332 user interface toolbars 19 Toolbars command 19 Tools menu 19 Tuning branch Ultra5000 commands 171 parameters 169 statuses 170 Tuning window Kinetix 3 253 autotuning 258 parameters 259 statuses 259 February 2011 351 Index commands 258 manual position tu
128. 95 Refer to Understanding the Ultra3000 Drive Branch on page 41 Drive Temperature Reports the percentage of the Drive Temperature Trip value that is based on the drives continuous current rating and time The Drive Temperature is an indication of the level of utilization of the drive s current capability When the Drive Temperature reaches 100 the IPM Fault occurs Drive Status Bus Voltage Disable Serial Communications Drive Enabled Fault State Indicates Drive Ready if the drive is not faulted or indicates the first fault that occurred to take the drive out of a normal operating mode Firmware Version Refer to Understanding the service Information Window on page 135 Refer to Understanding the Digital Inputs Window on page 95 Forward Enable Motor Temperature Reports the percentage of the Motor Temperature Trip value that is based on the motors continuous current rating thermal characteristics and time The Motor Temperature is an Indication of the level of utilization of the motor s current capability When the Motor Temperature reaches 100 the Motor Filter fault occurs Refer to Operation Modes on X page 42 Operating Mode 118 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Status Description Non SERCOS SERCOS Drive Continued Drive Operation Mode Refer to Operation Mode Override T A on page 43 PICS N
129. Attempts to clear all drive faults TIP Closing this window results in a display message stating This will return the drive to its normal operating mode The drive will be software disabled to prevent unexpected motion Select the drive in the workspace and execute the Commands Enabled menu or click the Enable toolbar button to re enable the drive Customize the Autotuning window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to access the Monitor Setup window e Click Revert to return parameter settings to the values they held when you opened this window 174 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understanding the The Properties window for the Encoders branch looks like this Encoders Window ef ef m m m Z in oS mm m So 08 m wi WOMAN Ws i ik isabled nabled isabled nabled isabled mz E at Zz E E a E E m a E a E E pa a m a a _ E a 4 po E a E E E EE aa Ea E a E M Show Gommende Use the Encoders window to configure a motor encoder and master encoder You can edit parameters for both an online and an offline Encoders branch However you can monitor status only f
130. Automation An article on wire sizes and types for grounding electrical equipment A glossary of industrial automation terms and abbreviations You can view or download publications at http www rockwellautomation com literature To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative 12 Rockwell Automation Publication 2098 UM001G EN P February 2011 Chapter 1 Before You Begin Introduction Use this chapter to become familiar with Ultraware software components This chapter also reviews design and installation requirements for Ultraware software Topic Page Introduction 13 About Ultraware Software 13 About Ultraware Software 13 Using Online Help 14 How Ultraware Software Works 14 Understanding the Graphical User Interface 15 Starting Ultraware Software 21 Upgrading Drive Firmware 22 About U ltrawa re Softwa re Ultraware software is a Windows 95 98 2000 NT XP application by Rockwell Automation that provides a programming environment for the Kinetix 3 Ultra1500 Ultra3000 and Ultra5000 drives You can use Ultraware software to accomplish these tasks Communicate with multiple drives using the serial port on your computer Adjust the feedback loop gains and parameters of your drive for specific motors and loads Define the motion capabilities of the drive with the operating modes and motion functions from compatible drives Configure I O for
131. Auxiliary Motor Marker Verify the operation of the motor marker signal Diagnostics Customize the Encoders window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 88 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Motor Diagnostics Provides a set of diagnostic tests for verification of an online encoder and motor Opening any Diagnostic window places the drive in a special override mode that lets wiring and settings to be verified See Diagnostic Testing Procedure on page 3 94 for the diagnostic test procedure The drive must be re enabled after the diagnostic testing is complete Commutation Diagnostics Use the Commutation Diagnostics window to verify motor commutation IMPORTANT The commutation diagnostics should be performed only when the motor under test is not connected to a load The presence of an inertial or frictional load may cause erroneous test results The Commutation Diagnostics window has these parameters status and commands Parameter Description Test Current The percentage Value for t
132. Channel in the Oscilloscope window for a Kinetix 3 drive e assign no Input Signal to the selected channel in the Oscilloscope window for a Kinetix 3 drive Much like the Monitor window this window lets you customize the display for the selected online Kinetix 3 drive The window displays a tree diagram with all the status settings that can be monitored for the selected drive Refer to Understanding Kinetix 3 Status Displays on page 282 for a detailed list of drive status selections To assign a specific input signal or status to the specified channel perform these steps 1 Click one or more plus signs to open the tree control to the desired branch 2 Place a check mark in the box next to the desired input signal or status 3 Click OK The selected input signal appears in the selected Channel in the Oscilloscope window To assign no input signal or a status to the selected channel perform these steps 1 Be sure no check marks appear next to any input signal or status Rockwell Automation Publication 2098 UM001G EN P February 2011 281 Chapter 5 Configuring the Kinetix 3 Drive 2 Click OK The word Unassigned appears in the selected Channel in the Oscilloscope window i i i Status for the Kinetix 3 drive are displayed in the Monitor window Signals from nderstanding Kinetix play g Status Displays Status Drive Status Analog Command Velocity Analog Command Current Bus Voltage Com
133. Current Limit Bus Power Bus Voltage ON indicates the power stage of the drive is enabled As a precondition all software and hardware enable inputs must be active and the drive cannot have any faults ON indicates position error has been less than the In Position Size setting for longer than the In Position Time setting and the speed Is less than the Zero Speed setting ON indicates position error has been less than the In Position Size setting for longer than the In Position Time setting ON indicates motor velocity feedback is greater than the Up To speed setting ON indicates motor velocity feedback falls within the range of programmed velocity the Speed Window value ON indicates the motor velocity feedback value is less than the Zero Speed setting ON indicates the current of the drive is limited by the Positive Current Limit above ON indicates the current of the drive is limited by the negative Current Limit above ON indicates power is applied to the DC Bus The present measure of Bus voltage Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The following commands can be executed for an Ultra3000 Drive window that is in the On Line Drives branch These commands are explained in these sections Command Velocity Control Panel Current Control Panel Indexing Control Panel Clear Faults Reset Drive Reset EEPROM to Factory Setting
134. Description samples per division Number of samples per division For example 32 samples per division will result in 4 horizontal divisions Channel A and B The input signal selected for each channel in the Faults window Is displayed directly below the Channel heading Input signals include e Visible Lets you selectively hide or show each channel in the scope Yes includes the channel e Selected Signal Assigns Digital Inputs and Digital Outputs to a Channel When this signal is selected data is collected for all of the digital inputs and outputs Note One input or output is required for the scope to display scale Type Scale Types are Auto Manual same As Ch A available for Channel B only same As Ch B available for Channel A only scale The amplitude of the selected channel input signal that can be displayed between gridlines of the oscilloscope in the units of the drive signal It is dependent on the signal selected If the Scale is left at its default value of 0 The data is automatically scaled to fit the graph Note Scale is visible only when the Scale Type is Manual Offset The trace offset for the selected Channel Input Its range depends on the signal selected A value of zero places the zero value of the signal at the middle grid line A nonzero offset shifts the trace up or down so that the offset value is positioned at the middle grid line Note Offset is visible only when the Scale Type is Manual Oscilloscope
135. Display Defines how the y axis and trace are displayed e Y axis Labels The labels to display on the y axis Default displays one reference point for Channel A and one reference point for Channel B Channel A displays only the Channel A reference points Channel B displays only the Channel B reference points e Legend Displays the color of the trace for each input signal or channel Click the color rectangles displayed in the legend to modify a color Command Description Refresh Data Acquires the fault information from the drive Use this button if a new fault occurs while this window Is open and you want to see the data for the new fault The Fault Detail window has no associated statuses 296 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understanding the Service The Service Information window looks like this Information Window 4 Workspace UW_K3 Service Information E loj xj Gf File Edit View Insert Program Tools Commands Window Help X D oe amp i aX dh Parameter_ Value units Firmware Version CPLD Version Iv Show Status Show Commands Setup Revet Cose Help QZ UW_K3 S UW_K3 F Use the Service Information window to e display and monitor service information about the drive e display the firmware revision of the drive The following parameters
136. E InSOL E 103 E NAtCH F 106 E CEnCCE E 107 E oSErCE 294 Shunt Overcurrent Protection Absolute Encoder Battery Error Absolute Encoder Overspeed Absolute Encoder Multi turn Count Error Drive Set Up Motor Power Cable Open Motor Instantaneous Current Overload Motor Mismatch Encoder Type Mismatch special Communication Error Shunt current exceeded the instantaneous value Encoder Backup Battery parameter Is set to installed but a battery is not installed Battery voltage is sensed below 2 7V DC Battery powered encoder is mechanically rotated at high speed while drive is powered down Noise in the encoder The drive operating mode and motor selection are incompatible Motor cable open Motion profile requires a peak current for an excessive time interval Adjust accel decel time Defective current feedback sensing Dynamic braking current of the selected motor exceeds twice the drive peak current rating Motor encoder signals do not match drive configuration Defective encoder communication error between host and drive noise Rockwell Automation Publication 2098 UM001G EN P February 2011 Possible Cause Suggested Action e Verify shunt is not shorted or damaged e Verity load energy is not excessive during deceleration set Encoder Backup Battery parameter to Not Installed Confirm battery voltage and connection Replace battery
137. Frame Peak Loads 1 4 to zero percent Customize the Service Information window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 219 Chapter4 Configuring the Ultra5000 Drive Notes 220 Rockwell Automation Publication 2098 UM001G EN P February 2011 Chapter 5 Configuring the Kinetix 3 Drive Introduction This chapter describes how to configure your Kinetix 3 drive to any operational mode Also described are these Kinetix 3 drive interface options e Analog velocity or current control e Position following using encoder or step controls e Indexing with or without homing Topic Page Configuring the Kinetix 3 Drive 221 Understanding the Kinetix 3 Drive Branch 225 Understanding the Analog Window 237 Understanding the Preset Window 239 Understanding the Follower Window 241 Understanding the Indexing Window 243 Understanding the Homing Window 246 Understanding the Motor Window 249 Understanding the Tuning Window 253 Understanding the Encoders Window 265 Understanding the Digital Inputs Window 267 Understanding the Digital Outputs Window 271 Understanding the Analog Outputs Window 274 Unders
138. Kinetix X X 3 for a complete list of the displayed fault statuses 286 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 i The Properties window for the Faults display looks like this Understanding the Faults P play Wi ndow Ba UW_KG Faults ae 5 Eie Edt View Insert Program Tools Commands Window Help _ la x lo seaeetm seax aagloo 4aan lle 2 mr Fault wilt OE eisli BS Aksalu Encoder Multi ium Count Fault 100 Dive Set Ug Fauli COCA ee ee g The Faults window contains the configuration settings for the Kinetix 3 drive s fault handling and the current status of all faults that the drive reports Use the Fault History window to display the eight most recent faults that have occurred The Fault History is accessible from the Faults window The Faults branch is a child of a Kinetix 3 drive and can be in the Workspace window s On Line Drives branch or in an Ultraware software file Rockwell Automation Publication 2098 UM001G EN P February 2011 287 Chapter5 Configuring the Kinetix 3 Drive A Faults branch has associated parameters and these direct commands e Fault History e Clear Faults e Fault Detail Use the Faults window to e set fault limits e monitor fault status e execute the Clear Faults command open a window where you can review the drive s fault histo
139. Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 136 Rockwell Automation Publication 2098 UM001G EN P February 2011 Chapter 4 Configuring the Ultra5000 Drive Introduction This chapter describes how to program your Ultra5000 drive to any operational mode The following Ultra5000 drive features are described e move jog cam and gearing functions e programmable digital and analog I O e position regulation through motion branch commands e programmable drive status displays Also described are the program archive and global variable commands that permit complex movements to be programmed on a single drive and copied to multiple drives Topic Page Introduction 137 Configuring the Ultra5000 Drive 138 Understanding the Ultra5000 Drive Branch 141 Understanding the Motion Branch 146 Understanding the Jog Window 147 Understanding the Move Window 149 Understanding the Cam Window 151 Cam Table branch 155 Understanding the Gear Window 155 Understanding the Motor Window 163 Understanding the Tuning Window 168 Understanding the Encoders Window 175 Understanding the Digital Inputs Window 180 Understanding the Digital Outputs Window 182 Understanding the Analog Inputs Window 184 Understanding the Analog Outputs Window 186 Understanding the Oscilloscope Window 188 Understanding Ultra5000 with DeviceNet 193
140. Position Error Position Command Count Frequency Negative Overtravel Positive Overtravel Velocity Signals Command Velocity Feedback Velocity Error In Speed Window Up To Speed Configuring the Kinetix 3 Drive Description Oscilloscope Oscilloscope Analog Output aik Trigger aii Trigger Reports the percentage of the Drives Temperature Trip value that is based on the drives continuous current rating thermal characteristics and time It is an indication of the level of utilization of the drive s current capability If the Drive Utilization reaches 100 a Drive Overload fault Occurs Actual motor position motor Actual motor position Refer to Understanding the Tuning Window on page 253 lite Winder oh ie age 253 Refer to Understanding the Tuning Window on page 253 Window on page 253 Refer to Understanding the Tuning Window on page 253 Tuning Window on pace 25 age 253 The frequency of the position command Input in thousand counts per second ON indicates that the Negative Software Limit as defined in Understanding the Kinetix 3 Drive Branch on page 230 is being exceeded ON indicates that the Positive software Limit as defined in Understanding the Kinetix 3 Drive Branch on page 230 Is being exceeded Refer to Understanding the Tuning Window on page 253 Tuning Window on pace 25 age 253 Refer to Understanding the Tuning Window on page 253 Note The resolution of this signa
141. Program Velocity in the reverse direction Brings the motor to a stop using the Program Deceleration rate Brings the motor to an immediate stop Customize the Jog window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understand i ng the Move The Properties window of the Move branch looks like this Window Parameter vae unite FrofleDistence 0 os veocty o Cowtsisse acceleration 0 Courtsisec 2 Deceleration 0 Courtsissc 2 Status Vaue Units e o e Fang zero o coms Cumert Poston 0 Cowts Cumert Velocity 0 Courtsisec Curent Acceleration 0 Courtsisec 2 Curertjee 0 Courtsisec s W Show Status A Setup Revert Close Help Use the Move window to e set move distance velocity acceleration and deceleration parameters e monitor status relating to a move as it executes and e issue commands that start stop reset and abort a move You can edit parameters for both an online and an offline Move branch However
142. RK RK K K KI K K K K i g g Command Curent Feedback Curent U Phase Curent V Phase Curent W Phase Curent Curent Limited Curent Limit Negative v Current Limit Positive E Encoder Signals k Hall State S1 Hall State S2 JRK RK RK RK K K K K Cancel d Digital Outputs E Li EA 5 bee M Output 1 State i 4 108 Position Command Frequency Fault i Output 2 State om 112 Emergency Stop i Output 3 State su M 113 Indexing Position Range Overflow Output 4 State i J 114 Motor Phase Over Current fa MV Output 5 State i J BAT Waming Absolute Encoder Battery i V Output 6 State iss M CNT Waming Absolute Encoder Count Overflow El v Power Status om M OCC Waming Over Current Command so A Shunt Power Limit Ratio A OSC Waming Over Speed Command i A Instantaneous shunt power u Z PIN Waming Digital IO Assignment G v Faults i V PRE Waming Power Up Overspeed su A 4 Motor Overtemperature Fault o hu CAP Waming Over Motor Rated Power M 5 IPM Fault M Mode Configuration A 9 Bus Undervoltage Fault EM Preset M 10 Bus Overvoltage Fault om Preset Select 0 A 12 Home Search Failed M Preset Select 1 M 18 Motor Overspeed Fault mW Preset Select 2 M 19 Excess Position Eror Fault o hu Preset Direction M 22 Motor Continuous Curent Overload Fault M Homing M 23 Drive Overload Fault b M Home Sensor
143. Reg Average Current IReg U Phase Current IReg W Phase Current IReg U Phase Voltage Reg V Phase Voltage Reg W Phase Voltage IReg Torque Command IReg Torque Feedback IReg Torque Error IReg Torque Output IReg Field Feedback IReg Field Error IReg Field Output IReg Rockwell Automation Publication 2098 UM001G EN P February 2011 191 Chapter4 Configuring the Ultra5000 Drive To assign a specific input signal or status to the selected channel 1 Click one or more plus signs to open the tree control to the desired branch 2 Place a check mark in the box next to the desired input signal or status 3 Click OK to display the selected input signal as the channel in the Oscilloscope window To assign no input signal or status to the selected channel 1 Be sure no check marks appear next to any input signal or status 2 Click OK The word Unassigned appears in the selected Channel in the Oscilloscope window 3 Click OK to display Unassigned as the channel in the Oscilloscope window 192 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 U nderstand ng U ltra5000 The Properties window for DeviceNet looks like this with DeviceNet Bs SkOn DeviceNet Parameter vawe Junts Node Address 0 Data Rate 125kps Module Fault Action Fault E14 Idle Fault Action Fault E14 Comm Fault Action Fault E14
144. S drive are displayed A Properties window such as the Drive Properties window displayed below appears for the selected drive branch F uw 3000 Iofs a Current Control Panel E Sa ee a Indexing Control Panel Motor Model o Motor Forward Dir Normal E i DispleyedUnis etic Reset rive Reset EEPROM to Factory Settings Motor Encoder Units Auxiliary Encoder Units satus __vatue unis perea mesen O InPostion Window GO Toses O InSpeed window GO eose Pos curenttint G Neg urentuint O G perom Bus Votege Va W Show Status T Sian Carma Setup Revert Close Help Rockwell Automation Publication 2098 UM001G EN P February 2011 39 Chapter 3 Configuring the Ultra3000 Drive 3 To configure properties for the selected drive branch use the features of the Properties window as follows Section Description Parameters Located in the upper left part of the Properties window Type or click settings in the parameter fields to configure the drive branch Commands Located in the upper right part of the Properties window Click any button to issue the associated command Click Show Commands below to display command buttons Not every drive branch has associated commands Status Located beneath the Parameters and Commands sections By default these fields display the online status of the selected drive branch Click Setup to open a window where you can customize the status t
145. The assignments are logically OR d to determine the output state e At Home An active state indicates that the position command is equal to the Home Position e At Index 0 Position An active state indicates the commanded motor position is equal to the position defined by Index 0 This output functions only after the axis has been homed e At Index 1 Position An active state indicates the commanded motor position is equal to the position defined by Index 1 This output functions only after the axis has been homed e Axis Homed An active state indicates that the homing routine has completed e Brake Used to control a motor brake An active state releases the motor brake The Brake signal is the same as the Drive Enabled signal with the addition of the turn on and turn off delays specified by the Brake Active Delay and Brake Inactive Delay Rockwell Automation Publication 2098 UM001G EN P February 2011 99 Chapter 3 Configuring the Ultra3000 Drive Parameter Description Output 1 4 cont e DC Bus Charged An active state indicates that the DC bus is energized Drive Enabled An active state indicates that the power stage of the drive is enabled For the power stage to be enabled all software and hardware enable inputs must be active and the drive cannot have any faults End of Sequence An active state indicates all iterations of the index move have been completed Fault Disable An active state indicates tha
146. The motor shaft moves during the tuning process Ensure that the motor is properly mounted and guarded TIP Closing the window returns the drive to its normal operating mode but the software is disabled To make the drive operational click the drive and then the Enable command as Instructed in the Windows message The following parameters status and commands apply to this window Parameter Description Manual Position Tuning Settings Motor Direction The direction the motor rotates during tuning e Bi Directional e Forward Only or e Reverse Only Distance The the amplitude of the drive s commanded position step It has a range of 1 32 767 counts Time The period of the drive s commanded position step It has a range of 1 32 67 ms Position Regulator Gains Kp Proportional gain for the position loop The Kp gain generates a control signal proportional to the position error It has a range of 0 32 in min mil Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Kd Derivative gain for the position loop The Kd gain generates a control signal proportional to measured velocity It has a range of 0 32 Note Kd gain provides damping to the position loop and can reduce overshoot Kff Feedforward gain for the position loop The Kff gain generates a feed forward si
147. Ultra5000 Drive Parameter I O Transmit Select Faults Module Fault Idle Fault Comm Fault Description Selects the input produced assembly that is transmitted by the drive over a polled I O messaging connection The options are e Assembly Instance 9 Assembly Instance 10 Assembly Instance 11 Assembly Instance 12 Assembly Instance 13 Assembly Instance 14 Assembly Instance 15 e Assembly Instance 16 Note Refer to the Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 for information on these options Determines the action the drive should take If it can not communicate with the DeviceNet module The options are e DeviceNet Fault E14 e Ignore Note Refer to the Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 for information on these options Determines the action the drive should take if the master sends a zero length I O message to the drive which may occur if a PLC master is set to program mode The options are e DeviceNet Fault E14 e Ignore Note Refer to the Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RM002 for information on these options Determines the action the drive should take if the drive detects
148. Ultra5000 Drive Chapter 4 Drive status is displayed by default for an Ultra5000 Drive in the On Line Drives branch of the Workspace window Status Enabled Fault Drive Address Position Limits State Positive Soft Limit Negative Soft Limit Positive Hard Limit Negative Hard Limit Positive Motor Limit Negative Motor Limit Description When the drive is Enabled this status shows an ON light bulb This displays the fault status of the selected online Ultra5000 drive e Q None e 4 Motor Over Temp e 5 IPM e 9 Bus Under Voltage e 10 Bus Over Voltage e 11 Illegal Hall State e 17 User Current e 18 Overspeed e 19 Following Error e 20 Motor Encoder State e 21 Auxiliary Encoder State e 22 Motor Filter e 23 PM Filter e 24 Velocity Error e 26 User Velocity e 29 Excess Output Frequency e 39 Self Sensing Startup Failed 2 58 Excessive CPU Load Displays the node address of a online drive Note This status is not available when a drive is offline We display is one of these options e Disabled Position Limits are not being monitored e Enabling The drive is transitioning from the Disabled state to Running e Running The drive is monitoring position limits e Stopping The drive has detected a limit violation and is decelerating the motor e Stopped The motor has been stopped in response to a limit violation The drive does not permit commanded motion u
149. User Manual Allen Bradley Ultraware Software Catalog Number 2098 UWCPRG 440554550 3 4 4 ei lays F k NAN 4 Hie w wA mop LIN i i A J i i Allen Bradley Rockwell Software Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office or online at http www rockwellautomation com literature describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use or application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liability for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Autom
150. Using Executable Program Files 320 An executable program file is a child of a Project branch It is generated by compiling all Source Files identified by a c extension and Header Files identified by a h extension in a selected Project using the Program menu s Build command Creating a Program After creating or importing all necessary source header files to a Project branch you can create a new Program or re compile a pre existing program by executing the Build command To create a new executable program file perform these steps 1 Inan offline Ultraware file select a project 2 Do one of these e Click Build from the Program menu e Click the right mouse button then click Build from the pop up menu e click the Build icon in the Program toolbar If the build fails any pre existing program exe file bearing the project name is lost The Output window displays messages and errors relating to the compile Double clicking on an Output window error or warning message with these format lt Filename gt lt Line number gt lt error or warning message gt IMPORTANT You must move or copy the program exe file from the Ultraware file to the Programs branch of an online drive before you can run It You can do this using the Copy and Paste commands or the Drag and Drop function Configuring a Program To configure an executable program file follow these steps 1 Click the executable program file in the W
151. Verity the line count pole count or electrical cycle length motor parameters e Swap any two motor connections and verity the motor feedback counts in the correct direction during positive motor movement The Faults window has these commands Command Fault History Clear Faults Description Opens the Fault History window where you can view a list of the last 20 fault events that occurred since the drive was powered up Clears all drive faults Customize the Faults window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 U n d erstan d in g th e sS e rvi ce The Service Information window looks like this Information Window J Drive Service Information Parameter value Units Diesre 75 RW satus vane oe C Diewe moon O pesnmee O o Firmware verson 000 E oo o rem MW Show Status Skon Eommand Senp Revert Elsi Hiap Time in Service r Use the Service Information window to e Modify the size ofan offline drive file before transfe
152. a3000 Dive an sc0csnsaeriowosnbongueneaseees 38 Configuring Properties for the Ultra3000 Drive 39 Understanding the Ultra3000 Drive Branch 00 000 4 Velocity Control Panel Window 00 c cece eee e eens 50 Current Control Panel Window 0 cece eee eee eee 52 Current Control Panel Window 2 cece eee eee ees 52 Indexing Conttol Panel i ciutssesrekaereiesieae eu nheeh sarees 54 DIVE RepOrl ie ttudnnaliedoiaimeet tues a eaoomenee cea 57 Switching the SERCOS Interface vs sicae re n i ie 58 Understanding the Analog Window cece eee eee eee eee 59 Understanding the Preset Window is casiceeesnsatestantosn beset 62 Understanding the Follower Window 0 cece eee cece eee 64 Understanding the Indexing Window 0 cece eee eee eee 66 Understanding the Homing Window 0 0 ce cece eee eee eee 70 Understanding the Motor Window 0 cece e cece eee eee eee 73 Understanding the Tuning Window 0 cee eee eee eee TE Autotonine Window oi20cuuivs ceeds bese AE EES 80 Manual Position Tuning Window 0 cece eee eee eee 82 Manual Velocity Tuning Window 0 cece eee eee eee 84 Understanding the Encoders Window essence eee 86 MOtOriaenOsiicSsrecireyetcnsohednce dest Geese Nesseeneateets 89 Understanding the Digital Inputs Window 0 eee eee 95 Understanding the Digital Outputs Window
153. active and the motor is moving In Dwell An active state indicates the motor is holding position in an index move and waiting for the commanded dwell time Axis Homed An active state indicates that the homing routine has completed Index Select 0 Output Each active state indicates the commanded motor position is equal to the position defined by Index 0 63 Index Select 0 Output Index Select 1 Output Index Select 2 Output Index Select 3 Output Index Select 4 Output Index Select 5 Output Index Select 6 Output e End of Sequence An active state indicates all iterations of the index move have been completed Brake Active Delay e The time delay between enabling the drive and activating the brake output that releases the motor brake The range is 0 10 000 ms Brake Inactive Delay e The time delay between disabling the drive and deactivating the brake output which applies the motor brake The range is 0 10 000 ms The following display is the default status for a Kinetix 3 drive in the Digital Outputs window Status Description Output 1 6 State The current state or condition of each digital output is depicted by a light bulb icon as follows e ON a bright light bulb e OFF a darkened light bulb 272 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 The following command can be executed for a Digital Outputs window of an online drive
154. ade firmware e Operate within not above the continuous torque rating for the ambient temperature 40 C maximum e Lower ambient temperature increase motor cooling Check motor wiring Verify the proper motor has been selected Status 05 IPM Fault 06 SERCOS overtravel 07 Encoder channel line B break 08 Encoder channel line A break 09 Bus Undervoltage Configuring the Ultra3000 Drive Chapter 3 Possible Cause s Suggested Action ON indicates that a fault was detected in the Integrated Power Module that resides in the Ultra3000 drive ON indicates the SERCOS Limit indicator is lit ON indicates a wiring error with channel line B ON indicates a wiring error with channel line A ON indicates the DC Bus is below normal Operating voltage Motor cables shorted Motor winding shorted internally Ultra3000 temperature too high Operation above continuous power rating Ultra3000 has a bad IPM output short circuit or overcurrent SERCOS Limit exceeded Motor wiring fault Motor wiring fault Low AC line AC power input 100 VAC minimum for safe Ultra3000 operation Rockwell Automation Publication 2098 UM001G EN P February 2011 Disconnect motor power cables from the drive If faults stop then either replace cable or try to find the short Verify by disconnecting motor from drive and then try to turn by hand If difficult to turn by hand the m
155. ader files are closed or not the top view windows The Motion Library dialog is docked to the right side of the main window by default Rockwell Automation Publication 2098 UM001G EN P February 2011 Before You Begin Chapter 1 Starting Ultraware Software When you start the software for the first time it prompts you to Open Last File xxx udb Open existing file or Create new file After you click the file to open or create the software scans the network for online drives You may need to configure your PC s serial port settings refer to Serial Port Settings on page 22 and rescan the network refer to Scanning the Network on page 21 to verify that the software successfully locates all online network drives Opening an Ultraware File The name and location of any open file is stored in memory when you close your software Each time the software opens it displays a dialog that lets you do one of these commands Select Description Open Last File xxx udb and then OK Opens the most recently used Ultraware file Open existing file and then OK Open another existing Ultraware file of your choice Create new file and then OK Open a new Ultraware file Cancel Open Ultraware without an active file in the Workspace window TIP A new file is held in temporary storage until saved Scanning the Network When the software opens it conducts a search of the network for all connected drives The Scan For On Line Drives dialog displ
156. agerSowe O O O Veicdy Commana Trigger Mode S Mode Falling Edge 7S ae aaa PS ETE input Signa OOOO veoayFeedoss seeme OOOO i i a S E mames SSCS ineat Sienai Velocity Commana Oms Olms O2ms O3ms O4ms OSms OSms O7ms OSms O9ms tms f fist Resonant Frequency Suppression Filter 10000 2nd Resonant Frequency Suppression Filter 10000 ist Resonant Frequency Suppression Filter Width 10 Aim Trigger y ais Labels 2nd Resonant Frequency Suppression Filter Width 0 Den z 2nd Resonant Frequency Suppression Fiter Depth 100 Snap Shot I Show Properties I7 Show Commands Save Revert Close Help Use the Oscilloscope window to trace one of four drive signals by e Configuring the oscilloscope by selecting a the drive signal to trace e executing commands that run the oscilloscope s tracing function continuously or in response to the configured trigger e monitoring the oscilloscope as it traces the selected drive signal 2718 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 The Oscilloscope window has these parameters and commands associated with it Parameter Description Channel A and B Input Signal scale Type Scale Offset I O Monitoring Type Sweep Parameters Sample Period samples per Division Trigger Source Trigger Mode Trigger Threshold Trigger Status Click the dow
157. al is input as the new home If the Auto Start Homing function is enabled the position when the drive is enabled becomes the new home Auto Start Homing on Enable Causes the drive to begin the homing procedure automatically when the drive is enabled Selections are e Active automatically starts homing every time the drive is enabled and e Active After Reset Only automatically starts homing when a drive is enabled if the drive has not already been homed e Inactive Home Sensor Back off Causes the drive to move in the direction opposite the direction specified by the Homing Velocity setting when the homing procedure is started with the Sensor input active Motion continues in the reverse direction moving at the Homing Accel Homing Decel and Homing Velocity settings until the Sensor input is detected inactive at which point the normal homing procedure takes over e Active automatically starts backoff when the input is detected e Inactive normal homing procedure occurs Note This does not apply if Home to Marker is selected as the Homing Type Homing Velocity The commanded velocity used during homing The sign of the this value indicates the direction of motion during homing The range is 2 147 483 647 2 147 483 647 rpm rotary or counts per second linear Rockwell Automation Publication 2098 UM001G EN P February 2011 241 Chapter5 Configuring the Kinetix 3 Drive Parameter Description Homing Accel De
158. and saved under a name using the directions in Saving an Ultraware File on page 27 Rockwell Automation Publication 2098 UM001G EN P February 2011 25 Chapter2 Common Commands for Ultra Drive Configuration Opening an Existing Ultraware File To open an existing Ultraware file perform these steps 1 Open an existing Ultraware file using one of these options e Click Open in the File menu e Click the Open icon in the File toolbar e Press the Ctrl O keys IMPORTANT _ fan Ultraware file is already open a Save Changes window opens and requires a response before the request to open a new file executes Choose one of these commands e Yes Saves the open file under the filename in the designated location Saves the open file under the filename in the designated location e No Discards the changes to the open file e Cancel Aborts the new Ultraware file leaving the previous file open 2 Perform these steps in the Open dialog box Open Look irr E3 Ultraware ad Files of type Ultraware Database udb Cancel a Navigate to and click the name of the Ultraware file to open b Click Open The selected Ultraware file appears in the Workspace window If the Workspace window displayed a previously opened Ultraware file the selected Ultraware file is displayed 26 Rockwell Automation Publication 2098 UM001G EN P February 2011 Common Commands for Ultra Drive Configuration Chapter 2
159. ange Disconnect motor power cable from drive and enable drive with current limit set to 0 e f fault remains call your A B representative e f fault clears a wiring fault or an fault internal to the motor exists 35 Soft Starting Fault Low AC input voltage Check AC input voltage on all phases Call your A B representative at startup Internal malfunction Rockwell Automation Publication 2098 UM001G EN P February 2011 133 Chapter 3 134 Configuring the Ultra3000 Drive Status 36 Power Module Overtemperature 37 AC Input Phase Loss 39 Self sensing Commutation Startup Error Possible Cause s Suggested Action ON indicates an Excessive heat in power Reduce acceleration overtemperature circuitry rates condition in the power e Reduce duty cycle module ON OFF of commanded motion e Increase time permitted for motion e Use large Ultra3000 and motor e Check motor tuning ON indicates incorrect Loss of one or more Check AC input voltage power phasing phases of power on all phases ON indicates a self Motion required for self Verify that there are sensing commutation sensing start up no impediments to error was encountered commutation was motion at startup during startup obstructed Incorrect line such as hard limits count pole count or e Increase self sensing electrical cycle length current if high friction or load conditions exist e
160. ar All Bookmarks command 1 Place the cursor in a line of code in a source or header file in the Client Area 2 Doone of these e Click the Clear All Bookmarks icon in the Edit toolbar e Click Bookmarks in the Edit menu then click Clear All Bookmarks All bookmarks blue dots in the selected text file are removed Show Line Numbers Use this command to display line numbers to the edit window and printouts You can use this command in the header h file To execute the Show Line Numbers command Select the header h file in the Client Area Do one of these e Click Show Line Numbers in the Edit menu or e Right click to display the popup menu and then click Show Line Numbers TIP The Show Line Numbers command is enabled only if a source or header file is currently selected in the Client Area Rockwell Automation Publication 2098 UM001G EN P February 2011 315 Chapter6 Creating and Running Programs Wildcard Search Characters Both the Find dialog box and the Replace dialog box permit you to search for text in a header h or source c file using expressions You create an expression using ordinary text combined with these wildcard characters Expression Name Description Beginning of Line Starts the match at the beginning of a line significant only at the beginning of an expression Or Matches the expression before or after the symbol Used mostly within a group For example sponge mud bat
161. ased upon 0 to Peak of the sine wave not RMS units Winding data values are phase to phase Feedback Encoder Type The type of encoder provides motor feedback e Incremental e Sine Cosine Commutation Type The type of commutation for the motor e Brush e Jrapezoidal e Sinusoidal Startup Type The start up commutation algorithm for the motor e Self Sensing e Hall Inputs Hall Input Offset 0 to 359 Degrees Lines Per Meter 4000 to10 000 000 lines Integral Limits Check when feedback has integral limit switches For example if the motor has built in overtravel limits which are interfaced to the Ultra drive s Encoder CN2 connector Rockwell Automation Publication 2098 UM001G EN P February 2011 335 Chapter7 Creating Custom Motors Parameter Description Thermal Integral Thermostat Check when motor has a built in thermostat software Protection Check when thermal protection through software is desired Thermal Properties Rth w e 0 00001 to 32767 999 C W winding to encoder thermal resistance Cth w e 0 0039 to 8388607 W s C winding to encoder thermal Capacitance Rth w a 0 00001 to 32767 999 C W winding to ambient thermal resistance Cth w a 0 0039 to 8388607 W s C winding to ambient thermal Capacitance The following command applies to the Linear Motor window Command Description Close Closes the Linear Motor window with the parameters as entered 336 Rockwell Automation Publication 2098 UM001G EN P F
162. atabase and reapplies it to the drive Note This command ts useful when a motor definition in the motor database has been changed IMPORTANT The commutation diagnostics should only be performed when the motor under test is not connected to a load The presence of an inertial or frictional load may cause erroneous test results TIP Commutation Diagnostics Motor Feedback Diagnostics or Motor Marker Diagnostics commands place the drive in a special override mode that lets wiring and motor settings to be verified Diagnostic commands are not available for a SERCOS drive Customize the Motor window for your Ultra3000 Drive by selecting one or more of these commands Click Show Status to display or hide the Status pane Click Show Commands to display or hide the Commands pane Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window Click Revert to return parameter settings to the values they held when you opened this window 76 Rockwell Automation Publication 2098 UM001G EN P February 2011 Understanding the Tuning Window Configuring the Ultra3000 Drive Chapter 3 The Properties window for the Tuning branch looks like this F4 Ultraware UW 3000 Tuning O x sir File Edit wiew Insert Program Tools Commands Window Help lej x tn o Velocity Regulator Gains a aes E Postion Regulator Gains i a et 0 Em Low Pass Filter cc Ba
163. ation 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 WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property damage or economic loss ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a hazard avoid a hazard and recognize the consequence SHOCK HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present BURN HAZARD Labels may be on or inside the equipment for example a drive or motor to alert people that Surfaces may reach dangerous temperatures PP PE IMPORTANT Identifies information that is critical for successful application and understanding of the product Allen Bradley Kinetix MicroLogix Rockwell Software Rockwell Automation TechConnect Ultra3000 and Ultra5000 are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Rockwell Automation Publica
164. aware software to e use acompiler linker tool to produce executable programs e communicate with the drive through a separate Communication library e use the Communication library to download program and configuration information execute direct commands and retrieve program configuration and status information At startup you see several work areas that let you perform tasks For example you can create or edit Ultra5000 programs in a text editor using the C programming language 14 Rockwell Automation Publication 2098 UM001G EN P February 2011 Before You Begin Chapter 1 Understanding the Graphical User Interface A graphical user interface lets you to configure your drives and run your program The workspace consists of the pre defined areas listed below and shown in the diagram e a Workspace window e aClient Area e an Output window e a Main menubar e aset of Toolbars e a Status bar Use the View menu commands to enable and disable the user interface features The user interface for drives is shown in the example The example depicts the common control and command groupings for the drives listed on page 13 as compatible with Ultraware software Fa Ultraware Off line Drives Project Source c Main menubar BAE Eb On Line Drives EHE Ottdine Off ine Drives udb Fig uw 3000 i 22 Mode Configuration Editor windows Hote OP Tuning ff Encoders T Digtal Inputs 3 Diganta EA
165. ays the progress of the online node scan 0 255 and the specific task the software is currently undertaking for example Scanning Node or Attaching to Node Click Stop Scanning to stop the scanning for and attaching to online drives The On Line Drives branch of the Workspace window displays each drive detected Because the software does not automatically update the Workspace window click Rescan from the Tools menu to display the list of drives that are currently online Rockwell Automation Publication 2098 UM001G EN P February 2011 21 Chapter 1 Before You Begin Upgrading Drive Firmware Serial Port Settings After you open the software for the first time you may change the configuration of the personal computer s serial port and baud rate settings The default settings are COM 1 and 38400 Perform these steps to change the settings 1 Click Serial Port from the Tools menu 2 In the PC Communications Setup dialog box type the appropriate serial port settings IMPORTANT Ultra5000 drives support only the format 8 data bits no parity Ultra3000 drives do not support the 5 600 bps rate You can use the software interface to upgrade the firmware for an online drive Use the Upgrade Firmware command in the File menu to open the Firmware Upgrade dialog box where you can perform a flash upgrade to the firmware of a drive appearing in the On Line Drives branch of the Workspace window Before issuing the Upgrade Firmwar
166. bu enti deodndceatude eceaeewaebw da beesuated 19 WOO DAES cet Bas E ee Common tue O N TEENA 19 E21 Da aa ae ee E A EE eer 20 Moron Library Dalo egete e ETA 20 Starting Ultrawate SONWa oraina AEE AEON EET 21 Opentnean Ultrawate Filenin een a a 21 Serial Pore Seting eedan er ee E ER 22 Uperadino Drive Pirmwaleanges 2 aeits ta tans meatus TE 22 Chapter 2 LAGPOUUCUIONs 2 2 44 sue enitindan ats ack paced Sa sbenodetbadbeketenes 23 Opening UW ltraw ate SOM Wale ssis tunis beh slana cee tua Crepe as 24 Creating Opening and Saving Ultraware Files 005 25 Creating a New Ultrawate Pile sic 2 scteusargtntpiiveteessasons 25 Opening an Existing Ultraware File 0 eee eee eee 26 Savinoan Wltraware Pile cs ive ran aer ae a a 27 Cireating a New DING rec ie saint wiineces a thee whee e gue cas Sate ne 28 Importine aid Exporting a Dives scnuccin vekdta rte anseeeis oes 28 EXPOMING a DiVersi ean aE E caved ease rinses 28 lnporuine 2 Drive ranee nri san rn A E Ra aes 29 Working in the Workspace Window 0 sees eee eee eens 30 RUE eater desea earnest E Braet aaa anne eee eee 30 CODI E Aeon nase eters ema hated canes tenes 31 P EE A E EE re SR T bw eins Oh 31 Delete Meets ete R EE A E A 32 Diras and Drop savnediss cle ce AET E 33 Rockwell Automation Publication 2098 UM001G EN P February 2011 5 Table of Contents Configuring the Ultra3000 Drive Chapter 3 latod Oesen oud ak a eee hades ceeded 37 Configuring the Ultr
167. cel The rate of acceleration and deceleration used during homing The range is 0 2 147 483 647 revolutions per second or counts per second Offset Move Distance The distance the motor position is from the marker edge or sensor edge for Sensor only Homing Type after the homing sequence is complete The range is 2 147 483 647 2 147 483 647 counts Stop Home Decel The rate of drive deceleration revolutions per second or counts per second2 used when the Stop Homing command executes or by activating a Digital Input set to Stop Homing Home Sensor Polarity specifies the digital input state which indicates to the drive that the Home Sensor input is active e Active Going Transition or e Inactive Going Transition Home Position The home position when a homing procedure is completed The range is 2 147 483 647 2 147 483 647 counts Creep Velocity For the To Sensor then Back to Marker Homing Type the velocity used for all remaining homing motion after the motor decelerates to a stop when it finds the sensor edge Home Current Value specifies the feedback current at which the drive stops moving the motor at the Homing Velocity The following status can be displayed from a Homing window of an online drive Status Description In Motion ON indicates the motor is moving in response to an indexed motion command Note The In Motion status has a value of 1 when ON and 0 when OFF In Dwell ON indicates the motor is holding pos
168. ck Diagnostics window to verify a motor s position feedback signals The Motor Feedback Diagnostics window has these parameters status and commands Parameter Test Distance Statuses Test Status Test Results Position Motor Feedback A B Start Test Stop Test Description The encoder count Value for the Test Distance The value should be scaled according to the existing logic for scaling the Position Motor Feedback Description Indicates the current status of the Motor Feedback diagnostics Possible displays include e idle e Jest in Progress e Test Success e Jest Failure Possible displays include e blank nothing to report e Jest Aborted by User e Jest Distance Reached e Marker Found e Wiring Changes Recommended e Feedback Resolution Error e Encoder Alignment Error Displays the Counts Electrical Cycle recorded during the test ON indicates a master encoder A output signal is present ON indicates a master encoder B output signal is present Turns testing ON Turns testing OFF 90 Rockwell Automation Publication 2098 UM001G EN P February 2011 Motor Marker Diagnostics Configuring the Ultra3000 Drive Chapter 3 Use the Motor Marker Diagnostics window to verify the operation of the motor marker signal The Motor Marker Diagnostics window has these parameters status and commands Parameter Test Distance Status Test Status Test Results Position Mo
169. ck OK to save or Cancel to exit without saving Rockwell Automation Publication 2098 UM001G EN P February 2011 Using Header Files Creating and Running Programs Chapter 6 A header file is a text file that contains C programming language code which Ultraware software uses to create an executable program file for an Ultra5000 drive A header file is identified by its h extension and contains external declarations of variables and functions that the source file can use Each header file may contain e include statements which refer to other header files identified by their h extensions and e the C code declarations You can move a header file to an Ultra5000 drive s Archives branch for storage Creating a New Header File To create a new header file perform this step 1 Use one of these commands e Click Header File in the Insert menu e Click the project in the Workspace window and then right click Insert Header File A new header file appears in the selected place in the Workspace window The name of the new header file is Header h or if Header h already exists Headerz h where z is the lowest integer that creates a unique header file name within the selected project Once a header file is created you can configure its parameters for example change its name and edit its contents Renaming a Header File To rename a header file perform these steps 1 Click the header file in the Workspace window
170. command buttons to access Rotary or Linear motor Parameter S ets parameter windows These windows configures and then saves or deletes the custom motor parameter set The requirements of a motor for use by an Ultra Series drive include e Motor must have a TTL level incremental quadrature encoder with commutation signal or e A sine cosine encoder with commutation signals TIP If no commutation signals are available the Start Up Type parameter must be set for Self Sensing resolvers are not Supported e Motor inductance must be greater than 1 milliHenry e Motor electrical time constant phase to phase inductance divided by the phase to phase resistance must be greater than 1 ms From the main Motor Database window 1 Use one of these commands e Click acommand button New Rotary to create a custom rotary motor with default values New Linear to create a custom linear motor with default values e Click a motor model from the list that approximates your custom motor Type Speed Current and Mass Inertia parameters and then click the Duplicate toolbar or double click the motor 2 Modify the Rotary or Linear motor parameters as required See e Using the Linear Motor Window or e Using the Rotary Motor Window for information on motor parameters that can be set TIP Set all Flux Saturation levels at 1 000 for any custom motor 3 Click the Close button to exit the New Rotary motor or New Linear motor window
171. count Value for the Test Distance The value should be scaled according to the existing logic for scaling the Position Motor Feedback Testing is started and stopped by clicking the appropriate Test button e Start Test e Stop Test Description Possible displays include e idle e Jest in Progress e Test Success e Jest Failure Possible displays include blank nothing to report Test Aborted by User Test Distance Reached Marker Found Wiring Changes Recommended Feedback Resolution Error Encoder Alignment Error Displays the Counts Electrical Cycle recorded during the test Displays the Counts Electrical Cycle recorded during the test ON indicates the presence of the master encoder s A output signal ON indicates the presence of the master encoder s B output signal Description Turns testing ON Turns testing OFF Rockwell Automation Publication 2098 UM001G EN P February 2011 93 Chapter 3 Configuring the Ultra3000 Drive 94 Diagnostic Testing Procedure Diagnostic testing places the drive in a special diagnostics mode that requires re enabling of the drive after the test is complete Perform testing as follows Pod 1 Open a Diagnostics window from either the Encoder or Motor windows 2 Click Start Test to start this test 3 4 Test Results and Recommended Changes displays the information in the Test Status reports the test status as the test progresses tables above Click
172. cted for drive operation the drive will switch to velocity mode to restrict the speed as necessary e Disabled No additional velocity limits in effect e Manual Limit Motor velocity is limited to value specified for Manual Velocity Limit e Analog Input Motor velocity is limited to the velocity command from the Analog Velocity Input Note When the selected Operation Mode is Analog Velocity Input the command defines its own limit Manual Velocity Limit specifies a velocity value that will not be exceeded when the Velocity Limit Mode is set to Manual Limit or Manual and Analog The range is 1 6000 rpm The default is 5000 Rockwell Automation Publication 2098 UM001G EN P February 2011 227 Chapter5 Configuring the Kinetix 3 Drive Parameter Description Acceleration Limits Acceleration Limits Mode Sets the state of the Acceleration and Deceleration Limits in the drive as shown below For the Analog Velocity and Preset Velocity operation modes the setting is either Active or Inactive Acceleration If Acceleration Limits is set to Active this is the drive s acceleration limit when the drive is in Analog Velocity Input mode and the Analog Command Input changes or Preset Velocity Mode and the preset selection changes The range depends on the maximum motor speed It must be greater than zero but no more than the acceleration required to reach the maximum motor speed from zero in one millisecond Acceleration T
173. cted line of code in the Text Editor To remove a bookmark 1 Ina source or header file place the cursor in a line of code that has a bookmark a blue dot 2 Do one of these e Click the Toggle Bookmark icon in the Edit toolbar e Right click Toggle Bookmark from the pop up menu e Click Bookmarks in the Edit menu and then click Toggle Bookmark The bookmark disappears To remove all bookmarks 1 Click a source or header file with multiple bookmarks blue dots 2 Click Clear All Bookmarks icon in the Edit toolbar All bookmarks in the disappear Rockwell Automation Publication 2098 UM001G EN P February 2011 313 Chapter 6 Creating and Running Programs 314 Next Bookmark Use this command to locate the bookmark a blue dot that next appears in the selected source or header file Ultraware software searches in a forward downward direction for the next bookmark If no bookmark is found the search wraps around to the beginning of the file and find the first bookmark in the file This command is available while a source or header file with at least one bookmark is open in the Client Area To execute the Next Bookmark command perform these steps 1 Place the cursor in a line of code in a source or header file in the Client Area 2 Doone of these action e Click Next Bookmark icon in the Edit toolbar e Click Bookmarks in the Edit menu and then click Next Bookmark The cursor moves down to the nex
174. ctual position relative to the Home position of zero The number of iterations remaining in the execution of the index ON illuminated indicates the motor is moving in response to an indexed motion command Note The In Motion status has a value of 1 when ON and 0 when OFF ON illuminated indicates the motor is holding position and waiting the commanded dwell time Note The In Dwell status has a value of 1 when ON and 0 when OFF ON illuminated indicates that all iterations of the index have been completed Note The Sequence Complete status has a value of 1 when ON and 0 when OFF ON illuminated indicates the position error has been less than the In Position Size setting for longer than the In Position Time setting and the speed is less than the Zero Speed setting as configured in the Ultra3000 Drive window Note The In Position status has a value of 1 when ON and 0 when OFF ON illuminated indicates the position command value is zero which is by definition the Home position Note The At Home status has a value of 1 when ON and 0 when OFF Rockwell Automation Publication 2098 UM001G EN P February 2011 55 Chapter 3 56 Configuring the Ultra3000 Drive These commands can be executed from the Indexing window of an online drive Command Description Start Index Begins execution of the indexed motion command 0 63 specified in the Index Number parameter Start Homing Begins execution
175. d The Setup Wizard initially sets a small subset of the drive parameters This step makes sure that the other drive parameters are set to reasonable defaults IMPORTANT As you step through the wizard you modify parameters stored in the drive If you decide to cancel the wizard midway through these steps the Kinetix 3 drive will not return to the same state It was before starting the wizard We recommend you perform a Reset to Factory Setting to the Kinetix 3 drive anytime you cancel the Setup Wizard before completing all of the steps Click the type of Controller attached to your Kinetix 3 drive or click Other Click the Operation Mode for the Kinetix 3 The wizard simplifies this decision by filtering the available operation modes based on the drive controller that is connected to the Kinetix 3 drive 5 Enter the operating parameters required for the selected operation mode Click your motor Tune the Kinetix 3 drive Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understanding the Analog Window The Properties window for the Analog branch looks like this UW_KS Analog WNelediySeale is0O G eunent Seste fae I Show Status Pichowieonrence Setup Revert Close Help Use the Analog window to e set Analog Velocity and Current Position Command Input drive parameters for an online or offline drive e mon
176. d Table Enable Cam Disable Cam Cycle Limit Parameter vawe t 0 Cycle Count rere o Input Yelocity fame ea Current velocity E Counts sec Counts Counts sec Counts sec 2 File Name File Loaded Mode Count Order Length Offset counts Setup Revert Close Help MV Show Status M Show Commands Use this window to monitor the status of the cam You may create or modify a cam profile with the Cam Table Editor which is accessible as a context menu right click from the Cam window Refer to Cam Table Editor on page 155 for instructions on how to create and edit cam tables or their graphic plots There are no properties associated with the Cam window The following parameter can be entered and edited in the Cam window Parameter Description The number of cycles or times the cam wraps around to the beginning of the cam table after reaching the end Once the Cycle Limit is reached the cam is disabled A Cycle Limit of zero indicates no limit Cycle Limit The following display is the default status for a Cam branch of an online drive Status Description Cam State The current state of the cam e Enabled or e Disabled Cycle Count The number of cycles completed since enabling the cam Input Position Rockwell Automation Publication 2098 UM001G EN P February 2011 The current master position value in counts This
177. d i ng the Indexi ng The Properties window for Indexing looks like this Wi ndow P Drive Indexing Miel x o Parameter Yawe Units E i Ba E i a iz E E E i lt lt Use the Indexing window to e configure up to sixty four indexes 0 63 and e open the Indexing Control Panel where you can start and stop execution of the index command start and stop homing enable or disable a drive and monitor the execution of an index An index controls drive operation by executing preconfigured motion commands An index controls drive operation when Operating Mode is set to Indexing in the Ultra3000 Drive window The drive uses the index whose number 0 63 reflects the cumulative binary values of the Preset Select Lines 0 1 2 3 4 and 5 that are selected in the Digital Inputs window 66 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The digital input Preset Select Line binary values are as follows e Preset Select 0 1 if active 0 if not e Preset Select 1 2 if active 0 if not e Preset Select 2 4 if active 0 if not e Preset Select 3 8 if active 0 if not e Preset Select 4 16 if active 0 if not e Preset Select 5 32 if active 0 if not Ifa Preset Select Line is not assigned to a digital input the Preset Select Line is considered inactive These parameters status and commands apply to Inde
178. d is provided by external step and direction step up down or quadrature encoder inputs e Preset Velocity Preset velocities provides the velocity command Up to 7 Preset Velocity values can be set in the Preset window The combination of Velocity Direction and Preset Select 1 2 and 3 define the basis of motion in the Digital Inputs window Preset Select 1 2 and 3 determine the speed Preset Velocity 1 7 of the velocity command and Velocity Direction determines the direction of the movement see Understanding the Digital Inputs Window for more information about how to assign Preset Select functions to a Digital Input e Indexing Up to 64 indexes can be configured in the Indexing window The combination of Preset Select 0 1 2 3 4 and 5 in the Digital Inputs window determines which Index 0 63 is selected see Understanding the Digital Inputs Window for more information about how to assign a Preset Select to a Digital Input Initial Current Bias Percent of rated motor current applied to the motor to help support vertical loads during Initial operation The range is 100 100 The default is 0 Velocity Limits Velocity Limit Mode The method for limiting the motor velocity within the motor s rated maximum velocity The drive will never exceed the motor s rated maximum velocity This setting can be used to restrict the motor velocity further The available limits include ATTENTION When current mode is AN sele
179. d on the drive as a percent of motor maximum speed The range Is 20 20 V The default setting is 10 The displayed units remain velocity Volt where velocity depends on the motor type rotary or linear set in the Motor window and the Units setting in the Ultra3000 drive window Velocity Offset The drive s velocity input offset value This value indicates the offset of the Analog Command Input It has a range of 10000 10000 mV Accel Decel Limits Indicates the state of the Acceleration and Deceleration Limits below for the Analog Command Input in the drive either e Active e nactive Accel Limit If Accel Decel Limits is set to Active this is the drive s acceleration limit when the drive is in Analog Velocity Input mode and the Analog Command Input changes It has a range of 0 2 1 counts per second Rockwell Automation Publication 2098 UM001G EN P February 2011 59 Chapter 3 Configuring the Ultra3000 Drive 60 Parameter Continued Description Deceleration Limit If Accel Decel Limits is set to Active this is the drive s deceleration limit when the drive is in Analog Velocity Input mode and the Analog Command Input changes It has a range of 0 1 22 1 counts per second Current Command Input Current Scale The drive s current input scale value This value indicates the change in current per Volt of change in the Analog Command Input Note This parameter is stored on the drive in units
180. dds support for integrated Gear Motors e Adds support for controlling Acceleration Feedforward in the Tuning properties e Additional scope attributes are now saved on the drive Scale Type and Samples Per Division Ultra5000 Drive related Enhancements e Adds capability for two adjacent linear cam segments e New motion library functions let the program define cam tables queue cam tables and adjust the phasing of the cam e Enhancements to link only code required for the current application instead of the entire library using new compiler 2 x but maintained support of old compiler 1 x when needed e Fixes the executable size being included in calculations that determine if there s enough space on the drive to copy a project to the archive branch e Permits negative position values in a csv files imported as cam tables e Global Variables in monitor window can be displayed and edited in decimal hexadecimal and binary format e Progress meter displays while transferring large variable arrays e Eliminates crash that occurs while creating an online global variable when there isn t enough space available e Scope properties are now stored on the drive e Adds these new faults Ground Short Circuit Soft Starting Fault Power Module Over temperature AC Input Phase Loss Self sensing Startup Error Excessive CPU Load 342 Rockwell Automation Publication 2098 UM001G EN P February 2011 Vers
181. dexing control panel Statuses 243 Indexing window 243 commands 245 parameters 244 Statuses 244 Rockwell Automation Publication 2098 UM001G EN P February 2011 349 Index Monitor 275 Statuses 282 Monitor window commands 275 Status display 277 Motor window 249 commands 252 parameters 250 Statuses 250 Oscilloscope window 278 channel configuration 276 281 commands 280 Preset window 239 digital input values 239 parameters 240 Service Information window 297 Tuning window 253 autotuning 258 parameters 259 Statuses 259 commands 258 manual position tuning 260 commands 262 parameters 260 statuses 262 manual velocity tuning 262 commands 264 266 274 parameters 263 statuses 263 parameters 254 statuses 25 7 Velocity control panel parameters 235 Kinetix 3 command 28 Main menubar 19 Mark All command 312 Monitor Kinetix 3 275 Statuses 282 Monitor Ultra3000 105 Statuses 118 Monitor Ultra5000 196 Monitor window Kinetix 3 commands 275 Status display 277 Monitor window Ultra3000 commands 105 status display 107 Monitor window Ultra5000 Status display 198 Motion branch Ultra5000 146 350 Rockwell Automation Publication 2098 UM001G EN P Motion Library dialog 20 motor custom 331 database 331 linear 335 parameter set 332 rotary 337 Ultra drive requirements 332 Motor branch Ultra5000 parameters 164 Statuses 164 motor database 332 Motor window Kinetix 3 249 commands 252 parameters 250 Stat
182. e Address 1 Beudrste 87000 bps Frame Format 8 Data No Parity 1 Stop bit Protect S_ CASC Communication Method R5222 MODBUS Run Function Control Disable MODBUS input Function Control Dissbie lt B imi Current Limits Positive Itema aoo rated motor current Negative Internal 200 rated motor current Positive External 100 rated motor current i rated motor current El Stopping Functions F Over Travel Stop Method Curent Conval Maximum Stopping Cument 200 i rated motor curent Fault and Disable Braking Brake and Fold Disable Dely B pend 100 rr El _ Auxiiay Function Selection SSS Veloci Observer O isso Emeen Stop input osse SSS Status Vale Units fument Operating Made Analog Veloaiy Input _ Within Speed window Q wese CCS O FautWemig Noe Positive Overtrvel p Negative verter I Show Status I gt Show Commands Setup Revert Close Help Use the Kinetix 3 Drive Branch window to e configure the parameters for an offline or an online drive e monitor the status of an online drive e execute commands that clear faults reset the drive or reset the EEPROM e open the Control Panel windows where you can issue commands that control drive motion Rockwell Automation Publication 2098 UM001G EN P February 2011 225 Chapter5 Configurin
183. e Kinetix 3 drive Once you select a motor the status values associated with the selected motor appears in the Status pane of this window e Monitor the status settings that relate to the selected motor Rockwell Automation Publication 2098 UM001G EN P February 2011 249 Chapter5 Configuring the Kinetix 3 Drive The following parameters status and commands apply to motors Parameter Auto Motor Iden Motor Model Inertia Ratio Description Select e Enabled Causes the drive to read motor parameters from an intelligent encoder or e Disabled Causes the drive to read motor parameters from a Motor Model selected below The model name for the motor being used by the drive If Auto Motor Iden is e Enabled this displays the motor model obtained from the motor e Disabled this displays the model name of the selected motor Only listed motor models are valid Note Ultraware software ships with a Motor Configuration utility that lets you create custom motor configurations Use that utility to add customized motor selections to the Motor Model list Click Start then Programs gt Ultraware gt Motor Configuration from pop up menus Only for linear motors The moving mass of the motor and load combined Note The Motor Model list may not include any linear motors You can add linear or other motors using the Motor Configuration utility referenced in the Motor Model section above Built In Type Motor Config
184. e command be sure to first obtain a copy of the new firmware and any related instructions Perform these steps to upgrade firmware in the Firmware Upgrade dialog box 1 Click the drive for firmware upgrade from the list of On Line Drives Ifa drive name has been left blank it is identified as lt Unnamed Drive gt 2 Enter the pathname of the new firmware file Either type in the pathname or use the browse button marked with an ellipsis to navigate to the new firmware file The new firmware file must have an extension of hex 3 Click Begin Load The software informs you of firmware upgrade progress using both a progress bar and status messages IMPORTANT Click Cancel to stop the firmware upgrade However If you cancel the firmware upgrade while it is in progress the selected drive ceases to be functional Thereafter the selected drive can be used only to complete a subsequent firmware upgrade If drivers are to be installed also see Installing Drivers on page 145 22 Rockwell Automation Publication 2098 UM001G EN P February 2011 Chapter 2 Common Commands for Ultra Drive Configuration Introduction This chapter describes show to configure both an online and an offline drive It also describes how to copy or move it to an offline Ultraware file or how to copy and paste an offline drive in an Ultraware file onto an existing online drive thereby overwriting the online drive s settings It also explains how to use dra
185. e drive signal It is dependent on the signal selected If the scale is left at its default value of 0 The data automatically scales to fit the graph Note Visible only if Scale Type is Manual The trace offset for the selected Channel Input Its range depends on the signal selected A value of zero places the zero value of the signal at the middle grid line A nonzero offset shifts the trace up or down so that the offset value is positioned at the middle grid line Note Visible only if Scale Type is Manual The time in milliseconds between samples that constitute a trace The horizontal resolution of the oscilloscope is 128 samples For example selecting a sample period of 1 0 ms results in 128 ms of data being displayed Note The Sample Period has a resolution of 0 125 ms Number of samples per division For example 32 samples per division will result in 4 horizontal divisions The drive signal that sets off the trigger and begins tracing the selected channel signal upon the occurrence of the Trigger Mode at the Trigger Threshold See Input Signal for a list of available Trigger Source selections The event that triggers oscilloscope tracing e Immediate begins tracing immediately when the selected drive signal becomes active e Rising Edge begins tracing when the selected Trigger Source value increases above the Trigger Threshold value e Falling Edge begins tracing when the selected Trigger Source value decreases
186. e interface Use it to customize the main window and to perform essential functions and procedures with respect to objects in the Main Window The main menubar looks like this Biel x File Edit View Insert Program Toole Commands Window Help Fa Ultraware Workspace The menu items contain these commands Menu Name Contains these Commands File New Open Save Save As Close Print Print Preview Print Setup Import Export Upgrade Firmware Exit Edit Undo Redo Cut Copy Paste Delete Find Go To Corresponding Go To Line Number Replace Select All Toggle Bookmark Next Bookmark Previous Bookmark Clear All Bookmarks Properties View Toolbars Status Bar Workspace Output Workbook Mode Motion Library Insert Ultra3000 Ultra5000 Project Source File Header File Variable Cam Table Program Build Run Stop Kill Tools Customize Rescan Serial Port Recover Communications Commands Enabled other direct commands Window Close All Cascade Tile Wide Tile Tall Arrange Icons Help Contents and Index Tip Of The Day Release Notes About Ultraware Rockwell Automation Publication 2098 UM001G EN P February 2011 19 Chapter 1 20 Before You Begin Toolbars Four standard Windows toolbars can be detached from the user interface and relocated To return a toolbar to its last docking position double click the header bar Toolbar Name Contains these Commands File New Open Save
187. e is 10000 1000 mV Rockwell Automation Publication 2098 UM001G EN P February 2011 237 Chapter 5 238 Configuring the Kinetix 3 Drive You can edit Analog parameters for both an online and an offline drive However you can monitor status and execute direct commands executed through the Ultraware interface only for a Analog window that is the child of an online drive The following status is displayed by default for an Analog window of an online drive Status Analog Command Velocity Analog Command Current Command Velocity Command Current Description The voltage at the Analog Velocity command input The voltage at the Analog Current command input The commanded velocity The commanded current The following commands can be executed for an Analog window that is in the On Line Drives branch Command Remove Velocity Input Offset Remove Current Input Offset Save Parameters Description This command automatically measures the existing offset of the Analog Command Input and resets the Velocity Offset value to eliminate the offset This command automatically measures the existing offset of the Analog Command Input and resets the Current Offset value to eliminate the offset saves the current working values as power up values in the flash memory for the selected On Line drive and all of its children Customize the Analog window for your Kinetix 3 drive by selecting one or more of these co
188. e motor may start moving on powerup f WARNING By default Input 1 is assigned the function Drive Enable If This may result in abrupt and unexpected motion Failure to observe this precaution could result in damage to the machine severe bodily injury or the loss of life TIP Index Input 1 through 64 serve a unique purpose Instead of activating a function Index Input 1 through 64 are combined to produce a binary value that defines which digital input becomes active The drive sums the binary values and uses the resulting integer to determine which Index will be used Rockwell Automation Publication 2098 UM001G EN P February 2011 267 Chapter5 Configuring the Kinetix 3 Drive The digital input index Select binary values are as follows e Preset Select 0 1 if active 0 if not e Preset Select 1 2 if active 0 if not e Preset Select 2 4 if active 0 if not e Preset Select 3 8 if active 0 if not e Preset Select 4 16 if active 0 if not e Preset Select 5 32 if active 0 if not If a Index Input is not assigned to a digital input the Index Input is considered inactive There are no commands associated with the Digital Inputs parameter window The Digital Inputs window has these parameters and statuses Parameter Description Input 1 10 The drive s digital input assignments Unassigned The digital input is not used Alternate Gain Select When this input is active the drive uses the Alte
189. e ntions Used in Th IS The conventions listed below are used throughout this manual Manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information Rockwell Automation Publication 2098 UM001G EN P February 2011 11 Additional Resources These documents contain additional information concerning related Rockwell Automation products Resource Ultra3000 Hardware Installation Manual publication 2098 IN003 Ultra3000 SERCOS Integration Manual publication 2098 IN005 Ultra3000 DSD with DeviceNet Reference Manual publication 2098 RM001 Ultra5000 Hardware Installation Manual publication 2098 IN001 Ultra5000 IPD with DeviceNet Reference Manual publication 2098 RMO002 Kinetix 3 Component Servo Drive Installation Instructions publication 2071 INQ01 Kinetix 3 Component Servo Drive Serial Host Command Reference Manual publication 2071 RM001 Ultraware Programming Manual publication 2098 PM001 Ultraware CD Installation Instructions publication 2098 IN002 system Design for Control of Electrical Noise Reference Manual publication GMC RMO001 Kinetix Motion Control Selection Guide publication GMC SG001 Motion Analyzer CD download at http www ab com motion software analyzer_download html Rockwell Automation Configuration and Selection Tools website http www rockwellautomation com en e tools Rockwell Automation Product Certification
190. e of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 53 Chapter3 Configuring the Ultra3000 Drive Indexing Control Panel The Properties window for the Indexing Control Panel looks like this 2 Drivel Indexing Control Panel Parameter watue unite startin _ indexNumber O _ Start Homing stop Homing Enable Drive Disable Drive Clear Faults Define Home Status vave Units mwem OD Postion Commend 0 Courts AdtuelPostin 0 Cots Bash cot o inion nowt o Sequence Camps inPoston a atone o If Show Status TIP The Indexing Control Panel is available for online or offline Ultra drives having the indexing feature For example A drive type with a catalog number ending in X for example 2098 DSD 005x will appear in the New Drive Select window The Indexing Control Panel permits the user to use one of sixty four possible indexes monitor the status of the selected index and send direct commands to the selected drive Use the Indexing Control Panel window to e Start or stop the execution of an indexed motion comma
191. e state of the motor encoder when the drive is powered on Is invalid This may occur when the motor Is rotating at over 100 rpm Over Current Command The commanded analog current is greater than maximum value Over external Speed Command The commanded analog velocity is greater than the maximum value I O Setup Warning The Digital Inputs or Outputs are not set up properly This may indicate multiple functions have been improperly assigned to a single input Positive Overtravel ON indicates the drive is in an overtravel condition and the Digital Input assigned to Overtravel Positive is inactive No commanded motion in the positive direction will be permitted until the overtravel condition is cleared 232 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Rockwell Automation Publication 2098 UM001G EN P February 2011 Parameter Description Negative Overtravel ON indicates the drive is in an overtravel condition and the Digital Input assigned to Overtravel Negative is inactive No commanded motion in the negative direction will be permitted until the overtravel condition is cleared Auxiliary Function Selection 1 Velocity Observer Enable or Disable the velocity observeration Emergency Stop Input Enable or Disable the emergency stop Input The following display is the default status for a Kinetix 3 drive in the On Line Drives branch of the Workspace window
192. ebruary 2011 Creating Custom Motors Chapter 7 Using the Rotary Motor Window The Rotary Motor window configures a custom motor by entering motor parameters or to edit an existing motor s parameter set Standard motors are opened in a read only mode If a motor is duplicated it becomes a custom motor with a default model name consisting of the duplicated motor s model with _copy n appended for example Std Rotary_copy 1 The following parameters can be entered and edited in the Rotary Motor window General Model Model number or name up to 32 digits in length Standard Motor Checked if standard Rockwell Automation motor Torque Constant 0 00024 15 9998 N m A Inertia 0 00001 65535 999 Kg cm 2 Poles per Revolution even numbers from 2 100 Electrical Resistance 0 0039 255 996 Ohms Inductance 0 0039 255 996 mH Rated Voltage 100 1000 Volts Flux Saturation 1 8 1 4 3 8 1 2 5 8 3 4 7 0 000 1 000 8 and Peak Current Set all flux saturation levels for custom motors to 1 000 Ratings Maximum Speed 300 32767 rom Intermittent Current 0 008 255 99 Amps Continuous Current 0 008 255 99 Amps Note All units relative to current Amps are based upon 0 to Peak of the sine wave not RMS units Winding data values are phase to phase Feedback Encoder Type The type of encoder provides motor feedback e Incremental e Sine Cosine Commutation Type The type of commutation for the motor e Brush e J
193. ected in the Digital Inputs window The digital input Preset Select Line binary values are as follows e Preset Select 0 1 if active 0 if not e Preset Select 1 2 if active 0 if not e Preset Select 2 4 if active 0 if not Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Ifa Preset Select Line is not assigned to a digital input the Preset Select Line is considered inactive TIP Binary values for an active digital input s Preset Select Lines 3 4 and 5 do not apply to this calculation The Follower window has no associated status or direct commands The Follower window has these parameters Parameter Description Slew Limit Enable Indicate whether the drive s Slew Limit is e Active e Inactive slew Limit The drive acceleration limit when the master changes speed It has a range of 0 2 147 483 647 counts per second Gear Ratios Master Follower Eight preset drive gear ratios Each preset value represents the ratio of the counts of master input counts to motor encoder counts The master input counts value has a range of 1 32 67 counts and the motor encoder counts value has a range of 32 67 32 67 counts Preset 0 7 Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 65 Chapter3 Configuring the Ultra3000 Drive Understan
194. ection as viewed from the shaft end increases the feedback position in counts e Negative turning the motor in a clockwise direction as viewed from the shaft end decreases the feedback position in counts The state of the master encoder filter e Disabled e Enabled Note The filter reduces the upper limit of the rate at which feedback pulses are recognized You man need to enable feedback in a noisy environment or when a long encoder cable is used The state of fault checking for the master encoder at powerup e Disabled e Enabled 176 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Parameter Description Output Encoder Mode Limit Divider Ratchet Settings Ignore Negative Input Negate Negative Input Buffer Negative Input Unbuffer Negative Input Ignore Positive Input specify how to configure the auxiliary encoder connection of the drive Disabled The auxiliary encoder connection is used as an input The Aux Encoder firmware object contains the position as read from the input Hardware The auxiliary encoder connection are used for output The Encoder Output object is configured to directly pass the motor encoder position to the output as well as the Aux Encoder firmware object software The auxiliary encoder connection is used for output The Encoder Output object is configured to pass the software filtered motor encoder pos
195. ed cam table A cam table is divided into segments that start at each point defined in the cam file Except the final point displayed in the Cam table interface is used only to define the end of the previous segment not the start of a segment 152 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Status Order Length Offset Description Each of the segments of an Ultra5000 cam table is defined by a polynomial equation such as Output position A B Input Position C Input Position 2 The cam table Order is the highest order term in the right side of this equation All of the segments in a cam table must have the same order Cam files are generated as first order equations when the cam table is a linear type and 5th order equations when the cam table is a polynomial type A 5th order polynomial provides sufficient degrees of freedom to constrain the positions velocities and accelerations at the ends of each segment The maximum value of Input Position in the cam table The ending output position defined in the cam table The following direct commands can be executed for a Cam branch of an online drive Command Unload Table Enable Cam Disable Cam Description Unloads the cam file from memory This command can be used to free drive resources If necessary Causes the cam to begin generating an output position Note A cam table fi
196. efore the Scale and Offset values are applied The following status is displayed by default for an Analog Inputs branch of an online drive Status Description Output The Analog Output 1 or 2 output voltage value after the Scaled and Offset values are applied Customize the Analog Outputs window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 187 Chapter4 Configuring the Ultra5000 Drive Understanding the Oscilloscope Window i UW_5000 Oscilloscope The Properties window for the Oscilloscope looks like this x O Property Vawe unts Input Signal Command Positi Scale Type Scale Offset 0 Channel B Input Signal Scale Type Channel C Input Signal Scale Type Channel D Input Signal Scale Type Sweep Parameters Manual Command Accel Same As ChA Shaft Position l Same As ChB Unassigned Auto 188 Sample Period Samples per division Trigger Source 0 125 32 Unassigned Immediate 0 TATE Oms 0 167307 ms 0 446152 mes 0 724997 ms Trigger Mode Trigger Threshold 0
197. el Click the color rectangles displayed in the legend to modify a color The following commands can be executed for the Oscilloscope window of an online drive Command Description Arm Trigger Turns the oscilloscope trigger ON Run Continuous Runs the oscilloscope continuously circumventing the trigger Stop Triggering Turns the oscilloscope trigger OFF snap Shot show a set of data in the Snap Shot dialog Customize the Oscilloscope window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Properties to display or hide the Properties pane e Click Show Commands to display or hide the Commands pane e Click Save to save the oscilloscope data to a tab delimited file This file can be read by spreadsheet or presentation software Information saved includes the Oscilloscope data points from one or more channels e Click Revert to return parameter settings to the values they held when you opened this window 280 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Channel Setup Window The collapsed Properties window for the Channel Setup looks like this Channel Setup ve Channel Options E Drive Status ani Operation Mode Position Signals seen Velocity Signals Current Signals e Encoders vee Digital Inputs vee Digital Outputs oa Faults Cancel Use this window to e assign a specific Input Signal to the selected
198. el Negative Software Overtravel Position Compare 1 Write Data Error Position Compare 2 Write Data Busy Positive Current Limit Positive Hardware Overtravel Positive Software Overtravel Ready Registered Startup Commutation Done Tracking Up to Speed Within Position Window Within Speed Window Zero Speed 114 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Idle Fault Action Comm Fault Action Faulted Logic Command Description Determines the action the drive should take If the master sends a zero length I O message to the drive that may occur if a PLC master is set to program mode The options are e Fault Zero Data Fault Hold Last Data Zero Data Hold Last Data e Fault Configuration Note Refer to the Ultra3000 DSD with DeviceNet Reference Manual publication 2098 RM001 for information on these options Determines the action the drive should take if the drive detects a network failure while an I O messaging connection is active The options are e Fault Zero Data Fault Hold Last Data Zero Data Hold Last Data e Fault Configuration Note Refer to the Ultra3000 DSD with DeviceNet Reference Manual publication 2098 RM001 for information on these options Provides the logic command data to the drive when the drive receives an invalid I O message or detects a network failure while an I O messaging connection is active
199. en User is selected for Displayed Units this is the user defined label for velocity values relating to the auxiliary encoder Limited to 16 characters in length When User is selected for Displayed Units this is the user defined conversion factor used to convert velocity values relating to the auxiliary encoder into user units In counts per second per user unit When User is selected for Displayed Units this is the user defined label for position values relating to the auxiliary encoder Limited to 16 characters in length When User is selected for Displayed Units this is the user defined conversion factor used to convert position values relating to the auxiliary encoder into user units In Counts per user unit When User is selected for Displayed Units this is the user defined label for acceleration values relating to the auxiliary encoder Limited to 16 characters in length When User is selected for Displayed Units this is the user defined conversion factor used to convert acceleration values relating to the auxiliary encoder into user units In counts per second squared per user unit The following status is displayed by default for an Ultra3000 drive in the On Line Drives branch of the Workspace window Status Description Note All ON status have a value of 1 all OFF status have a value of 0 Drive Enabled In Position In Position Window Up To Speed In Speed Window Zero Speed Pos Current Limit Neg
200. ents in terms defined by the user in the Units section below 42 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Description Operation Mode The drive s command source Note An online drive must be disabled before you can edit its Operation Mode parameter Selections Include e Analog Current Input a 10 volt analog input provides the current command Analog Position a 10 volt analog input provides the position command Analog Velocity Input a 10 volt analog input provides the velocity command Follower Auxiliary Encoder a quadrature encoder provides a position command signal input to the drive Follower Step Direction Input Step and Direction inputs provide a position command signal input to the drive Follower Step Up Step Down Input Step Up and Step Down inputs provide a position command signal input to the drive Indexing only for Indexing drives Up to 64 indexes can be configured in the Indexing window The combination of Preset Select Lines 0 1 2 3 4 and 5 in the Digital Inputs window determines the Index 0 63 that is selected Refer to Understanding the Digital Inputs Window on page 95 for more information about how to assign a Preset Select Line to a Digital Input e Preset Current a preset Current provides the current command Up to 8 Preset Current values can be set in the Preset window The combinati
201. ep input to create only reverse motion The time in seconds the drive turns at a given velocity The amplitude of the velocity input in pulses per second pps sent to the drive for the given period In Bi Directional tuning the amplitude alternates polarity or sign ATTENTION Excessive tuning step profiles values may cause uncontrolled motion Refer to the appropriate Hardware and Installation manual listed in Additional Resources on page 12 for tuning details i tuning direction e Bi Directional to tune the drive using an alternating step input to create alternately forward and reverse directional motion e Forward Only to tune the drive using a step input to create only forward motion or e Reverse Only to tune the drive using a step input to create only reverse motion The time in seconds the drive holds its present step position The number of pulses the drive moves in a single direction In Bi Directional tuning the direction alternates ATTENTION Excessive tuning step profiles values may cause uncontrolled motion Refer to the appropriate Hardware and Installation manual listed in Additional Resources on page 12 for tuning details The following display is the default status for a Tuning branch of an online drive Status Description The command velocity input to the velocity loop The command acceleration input to the velocity loop The feedback velocity returned from the motor to the velocity
202. equence that the sensor has been seen Integrator Inhibit An active state zeros the velocity loop integrator Negative Overtravel An active state causes the drive to begin decelerating the motor to bring it to a controlled stop in the distance defined by the Negative Decel Distance as entered In the drive window The Negative HW Overtravel Input output is set The drive will not respond to further commands to move in the negative direction but can be instructed to move in the positive direction to clear the negative overtravel condition Operation Mode Override When active the drive uses the Operation Mode Override as the command source When inactive the drive uses the Operation Mode setting as the command source Pause Homing An active state temporarily pauses a homing sequence by decelerating to a stop The state of the input is continuously monitored to determine if the motion should be stopped or if it may continue Pause Index An active state temporarily pauses an indexing sequence by decelerating to a stop The state of the input is continuously monitored to determine if the motion should be stopped or if it may continue Position Strobe An inactive state freezes the state of the motor encoder outputs A transition to an active state causes the drive to output a continuous sequence of encoder counts until the absolute position is reached on an external counter This input is used in conjunction with the Tracking output fu
203. er encoder The master encoder s index The master encoder s Channel A The master encoder s Channel B The accumulated value in counts stored in the buffer when negative or positive input is set to buffer or unbuffer This value is automatically re set to zero at drive powerup The position in counts generated by the ratchet This value is automatically re set to zero at drive powerup The position in counts generated by the ratchet This value is automatically reset to zero at powerup The velocity command in counts per second generated by the ratchet Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Customize the Encoders window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 179 Chapter4 Configuring the Ultra5000 Drive Understandi ng the Dig ital The Properties window for the Digital Inputs branch looks like this Inputs Window FUW 5000 Digital Inputs ToT x ___ Parameter _ units Active High Active Low Active Low Active High Active Hig
204. erates a control signal proportional to the velocity error The range Is 0 10 000 Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop The integrator generates a control signal proportional to the integral of the velocity error Note Integral Time improves the steady state velocity performance of the system Decreasing the integral time generally increases the ultimate positioning accuracy of the system However too low of an integral time results in system instability There are two ways for the Kinetix 3 velocity loop integrator to be held in its current state e f an input is assigned the Integrator Inhibit function The integrator will be held when the input is active e f the Integrator Inhibit function is not assigned to an input the Integrator Mode and Integrator Hold Threshold can be used to control when the integrator Is held i conditions for using the Integrator e Always On The integrator is always used e High Current Disable Holds the integrator if the current command exceeds the Integrator Hold Threshold e Velocity Command Disable Holds the integrator if the velocity command exceeds the Integrator Hold Threshold e Position Error Disable Holds the integrator if the position error exceeds the Integrator Hold Threshold e
205. ermal protection software is activated Settings are Yes or No Thermal resistance from the winding to the encoder in degrees centigrade watt C Watt Note This setting applies and is visible only if Software Protection is set to Yes Rockwell Automation Publication 2098 UM001G EN P February 2011 251 Chapter 5 Configuring the Kinetix 3 Drive 252 Status Continued Cth w e Rth w a Cth w a Description Thermal capacitance from the winding to the encoder in Watt seconds per degree centigrade Watt second C Note This setting applies and is visible only if Software Protection is set to Yes Thermal resistance from the winding to ambient in degrees centigrade watt C Watt Note This setting applies and is visible only if Software Protection is set to Yes Thermal capacitance from the winding to ambient in Watt seconds per degree centigrade Watt second C Note This setting applies and is visible only if Software Protection is set to Yes The following commands can be executed for a Motor window of an online Kinetix 3 drive Command Refresh Data Save Parameters Description Reads the motor definition information from the motor database and reapplies it to the drive Note This command ts useful when a motor definition in the motor database has been changed saves the values currently selected in flash memory for the selected online drive and all of its children Cust
206. ers display for all significant data transfer operations Additional grid formatting options are available now to enhance the usability of the oscilloscope function Ultraware motor files mtr files can now be imported into the motor database The monitor now lets integer data to be displayed in decimal hexadecimal or binary format Version 1 30 Ultra3000 Drive related Enhancements Support for high voltage drives Ability to deactivate and re activate the SERCOS functions on a SERCOS drive This lets a SERCOS drive be used as a non SERCOS drive Right click a SERCOS drive in the Workspace to display the context menu for the drive to access this feature Ability to set the current level used for self sensing startup The self sensing current level may be accessed in the Motor property window when it applies Auto Motor Identification disabled and Startup type of Self Sensing Digital inputs may now be configured to perform a Drive Reset Can change the Drive Size of an Off Line drive Ultraware software permits the same size drive to be copied to an online drive This permits a fully configured offline drive that does not match the size of an online drive to be modified and copied to the online drive The Scale and Offset values of each oscilloscope channel are now saved on the drive When opening the oscilloscope for an Ultra3000 drive it should be restored to the same configuration as the last time it was used even if
207. ersion 1 63 Ultra3000 Drive related Enhancements e Adds support for firmware upgrades on series B drives Ultra5000 Drive related Enhancements e Includes fault numbers in fault history e Includes tuning parameters in scope window Rockwell Automation Publication 2098 UM001G EN P February 2011 339 Appendix A _Ultraware Software Updates Version 1 60 Ultra1500 Drive related Enhancements e Adds support for Ultra1500 drive Ultra3000 Drive related Enhancements e Adds support for SERCOS Hardware Overtravel fault e Adds Define Home command when in Analog Position Mode e Adds Trigger Position parameter to Oscilloscope that lets you specify the percent of the data to collect before the trigger occurs e Resetting the drive to factory settings after an E55 is detected g y g e Includes tuning parameters in scope window Ultra5000 Drive related Enhancements e Includes fault numbers in fault history e Includes tuning parameters in scope window General Enhancements e Prompts to save udb file when user shuts down logs out of the OS e Adds feature to show all hidden messages e Adds additional messages to help customers understand how to save online drive data to a file Help File Enhancements Ultra1500 e Adds support for Ultral1500 Drive Ultra3000 e Adds support for SERCOS Hardware Overtravel fault e Adds Define Home command when in Analog Position Mode e Adds Trigger Position parameter to Oscilloscope
208. es 143 Drive Report 145 Drive Report window commands 145 driver installation 145 Encoders branch Statuses 1 8 Faults branch Statuses 211 Faults window commands 216 Files branch commands 206 Gear branch commands 162 Statuses 162 Jog branch commands 148 parameters 14 Statuses 14 Monitor 196 Monitor window Status display 198 Index Motion branch 146 Motor branch parameters 164 Statuses 164 Move branch 149 150 commands 150 Oscilloscope window channel configuration 190 commands 190 parameters 188 Programs branch 205 service Information window Statuses 218 Tuning branch commands 171 parameters 169 Statuses 1 0 Tuning window autotuning commands 174 parameters 1 2 statuses 173 Ultra5000 command 28 Ultraware Copy command 31 creating a new file command 24 creating opening and saving files 25 Cut command 30 Delete command 32 drag and drop function 33 Export command 28 how to create a new drive 28 create a new file 25 create a new Kinetix 3 drive 28 create a new Ultra3000 drive 28 create a new Ultrad000 drive 28 open a file 26 Save a file 27 Import command 28 installation notes 346 Open existing file command 24 Open Last File command 24 opening a file 24 Paste command 31 release notes 339 Starting 21 Ultra data eXchange File UXF 28 Undo command 318 Upgrade Firmware command 22 user interface 15 client area 18 Main menubar 19 motor database 331 output windo
209. es per division For example 32 samples per division will result in 4 horizontal divisions The drive signal that will set off the trigger and begin tracing the selected channel signal upon the occurrence of the Trigger Mode at the Trigger Threshold Click the down arrow to the right of the Channel Setup dialog box to set the channel The event that triggers oscilloscope tracing e Immediate begins tracing immediately after the trigger is armed e Rising Edge begins tracing when the selected Trigger Source value increases above the Trigger Threshold value e Falling Edge begins tracing when the selected Trigger Source value decreases below the Trigger Threshold value The value of the Trigger Source drive signal that begins tracing Trigger Threshold selections are e Rising Edge e Falling Edge The current status of the oscilloscope trigger e Idle e Awaiting Trigger e Collecting Data Rockwell Automation Publication 2098 UM001G EN P February 2011 2719 Chapter5 Configuring the Kinetix 3 Drive Parameter Description Tuning Properties The Velocity Position and Current Regulator Tuning parameters are included in the Oscilloscope window to monitor drive performance while adjusting gains Oscilloscope Display Y axis Labels The labels to display on the y axis e Default One reference point for each channel is displayed e Channel A e Channel B Legend Displays the color of the trace for each input signal or chann
210. eter settings also provide a level of protection for the motor and drive combination When you assign a motor for your drive Ultraware software selects a motor parameter set from the Ultraware motor database motors mdb The motor database is populated with information for standard Allen Bradley motors If necessary you can create a parameter set for a custom motor by using the motor configuration utility in Ultraware software Topic Page Introduction 331 Accessing the Motor Database 331 Creating Custom Motor Parameter Sets 332 Motor Database 333 Using the Linear Motor Window 339 Using the Rotary Motor Window 337 Importing Motors 338 Exporting Motors 338 To access the motor database mdb perform these steps 1 Click Windows Start and then sequentially click Programs Ultraware and Motor Configuration to display the Open Motor Database window 2 Click Motors mdb in the Ultraware directory to display the Motor Database window Two types of motors are displayed in the motor database window and may be loaded to drives e Standard motors marked with an asterik are read only in the motor database e Custom motors may be added to the motor database y The motor configuration utility creates or duplicates a motor s parameter set save it and then modify or delete it Rockwell Automation Publication 2098 UM001G EN P February 2011 331 Chapter 7 Creating Custom Motors Creating Custom Motor Use the Motor Database
211. etting in the Drive window e Brake Used to control a motor brake An active state releases the motor brake The Brake signal will be offset from changes in the enable state of the drive by the Brake Active Delay Brake Inactive Delay and Disable Delay e Within Speed Window An active output state indicates that the velocity error is less than the Speed Window setting in the Drive window Rockwell Automation Publication 2098 UM001G EN P February 2011 271 Chapter5 Configuring the Kinetix 3 Drive Parameter Description e Current Limited An active state indicates the drive current is being limited by the Current Limit Positive or Current Limit Negative value Velocity Limited An active state indicates the motor speed is being limited by the velocity limit value Within Near Window An active output state indicates that the position error is less than the Near Position Size setting in the Drive window Warning An active state indicates the drive has encountered a condition that has generated a warning The possible warnings are listed in the Drive window help topic under the Fault Warning status Absolute Position Valid An active state indicates that the drive has a motor with an absolute encoder attached and that the drive Is able to properly read the position from the motor e Ready An active state indicates the drive is not faulted and can be enabled In Motion An active state indicates an index move is
212. ettings that can be monitored for the selected drive Refer to Understanding Ultra3000 Status on page 118 for a detailed list of drive status selections Rockwell Automation Publication 2098 UM001G EN P February 2011 105 Chapter3 Configuring the Ultra3000 Drive 3 Place a checkmark in the checkbox to the left of a status item to monitor it e Ifyou place a check mark beside a parent item all its child items become checked and their status is displayed e Ifyou remove a check mark from a parent item check marks are removed from all its child items and their status are not displayed e Ifyou place a check mark next to some but not all child items the parent item is checked but dimmed fesse Analog Command In a Brake cena Bus Voltage seen Disable Serial Communications cena Drive Enabled cena Drive Temperature vena Fault State sea Firmware Version sn Forward Enable cena Motor Temperature Z Operating Mode sent Operation Mode Overnde PICS Number br Ready a Reverse Enable El Mode Configuration BC Analog ee C Analog Command In wO Remove Command Offset O Preset OI Follower OI Indexing fe CI Homing Position Signals seasea Fosition Command Position Error sanea Position Motor Feedback sees Position Ausiliany Encoder s C In Position i C In Position window starea OI Position Error Peak vena Position Error Peak Posn Compare 1 eo Posn Compare 2 seese OI Ne
213. evice Net support added e Line number display option added to Edit window and source header printout e Cam Cycle Limit support e New fault support for Excessive Output Frequency Self Sensing Startup Failure and Excessive CPU Load e Digital I O Polarity configuration capability e Encoder Fault Mode supported e Description field for each element of the Global Variable Array provided Rockwell Automation Publication 2098 UM001G EN P February 2011 343 Appendix A _Ultraware Software Updates General Enhancements Undo and Redo commands are now accessible from the Edit toolbar To activate this feature you must reset the Edit toolbar by opening the Customize dialog box with the Tools Customize menu select the Edit toolbar from the list and then click Reset The Save As function can be accessed by a right click to open a udb file in the workspace and then click Save As from the pop up menu Support for intelligent encoders when offline The motor database now supports an SRS SRM encoder type and a startup type of Serial both of which are for intelligent encoders You can now select a motor with these attributes for an offline drive in Ultraware software When you do the Auto Motor Iden for the motor automatically enables but uses the motor attributes from the motor database while offline Motion Library dialog bar is available now to assist the programmer with instruction recollection and syntax accuracy Progress met
214. ext indexed move to execute when Action When Complete is not set to Stop The drive s action when the index has completed e Start next immediately commands execution of the Next Index move without additional input but after the scheduled Dwell e Start next on input commands execution of the Next Index move the next time the Start Index input becomes active e Start next without stopping commands execution of the Next Index move without additional input and without the scheduled Dwell e Stop ends the execution of indexed move commands The status can be displayed from a Indexing window of an online drive Status Selected Index Batch Count In Motion In Dwell At Home sequence Complete Within Position Window Description The index currently being executed by the drive The number of Iterations remaining in the execution of the index ON indicates the motor is moving in response to an indexed motion command Note The In Motion status has a value of 1 when ON and 0 when OFF ON indicates the motor is holding position and waiting the commanded dwell time Note The In Dwell status has a value of 1 when ON and 0 when OFF ON indicates the position command value is zero which is by definition the Home position Note The At Home status has a value of 1 when ON and 0 when OFF ON indicates that all iterations of the index have been completed Note The Sequence Complete status has a value of 1 when ON
215. g and drop to accomplish the copy and paste process in a single step Topic Page Introduction 23 Opening Ultraware Software 24 Creating Opening and Saving Ultraware Files 25 Creating a New Drive 28 Importing and Exporting a Drive 28 Working in the Workspace Window 30 Rockwell Automation Publication 2098 UM001G EN P February 2011 23 Chapter2 Common Commands for Ultra Drive Configuration Opening Ultraware Software 24 Before you create a new offline drive you must first create an Ultraware file to contain the new drive When Ultraware opens for the first time a window similar to the one below appears Selecting any radio button causes the action described below Ultraware requires a udb file to store off line data Do you want to Open Last File Flying Cutoff udb Open existing file Create new file Cancel Help e Click Open Last File lt filename gt and then click OK to open the most recently used Ultraware file e Click Open existing file and then click OK The Open window will appear and you can navigate to and open a previously saved Ultraware file e Click Create new file and then click OK to create a new empty file TIP A new file is stored in temporary storage and the Workspace icon displays Unsaved until the file is saved with a filename Click Cancel to exit the window without opening an Ultraware file The selected Ultraware file if any is displayed in an Off
216. g the Kinetix 3 Drive You can edit parameters for both an online and an offline drive However you can monitor status and execute direct commands only for a Kinetix 3 drive in the On Line Drives branch Direct commands are so named because they execute directly through the Ultraware interface The following parameters apply to the Kinetix 3 Drive window Parameter Name AC Line Loss Check Select Auto Motor Iden Motor Model Command Polarity Displayed Units Description The name of the selected Kinetix 3 drive must e be at least one but not more than thirty two characters in length e be unique within its branch of the tree e not contain a space or backslash forward slash colon asterisk question mark double quote greater than symbol gt less than symbol lt or pipe The type of AC line loss e Enable drive monitors the AC inputs for line loss by a 50 400W Drive and enables a single phase open check 0 8 1 5kW Drive and enables a 3 phase open check e Disable drive ignores the checking for AC line loss e Single phase input Drive monitors the AC inputs for line loss by a 0 8 1 5kW Drive and enables a 3 phase open check The type of Automatic Motor Identification e Disabled Causes the drive to use the motor parameters supplied for the Motor Model selected below e Enabled Causes the drive to read motor parameters from an intelligent encoder Predefi
217. gative Overtravel Input see OI Positive Overtravel Input at O Negative Overtravel woe O Positive Overtravel e COI Velocity Signals Bae LC Velocity Command cena OI Velocity Error vena LC Velocity Motor Feedback ae LC In Speed Window cena CI Integrator Inhibit a Up To Speed en Zero Speed se Current Signals a C Encoders vee L Digital Inputs vee CI Digital Outputs pet OI Analog Output sa OI Faults Cancel 106 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 4 After you have finished selecting the status you wish to monitor click OK to close the Monitor Setup window 5 The Monitor window now displays all the selected statuses fq uw _3000 Monitor i cE _ Lo M E M aa B bo a _ Decal m Rockwell Automation Publication 2098 UM001G EN P February 2011 107 Chapter3 Configuring the Ultra3000 Drive Understanding the The Properties window for the Oscilloscope looks like this Oscilloscope Window o A Oms 0 05 ms Fa Ultraware UW_3000 Oscilloscope ea F 55 9 S D S uto nassigned ault Disable ame As Che nassigned 5c H n gt Cc 53 S oO o 2 x o 0 15 ms 0 25 ms 0 35 ms 0 45 ms 0 55 ms 0 65 ms 0 75 ms 0 85 ms 0 95 ms Fun Coninuous Dets z ee Save Revet close Heb Use the O
218. ges 50 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The following statuses can be displayed from the Velocity Control Panel window of an online drive Status Description Drive Enabled ON indicates that the power stage of the drive is enabled For the power stage to be enabled e the drive cannot have any faults and e any digital inputs configured as a Drive Enable must be active and e the drive must be set to Enabled in the Commands menu Note The Drive Enabled status has a value of 1 when ON and 0 when OFF Velocity Motor Feedback The actual motor velocity Current Motor Feedback The actual motor current TIP The drive will ramp up or ramp down to the commanded velocity at the rate of acceleration set in the Acceleration Limits in the Kinetix 3 Drive window Command Description set to Zero sets the Velocity Command to zero Enable Drive Enables the power stage of a drive Disable Drive Disables the power stage of a drive Clear Faults Clears all drive faults TIP Closing the window returns the drive to its normal operating mode but the software is disabled To make the drive operational click the drive and then the Enable command as Instructed in the Windows message Customize the Velocity Control Panel window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Cl
219. gnal proportional to the commanded speed It has a range of 0 200 Note Kff gain reduces position following error However high values can cause position overshoot Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Ki Ki Zone Velocity Regulator Gains P Description Integral gain for the position loop KI gain generates a control signal proportional to the integral of the velocity error It has a range of 0 32 Note Ki gain improves the steady state positioning performance of the system and virtually eliminates steady state positioning errors It affects the ability to reject load disturbances Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability The region in counts around the commanded position where integral gain is active If the position error is greater than Ki Zone the integrator is reset It has a range of 0 32 67 counts Proportional gain for the velocity loop The P gain generates a control signal proportional to the velocity error It has a range of 0 4000 Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop The gain generates a contr
220. h Active High Active High Active High Active High Active High Active High Active High Active High Active High Active High Active High F F T 3 3 i es ee A ee ee ee ee E E E E a J ma B ss E E E E E E E oS EE E i E i aa a Vv snow Wore s ea Use the Digital Inputs window to name and monitor the status of up to sixteen digital inputs You can edit parameters for both an online and an offline Digital Inputs branch However you can monitor status settings only for a Digital Inputs branch that is the child of an online drive 180 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 The following parameters can be entered and edited in the Digital Inputs window Parameter Description Input 1 16 Name Type in the name of the input The default value is a number from 1 to 16 Input 1 16 Polarities The desired polarity for each input e Active High The input is considered on when a positive voltage is detected at the input e Active Low The input is considered on when no voltage is detected at the input This is especially useful when configuring an input as a hardware limit with a normally closed switch In this case setting the input s polarity to Active Low opens the switch when the limit is hit which causes the drive to detect the ha
221. h matches both sponge bath and mud bath End of Line Anchors the match to the end of a line Significant only at the end of an expression Character Not in Set Matches any character not in the set of characters following the symbol Grouping Groups a subexpression Any Character Matches any character One or More Matches at least one occurrence of the preceding expression matching as many characters as possible Escape Matches the literal character following the backslash This lets you search for characters which otherwise would be treated as a wildcard search character such as or set of Characters Matches any one of the characters within the To specify a range of characters list the starting and ending character separated by a dash as in a z Matches zero or more occurrences of the preceding expression Zero or More Replace Use this command to open the Replace dialog box which you can use to e search for and highlight text in a selected source c or header h file and e replace the highlighted text with other text The Replace command is enabled only if a source file c or header file h is currently selected in the Client Area To execute the Replace command 1 Select the source c or header h file to search in the Client Area 2 Use one of these commands e Click Replace in the Edit menu e Simultaneously press the Ctrl H keys 316 Rockwell Automation Publicati
222. he Motor Feedback Position will display a number representing between 0 and 1 revolution of the motor he Reset Mutilturn Data function does not affect the partial revolution data Zero Speed Clamp Enable When this function is assigned to an input the Zero Clamp velocity as set in the drive window is used only when the input is active If the function is not assigned to an input the Zero Clamp velocity is always used Position Clear An active state causes the drive to clear position command position feedback and position error Moving Enable An active state causes the drive to control motor rotation start or stop by using terminal signal in velocity control mode Analog Speed Command Enable An active state causes the drive to can be used to change the motor speed using analog velocity input voltage without changing the control mode In Multi step velocity Mode 2nd Electronic Gear Bank Selection An active state causes the drive to switch between two electronic gear ratios in follower control mode Home Sensor An active state indicates to a homing sequence that the sensor has been seen Start Homing A transition to an active input state causes the to initiate the homing routine stop Indexing A transition to an active input state causes the to initiate the indexing stop routine Rockwell Automation Publication 2098 UM001G EN P February 2011 269 Chapter5 Configuring the Kinetix 3 Drive Parameter Description e
223. he Test Current Note The value is based on a percentage of the maximum Current rating assigned to the specific motor in the Ultraware motor database Statuses Description Test Status Indicates the current status of the Commutation Diagnostics Possible displays include e idle Test in Progress Test Success Test Failure Test Results blank indicates test has not yet been performed Test Aborted by User Test Distance Reached Marker Found Wiring Changes Recommended Feedback Resolution Error Encoder Alignment Error Measured Feedback Resolution Displays the Counts Electrical Cycle recorded during the test Expected Feedback Resolution Displays the Counts Electrical Cycle assigned to the specific motor in the Ultraware motor database Rockwell Automation Publication 2098 UM001G EN P February 2011 89 Chapter 3 Configuring the Ultra3000 Drive Statuses 51 Connection 52 Connection 53 Connection A Connection B Connection U Connection W Connection Hall Offset Command Start Test Stop Test Description Possible values are e blank nothing to report No Changes Required Move to S1 Input Move to S2 Input Move to S3 Input Move to A Input Move to B Input Move to U Input Move to V Input Move to W Input Offset in 30 degree increments 0 30 60 330 Description Turns the oscilloscope trigger ON Turns the oscilloscope trigger OFF Motor Feedback Diagnostics Use the Motor Feedba
224. he Tuning window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup Window on page 276 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Autotuning Window Use the Autotuning window to configure autotuning parameters start and stop autotuning for an online drive and monitor the Drive Enable status During autotuning the drive executes an internal tuning algorithm and sets appropriate gains automatically The user sets the desired tuning command parameters and selects the Start Autotune button to begin autotuning ATTENTION The motor shaft moves during the tuning process Refer to the Hardware and Installation manual for tuning details TIP Closing the window returns the drive to its normal operating mode but the software is disabled Select the drive and execute an Enable command and instructed in the Windows message to make the drive operational Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 The following parameters status and commands apply to this window Parameter Description Autotune Settings Motor Direction Maximum Distance Step Current Velocity Regulat
225. he Ultra3000 Drive Status 23 Thermal Protect Filter 24 Velocity Error 25 Sensor Not Assigned 26 User Velocity 27 Axis Not Homed 28 Motor Parameter Error 29 Excessive Output Frequency 30 Encoder Communication 31 Encoder Data ON indicates encoder Encoder data Is data is corrupted corrupted Rockwell Automation Publication 2098 UM001G EN P February 2011 132 Possible Cause s Suggested Action ON indicates the internal filter protecting the drive from overheating has tripped ON indicates that the velocity error exceeds the Velocity Error Fault Limit for a length of time greater than the Velocity Error Fault Time value ON indicates that homing or registration motion was attempted without a sensor assigned ON indicates the User Velocity Fault level above has been exceeded ON indicates that an absolute move was tried before Home position was defined ON indicates that a parameter loaded from a smart encoder or a SERCOS blob is incompatible with the drive Interpolated encoder output frequency exceeds maximum user specified limit Note This fault can only be generated when the encoder output is synthesized by the Ultra3000 ON indicates lose of communication with an intelligent encoder Drive overheated Operation above continuous power rating Velocity error limit exceeded Homing or registration motion attempted without a sensor assigned
226. he acceleration rate used when ramping up to Program Velocity in counts per second squared Must be gt 0 The deceleration rate used when ramping down from Program Velocity to zero in counts per second squared Must be gt 0 The following display is the default status for a Jog branch of an online drive Status State Mode Description Describes the relation between the jog s Program and Current Velocity as follows e Seeking when the jog is accelerating or decelerating or e Locked when the jog s Current Velocity equals Program Velocity Describes the direction of the jog as follows e Stopped when not jogging e Forward when jogging forward e Reverse when jogging in reverse Rockwell Automation Publication 2098 UM001G EN P February 2011 147 Chapter 4 Configuring the Ultra5000 Drive 148 Status Current Position Current Velocity Current Acceleration Description The position in counts generated by the current jog This value is automatically reset to zero at drive powerup The velocity command in counts per second generated by the Current jog The acceleration command in counts per second squared generated by the current jog The following commands can be executed for a Jog branch that is in the On Line Drives branch Command Jog Forward Jog Reverse Stop Abort Description spins the motor at the Program Velocity in the forward direction spins the motor at the
227. he motor and load combined Note The Motor Model list may not include any linear motors You can add linear or other motors using the Motor Configuration utility referenced in the Motor Model section above self Sensing Current Only for motors with self sensing startup The percent of the motors rated peak current to use for self sensing startup This value may need to be adjusted when the motor is moving a high inertia load Advanced Self Sensing Properties Lock Time Only for motors with self sensing startup The amount of time the drive uses to build up the current to the Self Sensing Current level specified above Lock Delay Only for motors with self sensing startup The amount of time the motor must be in the locked position after reaching the full self Sensing Current Move Direction Only for motors with self sensing startup e Forward indicates the motor moves only in the positive direction during self sensing startup e Negative indicates the motor moves only in the negative direction during self sensing startup Move Time Only for motors with self sensing startup The amount of time the drive uses for the verification move during self sensing Startup Move Delay Only for motors with self sensing startup The amount of time the drive holds the final position after the verification move during self sensing startup The following display is the default status for a Motor branch of an online drive
228. hen e click Select All in the Edit menu or e simultaneously press the Ctrl A keys Go To Corresponding Use this command to find a corresponding brace or parenthesis You can use this command in the header h file The Corresponding command is enabled only if a header file is currently selected in the Client Area To execute the Corresponding command Click the header h file to search in the Client Area Place the cursor before or after or highlight the curly brace or parenthesis Then do one of these actions e Click Go in the Edit menu and then click Corresponding from the Go To Popup menu e Simultaneously press the Alt keys e Right click to display the pop up menu click Go To and then click Corresponding Rockwell Automation Publication 2098 UM001G EN P February 2011 311 Chapter 6 312 Creating and Running Programs Go To Line Number Use this command to find a specific line You can use this command in the header h file The Line Number command is enabled only if a header file is currently selected in the Client Area To execute the Line Number command perform these steps 1 Select the header h file to search in the Client Area 2 Use one of these commands e Click Go To from the Edit menu and then click Line Number from the Go To pop up menu e Simultaneously press the Alt L keys e Right click to display the pop up menu click Go To and then clic
229. icates whether the motor has a built in thermostat Settings are Yes or No Indicates whether the motor thermal protection software is activated Settings are Yes or No Thermal resistance from the winding to the encoder in degrees centigrade watt C Watt Note This setting applies and is visible only if Software Protection is set to Yes Rockwell Automation Publication 2098 UM001G EN P February 2011 75 Chapter 3 Configuring the Ultra3000 Drive Status Description Cth w e Thermal capacitance from the winding to the encoder in Watt seconds per degree centigrade Watt second C Note This setting applies and is visible only if Software Protection is set to Yes Rth w a Thermal resistance from the winding to ambient in degrees centigrade watt C Watt Note This setting applies and is visible only if Software Protection is set to Yes Cth w a Thermal capacitance from the winding to ambient in Watt seconds per degree centigrade Watt second C Note This setting applies and is visible only if Software Protection is set to Yes These commands can be executed for a Motor window of an online Ultra3000 drive Command Description Commutation Diagnostics Verify motor commutation Motor Feedback Diagnostics Verify a motor s position feedback signals Motor Marker Diagnostics Verify the operation of the motor marker signal Refresh Data Reads the motor definition information from the motor d
230. ick Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 51 Chapter3 Configuring the Ultra3000 Drive Current Control Panel Window The Properties window for the Current Control Panel looks like this a Drivel Current Control Panel _ Parameter Walue__ Units Set to Zero Disable Drive Clear Faults satus value units Comer O H Velocity Motor Feedback o00 0 RPM Iv Show Status i Show Commands Setup Revet Cose hep Use the Current Control Panel window to directly set the drive s current command and monitor actual motor velocity or current In support of these functions you can also e zero the drive s current e enable or disable a drive and monitor the drive s enabled or disabled status Or e reset all drive faults The commands you execute override any motion commands originating from the drive s normal operation mode set in the Ultra3000 Drive window ATTENTION The Current Control Panel commands override the normal operation mode The motor moves in response to Current Control Panel commands The Current Control Panel has these parameter status and direct commands Parameter Description
231. idth description in the Main Current Regulator Gains section above The following status is displayed by default for the Tuning branch of an online drive Velocity Loop Command Velocity The commanded motor velocity Feedback Velocity The actual motor velocity Error The difference between the commanded motor velocity and the actual motor velocity Position Loop Master Position The motor position command before scaling by the Gear Ratio in units of master counts Rockwell Automation Publication 2098 UM001G EN P February 2011 257 Chapter 5 Configuring the Kinetix 3 Drive 258 Status Description Follower Position The actual motor position Error The difference between the commanded master position and the follower position Current Loop Current Command The commanded current The following commands can be executed for a Motor branch of an online drive Command Description Start Autotuning Begins the Autotuning procedure Copy Main Gains to Alternate This command sets the values in the Alternate Gain Values section by copying the corresponding values from the Main Gains section This provides you with a one step process to tune your system by storing the main gains adjusting the transferred gains and to then storing the adjusted gains as Alternate Gains save Parameters saves the current working values as power up values in flash memory for the selected On Line drive and all of its children Customize t
232. ieagakemeatwhxenteds 154 Cam Table branch eos ernnctine cad cee nae wi eas Ue ae r Coan 155 Cai abled ditor erit erei ane h ek tects cee cena nsee ees rE 155 Understanding the Gear Window 0 cece cece eee eee ees 161 Understanding the Motor Window 0 cece e eee eee eee 163 Understanding the Tuning WindOWisus tntvidonieieadinstoe nee 168 Autor ning WANGOW et ncnar sn neuncs dae areca EREA 172 Understanding the Encoders Window 0 0c cece eee eee ee 175 Understanding the Digital Inputs Window 0 005 180 Understanding the Digital Outputs Window 006 182 Understanding the Analog Inputs Window 005 184 Understanding the Analog Outputs Window 0005 186 Understanding the Oscilloscope Window 0 cece eee eee 188 Channel Setup WindoWserisaranii errean esea a aa 190 Understanding Ultra5000 with DeviceNet 000s eee 193 Monitoring Your Ultra5000 Driver ocswenasdsccieowd mies caves 196 ea SOOO Status seen ak ee ee ea oad EEE ans ates 199 Understanding the Programs Branch cictosswrannsaencarneatanes 205 Understanding the Archives Branthiins 6esanica dekapateduetar eye 205 Understanding the Piles Branchas lt 025 cacanson de aucionbogusatavasantes 206 Understanding the Global Variables Branch 06 206 Creating a new Global Vatiablesiccintesadicdtaraatieareatuonss 207 Editing an Existing Global Variable
233. ify scaling parameter corresponds to analog signal range Verify position loop tuning Verify system sizing If operated in preset mode verify presets are assigned If operated in a normal override mode verity the override function is assigned Inappropriate assignment of digital inputs or outputs Use a motor suitable to the drive or set the torque limit below the drive capacity 289 Chapter5 Configuring the Kinetix 3 Drive Errors are displayed on the drive s Status display with an E prefix The remaining segments alternate between a three digit error code and a five digit text message Status Possible Cause Suggested Action Note The value of status that are ON 1 The value of status that are OFF 0 E 004 E Ntrot Motor Overtemperature Motor thermal switch e Operate within not trips due to above the continuous e High motor ambient torque rating for the temperature ambient temperature e Excessive current or e Both hightemperature Lower ambient and excessive current temperature or increase motor cooling Motor wiring error Check motor wiring Incorrect motor selection Verify the proper motor has been selected E 005 E PNFt IPM Error Motor cables shorted Verify the continuity of motor power cable and connector Motor winding shorted Disconnect the motor internally power cables from the motor If the motor is difficult to turn by hand it may need to be replaced
234. ight of the decimal point for acceleration values The number of characters displayed to the right of the decimal point for current values When User is selected for Displayed Units this is the user defined label for velocity values relating to the motor encoder Limited to 16 characters in length When User is selected for Displayed Units this is the user defined conversion factor used to convert velocity values relating to the motor encoder into user units In counts per second per user unit When User is selected for Displayed Units this is the user defined label for position values relating to the motor encoder Limited to 16 characters in length When User is selected for Displayed Units this is the user defined conversion factor used to convert position values relating to the motor encoder into user units In counts per user unit When User is selected for Displayed Units this is the user defined label for acceleration values relating to the motor encoder Limited to 16 characters in length When User is selected for Displayed Units this is the user defined conversion factor used to convert acceleration values relating to the motor encoder into user units In counts per second squared per user unit 4 Chapter 3 Configuring the Ultra3000 Drive Parameter Description Auxiliary Encoder Units Velocity Label Velocity Scale Position Label Position Scale Acceleration Label Acceleration Scale Wh
235. iguring the Kinetix 3 Drive Parameter Description Autotuning Autotuning Speed Motor speed to use when performing the Autotuning function The range is 200 900 rpm rotary or millimeters per second linear Off LineTuning Mode e Inertia Moment Estimation Servo drives automatically detect and set only the load inertia ratio and automatically set two basic gains as being suitable for Inertia Ratio Therefore it is recognized that the response quality of servomotor is improved at the same time e Inertia Moment Estimation and Resonant Frequency Detection Servo drive automatically detects and sets load inertia ratio mass ratio for linear motors friction coefficient and resonant frequency e Resonant Frequency Detection Intercepts vibration of load system using resonant frequency that is automatically detected by auto tuning Resonant frequency of load system becomes the setting value for resonance suppression filter On Line Vibration Suppression Disable Disables the online vibration suppression function Mode e Normal and High Velocity Enables the online vibration suppression function and more delicately it responses to load change and respond quickly e Slow Velocity without Initial Value Enables the online vibration suppression function and more delicately it responses to load change and respond slowly On Line Vibration Suppression low This value indicates the velocity observation gain is low Gain e high Th
236. ime taking too long to sequencer frames available to them execute Built in firmware code Reset the drive has encountered an error The following commands can be executed in the Faults window of an online drive Command Description Fault History Opens the Fault History window where you can view a list of fault events that occurred since the drive was powered up Clear Faults Clears all drive faults Customize the Faults window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 216 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understand i ng the Service The Properties window for the Service Information branch of Ultra5000 drives Information Window firmware revision 1 2 or higher looks like this Name Service Info JO x Parameter vane unts Reset Peak Loads Dive Type 2086 0 010 f satus waue unt ewa o Frame 4 Peak Load 361887 M Show Status wd eno Cannan Setup Revert Close Help pain Use the Service Information window to e Set the Drive Type parameter e Display and mon
237. ime to Max Speed A read only property of Acceleration that is displayed as a time unit The range depends on the maximum motor speed It must be greater than zero but no more than the acceleration required to reach the maximum motor speed from zero in one millisecond Deceleration If Acceleration Limits is set to Active this is the drive s deceleration limit when the drive is in Analog Velocity Input mode and the Analog Command Input changes or Preset Velocity Mode and the preset selection changes The range depends on the maximum motor speed It must be greater than zero but no more than the acceleration required to reach the maximum motor speed from zero in one millisecond Deceleration Time to Max Speed A read only property of Deceleration that is displayed as a time unit The range depends on the maximum motor speed It must be greater than zero but no more than the deceleration required to reach zero from the maximum motor speed in one millisecond 228 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Parameter Description Communications Drive Address The drive s communication port address an integer from 1 to 247 used in multiple axis applications For single axis applications this value is usually set to 1 The drive must be reset before it will recognize an edited drive address Note Communication port parameters can be set in the PC Communications Set
238. in the Workspace window and then right click Insert Source File A new source file appears in the Workspace window The name of the new source file is Source c or Sourcez c if Source c already exists Where z is the lowest integer that creates a unique source file name within the selected project After a source file is created you can configure its parameters change its name and edit its contents Renaming a Source File To rename a source file perform these steps 1 Choose the source file in the Workspace window 2 Choose one of these commands e Click Properties in the File menu e Right click Properties from the pop up menu e Double click the selected source file The Source File window appears in the Client Area Source File Properties xX Mame Retun_0 c i Cancel Rockwell Automation Publication 2098 UM001G EN P February 2011 303 Chapter 6 304 Creating and Running Programs Type the name of the source file If you do not include the c extension to the source file name the Ultraware software adds it for you The name of the source file must e beat least one but not more than eight characters in length exclusive of the c extension e be unique within its branch of the tree e not contain a space or backslash forward slash colon asterisk cc question mark double quote greater than symbol gt less than symbol lt or pipe Cli
239. inal file on the local computer s file system is closed and only editing changes the drive s copy Importing a CSV File To load a cam file from the local computer s file system in a Comma Separated Values CSV file format and add it to the workspace under the Cam branch 1 Click the Cam branch for an Ultra5000 drive in the Workspace window 2 Right click the cam branch and click Import CSV File from the pop up menu 3 Choose the CSV file from a file selection dialog box 4 Click OK Once imported the original file on the local computer s file system is closed and only editing changes the drive s copy Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Cam Table branch The cam table branch contains the definition of a cam table A cam table is stored on the drive as a cam file The Cam Table Editor lets you edit the cam definition and then save the file on the drive The Cam Table branch supports commands letting you Cut Copy and Delete cam tables as well as the Load in Memory and Export Cam File commands Drag and Drop techniques may also be used Cam Table Editor You may create or modify a cam profile with the Cam Table Editor e Set basic cam table attributes e Add modify or remove cam table information for Input Position or Velocity values e Graphically adjust Input and Position values for cam segments using the Position Profile Pane s co
240. indow has these commands Command Description Format The format for displaying integer values in the monitor e Decimal Range 0 2 147 483 647 e Hexadecimal or e Binary Note Do not create negative numbers in the Hexadecimal or Binary format Reset Peaks Resets peak value parameters to zero For example Position Load Save Setup Error Peak Position Error Peak Current Peak Current Peak Opens the Monitor Load dialog box where you can e Load a previously saved monitor from the list e Delete an existing monitor from the list e Save as default an existing monitor to automatically load each time you open the Monitor window Opens the Monitor Save dialog box where you can e Save a monitor under a new or existing name for later use e Delete an existing monitor from the list e Save as default an existing monitor to automatically load each time you open the Monitor window Opens the Monitor Setup window where you set the drive status to display in this window Refer to Understanding Ultra3000 Status on page 118 for a detailed list of drive status selections To monitor your drives 1 Double click the Monitor icon in the Workspace window The Monitor window appears in the Client Area Click Setup to open the Monitor Setup window where you can customize the display of the Monitor window for the selected online Ultra3000 drive The window displays a tree diagram with all the status s
241. indow has these commands Command Description Format The format for displaying integer values in the monitor e Decimal The range is 2 147 483 647 2 147 483 647 e Hexadecimal or e Binary Note Do not create negative numbers in the Hexadecimal or Binary format Load Opens the Monitor Load dialog where you can program what is displayed in the Monitor window save Opens the Monitor Save dialog where you can save a monitor setup Opens the Monitor Setup window where you can program the drive status to display in the Monitor window Rockwell Automation Publication 2098 UM001G EN P February 2011 2715 Chapter5 Configuring the Kinetix 3 Drive Monitor Setup Window The expanded Properties window for the Monitor Setup looks like this Monitor Setup X Monitor Setup x Monitor Setup x Drive Status Analog Command Velocity Analog Command Curent Bus Voltage Enabled Commutation Angle Mechanical Angle Absolute Rotations Fault Waming Firmware Version Motor Temperature Current Operating Mode Drive Utilization Brake State osition Signals Motor Feedback Position Master Position Follower Position Error Position Command Count Frequency Negative Overtravel Positive Overtravel Absolute Position Valid Within Near Window E Velocity Signals o Command Velocity Feedback Velocity Eror Within Speed Window Up to Speed Velocity Limited Integrator Inhibit K RKK RK K K RER POR R EA RK RKO D EKR KA
242. indow where it may not be dropped the arrow is replaced by a circle with a line through it Rockwell Automation Publication 2098 UM001G EN P February 2011 33 Chapter 2 34 Common Commands for Ultra Drive Configuration 3 When you arrive at the Workspace window location where you want to move the item release both the mouse button and the Ctrl key The result is the same as if you had Cut then Pasted it to this location Rockwell Automation Publication 2098 UM001G EN P February 2011 Chapter 3 Configuring the Ultra3000 Drive Introduction This chapter describes how to configure your Ultra3000 drive to an operational mode Also described are these Ultra3000 drive interface options e homing e oscilloscope e drive tuning e drive monitoring e motor and encoder diagnostic routines Topic Page Introduction 37 Configuring the Ultra3000 Drive 38 Understanding the Ultra3000 Drive Branch 41 Understanding the Analog Window 59 Understanding the Preset Window 62 Understanding the Follower Window 64 Understanding the Indexing Window 66 Understanding the Homing Window 70 Understanding the Motor Window 73 Understanding the Tuning Window 71 Understanding the Encoders Window 86 Understanding the Digital Inputs Window g5 Understanding the Digital Outputs Window 99 Understanding the Analog Outputs Window 103 Understanding the Monitor 105 Understanding the Oscilloscope Window 108 Understanding Ultra3000 with DeviceNet 112 Unders
243. ing the drive executes an internal tuning algorithm and sets appropriate gains automatically The user sets the desired tuning command parameters and selects the Start Autotune button to begin autotuning ATTENTION The motor shaft moves during the tuning process Refer to the Hardware and Installation manual for tuning details TIP Closing the window returns the drive to its normal operating mode but the software is disabled To make the drive operational click the drive and then the Enable command as Instructed in the Windows message These parameters status and commands apply to this window Parameter Description Autotune Settings Motor Direction The direction the motor rotates during tuning e Bi Directional e Forward Only or e Reverse Only Maximum Distance The maximum distance the motor turns when performing autotuning The autotune distance should be set as large as the application permits so that the autotune algorithm is able to collect sufficient data to compute new tuning gains It has a range of 1 2 147 483 647 counts step Current The current the drive commands when performing autotuning in percent of the lesser of either the drive peak current or the motor peak current The autotune current is normally set at 10 but may need to be increased in the presence of large inertias or high friction In these systems higher settings make sure that the autotune algorithm is able to collect sufficient data to
244. ion save Parameters saves the current working values as power up values in flash memory for the selected On Line drive and all of its children Click Revert to return parameter settings to the values they held when you opened this window 242 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understand i ng the Indexi ng The Properties window for Indexing looks like this Wi ndow UW_KS Indexing LS C finbwet dd O pen M Show Status E Setup Revert Close Help Use the Indexing window to e configure up to sixty four indexes 0 63 and e open the Indexing Control Panel where you can start and stop execution of the index command start and stop homing enable or disable a drive and monitor the execution of an index An index controls drive operation by executing preconfigured motion commands An index controls drive operation when Operating Mode is set to Indexing in the Kinetix 3 Drive window The drive uses the index whose number 0 63 reflects the cumulative binary values of the Preset Select Lines 0 1 2 3 4 and 5 that are selected in the Digital Inputs window The digital input Preset Select Line binary values are as follows e Index Select 0 1 if active 0 if not e Index Select 1 2 if active 0 if not e Index Select 2 4 if active 0 if not e Index Select 3 8 if active 0 if not e Index Select 4
245. ion 1 40 Ultraware Software Updates Appendix A General e Adds capability of saving and loading monitors e Adds Cancel button to progress meter displayed during transfers e Refresh only visible rows in a property windows to speed up refresh rate e Automatic transfer of custom motors to new motor database during installation Ultra3000 Drive related Enhancements When Ultraware software connects to a SERCOS Ultra3000 drive the workspace and property window contents are customized to only show the data that is appropriate for a SERCOS drive Previously SERCOS drives were shown as broken drives only letting the user upgrade firmware or disable the SERCOS interface Ultra5000 Drive related Enhancements e Support for standard size Ultra5000 drives e Autotune feature is now available To perform autotuning go to the Tuning window and click the Autotuning button Click Start Autotuning to begin autotuning process e Encoder Pulse Generation is now supported e Adds ability to monitor the states of the feedback device lines e Go To Corresponding and Go To Line Number commands are now accessible from the Edit menu and from the pop up menu in the Source c or Header h Hot keys are also available More details are available in the online help e Monitor tree updates to make basic position velocity and current signals easier to find e Support for properties controlling the behavior of self sensing startup e D
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247. ion Publication 2098 UM001G EN P February 2011 121 Chapter 3 122 Configuring the Ultra3000 Drive Status Description Non SERCOS Continued Drive Velocity Signals SERCOS Drive Monitor Velocity Refer to Understanding the X X X X Command Tuning Window on page 77 Velocity Error Refer to Understanding the Tuning Window on page 77 Teg Winkowencpece 77 on page 77 Velocity Motor Refer to Understanding the Feedback Tait ini ee Window on page 77 Note The resolution of this signal may be confusing when using the Oscilloscope See the topic Velocity Motor Feedback Resolution for information on how resolution is derived for various motor and feedback combinations In Speed Window Refer to Understanding the Ultra3000 Drive Branch on page 41 Integrator Inhibit Reter to Understanding the Digital Inputs Window on page 25 Up To Speed Refer to Understanding the Ultra3000 Drive Branch on page 41 Zero Speed Refer to Understanding the Ultra3000 Drive Branch on page 41 Current Signals Current Analog Refer to Understanding the Limit Input Tuning Window on page 77 Tuning Window anescad7 on page 77 Current Average Refer to Understanding the Tuning Window on page 77 Tunina Window on oade T7 on page 77 Current Command Refer to Understanding the Ting Wind A Window on page 77 Current Feedback Refer to Understanding the Tuning Window on page 77 ining Windeieon wae 77 on page 77 Neg
248. ion to the factory settings Enable Position Limit This causes the drive to start monitoring the position limits The State transitions to Running Disable Position Limit This causes the drive to stop monitoring the position limits The state transitions to Disabled Reset Position Limit After a position limit violation the position limits enter the Stopped state The drive will not permit commanded motion in this state Pressing this button lets the drive respond to commanded motion to back off of the limit condition Customize the window for your Ultra5000 Drive branch by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 144 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Installing Drivers The Ultra5000 drive can automatically load and run special executable files commonly known as Drivers at powerup To install drivers click Drivers in the Ultra5000 drive s context menu The following dialog box appears Drivers O O Installed Drivers Add Remove Ok e The Installed Drivers list shows all of the currently installed drivers
249. ional only when control power is absent Free Stop and Hold The motor windings are not shorted together until the motor has coasted to a stop Disable Delay The time from when the Drive Disable command is received to when the motor power is removed The range is 0 to 1000 ms The default is 0 Braking Application Speed Motor feedback speed below which the drive engages the motor brake signal when the drive is disabled The range is 0 1000 rpm millimeters per second for linear motors The default is 100 Rockwell Automation Publication 2098 UM001G EN P February 2011 231 Chapter5 Configuring the Kinetix 3 Drive Parameter Description Auxiliary Function Selection Enables or disables Auxiliary Function Selections Velocity Observer Enable or Disable the velocity observeration Emergency Stop Input Enable or Disable the emergency stop input Statuses Creates a custom program to monitor and display the drive Status ON status have a value of 1 and OFF status have a value of 0 Current Operating Mode Displays the currently configured operating mode based on the Operation Modes property above and the Operation Mode oe digital input state One of e Analog Current Input a 10 volt analog input provides the current command Analog Velocity Input a 10 volt analog input provides the velocity command Follower a position command is provided by external step and direction step up down or quadrature enc
250. iption The name of the drive up to 32 characters long Note The drive name is displayed in the title bar of the windows relating to this drive select e Enabled Causes the drive to read motor parameters from an intelligent encoder or e Disabled Causes the drive to read motor parameters from a Motor Model selected below The model of the motor to be controlled by the drive Selecting a motor model from the drop down list sets its parameters in the Motor window Note For an online drive you must disable the drive before you can edit its Motor Model parameter Note Ultraware software ships with a utility that lets you create custom motor configurations Use that utility to add customized motor selections to the Motor Model list Click either e Normal a positive direction move increases the encoder count e Reverse a positive direction move decreases the encoder count Click a unit of measure for position velocity and acceleration displays Metric e units for rotary motors are counts position rom velocity rom per second acceleration e units for linear motors are meters position meter per second velocity and meter per second acceleration English e units for rotary motors are counts position rom velocity rom per second acceleration e units for linear motors are inches position inches per second velocity and inches per second acceleration User displays measurem
251. irely outside the interface e To return the Output window to its default position double click the title bar You can copy text in the Output window However you cannot type text into the Output window Rockwell Automation Publication 2098 UM001G EN P February 2011 17 Chapter 1 18 Before You Begin Client Area The Client Area is the large gray area beneath the menubar and toolbars and to the right of the Workspace window Use the Client Area to display e property windows for objects in the Workspace window where you can configure the object s properties e text editor windows for header and source files in the Workspace window where you can create or edit these text files The Workbook Mode in the View menu displays a tab for each object in the Client Area The tab contains the abbreviated name of the related object Click a tab to bring the related object to the top of the Client Area Unlike windows the Client Area cannot be directly resized The size of the Client Area depends upon the size and location of the surrounding Workspace and Output windows the Main menubar the Status Bar and the several toolbars However you can use the Cascade Tile Wide Tile Tall and Arrange Icons Window menu commands to arrange the display of windows in the client area Rockwell Automation Publication 2098 UM001G EN P February 2011 Before You Begin Chapter 1 Main Menubar The Main menubar is at the top of th
252. is 0 2500 counts The default is 20 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Parameter Description Motor Encoder Units Sets available Motor Encoder Units Position Label When User is selected for Displayed Units this is the user defined label for position values relating to the motor encoder Limited to 16 characters in length Position Scale When User is selected for Displayed Units this is the user defined conversion factor used to convert position values into user units relative to the motor encoder In counts per user unit Velocity Label When User is selected for Displayed Units this is the user defined conversion factor used to convert velocity values into user units relative to the motor encoder In counts per second per user unit Velocity Scale When User is selected for Displayed Units this is the user defined conversion factor used to convert velocity values into user units relative to the motor encoder In rom per user unit Acceleration Label When User is selected for Displayed Units this is the user defined conversion factor used to convert velocity values into user units relative to the motor encoder In rom per user unit Acceleration Scale When User is selected for Displayed Units this is the user defined conversion factor used to convert acceleration values into user units relative to the motor encoder This is displayed in re
253. is detected the drive brings the axis to a stop within this distance Set this to True to enable detection of soft limit violations The Position Limits see below must also be enabled for soft limit violations to be detected Set this to True to enable detection of hard limit violations The Position Limits see below must also be enabled for hard limit violations to be detected The inputs to use for positive and negative hard limits must be set see below for the hard limits to be detected Set this to True to enable detection of motor integral limit violations The Position Limits see below must also be enabled for motor limit violations to be detected The motor limits only work when using a motor that supports integral limits The position in counts when a positive soft limit violation is detected by the drive This is the point where the drive begins decelerating the axis The position in counts when a negative soft limit violation be detected by the drive This is the point where the drive begins decelerating the axis The selected digital input to use to indicate a positive hard limit violation The drive begins decelerating the axis when the input becomes active Select The selected digital input to use to indicate a negative hard limit violation The drive begins decelerating the axis when the input becomes active Select Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the
254. is value indicates the velocity observation gain is high Velocity Regulator Configuration e Disable Disables the Velocity Command Filter in the Follower mode e Enable Enables the Velocity Command Filter in the Follower mode Velocity Command Filter on Follower Gain Switching Gain Change Enable e Disable Disables the Gain Change e Enable Enables the Gain Change Mode of Gain Switching e 1st Gain Fix Fixed to the 1st gain e 2nd Gain Fix Fixed to the 2nd gain e Digital Input G SEL 2nd gain selection when the gain switching input is turned on e Torque command 2nd gain selection when the toque command is larger than the control settings level of gain control switching and hysteresis of control switching e Velocity Command 2nd gain selection when the command speed is larger than the control settings level of gain control switching and hysteresis of control switching e Position Error 2nd gain selection when the positional deviation is larger than the control settings level of gain control switching and hysteresis of control switching e Position Command 2nd gain selection when more then one command pulse exists within a 200 us interval e n Position 2nd gain selection when the value in the positional deviation counter exceeds the range of the positioning completer e Velocity 2nd gain selection when the motor actual speed exceeds the control values level of gain control switching and hysteresis of con
255. isesend ie a EET 326 Using Direct Commands icciaioncavel eins ew esd eend a ARES 327 Rockwell Automation Publication 2098 UM001G EN P February 2011 9 Table of Contents Creating Custom Motors Ultraware Software Updates Chapter 7 IAETOCUCHO Missa 0 e tutte dedi as ah kh a deri a auton Hake 331 Ac essing the Motor Databases sense tchuseuntiebensalacabqaws 331 Creating Custom Motor Parameter Sets 0 0 c eee eee ees 332 Motor Dafi base seia a a a dedsen a eein untae OE 333 Using the Linear Motor Window 0 cece eee e eee e ences 335 Using the Rotary Motor Window 00 c eee e cence eee ees 337 in POEUN Motors cshanevcechawsvene tte tous E wens se eet 338 EDON IDE MOONS ities ast tan ate awene tabs ow hae eee eats ees 338 Appendix A TRCROCUCUOM 3 asacteda2e newindian debe ts E EEEE E 339 Verion OO recesie ia An tances hee a nee os 339 Kinetix 3 Drive related Enhancements 020000 339 General Enhancements cccceeccccceecescccceeeeues 339 Voron ITOT eeen aaa ara r meen les a a 339 Ultra3000 Drive related Enhancements 00000 339 Venon 1063 eera ataa eara a r a EAO EAS 339 Ultra3000 Drive related Enhancements 00000 339 Ultra5000 Drive related Enhancements 00000 339 E EA EEE A E EEE ETE EAE EET 340 Ultra1500 Drive related Enhancements 00000 340 Ultra3000 Drive related Enhancements 00000 340 Ultra5
256. ising Edge begins tracing when the selected Trigger Source value increases above the Trigger Threshold value e Falling Edge begins tracing when the selected Trigger Source value decreases below the Trigger Threshold value The value of the Trigger Source drive signal that begins tracing Trigger Mode selections are e Rising Edge e Falling Edge The current status of the oscilloscope trigger e idle e Awaiting Trigger e Collecting Data Labels to display on the y axis e Default One reference point for each channel is displayed Channel A Channel B Channel C Channel D Displays the color of the trace for each input signal or channel Click the color rectangles displayed in the legend to modify a color Rockwell Automation Publication 2098 UM001G EN P February 2011 189 Chapter4 Configuring the Ultra5000 Drive The following commands can be executed for the Oscilloscope window of an online drive Command Description Arm Trigger Turns the oscilloscope trigger ON Run Continuous Runs the oscilloscope continuously circumventing the trigger Stop Triggering Turns the oscilloscope trigger OFF Customize the Oscilloscope window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Properties to display or hide the Properties pane e Click Show Commands to display or hide the Commands pane e Click Save to save the oscilloscope data to a tab delimited file on your PC which can be
257. items from the Workspace window The deleted item is permanently destroyed The Delete command cannot be reversed by an Undo command These Workspace window items cannot be deleted an On Line Drives branch a drive in the On Line Drives branch an Ultraware file an immediate child item branching directly from a drive an executable program child with an exe extension of an offline project To delete an item from the Workspace window perform these steps l1 2 Click a Workspace window item other than one of those listed above Do one of these commands e Click Delete in the Edit menu e Click Delete in the pop up 32 Rockwell Automation Publication 2098 UM001G EN P February 2011 Common Commands for Ultra Drive Configuration Chapter 2 e Click the Erase icon in the Edit toolbar 3 Click OK to delete or Cancel in the message box that appears Drag and Drop You can use the drag and drop method to copy and move a Workspace window branch or item to other locations within the Workspace window The drag and drop method combines the Cut Copy and Paste commands as follows e the drag and drop method copies a Workspace window branch or item that can be both copied using the Copy command and pasted using the Paste command e the drag and drop method moves a Workspace window branch or item that can be both cut using the Cut command and pasted using the Paste command To use the drag and drop method to copy a Wor
258. ition and waiting the commanded dwell time Note The In Dwell status has a value of 1 when ON and 0 when OFF Axis Homed ON indicates that the homing routine has completed Note The Axis Homed status has a value of 1 when ON and 0 when OFF The following commands can be performed from a Homing window of an online drive Command Description save Parameters saves the current parameters to flash memory Customize the Homing window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup Window on page 276 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 248 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understandi ng the Motor The Properties window for Motors looks like this Wi ndow a UW_KS Motor Ce e Rite Motoriden Erse eter Medel Defau moter liners Ratio ioo iosa or i TEET i 5 jii iy i ii wi iT E EB ma a a EH a O EH O 5000 RPM Intermittent Current 241 Amps H Cs a O H ed ane O iili a IY Show Status Pae mand Setup Revert Close Help Use the Motor window to e Choose a motor for the associated online or offlin
259. ition to the output as well as the Aux Encoder firmware object The Divider and Limit properties listed below are used to perform the filtering in this mode Maximum Output Frequency The encoder output frequency limit Note This parameter is active only if Software is selected as the Output Mode Type the amount of division used for generating output encoder signals For example if the Divider is set to 4 the encoder output frequency is 1 4th the encoder input frequency Note This parameter is active only if Software is selected as the Output Mode If Yes is set Negative direction master encoder input generates NO motor movement Master encoder input in a negative direction generates motor movement in a positive direction Note Selecting Ignore Negative Input above overrides this selection Negative direction master encoder input is accumulated in a buffer without generating motor movement Note This selection is often used together with Unbuffer Positive Input below Negative direction master encoder input is used first to reduce the accumulated positive directional buffer then only after this buffer is reduced to zero does it generate motor movement in the negative direction Note This assumes Buffer Negative Input above is not selected Positive direction master encoder input generates NO motor movement Rockwell Automation Publication 2098 UM001G EN P February 2011 177 Chapter 4 178
260. itioning accuracy of the system However excessive integral gain results in system instability Derivative gain value for the velocity loop The D gain generates a control signal proportional to measured acceleration The range is 1000 1000 Note Positive D gain reduces velocity overshoot and negative D gain should be used only in systems that exhibit mechanical resonance The following information is the default status for a Kinetix 3 drive in the Autotuning window of the Tuning branch Status Drive Enabled Autotune Complete Autotune Failed Description ON indicates the power stage of the drive is enabled As a precondition all software and hardware enable inputs must be active and the drive cannot have any faults Note Drive Enable has a value of 1 when ON and a value of 0 when OFF ON indicates the autotune completed successfully ON indicates the autotune failed Rockwell Automation Publication 2098 UM001G EN P February 2011 259 Chapter5 Configuring the Kinetix 3 Drive The following commands can be executed on an online drive using the Autotuning window of the Tuning branch Command Description Start Autotune Begins autotuning Stop Autotune Stops autotuning Clear Faults Attempts to clear all drive faults Customize the Autotuning window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to di
261. itor service information about the drive e Display the firmware revisions of the drive The following parameters can be entered in the window Parameter Description Drive Type The model number of an online drive as assigned at the factory Off line Ultrad000 drives do not have a specific model e Invalid prevents the drive from being enabled 2098 IPD 005 2098 IPD 010 2098 IPD 020 2098 IPD 030 2098 IPD 050 2098 IPD 100 2098 IPD 150 2098 IPD HV030 2098 IPD HV050 2098 IPD HV 100 2098 IPD HV 150 2098 IPD HV220 Note the drive uses the selection to e decide when to signal an IPM Filter fault and e properly scale the feedback from the power stage of the drive The output of the velocity regulator stage of the drive is limited by the selected drive type Rockwell Automation Publication 2098 UM001G EN P February 2011 217 Chapter4 Configuring the Ultra5000 Drive The following status is displayed by default Status Drive Model PICS Number Firmware Version Boot Firmware Version FPGA Version Rated Current Peak Current service Clock Sequencer Loads Frame Load 1 Frame Load 2 Frame Load 3 Frame Load 4 Frame 1 Peak Load Frame 2 Peak Load Frame 3 Peak Load Frame 4 Peak Load Description The model number of the drive Only displayed for online drives This number is set at the factory A unique identifier assigned to each drive The revision of the firmware on the drive The revision
262. itor the status of the incoming Analog Command for an online drive and e execute commands that remove Velocity and Current Input Offsets for an online drive These parameters govern drive operations when the Operating Mode is set to Analog Velocity Input or Analog Current Input Parameter Description Velocity Command Input Velocity Scale The drive s velocity input scale value This value indicates the change in velocity per Volt of change in the Analog Command Input The range is 0 1000 rpm millimeters per second for linear motors The default is 100 Current Scale The drive s current input scale value This value indicates the change in current per Volt of change in the Analog Command Input Note This parameter is stored on the drive in units of percent of motor rated continuous current Volt The range as a percentage is 0 100 V The default setting is 33 3 V Velocity Command Offset The offset of the Analog Velocity Command Input in millivolts The range is 1000 1000 mV Current Command Offset The offset of the Analog Command Input in mV The range is 1000 to 1000 miV Position Command Input Position Scale The drive s position input scale value This value indicates the change in position per Volt of change in the Analog Command Input The range is 32767 32 767 counts V Position Offset The drive s position input offset value This value indicates the offset of the Analog Command Input The rang
263. ive or e Idle to not run the program on powerup Idle is the default setting Targeted Firmware The firmware revision that the program built from this project will run under Understanding the Service Information Window on page 217 describes how a drives firmware revision can be verified in the Status display Note If the user attempts to run a program under an earlier revision of firmware than it was built for an error message is displayed and the program will not run Compiler Version The compiler version to use when building a program Note The new revision of the compiler version 2 x significantly reduces the size of most program files However the original compiler version 1 x is still provided because it is possible that a program developed under the 1 x compiler may have build errors under the 2 x compiler or may have slight differences in how it runs 4 Click Revert to undo any changes Rockwell Automation Publication 2098 UM001G EN P February 2011 301 Chapter 6 302 Creating and Running Programs Executing Project Commands In addition to the Cut Copy Paste and Delete commands you can execute other commands for a Project To execute Project commands perform these steps 1 Click Project in the Workspace window 2 Right click the title bar to access a pop up menu 3 Click one of these commands from the pop up menu Command Insert Source File Insert Header File Import Export
264. ive icon Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Understanding the Analog Window The Properties window for the Analog branch looks like this Drive Analog Parameter Value Units Remove Yelocity Input Offset elocity Command Input Remove Current Input Offset sao EE F ee Remove Position Input Offset Velocity Offset io millivolts AcceliDecel Limits Accel Limit i Revels Decel Limit Revas Current Command Input 0 75 ta Current Scale Current Otfset Position Command Input Position Scale 1000 0 Countat olt status vawe unite J Show Status taal Sita Camani Setup Revert Close Help Ampa alt millivolts Use the Analog window to e set Analog Velocity Current and Position Command Input drive parameters for an online or offline drive e monitor the status of the incoming Analog Command for an online drive and e execute commands that remove Velocity Current and Position Input Offsets for an online drive These parameters govern drive operations when the Operating Mode is set to Analog Velocity Input Analog Position Input or Analog Current Input in the window Parameter Description Velocity Command Input Velocity Scale The drive s velocity input scale value This value indicates the change in velocity per Volt of change in the Analog Command Input Note This parameter is store
265. ive status settings for a selected Ultra5000 online drive The Monitor tool works just like the status Drive pane of a branch s Properties window Use this window to e Display the status settings that have been selected for display in the Monitor Setup window e Open the Monitor Setup window in which you can display the drive status This window has these commands Command Description Format The format for displaying integer values in the monitor e Decimal e Binary e Hexadecimal Load Opens the Monitor Load dialog box where you can e Load a previously saved monitor from the list e Delete an existing monitor from the list e Save as default an existing monitor to automatically load each time you open the Monitor window save Opens the Monitor Save dialog box where you can e Save a monitor under a new or existing name for later use e Delete an existing monitor from the list e Save as default an existing monitor to automatically load each time you open the Monitor window Reset Peaks Resets peak value parameters to zero For example Position Error Peak Position Error Peak Current Peak Current Peak Setup Opens the Monitor Setup window where you can display the drive status Refer to Ultra5000 Status on page 199 for a detailed list of drive status selections To monitor your drives perform these steps 1 Double click the Monitor icon in the Workspace window The Monitor window appears in
266. k 314 import a drive 29 remove a bookmark 313 remove all bookmarks 313 replace text in the text editor 316 select all text in the text editor 318 set a bookmark 313 import header file 323 project 323 source file 323 importing a drive 28 Indexing control panel Kinetix 3 statuses 243 Indexing control panel Ultra3000 commands 56 parameters 5d Statuses 55 Indexing window Kinetix 3 243 commands 245 parameters 244 Statuses 244 Indexing window Ultra3000 66 commands 69 Index parameters 67 Statuses 68 Insert Kinetix 3 command 28 Insert menu 19 Insert Project command 299 Insert Source File command 303 Insert Ultra3000 command 28 Insert Ultra5000 command 28 installation notes 346 Installing Drivers Ultrab000 145 J Jog branch Ultra5000 commands 148 parameters 14 Statuses 14 K Kill command 326 Kinetix 3 Analog Outputs window 274 parameters 274 Analog window 237 commands 238 parameters 237 Configuration 222 Configuring properties 222 Digital Inputs window 267 parameters 268 statuses 2 0 Digital Outputs window 271 parameters 271 statuses 2 2 Drive branch 225 commands 234 statuses 233 Drive window parameters 226 setup Wizard 236 velocity control panel 234 Encoders window 265 266 parameters 265 Faults window 287 commands 295 parameters 288 296 Statuses 290 firmware version 297 Follower window 241 parameters 241 Homing window 246 parameters 246 Statuses 248 In
267. k Line Number Bookmarks The use of bookmarks is supported A bookmark is a blue marker you can place to the left of a line of code in a source or header file It brings visual attention to that line of code Using a bookmark makes it easier to find a particular place in your code when you are working in a header or source file Bookmarks are blue or dark dots in the left margin of the window and look like this B Uw 5000 Project Return_0 c int maini return dU Bookmarks can be inserted either one at a time using the Toggle Bookmark command or all at once using the Mark All command in the Find dialog box Bookmarks are not persistent and cannot be saved Closing a header or source file clears all bookmarks in that file Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Toggle Bookmark Use this command to set or remove a bookmark in a selected line of code for a source or header file This command is available while a source or header file is open in the Client Area To set a bookmark 1 Inasource or header file place the cursor in a line of code that does not already have a bookmark a blue dot 2 Do one of these actions e Click the Toggle Bookmark icon in the Edit toolbar e Right click Toggle Bookmark from the pop up menu e Click Bookmarks in the Edit menu and then click Toggle Bookmark A blue bookmark appears to the left of the sele
268. kspace window branch or item 1 Place the cursor arrow on a Workspace window branch or item that can be copied and hold down the left mouse button 2 Drag the selected Workspace window branch or item to the desired destination One of two things happens e Ifthe item can be copied the pointer continues to appear as an arrow and a plus sign appears to the right of the arrow for as long as you continue drag the item over a place in the Workspace window where it may be dropped e Ifthe item cannot be copied or if you are dragging the item over a part of the Workspace window where it may not be dropped the arrow is replaced by a circle with a line through it 3 Release the mouse button when you arrive at the Workspace window location where you want to copy the Workspace window branch or item The result is the same as if you had Copied then Pasted it to this location To use the drag and drop method to move a Workspace window or item 1 Place the cursor arrow on a Workspace window or item that can be cut and hold down both the left mouse button and the Ctrl key 2 Drag the selected Workspace window or item to the desired destination One of two things occurs e Ifthe item can be cut the pointer continues to appear as an arrow for as long as you continue drag the item over a place in the Workspace window where it may be dropped e Ifthe item cannot be cut or if you are dragging the item over a part of the Workspace w
269. l may be confusing when using the Oscilloscope See the topic Velocity Motor Feedback Resolution for information on how resolution is derived for various motor and feedback combinations Refer to Understanding the Tuning Window on page 253 Refer to Understanding the Kinetix 3 Drive Branch on page 225 Refer to Understanding the Kinetix 3 Drive Branch on Rockwell Automation Publication 2098 UM001G EN P February 2011 page 225 Fault Detail Channel Chapter 5 283 Chapter5 Configuring the Kinetix 3 Drive Status Description Oscilloscope Oscilloscope Analog Output Fault Detail a Trigger Trigger ie Channel Reports the percentage of the X Drives Temperature Trip value that is based on the drives continuous current rating Drive Utilization thermal characteristics and time It is an indication of the level of utilization of the drive s current capability If the Drive Utilization reaches 100 a Drive Overload fault occurs Position Signals Motor Feedback Eel N Understanding the Tuning Window on page 253 eRe on page 253 Refer to Understanding the Tuning Window on page 253 Window on page 253 Refer to Understanding the Tuning Window on page 253 fans Wine ci tees 7 on page 253 Master Position Follower Position Error Position Command Count Frequency Negative Overtravel Positive Overtravel Velocity Signals Command Velocity Feedback Velocity Error In Speed Window
270. le Pane displays the cam velocity in an editable graph but only the Velocity values may be adjusted in this graph not the Input values If the end point of the velocity profile is adjusted the first point s velocity is automatically adjusted to have the same value The velocity profile is only editable for a polynomial mode cam For a linear mode cam the velocity of each segment is entirely determined by the location of points in the Position Profile Velocities are displayed in units of output position counts per input count To determine the actual output velocity of the cam in counts per second the velocities from the graph must be multiplied by the actual input velocity in counts per second Rockwell Automation Publication 2098 UM001G EN P February 2011 159 Chapter 4 160 Configuring the Ultra5000 Drive Acceleration Profile Pane The Acceleration Profile Pane on the right bottom displays the cam acceleration in a graph e Fora polynomial mode came Ultraware software constrains the accelerations to be zero at each segment endpoint e Fora linear mode cam the acceleration is zero within each segment with essentially infinite acceleration at the transitions from segment to segment unless two adjacent segments have the same velocity Accelerations are displayed in units of output position counts per input count per input count To determine the actual output acceleration of the cam in counts per second squared
271. le must be loaded to enable cam or an Invalid State error occurs Causes the cam to stop generating output but the Current Position output is held constant at the current value Customize the Cam window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 153 Chapter 4 154 Configuring the Ultra5000 Drive Inserting a Cam Table To create a new Cam Table perform these steps e Click the Cam branch for an Ultra5000 drive in the Workspace window and then click Cam Table from the Insert menu e Right click the Cam branch and then click Insert Table from the pop up menu The Cam Table appears in the Workspace window beneath the Cam branch Importing a Cam Table To load a cam table file from the local computer s file system and add it to the workspace under the Cam Table branch perform these steps 1 Click Cam branch for an Ultra5000 drive in the Workspace window 2 Right click Import Cam File from the pop up menu 3 Choose the cam file from a file selection dialog box 4 Click OK Once imported the orig
272. lick Properties from the pop up menu Then click Autotuning in the Tuning window During autotuning the drive executes an internal tuning algorithm and sets appropriate gains automatically The user sets the desired tuning command parameters and selects the Start Autotune button to begin autotuning ATTENTION The motor shaft moves during the tuning process Refer to the appropriate Hardware and Installation manual listed in Additional Resources on page 12 for tuning details The following parameters status and commands apply to this window Parameter Description Autotune Settings Autotuning Direction The direction in which the motor rotates during tuning e Bi Directional e Forward Only or e Reverse Only Maximum Distance The maximum distance the motor turns when performing autotuning The autotune distance should be set as large as the application permits so that the autotune algorithm is able to collect sufficient data to compute new tuning gains It must be gt Maximum Velocity The maximum turning velocity of the motor during autotuning It has a range of 1 100 of maximum motor velocity step Current The current the drive will command when performing autotuning The autotune current Is normally set at 10 of the motor rated peak current but may need to be increased in the presence of large inertias or high friction In these systems higher settings will make sure that the autotune algorithm will be able to collec
273. lick Revert to return parameter settings to the values they held when you opened this window 110 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Channel Setup Window The collapsed Properties window for the Channel Setup looks like this Channel Setup ve Channel Options E Drive Status ani Operation Mode Position Signals seen Velocity Signals Current Signals e Encoders vee Digital Inputs vee Digital Outputs oa Faults Cancel Use this window to e Assign a specific Input Signal to the selected Channel in the Oscilloscope window for an Ultra3000 drive or e Assign no Input Signal to the selected channel in the Oscilloscope window for an Ultra3000 drive Much like the Monitor window this window lets you to customize the display for the selected online Ultra3000 drive The window displays a tree diagram with all the status settings that can be monitored for the selected drive TIP Refer to Understanding Ultra3000 Status on page 118 for a detailed list of drive status selections To assign a specific input signal or status to the selected channel 1 Open the tree control to the desired branch by clicking on one or more plus signs 2 Place a check mark in the box next to the desired input signal or status 3 Click OK The selected input signal appears in the selected Channel in the Oscilloscope window To assign no input signal
274. line drive Status In Motion At Home Within Position Window In Position Axis Homed Description ON indicates the motor is moving in response to an indexed motion command Note The In Motion status has a value of 1 when ON and 0 when OFF ON indicates the position command value is zero which is by definition the Home position Note The At Home status has a value of 1 when ON and 0 when OFF ON indicates that the position error has been less than the In Position Size setting for longer than the In Position Time setting in the Ultra3000 Drive window Note The Within Position Window status has a value of 1 when ON and 0 when OFF ON indicates the position error has been less than the In Position Size setting for longer than the In Position Time setting and the speed is less than the Zero Speed setting as configured in the Ultra3000 Drive window Note The In Position status has a value of 1 when ON and 0 when OFF ON indicates that the homing routine has completed Note The Axis Homed status has a value of 1 when ON and 0 when OFF Customize the Homing window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Revert to return parameter settings to the values they held when you opened this window 72 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3
275. lipboard 2 Do one of these e Click Undo in the Edit menu e Right click the source or header file and then click Undo from the pop up menu e Click the Undo button Bj in the Edit toolbar e Simultaneously press either the Ctrl Z keys or the Alt Backspace keys The previous text command is reversed cut or deleted text reappears typed text disappears Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Redo Use this command to reverse the action taken by the previous Undo command for the selected header h or source c file in the Client Area Ultraware software keeps up to 2048 previous actions in memory This command is enabled only for selected source or header files where an Undo command is the last action or actions taken The Redo command is no longer available for a source or header file when you type new text in that file To execute the Redo command perform these steps 1 Select a source or header file where an Undo command is the last action or actions taken for that file 2 Do one of these e Click Redo from the Edit menu e Right click and then click Redo from the pop up menu e Click the Redo icon in source or header file e Simultaneously press the Ctrl Shift Z keys The previous Undo command is reversed Rockwell Automation Publication 2098 UM001G EN P February 2011 319 Chapter6 Creating and Running Programs
276. locity loop integrator An active state permits the position loop to track the position command when the drive Operation Mode is set to a Follower mode in the Ultra3000 Drive window When active the drive uses the Operation Mode Override as the command source When inactive the drive uses the Operation Mode setting as the command source An inactive state freezes the state of the motor encoder outputs A transition to an active state causes the drive to output a continuous sequence of encoder counts until the absolute position is reached on an external counter This input is used In conjunction with the Tracking output function A transition to an active input state begins an indexing move 116 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Status Description Define Home A transition to an active state selects the present motor position as the Home position This means that the position command is set to the Home Position and the position feedback Is simultaneously set to its appropriate value according to the position error Remove Command Offset A transition to an active state measures the offset of the analog COMMAND input after averaging and sets the Current COMMAND Input Offset Position COMMAND Input Offset and Velocity COMMAND Input Offset parameters to the negative of this value start Homing A transition to an active input state initiates the homing r
277. ls Legend Configuring the Ultra5000 Drive Chapter 4 Description The amplitude of the selected channel input signal that can be displayed between gridlines of the oscilloscope in the units of the drive signal It is dependent on the signal selected If the scale is left at its default value of 0 The data is autoscaled to fit the graph Note Visible only if Scale Type is Manual The trace offset for the selected Channel Input Its range depends on the signal selected A value of zero places the zero value of the signal at the middle grid line A nonzero offset shifts the trace up or down so that the offset value is positioned at the middle grid line Note Visible only if Scale Type is Manual The time in milliseconds between samples that constitute a trace The horizontal resolution of the oscilloscope is 128 samples For example selecting a sample period of 1 0 ms results in 128 mS of data being displayed Note The Sample Period has a resolution of 0 125 ms Number of samples per division For example 32 samples per division results in 4 horizontal divisions The drive signal that sets off the trigger and begins tracing the selected channel signal upon the occurrence of the Trigger Mode at the Trigger Threshold See Input Signal for a list of available Trigger Source selections Event trigger for oscilloscope tracing e Immediate begins tracing immediately when the selected drive signal becomes active e R
278. lt 36 Power Module Overtemperature 39 Self Sensing Startup Error 58 Excessive CPU Load Fault Count Service Info PICS Number Firmware Version Boot Firmware Version FPGA Version 202 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Status Rated Current Peak Current Service Clock Sequencer Loads Frame 1 through 4 Load Frame 1 through 4 Peak Load Position Limits State Positive Soft Limit Negative Soft Limit Positive Hard Limit Negative Hard Limit Positive Motor Limit Negative Motor Limit Position Loop Command Position Command Velocity Command Acceleration Feedback Position Error Error Sum Output Tuning State Command Offset Feedback Offset Velocity Loop Command Velocity Command Acceleration Feedback Velocity Error Error Sum Output Tuning State Velocity Loop Command Velocity Command Acceleration Feedback Velocity Rockwell Automation Publication 2098 UM001G EN P February 2011 203 Chapter4 Configuring the Ultra5000 Drive Position Loop Continued Error Error Sum Output Tuning State Current Loop User Current Fault User Current Fault Enable Average Current Torque Command Torque Error Torque Feedback Torque Output 204 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understand i ng the The Programs branch contains executable program exe file
279. lter protecting the motor from overheating has tripped 22 Motor Filter ON indicates the internal filter protecting the drive from overheating has tripped 23 Thermal Protect Filter ON indicates that the velocity error exceeds the Velocity Error Fault Limit for a length of time greater than the Velocity Error Fault Time value 24 Velocity Error 214 Motor encoder encountered an illegal transition Auxiliary encoder encountered an illegal transition Set a time violation interval on a Step Direction or CW CCW input command Motor overheated Drive overheated Operation above continuous power rating Velocity error limit exceeded Rockwell Automation Publication 2098 UM001G EN P February 2011 Possible Cause Suggested Action Replace the motor encoder Use shielded cables with twisted pair wires Route the feedback away from potential noise sources Check the system grounds Ensure digital filtering of encoder signals is enabled Use shielded cables with twisted pair wires Route the encoder cable away from potential noise sources Bad encoder replace encoder Check the ground connections Check input timing to determine if the auxiliary encoder timing requirements are met Reduce acceleration rates Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion Check system tuning Use larger Ultra5000 and motor Reduce acceleratio
280. may start moving when powered up TIP Preset Selects 0 through 5 are a special case Instead of activating a function Preset Selects 0 through 5 contribute a binary value when a digital input becomes active The drive sums the binary values and uses the resulting integer to determine the Preset Position Preset Velocity Preset Current Preset Follower Gearing Ratio or Index to use Rockwell Automation Publication 2098 UM001G EN P February 2011 95 Chapter 3 Configuring the Ultra3000 Drive The digital input Preset Select binary values are as follows e Preset Select 0 1 if active 0 if not e Preset Select 1 2 if active 0 if not e Preset Select 2 4 if active 0 if not e Preset Select 3 8 if active 0 if not e Preset Select 4 16 if active 0 if not e Preset Select 5 32 if active 0 if not If a Preset Select is not assigned to a digital input the Preset Select is considered inactive The drive uses only the Preset Select 0 1 and 2 binary values yielding values 0 7 when the drive s Operation mode is set to Preset Position Preset Velocity Preset Current and Preset Follower Gearing Ratio The drive uses all six Preset Select binary values yielding values 0 63 when the drive s Operation mode is set to Indexing There are no commands associated with the Digital Inputs parameter window This window has these parameters and statuses Parameter Description Input 1 8 The drive s digital input assig
281. mmand perform these steps 1 In the Workspace window click Ultra0 drive 2 Right click to display a pop up menu and then click Drive Report from the pop up menu Use the Drive Report s text editor window to e display all the parameter settings for the selected Ultra3000 drive e print all the parameter settings for the selected Ultra3000 drive In addition to the Cut Copy Paste Delete Print commands these commands apply to the Drive Report text editor window Command Find Find Next Replace Select All Toggle Bookmark Next Bookmark Previous Bookmark Clear All Bookmarks Description Search for text in the source c or header h file Find the next occurrence of header file or source file text sought by the previous Find command Search for and replace the text in a source c or header h file Select all the text in the selected source c or header h file Set or remove a bookmark a blue dot in a selected line of code for a source c or header h file Locate the next bookmark a blue dot appearing in a selected line of code for a source c or header h file Locate a bookmark a blue dot that appears above the cursor in the selected source c or header h file Remove all bookmarks blue dots that have been set in a source c or header h file Rockwell Automation Publication 2098 UM001G EN P February 2011 57 Chapter 3 58 Configuring the Ultra3000
282. mmanded velocity step It has a range of 1 32 67 ms Velocity Regulator Gains 84 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter P Low Pass Filter Enable Bandwidth Description Proportional gain for the velocity loop The P gain generates a control signal proportional to the velocity error It has a range of 0 4000 Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop The gain generates a control signal proportional to the integral of the velocity error It has a range of 0 4000 Note gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Derivative gain value for the velocity loop The D gain generates a control signal proportional to measured acceleration It has a range of 1000 1000 Note Positive D gain reduces velocity overshoot and negative D gain should be used only in systems that exhibit mechanical resonance Enable or disable the drive s low pass filter Selections are e Enabled e Disabled The connected drive s low pass filter s bandwidth This value indicate
283. mmands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 275 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understandi ng the Preset The Properties window for Presets looks like this Wi n d OW J UW_K3 Preset re let le g Eile Edit View Insert Program Tools Commands Window Help On Line Drives B Ofline DAS Works Hai UW_3000 Hei UW_k3 22 Mode Confie 3 B Anal f Motor fOr Tuning F Show Status at Encoders e onma Setup Revert Close Help g Digital Inp a H a Ta M Use the Preset window to configure up to seven preset velocity values Preset parameters control drive operation when the Operating Mode is set to Preset Velocity in the Kinetix 3 Drive window TIP Preset gearing parameters are set in the Follower window as described in Understanding the Follower Window on page 241 The drive uses the preset position value preset velocity value or preset current value selected by the Preset Select Lines 0 1 and 2 as set in the Digital Inputs properties window The digital input s Preset Select Line
284. mutation Angle Degrees Enabled Fault Warning Firmware Version Motor Temperature Current Operating Mode 282 oscilloscope channels may be used as data sources for the status table Description Oscilloscope Oscilloscope Analog Output Fault Detail Input Trigger Output Trigger Signal Channel Refer to Understanding the Analog Window on pave 237 Window on page 237 Refer to Understanding the Maing Window bn bags 23 Window on page 237 The current measure of DC Bus voltage Reports the position within the motor electrical cycle in degrees from 180 to 180 degrees ON indicates the power stage of the drive is enabled As a precondition either software or hardware enable must be active and the drive cannot have any faults Refer to Understanding the Kinetix 3 Drive Branch on page 229 Refer to Understanding the service Information Window on page 297 Reports the percentage of the Motor Temperature Trip value that is based on the motors continuous current rating thermal characteristics and time The Motor Temperature is an indication of the level of utilization of the motor s current capability When the Motor Temperature reaches 100 a Motor Filter fault occurs Refer to Understanding the Kinetix 3 Drive Branch on page 225 Rockwell Automation Publication 2098 UM001G EN P February 2011 Status Drive Utilization Position Signals Motor Feedback Master Position Follower
285. n Analog Output Value The Analog value in millivolts presently being output The following command can be executed for a Analog Outputs window of an online drive Command Description Override Output Opens the Analog Output Control window where you can e edit the value of the analog output e monitor the voltage level of the analog output Rockwell Automation Publication 2098 UM001G EN P February 2011 103 Chapter 3 Configuring the Ultra3000 Drive Customize the Analog Outputs window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 104 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Understand i ng the Mon itor The Monitor tool lets you set and display all or any combination of drive status settings for a selected Ultra3000 online drive The Monitor tool works just like the status pane of a branch s Properties window Use this window to View a collection of statuses Open the Monitor Setup window to program status settings to display in this window Load a monitor previously saved Save a monitor for later use This w
286. n SA35 type encoder that maintains an absolute multi turn position Without a battery an SA35 type encoder operates as a single turn absolute encoder You must configure this setting to let the drive know if the battery is not present Select e Installed e Not Installed Note This parameter is visible only if the motor has an SA35 type encoder Incremental Feedback Loss In electrically noisy conditions or with long feedback cables the drive may experience an Incremental encoder cable open fault although the cable is OK Under these conditions this parameter can be used to avoid nuisance faults ATTENTION f the incremental encoder feedback is lost and this fault is Ignored the drive may cause abrupt or extreme motion select e Monitored to monitor for incremental encoder feedback loss and fault the drive if it is detected e gnored to not check for incremental encoder feedback loss Rockwell Automation Publication 2098 UM001G EN P February 2011 265 Chapter5 Configuring the Kinetix 3 Drive The following commands can be executed on an online drive using the Encoders window Command Description Absolute Encoder Reset Zeros the Absolute Rotations and the Position Error This function will set the absolute position of the drive to zero save Parameters saves the current working values as power up values in flash memory for the selected On Line drive and all of its children Customize the Encoders window for
287. n rates Reduce duty cycle ON OFF of commanded motion Increase time permitted for motion Check system tuning Use larger Ultra5000 and motor Verify ambient temperature is not too high Operate within the continuous power rating Increase Motion Time or dwell periods Increase Velocity Error Fault Limit or Velocity Error Fault Time value or both Reduce Acceleration Retune the drive Configuring the Ultra5000 Drive Chapter 4 Status Possible Cause Suggested Action 26 User Velocity ON indicates the User User specified velocity e Increase User Velocity Velocity Fault level level exceeded Fault Level and Time above has been to a less restrictive exceeded setting 29 Excess ON indicates the motor Encoder output e Increase the encoder Output Frequency encoder output frequency exceeds the output Limit frequency exceeds the maximum value parameter maximum value e Decrease the encoder Note This fault can be interpolation generated only when the parameter encoder output is e Increase the encoder synthesized by the output divider Ultra5000 parameter e Reduce motor speed Fault Count Displays the number of fault encountered 34 Ground Short ON indicates the motor Wiring error Check motor power Circuit ground is shorted wiring Motor internal ground Replace motor short Internal malfunction Disconnect motor power cable from drive and enable drive with current limit set to 0
288. n Position Window flags to be or remain set In Position Time The minimum length of time the position error must be less than the In Position Size value for the In Position and the In Position Window flags to be or remain set Posn Compare 1 Type specify the type of comparison that will determine if the Posn Compare 1 flag should be set Either e Greater Than the flag will be set if the motor feedback position is greater than the Posn Compare 1 value e Less Than the flag will be set if the motor feedback position is less than the Posn Compare 1 value e Within Window the flag will be set if the motor feedback position is greater than Posn Compare 1 Min and less than Posn Compare 1 Max e Qutside Window the flag will be set if the motor feedback position is less than Posn Compare 1 Min or more than Posn Compare 1 Max Note This parameter is supported in firmware revision 1 29 and higher Posn Compare 1 Enter the position in counts that is compared to the motor feedback position to determine if the Posn Compare 1 flag should be set Posn Compare 1 Min Enter the minimum position in counts that will be compared to the motor feedback position to determine if the Posn Compare 1 flag should be set Note Displayed if Posn Compare 1 Type is set to Within Window or Outside Window Posn Compare 1 Max Enter the maximum position in counts that will be compared to the motor feedback position to determine if the Posn Compare
289. n arrow to the right of the Channel Setup dialog to select a Channel A or B Note The resolution of this signal may be confusing if Velocity Feedback is selected See the topic Velocity Motor Feedback Resolution for information on how resolution is derived for various motor and feedback combinations Scale Types are e Auto e Manual e Same As ChA available for Channel B only The amplitude of the selected channel input signal that can be displayed between gridlines of the oscilloscope in the units of the drive signal It is dependent on the signal selected If the scale is left at its default value of 0 The data is auto scaled to fit the graph Note Visible only if Scale Type is Manual The trace offset for the selected Channel Input Its range depends on the signal selected A value of zero places the zero value of the signal at the middle grid line A nonzero offset shifts the trace up or down so that the offset value is positioned at the middle grid line Note Visible only if Scale Type is Manual The signal that want to be displayed between 1 0 signals Note Visible only if Input Signal is Digital I0 The time in milliseconds between samples that constitute a trace The horizontal resolution of the oscilloscope is 128 samples For example selecting a sample period of 1 0 ms will result in 128 ms of data being displayed Note The Sample Period range is 0 2 20 ms with a resolution of 0 2 ms Number of sampl
290. n counts generated by the current move This value is automatically reset to zero at drive powerup Current Velocity The velocity command in counts per second generated by the current move Current Acceleration The acceleration command in counts per second squared generated by the current move Current Jerk The rate of change of acceleration in counts per second squared The following commands can be executed for a Move branch of an online drive Command Description Start Spins the motor ramping up at the Acceleration rate to the set Velocity and begins or resumes the move Stop Brings the motor to a stop using the set Deceleration rate Abort Brings the motor to an immediate stop Customize the Move window for your Ultra5000 Drive by selecting one or more of these commands e Click the Show Status to display or hide the Status pane e Click the Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 150 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understand i ng the Cam The Properties window for the Cam branch looks like this Window Fa Ultraware UW_5000 Cam ie Es File Edit View Insert Program Tools Commands Window Help lal x Unloa
291. n counts per second generated by gearing Current Acceleration The acceleration command in counts per second squared generated by gearing Slew State While the gear ratio is ramping up or down this displays Seeking Once the gear ratio has reached the target value this displays Locked Current Gear Ratio The current effective gear ratio is displayed while the slew State Seeking The user entered Gear Ratio is displayed when the slew State Locked or if slew is disabled The following commands can be executed for a Gear branch of an online drive Command Description Enable Gear Causes the gear to begin generating output and motion in response to input received from the Master Encoder or ratchet Disable Gear Causes the gear to stop generating output Customize the Gear window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 162 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understanding the Motor Window The Properties window for the Motor branch looks like this Ta Ultraware UW _5000 Motor lel E3
292. n the Analog Inputs window Parameter Description Name The name of the input scale A value multiplied by the Output 1 or 2 Input voltage value Offset A value added to the product of the Gain multiplied by the Output 1 or 2 Input voltage value The following status is displayed by default for an Analog Inputs branch of an online drive Status Description Input The scaled value of the analog Input 1 or Input 2 This value equals the voltage read at the analog input multiplied by the gain value summed with the offset Output The scaled value of the analog Output 1 or Output 2 This value equals the voltage read at the analog input multiplied by the gain value summed with the offset 184 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Customize the Analog Inputs window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 185 Chapter4 Configuring the Ultra5000 Drive Understanding the Analog Outputs Window The Properties window for Analog Outputs looks like this Uw 5000 Analog Outputs _ Oy x Pa
293. n the drive encounters a positive overtravel limit The stopping distance used when the drive encounters a negative overtravel limit Select e On Causes the drive to compare the motor feedback position to the Positive and Negative Soft Limits to determine if the drive has exceeded an overtravel limit e Off Turns off software overtravel limit checking If the motor feedback position is greater than this value the drive has exceeded the soft overtravel limit If the motor feedback position is less than this value the drive has exceeded the soft overtravel limit This value creates a plus or minus range or window around the zero velocity If the motor feedback velocity falls within this range the Zero Speed flag is or remains set Note You can assign the Zero Speed In Speed Window or Up To speed flags to digital outputs and control execution of your process based on the state of these flags This value creates a plus or minus range or window around the programmed velocity If the motor feedback velocity falls within this range the In Speed Window flag is or remains set This value sets a velocity level If the motor feedback velocity is greater than or equal to this value the Up To Speed flag is or remains set 45 Chapter 3 Configuring the Ultra3000 Drive Parameter Description Position Functions In Position Size The maximum amount of position error that permits the In Position and the I
294. n value results in loose or sloppy system dynamics Derivative gain for the position loop The Kd gain generates a control signal proportional to measured velocity It has a range of Oaz Note Kd gain provides damping to the position loop and can reduce overshoot Velocity Feedforward gain for the position loop The Kvff gain generates a feed forward signal proportional to the commanded speed It has a range of 0 200 Note Kvff gain reduces position following error However high values can cause position overshoot Integral gain for the position loop Ki gain generates a control signal proportional to the integral of the position error It has a range of 0 32 Note Ki gain improves the steady state positioning performance of the system and eliminates steady state positioning errors It affects the ability to reject load disturbances Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability The region in counts around the commanded position where integral gain is active If the position error is greater than Ki Zone the integrator is not active It has a range of 0 32 67 counts Acceleration Feedforward gain for the position loop The Kaff gain generates a feed forward signal proportional to the commanded acceleration It has a range of 0 200 Note Kaff gain reduces position following error However high values
295. nction Positive Overtravel An active state causes the drive to begin decelerating the motor to bring it to a controlled stop in the distance defined by the Positive Decel Distance as entered in the drive window The Positive HW Overtravel Input output is set The drive will not respond to further commands to move in the positive direction but can be instructed to move in the negative direction to clear the positive overtravel condition Preset Select 0 to 5 Used in combination to assign a Preset Current Preset Velocity Preset Position Preset Follower Gearing Ratio or Index Refer to the binary preset explanation beginning on page Note The drive uses only Preset Select 0 1 and 2 yielding values 0 7 when selecting a Preset Position Preset Velocity Preset Current or Preset Follower Gearing Ratio Registration Sensor A transition to an active state adjusts a registration indexing move in progress If the Registration sensor input is seen the move is adjusted so that the end position is the amount specified by the Registration Distance parameter after the position where the Registration Sensor input was seen Note The Registration Distance must be larger than the distance required to stop or the move is not adjusted Remove Command Offset A transition to an active state causes the offset of the analog COMMAND input to be measured after averaging and sets the Current COMMAND Input Offset Position COMMAND Input Offset a
296. nd e Start or stop homing Enable or disable a drive Reset all drive faults Define the motor s home position The commands you execute override any motion commands originating from the drive s normal operation mode set in the Ultra3000 Drive window ATTENTION The Indexing Control Panel commands override the normal operation mode The motor moves in response to Indexing Control Panel commands 54 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The Indexing Control Panel has these parameter status and direct commands Parameter Index Number Description The number 0 63 of the indexed motion command configured in the Indexing window that starts when you use the Start Index The status can be displayed from the Indexing window of an online drive Status Drive Enabled Position Command Actual Position Batch Count In Motion In Dwell sequence Complete In Position At Home Description ON illuminated indicates that the power stage of the drive is enabled For the power stage to be enabled e the drive cannot have any faults and e any digital inputs configured as a Drive Enable must be active and e the drive must be set to Enabled in the Commands menu Note The Drive Enable status has a value of 1 when ON and 0 when OFF The motor s commanded position relative to the Home position of zero The motor s a
297. nd 32 DeviceNet window Ultra3000 parameters 113 Status display 116 DeviceNet window Ultra5000 parameters 193 Status display 195 dialogs scan For On Line Drives 21 Digital Inputs branch Ultra5000 parameters 181 statuses 181 Digital Inputs window Kinetix 3 267 parameters 268 statuses 2 0 Digital Inputs window Ultra3000 95 parameters 96 Statuses 98 Digital Outputs branch Ultra5000 commands 183 parameters 182 Statuses 182 Digital Outputs window Kinetix 3 271 parameters 271 statuses 2 2 Digital Outputs window Ultra3000 99 commands 101 gearbox motor parameter 75 parameters 99 Statuses 101 direct commands 327 drag and drop function 33 drive exporting 28 Importing 28 Drive branch Kinetix 3 225 commands 234 Statuses 233 Drive branch Ultra3000 41 commands 49 Statuses 48 Drive branch Ultra5000 141 parameters 142 Statuses 143 Drive model display Ultra 5000 218 Drive Report Ultra3000 5 Drive Report Ultra5000 145 Drive Report window Ultra3000 commands 57 Drive Report window Ultra5000 commands 145 Drive window Kinetix 3 parameters 226 setup Wizard 236 velocity control panel 234 Drive window Ultra3000 parameters 42 current control Panel 52 indexing control panel 54 velocity control panel 50 Drivers 145 E Edit menu 19 Enable toolbar 19 Encoders branch Ultra5000 Statuses 178 Encoders window Kinetix 3 265 parameters 265 Encoders window Ultra3000 86
298. nd Velocity COMMAND Input Offset parameters to the negative of this value Reset Drive A transition to an active state causes the drive to do a drive reset If Ultraware software is displaying the drive when this occurs It may report a loss of communication with the drive Rockwell Automation Publication 2098 UM001G EN P February 2011 97 Chapter 3 Configuring the Ultra3000 Drive Parameter Description e Reverse Enable An active state permits reverse motion e Start Homing A transition to an active input state causes the to initiate the homing routine e Start Indexing A transition to an active input state begins an indexing move e Stop Homing A transition to an active state terminates a homing sequence e Stop Indexing A transition to an active state terminates an indexing move Note The Input value displays Not Assigned if there is nothing selected Multiple if there are multiple functions selected or the name of the function if only one Is selected The following status is displayed by default for an Ultra3000 drive in the Digital Inputs window Status Description Input 1 8 State The current state or condition of each digital input is depicted by a light bulb icon as follows e ON a bright light bulb e OFF a darkened light bulb No commands are associated with the Digital Inputs window Customize the Digital Inputs window for your Ultra3000 Drive by selecting one or more of these commands
299. nd a short description of the variable For a Global Variable array with more than one element this consists of a table with e the element number beginning with zero e the assigned value of that element and e a short description of the variable Note The total number of elements from all global variables cannot exceed 8191 Description saves the description for each element of the Global Variable Array Note Descriptions are automatically saved when the Global Variable Property window Is closed 208 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Click Revert to return parameter settings to the values they held when you opened this window Click Close to save your settings and exit the Global Variable window You can copy the Global Variables container including all its child variables and paste it into another Ultra5000 drive Because a drive can contain only one Global Variables container pasting a Global Variables container into another drive ovewrites and replaces the recipient drive s pre existing Global Variables container The Global Variables container has no parameters or statuses Except for the New Variable Copy and Paste commands no other commands are associated with the Global Variables container Rockwell Automation Publication 2098 UM001G EN P February 2011 209 Chapter4 Configuring the Ultra5000 Drive Understanding the Fau
300. ned motor types ATTENTION Changing this parameter AN will cause instability if the drive is in a stable position or in a velocity loop The type of polarity of the command signal e Normal The sign of the external command signal to the drive is not inverted e Inverted The sign of the external command signal to the drive Is inverted The unit of measure for position velocity and acceleration e Metric units for rotary motors are counts position rom velocity revolutions per second acceleration units for linear motors are meters position meter per second velocity and meter per second acceleration e English units for rotary motors are counts position rom velocity revolutions per second acceleration units for linear motors are inches position inches per second velocity and inches per seconds acceleration e User measurements in terms defined by the user in the Units section below 226 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Parameter Description Operation Modes The combination of operation modes used when the Operation Main Override Mode Override digital input is active or inactive The available operation modes include e Analog Current Input A 10 Volt analog input provides the current command e Analog Velocity Input A 10 Volt analog input provides the velocity command e Follower A position comman
301. ng the Over Travel Stop Method as entered in the Drive window The drive will not respond to further commands to move in the negative direction but can be instructed to move in the positive direction to clear the negative overtravel condition Overtravel Positive An inactive state causes the drive to begin decelerating the motor to bring it to a stop using the Over Travel Stop Method as entered in the Drive window The drive will not respond to further commands to move in the Positive direction but can be instructed to move in the negative direction to clear the positive overtravel condition Pause Follower In follower mode while this input is active the drive will ignore any master counts coming into the drive Position Strobe This signal lets a controller obtain the absolute position of the motor Velocity Direction Used in combination with the Preset Select inputs to assign a Preset Velocity When the input is active the Preset Velocity is set to a negative value When the input Is inactive or not assigned the Preset Velocity is treated as a positive value Preset Select 1 63 Used in combination along with Preset Direction to assign a Preset Velocity see the explanation in Tip preceding this table Reset Mutilturn Data If a motor with an absolute encoder is attached to the drive a transition to an active state resets the absolute rotation value stored in the encoder to zero After the absolute rotations is reset t
302. ni Autotuning Manual elocity Tuning Manual Position Tuning O sms f vae Units E Weto OOS Velocity Motor Feedback Jo m O Veociy Enr RM Welocty Commend o RMO E Posiiontoop O Postion Motor Feedback J0 Courts Position Error Peak Position Error Peak Position Error Position Command Current Loop Current Feedback Current U Phase eurent WePrase joo Amps O Ouers Peaks O joo Amps O Oumert Pek 00s O Cuert Analog Limitini 00 Amps O Cuert Command 00 jamps O Omerta average O joo jamps M Show Status M Show Commands Setup Revert Close Help Use the Tuning window to e Configure Velocity and Position Regulator Gains that are used in tuning e Monitor Velocity Position and Current loop status e Open windows where you can execute commands for autotuning manual position tuning and manual velocity tuning Ultraware software uses a nested digital servo control loop consisting of an outer position regulator using proportional integral derivative and feedforward gains around an inner velocity regulator using its own set of proportional integral and derivative gains Together these regulators provide software control over the servo dynamics and stabilize the servo system Rockwell Automation Publication 2098 UM001G EN P February 2011 71 Chapter 3 Configuring the Ultra3000 Drive These parameters status and commands apply to this wind
303. ning 260 commands 262 parameters 260 Statuses 262 manual velocity tuning 262 commands 264 266 274 parameters 263 Statuses 263 parameters 254 statuses 257 Tuning window Ultra3000 77 autotuning 80 172 commands 81 parameters 80 Statuses 81 commands 79 manual position tuning 82 commands 84 parameters 82 Statuses 83 manual velocity tuning 84 commands 85 88 parameters 84 Statuses 85 parameters 8 Statuses 79 Tuning window Ultra5000 autotuning commands 174 parameters 1 2 Statuses 173 U Ultra 3000 firmware version 135 PICS Number 135 time in service 135 Ultra 5000 boot firmware revision 218 drive model 218 firmware revision 218 FPGA revision 218 Peak current 218 PICS Number 218 rated current 218 service clock 218 Ultra data eXchange File UXF 28 Ultra3000 Analog Outputs window 103 commands 103 parameters 103 statuses 103 Analog window 59 commands 60 parameters 59 statuses 60 Configuration 38 Configuring properties 39 Current control panel commands 53 parameters 52 352 Rockwell Automation Publication 2098 UM001G EN P Statuses 53 DeviceNet window parameters 113 status display 116 Digital Inputs window 95 parameters 96 statuses 98 Digital Outputs window 99 commands 101 gearbox motor parameter 75 parameters 99 statuses 101 Drive branch 41 commands 49 Statuses 48 Drive Report 57 Drive Report window commands 57 Drive window parameters 42 current control
304. nments e Define Home A transition to an active state causes the present motor position to be selected as Home position This means that the position command is set to the Home Position and the position feedback is simultaneously set to its appropriate value according to the position error Define Position When this input becomes active it sets the Position parameter for the Preset Position Setup selected in the Preset Select configuration 0 5 equal to the current drive position Disable Serial Communications An active input inhibits the drive s communication port operation Drive Enable An active state enables the power electronics to control the motor WARNING By default Input 1 is assigned the function Drive Enable If you change the assignments so that Drive Enable is not assigned to any input the drive automatically enables on powerup Be aware that in this case the motor may start moving when powered up Fault Reset A transition to an active state resets any detected drive faults Follower Enable An active state lets the position loop to track the position command when the drive Operation Mode is set to a Follower mode in the Ultra3000 Drive window e Forward Enable An active state permits forward commands 96 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Description Home Sensor An active state indicates to a homing s
305. nother drive 4 Click OK Once a Global variable has been created its name appears in the Workspace window beneath the Global Variables branch Rockwell Automation Publication 2098 UM001G EN P February 2011 207 Chapter4 Configuring the Ultra5000 Drive Editing an Existing Global Variable To edit a previously created Global Variable residing in the Workspace window perform these steps e Click Properties in the Edit Menu e Right click the Global Variable and then click Properties from the pop up menu The Global Variable window opens Fa Ultraware Sequencing ariable Yariable J zero four two six eight ten twelve sixteen fourteen E Shaw Status MV Show Commands Setup Revert Close Help These parameters and commands apply to a Global Variable properties and can be edited Parameter Array Instance N Name Value Values Commands save Descriptions Description Only visible for online drives The global variable s instance number This is a read only field Note This instance number must be used to access and use a global variable from a user created program This number can change when the global variable is copied or moved to another drive The name of the Global Variable as set in the New Variable dialog box For a single element Global Variable the assigned value of the variable a
306. ns Not every drive branch has associated commands Status Located beneath the Parameters and Commands sections By default these fields display the online status of the selected drive branch Click Setup to open a window where you can customize the status to be displayed status fields are read only Click Show Status to display the status section show Status Click to display the status for the selected drive branch Status values are displayed only for online drives show Commands Click to display commands for the selected drive branch Commands can be executed only for online drives This selection is dimmed if no commands are associated with the selected drive branch Setup Opens the Monitor Setup window where you can customize the status display Refer to Ultra5000 Status on page 199 for more information about using the Monitor window Revert Click Revert to return parameter settings to the values they had when you first opened this window Close Closes the window Help Click Help to get online help for this window The remainder of this chapter describes the process of entering and editing drive configuration settings the status displayed by default for each drive branch when the drive is online and the commands available to a user for each drive branch when the drive is online 140 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understanding the Ultra5
307. nter the region in counts around Command Position where Kpz is used in place of Kp as the position loop proportional gain value Must be gt 0 KI Integral gain for the position loop Must be gt 0 Ki gain improves the steady state positioning performance of the system and virtually eliminates steady state positioning errors Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Ki Zone Enter the region in counts around Command Position where integral gain is active Must be gt 0 Rockwell Automation Publication 2098 UM001G EN P February 2011 169 Chapter 4 170 Configuring the Ultra5000 Drive Parameter K ff Velocity Tuning Setup Tuning Direction Period Step Size A Position Tuning Setup Tuning Direction Period Step Size A Velocity Loop Command Velocity Command Acceleration Feedback Velocity Error Error Sum Output Description Velocity feedforward gain for the position loop Must be gt 0 Note Kff gain reduces position following error However high values can cause position overshoot ei a tuning direction e Bi Directional to tune the drive using an alternating step input to create alternately forward and reverse directional motion e Forward Only to tune the drive using a step input to create only forward motion or e Reverse Only to tune the drive using a st
308. ntext menu TIP The Cam Table Editor is accessible only after a cam table has been inserted or imported A cam table generated by Motion Library functions cannot be modified with the Cam Table Editor it is read only outside the C programming environment Rockwell Automation Publication 2098 UM001G EN P February 2011 155 Chapter4 Configuring the Ultra5000 Drive The Cam Table Editor pictured has panes that contain the parameters properties or attributes shown below and described on subsequent pages fi bl 1000 _ a cof fbf ff fff Pasition Scale fi 000 counts e00 Mode Linear Polynomial Save Close Help E Type E 399228 Linear D ss _ 289325Poy O feon 2 03170 Poy L ooa 1211185 Linear _ O j ek Position mm Velocity 1000 g 400 ovens A 0 046225 H g 0 0037 7502 Acceleration 0 053775 0 103775 0 153775 250 350 450 550 650 750 850 YS 156 Rockwell Automation Publication 2098 UM001G EN P February 2011 Properties Pane Configuring the Ultra5000 Drive Chapter 4 The Properties pane on the top left of the cam table has these parameters and command buttons Parameter Name Length Position Scale Mode Command Save Close Help Description The file name used to store the cam table The name must end in cam The input value in counts of the last point in the cam table When the length is changed all of the
309. ntil the Position Limits are reset e Resetting The drive is transitioning from the Stopped state to Running When a Positive Soft Limit violation has been detected this status shows an ON light bulb When a Negative Soft Limit violation has been detected this status shows an ON light bulb When a Positive Hard Limit violation has been detected this status shows an ON light bulb When a Negative Hard Limit violation has been detected this status shows an ON light bulb When a Positive Motor Limit violation has been detected this status shows an ON light bulb When a Negative Motor Limit violation has been detected this status shows an ON light bulb Rockwell Automation Publication 2098 UM001G EN P February 2011 143 Chapter4 Configuring the Ultra5000 Drive The following commands apply to the Ultra5000 Drive window Command Description save Power Up Values saves the current working values as power up values for the selected online drive and for all of its children Not every current working value is saved as a power up value for the selected online drive and its children The working values for parameters that usually change each time they are used for example Jog Velocity are not saved Clear Faults Clears all faults and resets the Fault Status to 0 for the selected online drive Reset Drive Resets or reboots the hardware and firmware for a drive Reset to Factory Settings Resets the drive configurat
310. o be displayed Status fields are read only Click Show Status to display the status section Note Status values for offline drives may not be meaningful show Status Displays status for the drive branch show Commands Displays commands for the drive branch Commands can be executed only for online drives This selection is dimmed if no commands are associated with the selected drive branch Setup Opens the Monitor Setup window where you can customize the status display Refer to Understanding the Monitor on page 105 for more information about using the Monitor window Revert Returns parameter settings to the values they had when you first opened this window Close Closes the window Help Displays online help for this window The remainder of this chapter describes the process of entering and editing drive configuration settings the status are displayed by default for each drive branch when the drive is online and the commands available to a user for each drive branch when the drive is online 40 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Understanding the Ultra3000 Drive Branch The Properties window for the Ultra3000 Drive branch looks like this Fa Ultraware UW_3000 a aa a E m E 7 m E a a m a ae E a mz a __ mE EE Em E m z E TE ae a a EE EE od a HE EE r SS mz mm a E TE
311. ockwell Automation Publication 2098 UM001G EN P February 2011 Clear Faults Reset Drive Reset to Factory Settings Enable Postion Limits Disable Position Limits Reset Position Limits sae ro _ oe Command Group Anis AxisDefinePos AxisDisable AxisEnable AsislsEnabled AxislsReady AxisGetCommandCur AxisGetCommandPos AxisGetCommandel AxisGetFeedback Offset AxisGetFeedbackPos AxisGetFeedbackVel jar Misbah an AxisGetlGain AxisGetLowerCurLimit AxisGetPGain AxisGetPosE ror AxisGetUpperCurLimit AxisGelVelE ror AxisPosLimitGetStatus AxisPosLimitls Triggered AxisResetPosLimit AxisSetFeedbackDffset AxisSetFGain AxisSetlGain AnisSetKtf AxisSetKp AisSelLowe Cul AxisSetPGain AxisSetUpperCurLimit AxisSoftLimitDisable AxisSoftLimitEnable AxisSoftLimitEnable long position Returns D if successful 1 if error position new feedback offset in cot IE mooi 15 Chapter 1 Before You Begin Workspace Window The Workspace window is by default beneath the menubar and toolbars and above the Status Bar Use the F7 key to return focus to the Workspace window The Workspace window has two main branches Branch Description of Display On Line Drives branch All connected online drives and their child objects File branch All configured offline Ultra3000 and Ultra5000 drives their child objects and available projects including all child source header and executable files U
312. oder inputs Preset Velocity Preset velocities provides the velocity command Up to 7 Preset Velocity values can be set in the Preset window The binary value resulting from combining Preset Select 1 2 and 3 in the Digital Inputs window determines which Preset Velocity 1 7 is used for the velocity command see Understanding the Digital Inputs Window for more information about how to assign Preset Select functions to a Digital Input Indexing Up to 64 indexes can be configured in the Indexing window The combination of Preset Select 0 1 2 3 4 and 5 in the Digital Inputs window determines which Index 0 63 is selected see Understanding the Digital Inputs Window for more information about how to assign Preset Select functions to a Digital Input Within Speed Window ON indicates motor velocity feedback falls within the range of programmed velocity the Speed Window value Note The Within Speed Window is visible only when a non positioning operation mode Is active Up to Speed ON indicates motor velocity feedback is greater than the Up to Speed value Fault Warning Displays the fault status of an on Line Kinetix 3 drive The status mey be e No Error e A fault listed in status area of the Faults window or e a drive warning Drive warnings include Absolute Encoder Low Battery Voltage The voltage of the external battery used by the absolute encoder is low Abnormal Initial Status of Absolute Encoder Th
313. of the homing sequence as defined in the Homing window stop Homing Stops execution of the homing sequence Enable Drive Enables the power stage of a drive Disable Drive Disables the power stage of a drive Clear Faults Clears all drive faults Define Home sets the Motor encoder feedback to the Home Position as defined in the Homing window Note Absolute indexes cannot be executed until home has been defined TIP Closing the window returns the drive to its normal operating mode but the software Is disabled To make the drive operational click the drive and then the Enable command as Instructed in the Windows message Customize the Indexing Control Panel window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 Drive Report Configuring the Ultra3000 Drive Chapter 3 Use the Drive Report command to generate a text file in the Client Area The text file lists the parameter settings for the selected Ultra drive Once created you can print a copy of the Drive Report To execute the Drive Report co
314. often is dedicated The Oscilloscope uses the digital 1 0 variable selections rather than the drive function selections for these signals e Home Sensor Digital Input 2 Registration Sensor 1 Digital Input 3 Registration Sensor 2 Digital Input 4 Positive Overtravel Digital Input 7 Negative Overtravel Digital Input 8 Digital Outputs Output 1 through 4 Refer to Understanding the state Digital Outputs Window on page 99 Relay State Refer to Understanding the Digital Outputs Window on page 99 Brake Reter to Understanding the Digital Outputs Window on page 99 124 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 SERCOS Drive Status Description Non SERCOS Continued Drive Monitor Analog Output Analog Output Refer to Understanding the Value Analog Outputs Window on page 103 Faults Fault Disable Refer to Understanding the Digital Outputs Window on page 99 Fault Reset Input Refer to Understanding the Digital Inputs Window on page 95 Rockwell Automation Publication 2098 UM001G EN P February 2011 125 Chapter3 Configuring the Ultra3000 Drive U nderstand i ng the Fau Its The Properties window for the Faults display looks like this Wi ndow i 3kOn Faults ee ee a ee ee ee ee a L E L E L E a e L L e L E L S L E L E a x E E E E E M E iE z x z E z i E M c E E i E E x 2
315. ol signal proportional to the integral of the velocity error It has a range of 0 4000 Note gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Derivative gain value for the velocity loop The D gain generates a control signal proportional to measured acceleration It has a range of 1000 1000 Note Positive D gain reduces velocity overshoot and negative D gain should be used only in systems that exhibit mechanical resonance The following status is displayed by default for an Ultra3000 drive in the Manual Position Tuning window of the Tuning branch Status Drive Enabled Description ON indicates the power stage of the drive is enabled As a precondition all software and hardware enable inputs must be active and the drive cannot have any faults Note Drive Enable has a value of 1 when ON and a value of 0 when OFF Rockwell Automation Publication 2098 UM001G EN P February 2011 83 Chapter3 Configuring the Ultra3000 Drive The following commands can be executed on an online drive using the Manual Position Tuning window of the Tuning branch Command Description Start Tuning Begins manual position tuning Stop Tuning stops manual position tuning Clear Faults Attempts to clear all drive faults Customize the Manual Position Tuning window f
316. ollowing command can be executed from a Indexing window of an online drive Command Description save Parameters save the current parameters to Flash memory Customize the Indexing window for your Kinetix 3 drive by selecting one or more of these commands Click Show Status to display or hide the Status pane Click Show Commands to display or hide the Commands pane Click Setup to open the Monitor Setup Window on page 276 where you can customize the status display for this window Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 245 Chapter5 Configuring the Kinetix 3 Drive Understand i ng the Homing The Properties window for Homing looks like this Wi ndow F UW_K3 Homing To Home senson Fwd to Marker 3 3 OO 7 IY Show Status ro anni Setup Revert Close Help Use the Homing window to configure the type of homing operation the drive performs TIP Homing operations are performed by issuing the Start Homing command from the Indexing Control Panel Homing has no associated statuses Except for Copy and Paste and it has no direct commands The following parameters apply to Homing Parameter Description Home Type The type of homing operation the drive performs e To Home sensor Back to Marker When homing is started the motor moves toward the homing direction at homing velocit
317. omize the Motor window for your Kinetix 3 drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup Window on page 276 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 U n d erstan d in g th e Tu nin g The Properties window for the Tuning branch looks like this Wi n d OW f Workspace UW_KS Tuning Zs lo ale File Edit View Insert Program Tools Commands Window Help Copy Main Gains To 2nd Gains Copy Main Gains To 3rd Gains Copy Main Gains To 4th Gains Copy Main Gains To all Gains 700 Inertia Moment Estimation and Resonant Frequency Detection Disable Low Gain Change Enable Disable z Mode of Gain Switching 1st Gain Fix Ea Delay Time of Gain Switching 0 Level of Gain Switching 0 Caa _ Hysteresis of Gain Switching 0 Ee il _ Position Gain Switching Time 0 E 2nd Regulator Gains p 60 SS _ Integrator Gain 26 i Low Pass Filter Bandwidth VReg 1000 Hz Ke 20 Hz Low Pass Filter Bandwidth IReg 3
318. on 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 The Replace dialog opens Find hat i Find Next Replace ith I Replace Direction Replace All C Up l Match Case Cancel Ue Regular expression z Down M Wrap around search Use the Replace dialog to make replacements with these control commands Control Description Find What Type select from the drop down list or describe using an expression the text that is the subject of the search If Regular expression below is selected you can search using expressions constructed with Wildcard Search Characters on page 316 Replace With Type or select from the drop down list the text you want to replace the text described in the Find What field Match Case The characters in the text to be found must match the case upper or lower of the characters in the Find What field Regular expression Permits searches using expressions made with Wildcard Search Characters on page 316 Wrap around search Continues the search beyond the end Direction Down or beginning Direction Up of the file back to the cursor Direction The search direction beginning at the cursor Select e Up to search backward toward the top of the file e Down to search forward toward the bottom of the file Find Next Finds the next occurrence of the selected text in the specified Direction Displays a message box if the selected text is not found
319. on 2098 UM001G EN P February 2011 43 Chapter 3 Configuring the Ultra3000 Drive Parameter Description Machine Cycle Communications Drive Address Broadcast Address Baud Rate Frame Format Enable or disable a Single Turn Absolute encoder e Enabled to cause the SRS encoder to be used as an absolute feedback device e Disabled to cause the SRS encoder not to be used as an absolute feedback device Default Note This parameter is visible only if the offline motor selection or online motor has an SRS SRM encoder Enable or disable Position Rollover e Enabled to cause the position variable to rollover to zero when it exceeds the specified size Default e Disabled to cause the position variable to rollover only when it exceeds 2147483647 counts or its equivalent in other units Note This parameter is disabled when Single Turn Absolute is enabled size Type a rollover value in counts This is an integer at which the next increment of a position variable will be the value of zero 0 Note This parameter is disabled when Single Turn Absolute is enabled and is automatically set to one revolution The drive s communication port address an integer from 0 to 255 used in multiple axis applications For single axis applications this value is usually set to 0 The drive must be reset before it recognizes an edited drive address Note Communication port parameters can be set in the PC Communications Setu
320. on of Preset Select Lines 0 1 and 2 in the Digital Inputs window determines the Preset Current 0 7 that is selected Refer to Understanding the Digital Inputs Window on page 95 for more information about how to assign Preset Select Line functions to a Digital Input e Preset Position a preset Position provides the position command Up to 8 Preset Position values can be set in the Preset window The combination of Preset Select Lines 0 1 and 2 in the Digital Inputs window determines the Preset Position 0 7 that is selected Refer to Understanding the Digital Inputs Window on page 95 for more information about how to assign a Preset Select Line to a Digital Input e Preset Velocity a Preset Velocity provides the velocity command Up to 8 Preset Velocity values can be set in the Preset window The combination of Preset Select Lines 0 1 and 2 in the Digital Inputs window determines the Preset Velocity 0 7 that is used for the velocity command Refer to Understanding the Digital Inputs Window on page 95 for more information about how to assign Preset Select Line functions to a Digital Input Operation Mode Override The connected drive s command source that is used when the Operation Mode Override input is active The Operation Mode Override input is assigned to a digital input in the Digital Inputs window Note See Operation Mode above for an explanation of the available selections Rockwell Automation Publicati
321. or Current W Phase The current through the W Phase of the motor Current Peak The positive peak current as recorded by the peak detection algorithm Current Peak The negative peak current as recorded by the peak detection algorithm Current Analog Limit Input Current limit value specified by the analog current limit input Current Command The commanded current Current Average The average value of Current Command These commands can be executed for a Motor branch of an online drive Command Description Autotuning Opens the Autotuning window Manual Velocity Tuning Opens the Manual Velocity Tuning window Manual Position Tuning Opens the Manual Position Tuning window Rockwell Automation Publication 2098 UM001G EN P February 2011 79 Chapter 3 Configuring the Ultra3000 Drive Customize the Tuning window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Autotuning Window Use the Autotuning window to configure autotuning parameters start and stop autotuning for an online drive and monitor the Drive Enable status During autotun
322. or Gains P The direction in which the motor rotates during tuning e Bi Directional e Forward Only or e Reverse Only The maximum distance the motor turns when performing autotuning The autotune distance should be set as large as the application permits so that the autotune algorithm is able to collect sufficient data to compute new tuning gains The range is 1 2 147 483 647 counts The current the drive commands when performing autotuning in percent of the lesser of either the drive peak current or the motor peak current The autotune current is normally set at 10 but may need to be increased in the presence of large inertias or high friction In these systems higher settings make sure that the autotune algorithm is able to collect sufficient data to compute new tuning gains The range is 1 100 Proportional gain for the velocity loop The P gain generates a control signal proportional to the velocity error The range is 0 4000 Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop The gain generates a control signal proportional to the integral of the velocity error The range is 0 4000 Note gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate pos
323. or an Encoders branch that is the child of an online drive Rockwell Automation Publication 2098 UM001G EN P February 2011 175 Chapter4 Configuring the Ultra5000 Drive The following parameters can be entered and edited in the Encoders window Parameter Motor Encoder Interpolation Motor Encoder Polarity Filter Fault Mode Master Encoder Polarity Filter Fault Mode Description The amount of interpolation to be used with sine cosine encoders e 4 x8 X16 X32 x64 x128 x256 x512 e x1024 For example if a Stegmann encoder outputs 1024 cycles per revolution and Encoder interpolation is set to x256 the drive will use 262144 1024 x 256 counts per revolution as the effective feedback The Motor Encoder s polarity e Positive turning the motor in a clockwise direction as viewed from the shaft end increases the feedback position in counts e Negative turning the motor in a clockwise direction as viewed from the shaft end decreases the feedback position in counts The state of the motor encoder filter e Disabled e Enabled Note The filter reduces the upper limit of the rate at which feedback pulses are recognized You man need to enable feedback in a noisy environment or when a long encoder cable is used The state of fault checking for the motor encoder at powerup e Disabled e Enabled The Master Encoder s polarity e Positive turning the motor in a clockwise dir
324. or your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Revert to return parameter settings to the values they held when you opened this window Manual Velocity Tuning Window Use the Manual Velocity Tuning window to configure manual velocity tuning parameters start and stop manual velocity tuning for an online drive and monitor the Drive Enable status During manual velocity tuning the drive commands an internal step velocity waveform and the user sets the gains manually The user sets the desired tuning command parameters and selects the Start Tuning button to begin manual velocity tuning ATTENTION The motor shaft moves during the tuning process Ensure that the motor is properly mounted and guarded TIP Closing the window returns the drive to its normal operating mode but the software is disabled To make the drive operational click the drive and then the Enable command as Instructed in the Windows message The following parameters status and commands apply to this window Parameter Description Manual Velocity Tuning Settings Motor Direction The direction the motor rotates during tuning e Bi Directional e Forward Only or e Reverse Only Velocity The the amplitude of the drive s commanded velocity step It has a range of 1 2 147 483 647 counts per second Time The period of the drive s co
325. orkspace window 2 Do one of these e Click Properties in the File menu e Right click Properties from the pop up menu e Double click the selected header file Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 The executable program file window opens Off Line 3000 Database Return_0 Return_0 exe Ioj x C Parameter Value Unis Powerup Modelde M shon state M show tamman setup Revert Clase 3 Use this window to edit these parameter value for the executable program file selected in the Workspace window Click Revert to undo any changes Parameter Description Powerup Mode The action you want an online drive a drive in the On Line Drives branch of the Workspace window to take with respect to the selected project s child executable program exe file e Run to automatically run the program when power is first applied to the online drive or e Idle to not run the program on powerup Idle is the default setting Note The executable program file inherits this parameter setting from its parent Project when you execute the Build command You may independently edit this value Executable Program File Commands In addition to Cut Copy Paste and Delete you can execute other commands for an executable program file To execute executable program file commands 1 Click the executable program file in the Workspace window 2 Right click
326. osition Exceeds Position Rollover 34 Ground Short Circuit Configuring the Ultra3000 Drive Chapter 3 Possible Cause s Suggested Action ON indicates Sine Cosine frequency of encoder exceeds maximum value Note This fault can only be generated when the encoder output is synthesized by the Ultra3000 ON indicates motion is commanded to a position outside the position rollover range The position rollover range Is i machine cycle size 1 Note This fault can only be generated when the machine cycle position rollover is enabled ON indicates the motor ground is shorted ON indicates a soft fault Encoder output frequency exceeds the maximum value An absolute index is initiated that specifies a position outside the position rollover range A homing cycle is initiated with the home position outside the position rollover range A define home is initiated with the home position outside the position rollover range A preset position is initiated that specifies a position outside the position rollover range The home position parameter is changed to a value outside the position rollover range the system has absolute feedback and the drive is reset or power cycled Wiring fault Motor internal ground short Internal malfunction e Reduce motor speed e Use encoder with lower resolution before interpolation Set motion command to a position within the position rollover r
327. otor needs to be repaired or replaced e Check for clogged vents or defective fan e Ensure cooling is not restricted by insufficient space around the unit e Verify ambient temperature is not too high Operate within the continuous power rating e Increase Motion Time Or program dwell periods e Reduce acceleration rates Check continuity from the DC bus to U V and W outputs If continuity exists check for conductive materials between terminals Troubleshoot SERCOS by checking wiring and verifying motion profile Check motor encoder channel line B wiring Check motor encoder channel line A wiring e Verify voltage level of the DC Bus The Bus should be 1 414 VAC level e Check AC power source for glitches or line drop e Install an uninterruptible power supply UPS on your VAC input 129 Chapter 3 Configuring the Ultra3000 Drive Status 10 Bus Undervoltage 10 Bus Overvoltage cont 11 Illegal Hall State 12 Home Search Failed 13 Home Position Outside Limits 14 Net communication 15 Electrical Cycle 16 SERCOS Overtravel 130 Possible Cause s Suggested Action ON indicates the DC Bus is below normal operating voltage ON indicates there is a problem with the motor s Hall Effect sensors ON indicates that the home position was not found ON indicates that the home position exceeds a hardware overtravel limit value ON indicates De
328. outine Fault Reset A transition to an active state resets any detected drive faults Enable Drive a state enables the power electronics to control the motor Note The Input value displays Not Assigned if there is nothing selected Multiple if there are multiple functions selected or the name of the function if only one is selected No commands are associated with the DeviceNet window Customize the DeviceNet window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 117 Chapter 3 Configuring the Ultra3000 Drive Understanding Ultra3000 Status The following Ultra3000 drive status settings can be displayed in the Monitor window and can be assigned as an Input Signal for a Channel in the Oscilloscope window as indicated in the table Status Description SERCOS Drive Non SERCOS Drive Analog Command Refer to Understanding the In isla TENES Window on page 59 Brake Refer to Understanding the Digital Sarat Ouroute Windaw on Window on page 99 Refer to Understanding the Ultra3000 Drive Branch on page 41 Refer to Understanding the Digital Inputs Window on page
329. ow Parameter Description Velocity Regulator Gains P Position Regulator Gains Kp Kd Kvff Ki Ki Zone Kaff Proportional gain for the velocity loop The P gain generates a control signal proportional to the velocity error It has a range of 0 4000 Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Integral gain for the velocity loop The gain generates a control signal proportional to the integral of the velocity error It has a range of 0 4000 Note gain improves the steady state velocity performance of the system Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability Derivative gain value for the velocity loop The D gain generates a control signal proportional to measured acceleration It has a range of 1000 1000 Note Positive D gain reduces velocity overshoot and negative D gain should be used only in systems that exhibit mechanical resonance Proportional gain for the position loop The Kp gain generates a control signal proportional to the position error It has a range of Bee Note Increasing the Kp gain improves response time and increases the stiffness of the system Too high a Kp gain value causes instability too low a Kp gai
330. owers looks like this Window eS s ieiz Denari rex as ocos AAA 1 O l Step Up Step Down Positive Log Line Drive Input f Enable Only on Drive Disabled 1 4 E Master Counts Follower Counts 1 4 Master Counts Follower Counts Digital Filter Cut off Frequency Line Driver Input 1 750 Open Collector Input 0 625 High frequency Line Driver Input 2 000 Show Status I7 Show Commands Setup Revert Close Help Use the Follower window to configure preset gear ratios and associated cut off frequencies Follower parameters control drive operation when the Operating Mode is set to one of these options in the Kinetix 3 Drive window e Follower Auxiliary Encoder e Follower Step Direction e Follower Step Up Step Down e Preset Select 2 4 if active 0 if not The Follower window has no associated statuses The Follower window has these parameters and direct commands Parameter Description Command Type select e Auxiliary Encoder A quadrature encoder provides a position command signal input to the drive e Step Direction Step and Direction inputs provide a position command signal input to the drive e Step Up Step Down Step Up and Step Down inputs provide a position command signal input to the drive Controller Output Type ne host controller output type from these options e Line Drive Input The controller has diffe
331. p dialog box that is opened using the Tools menu Serial Port command The address used by a host PC or PLC to Issue a single broadcast command to all connected Ultra3000 drives The drive does not send a response to commands received with the broadcast address Note If a drive s Broadcast Address and Drive Address are set to the same value that drive treats all commands as normal point to point commands and sends a response to all commands it processes Baud rate setting for the drive Note The drive s Baud Rate must be the same as the PC s Baud Rate set in the PC Communications Setup dialog box if the PC and drive are to successfully communicate Refer to Serial Port Settings on page 22 for restrictions specify the drive s communication port packet framing format Note The drive s Frame Format must be the same as the PC s Format set in the PC Communications Setup dialog box if the PC and drive are to successfully communicate 44 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Description Current Limits Positive Negative Position Limits Positive Decel Distance Negative Decel Distance Enable Soft Limits Positive Soft Limit Negative Soft Limit Speed Functions Zero Speed In Speed Window Up to Speed Rockwell Automation Publication 2098 UM001G EN P February 2011 The drive s positive current limit value Note The
332. parameters 87 Statuses 88 executable program file 320 commands 321 parameters 321 executing a program 325 export header file 323 project 323 source file 323 exporting a drive 28 F Faults branch Ultra5000 Statuses 211 Faults window Kinetix 3 287 commands 295 parameters 288 296 Statuses 290 Faults window Ultra3000 126 commands 134 parameters 127 Statuses 128 Faults window Ultra5000 commands 216 File menu 19 File toolbar 19 Files branch Ultra5000 commands 206 Find command 309 Firmware revision display Ultra 5000 218 Firmware version display Kinetix 3 297 Ultra 3000 135 Follower window Kinetix 3 241 parameters 241 Follower window Ultra3000 64 parameters 65 FPGA revision display Ultra 5000 218 Rockwell Automation Publication 2098 UM001G EN P February 2011 G Gear branch Ultra5000 commands 162 statuses 162 gear motor selecting 75 gearbox selecting MPG motor 75 H header file 305 properties 306 help online 14 Help menu 19 Homing window Kinetix 3 246 parameters 246 statuses 248 Homing window Ultra3000 70 parameters 0 Statuses 2 how to clear all bookmarks 315 create a header file 305 create a program 320 create a project 299 create a source file 303 create an executable program 320 export a drive 28 export a project header file or source file 323 find text in the text editor 309 find the next bookmark 314 find the previous bookmar
333. performance but a lower setting will reduce audible noise at the expense of bandwidth The current loop s low pass filter bandwidth The value indicates the cutoff frequency of the low pass filter applied to the current command input of the regulator This filter reduces noise generated by encoder resolution or mechanical resonance in the system The range is 0 10 000 Hz Note If this value is set to 0 the low pass filter is disabled Set this to the 1st resonant frequency of the load to suppress vibration or noise This parameter is useful if a specific frequency needs to be eliminated The range is 0 10 000 Hz The default is 10 000 Hz Set this to the 2nd resonant frequency of the load to suppress vibration or noise This parameter is useful if a specific frequency needs to be eliminated The range is 0 10 000 Hz The default is 10 000 Hz set up the notch width of 1st resonance suppressing filter in 20 steps The higher the value the larger the notch width The range is 0 20 The default is 10 set up the notch width of 2nd resonance suppressing filter in 20 steps The higher the value the larger the notch width The range is 0 20 The default is 10 set up the notch depth of 2nd resonance suppressing filter The higher the value the shallower the notch depth and the smaller the phase delay The range is 0 100 The default is 100 Rockwell Automation Publication 2098 UM001G EN P February 2011 255 Chapter5 Conf
334. pter 3 Configuring the Ultra3000 Drive Parameter Description Preset Position 0 7 Setup Position Type the fixed position to where the motor should travel It has a range of 2 147 483 647 2 147 483 647 counts Velocity Type the commanded velocity used to move to the preset position It has a range of 0 2 147 483 647 counts per second Acceleration Type the acceleration rate used to change to a higher velocity The value has a range of 0 2 147 483 647 counts per second Deceleration Type the deceleration rate used to change to a lower velocity The value has a range of 0 2 147 483 647 counts per second Click Revert to return parameter settings to the values they held when you opened this window Understanding the Follower The Properties window for Followers looks like this Window 64 Drive Follower OF x Parameter value units E Slew Limit 13 Revels Gear Ratios Master Follower Preset 0 Preset 1 Preset 2 Show Statue H E Show Eommands Use the Follower window to configure up to eight preset gear ratios Follower parameters control drive operation when the Operating Mode is set to one of these follower types e Follower Master Encoder e Follower Step Direction e Follower Step Up Step Down in the Ultra3000 Drive window The drive uses the preset gear ratio 0 7 reflecting the cumulative binary values of the Preset Select Lines 0 1 and 2 that are sel
335. r replace cable or try to find the short Verify by disconnecting motor from drive and then try to turn by hand If difficult to turn by hand the motor needs to be repaired or replaced Incorrect phasing Check the Hall phasing e Verify the Hall wiring e Verify power supply to encoder e Check wiring e Reposition the overtravel limits or home sensor Reposition the overtravel limits or home sensor Adjust the final home position Troubleshoot DeviceNet Replace the linear motor encoder e Verity motion profile e Verity overtravel settings are appropriate Status 17 User Current 18 Overspeed 19 Following Error 20 Motor Encoder State 21 Auxiliary Encoder State 22 Motor Filter ON indicates the User Current Fault level input above has been exceeded ON indicates the motor speed has exceeded 125 of maximum rated speed ON indicates the Following Error Limit set above has been exceeded ON indicates the motor encoder encountered an illegal transition ON indicates the auxiliary encoder encountered an illegal transition ON indicates the internal filter protecting the motor from overheating has tripped Configuring the Ultra3000 Drive User specified average current level exceeded Motor exceeded 125 of the specified maximum rated speed Position error limit exceeded 2 Motor encoder encountered an illegal transition Auxiliar
336. r systems with absolute feedback This fault is generated if the change in position command or position feedback exceeds half the machine cycle size during a position loop update This effectively limits the velocity to halt the machine cycle size per millisecond Note This fault can only be generated when the machine cycle position rollover is enabled This fault is generated if the motor position exceeds 2047 revolutions from the home position but can only be generated In firmware versions 1 00 and 1 02 Note This fault can only be generated when the system includes absolute feedback ON indicates the motor thermostat has tripped Range of motion and number of home position definitions during the product life exceeds the maximum value The velocity command or feedback exceeds half the machine cycle length per millisecond The motor position exceeds 2047 2047 revolutions from the home position Motor thermostat trips due to high motor ambient temperature excessive current or both a high temperature and excessive current Motor wiring fault Incorrect motor selection Rockwell Automation Publication 2098 UM001G EN P February 2011 This is an unrecoverable fault the drive must be sent back to the factory Increase machine cycle size or reduce velocity profile Note This error only applies to firmware versions prior to 1 10 e Decrease application range of motion e Upgr
337. r the highlighted motor The display shows e astandard supplied motor file to be viewed or e auser created motor examined modified and saved A Status bar displaying e Date e Time 334 Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating Custom Motors Chapter 7 Using the Linear Motor Window The Linear Motor window configures a custom motor by entering motor parameters or to edit an existing motor s parameter set Standard motors are opened in a read only mode If a motor is duplicated it becomes a custom motor with a default model name consisting of the duplicated motor s model with _copy n appended for example Std Linear_copy 1 The following parameters can be entered and edited in the Linear Motor window General Model Model number or name up to 32 digits in length Standard Motor Checked if standard Rockwell Automation motor Force Constant 0 625 to 4095 9375 N A Coil Mass 0 00001 to 32767 999 Kg Electrical Cycle Length 0 01 to 1 0 meters Electrical Resistance 0 0039 to 255 996 Ohms Inductance 0 0039 to 255 996 mH Rated Voltage 100 to 1000 Volts Flux Saturation 1 8 1 4 3 8 1 2 5 8 3 4 7 8 and Peak Current 0 000 to 1 000 Set all flux saturation levels for custom motors to 1 000 Ratings Maximum Speed 0 125 to 127 99 mps Intermittent Current 0 008 to 255 99 Amps Continuous Current 0 008 to 255 99 Amps Note All units relative to current Amps are b
338. rameter Kp Kd Kff Ki Ki Zone Velocity Regulator Gains P Configuring the Kinetix 3 Drive Chapter 5 Description Proportional gain for the position loop The Kp gain generates a control signal proportional to the position error The range is 0 32 in min mil Note Increasing the P gain improves response time and increases the stiffness of the system Too high a P gain value causes instability too low a P gain value results in loose or sloppy system dynamics Derivative gain for the position loop The Kd gain generates a control signal proportional to measured velocity The range is Oa Note Kd gain provides damping to the position loop that can reduce overshoot Feedforward gain for the position loop The Kff gain generates a feed forward signal proportional to the commanded speed The range is 0 200 Note Kff gain reduces position following error However high values can cause position overshoot Integral gain for the position loop Ki gain generates a control signal proportional to the integral of the velocity error The range is 0 32 Note Ki gain improves the steady state positioning performance of the system and virtually eliminates steady state positioning errors It affects the ability to reject load disturbances Increasing the integral gain generally increases the ultimate positioning accuracy of the system However excessive integral gain results in system instability The region in counts
339. rameter value units Ej Analog Output 1 Analog Output 1 M Show Status Use the Analog Outputs window to e name two 2 analog outputs e configure the operation of each analog output including its respective gain and offset e manually set the voltage for each analog output and e monitor the status of each analog output You can edit parameters for both an online and an offline Analog Outputs branch However you can monitor the status only for an Analog Outputs branch that is the child of an online drive The following parameters can be entered and edited in the Analog Outputs e Manual The voltage at the output is determined by the Manual Value setting of the output along with its scale and e Auto The voltage at the output is determined by the Source setting of the output along with its scale and offset window Parameter Description Name The name of the analog output Mode The mode of the analog output offset source The drive parameter whose value determines the output voltage when in Auto mode 186 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Parameter Description scale A value multiplied by the Output 1 or 2 Input voltage value Offset A value added to the product of the Gain multiplied by the Output 1 or 2 Input voltage value Manual Value The voltage value input to the Analog Output when in Manual mode b
340. ranch Command Description Toggle Bookmark Set or remove a bookmark a blue dot in a selected line of code for a source c or header h file Next Bookmark Locate the next bookmark a blue dot appearing in a selected line of code for a source c or header h file Previous Bookmark Locate a bookmark a blue dot that appears above the cursor in the selected source c or header h file Clear All Bookmarks Remove all bookmarks blue dots that have been set in a source c or header h file The Ultra5000 drive s Motion branch is the parent to the branches Jog Move Gear and Cam that are the sources of position commands that generate motion for the Ultra5000 drive The following diagram illustrates the generation of the position command that is sent to the position regulator Each of the three sources is independent If a source is the only position command source it operates alone If there a multiple position command sources they are added together in the order set forth in these diagram The resulting composite position command is the sum of the position commands from the three different sources Composite Position Command PMOVE PJOG PGEAR PCAM Composite Position Command Ratchet You can copy the Motion branch and paste it into another Ultra5000 drive Because a drive can contain only one Motion branch pasting a Motion branch into a drive overwrites and replaces the recipient drive s pre
341. ranch Ultra5000 commands 153 Statuses 151 Cam table branch Ultra5000 commands 160 Cascade command 18 Clear All bookmarks command 315 client area 18 commands 266 Arrange Icons 18 Build 17 Cascade 18 Clear All bookmarks 315 Copy 31 Create a new file 24 Customize 20 Cut 30 Delete 32 direct 327 Export 28 Find 309 Import 28 Index Insert Project 299 Insert Source File 303 Insert Ultra3000 28 Kill 326 Mark All 312 New file 25 New Linear 332 New Rotary 332 Next Bookmark 314 Open a file 26 Open an existing file 24 Open last file 24 Paste 31 Previous Bookmark 314 Project 299 Redo 319 Replace 316 Rescan 21 Run 325 save As 27 Select All 318 serial Port 22 source File 303 Stop 325 Tile Tall 18 Tile Wide 18 Toggle Bookmark 312 313 Toolbars 19 Undo 318 Upgrade Firmware 22 Commands menu 19 Configuring Kinetix 3 222 Ultra3000 38 Configuring properties Kinetix 3 222 Ultra3000 39 Ultra5000 139 Copy command 31 Create new file command 24 creating a new drive 28 creating programs 299 creating opening and saving Ultraware files 25 Current control panel Ultra3000 commands 53 parameters 52 Statuses 53 custom motor creating 331 database 331 linear 335 parameter set 332 requirements 332 rotary 337 Customize command 20 Cut command 30 Rockwell Automation Publication 2098 UM001G EN P February 2011 347 Index 348 D Delete comma
342. rapezoidal e Sinusoidal Startup Type The start up commutation algorithm for the motor e Self Sensing e Hall Inputs Hall Input Offset 0 359 Lines Per Revolution 100 64 000 lines Integral Limits Check when feedback has integral limit switches For example if the motor has built in overtravel limits which are interfaced to the Ultra drive s Encoder CN2 connector Rockwell Automation Publication 2098 UM001G EN P February 2011 337 Chapter7 Creating Custom Motors Parameter Description Thermal Integral Thermostat Check when motor has a built in thermostat software Protection Check when thermal protection through software is desired Thermal Properties Rth w e 0 00001 32767 999 C W winding to encoder thermal resistance Cth w e 0 0039 8388607 W s C winding to encoder thermal Capacitance Rth w a 0 00001 32767 999 C W winding to ambient thermal resistance Cth w a 0 0039 8388607 W s C winding to ambient thermal Capacitance Gearing Integral Gearbox Check when motor has built in gearbox Gear Ratio 0 255 The following command applies to the Rotary Motor window Command Description Close Closes the Rotary Motor window with the parameters as entered Importing Moto rs The Import menu can be used to read two types of motor data e A motor exchange file mxf previously written by the motor configuration tool using the Export function e An Ultra Master motor file mtr This allows a cus
343. ravel limits e Yes e No Voltage rating of the motor in Volts The phase to phase resistance of the motor stator in milliHenries mH The phase to phase inductance of the motor stator in milliHenries mH Eight separate status values that specify the level of flux Saturation in the motor at the specified fraction of maximum current level A value of 1 0 indicates no flux saturation Maximum motor speed in revolutions minute rpm Maximum intermittent current of the motor in Amperes Continuous current rating of the motor in Amperes The encoder type e ncremental e Sine Cosine e SRS SRM only displayed offline When a motor with this encoder type is selected for an online drive Auto Motor Iden is set to true and the Encoder indicates Sine Cosine The type of commutation e Brush e Trapezoidal e Sinusoidal The type of startup for sinusoidal commutation e Self Sensing e Hall Inputs e Serial only displayed offline When a motor with this start up type is selected for an online drive Auto Motor Iden is set to true and the Sinusoidal Startup indicates Self Sensing Hall Input offset from standard Rockwell Automation Orientation in electrical degrees Encoder lines per revolution Note This parameter is visible only if the Type is Rotary Encoder lines per meter of travel Note This parameter is visible only if the Type is Linear Rockwell Automation Publication 2098 UM001G EN P February 2
344. rd limit The following display is the default status for a Digital Inputs branch of an online drive Status Description Input 1 16 State The current state or condition of each digital input is depicted by a light bulb icon as follows e ON A bright light bulb e OFF A darkened light bulb Customize the Digital Inputs window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 181 Chapter4 Configuring the Ultra5000 Drive Understand i ng the D ig ital The Properties window for the Digital Outputs branch looks like this 0 utp uts Wi n d OW Fa Ultraware UW_5000 Digital Outputs File Edit View Insert Program Tools Commands Window Help Parameter value Unite Toage Opa Output 1 Mame Output 1 Toggle Output 2 Output 2 Name Output 2 Toggle Output 3 Output 3 Name Output 3 Oo Opa 4 Tone output 4 Output SName Output 5 Toggle Output 5 Output 6 Name Output 6 j Toggle Output 6 Output 7 Name Output 7 Toggle Output 7 Output Name Output amp Toggle Output 8 Polarities Turn All On Turn All Off
345. rential TTL CMOS outputs The maximum input frequency is 900 kpps e Open Collector Input The controller has single ended transistor outputs The maximum input frequency is 300 Kpps e High Frequency Line Driver Input The controller has differential TTL CMOS outputs The maximum input frequency is 3 0 mpps 1st Gear Ratio Change The time when a gear ratio value will change e Enable Only on Drive Disabled e Always Enable Rockwell Automation Publication 2098 UM001G EN P February 2011 241 Chapter5 Configuring the Kinetix 3 Drive Parameter Description 1st Gear Ratio specifies the 1st ratio of counts between the master input counts and the motor encoder counts for example 1 4 The range of the ratio value is 1 1 1 6 553 5 65 535 2nd Gear Ratio specifies the 1st ratio of counts between the master input counts and the motor encoder counts for example 1 4 The range of the ratio value is from 1 1 1 6 553 5 65 535 Digital Filter Cut off Frequency The cutoff frequency of the low pass digital filter applied to the pulse command input e Line Driver Input The range Is 0 525 0 562 0 625 0 750 1 000 1 500 1 750 and 3 000 MHz Default is 1 750 MHz Open Collector Input The range Is 0 525 0 562 0 625 0 750 1 000 1 500 1 750 and 3 000 MHz Default is 0 625 MHz High Frequency Line Driver Input The range Is 0 525 0 562 0 625 0 750 1 000 1 500 1 750 and 3 000 MHz Default is 3 000 MHz Command Descript
346. ricted by insufficient space around the unit Verify ambient temperature is not too high Operate within the continuous power rating Increase Motion Time or dwell periods Reduce acceleration rates Check continuity from the DC bus to U V and W outputs If continuity exists check for conductive materials between terminals e Verify voltage level of the DC Bus The Bus should be 1 414 VAC level Check AC power source for glitches or line drop Install an uninterruptible power supply UPS on your VAC input Change the deceleration or motion profile e Use a larger system motor and Ultra5000 e Use an Active Shunt Verify input is below 264 Configuring the Ultra5000 Drive Chapter 4 Status Possible Cause Suggested Action 10 Bus Output short circuit Disconnect the power line from the drive and then do continuity check from the positive and negative poles of the DC Bus to each of the motor output phases U V and W If a continuity exists check for wire fibers between terminals or send drive in for repair Overvoltage Motor cabling wires shorted together Disconnect motor power cables from the drive If faults stop then either replace cable or try to find the short Internal motor winding short circuit Verify by disconnecting motor from drive and then try to turn by hand If difficult to turn by hand the motor needs to be repaired or replaced Incorrect phasing Check
347. rive At Index 0 Position Refer to Understanding the Digital Outputs Window on page 99 At Index 1 Position Refer to Understanding the Digital Outputs Window on page 99 Pause Index Refer to Understanding the Digital Inputs Window on page 95 Registered Refer to Understanding the Digital Outputs Window on page 99 Registration Sensor Refer to Understanding the Digital Inputs Window on page 95 Start Index Refer to Understanding the Digital Inputs Window on page 95 Stop Index Refer to Understanding the Digital Inputs Window on page 95 Define Position Refer to Understanding the Digital Inputs Window on page 95 Homing Define Home Refer to Understanding the Digital Inputs Window on page 95 Home Sensor Refer to Understanding the Digital Inputs Window on page 95 Pause Homing Refer to Understanding the Digital Inputs Window on page J9 Start Homing Refer to Understanding the Digital Inputs Window on page 95 Stop Homing Refer to Understanding the Digital Inputs Window on page 95 Axis Homed ON indicates that the Home position has been set either by executing a Homing sequence or by the Define Home input or Define Home command issued from Ultraware software 120 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 SERCOS Drive Status Description Non SERCOS Continued Drive Scope Monitor Scope Monitor
348. rnate Gain Values instead of the Main values Current Limit Negative When this input is active the Negative External current limit as entered in the Kinetix 3 Drive window is In effect Current Limit Positive When this input is active the Positive External current limit as entered in the Kinetix 3 Drive window is In effect Drive Enable An active state enables the power electronics to control the motor WARNING By default Input 1 is AN assigned the function Drive Enable If you change the assignments so that Drive Enable is not assigned to any input the drive automatically enables on powerup Be aware that in this case the motor may start moving on powerup This may result in abrupt and unexpected motion Failure to observe this precaution could result in damage to the machine severe bodily injury or the loss of life Fault Reset A transition to an active state resets any detected drive faults Integrator Inhibit An active state zeros the velocity loop integrator 268 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Parameter Description Operation Mode Override When active the drive uses the Operation Mode Override as the command source When inactive the drive uses the Operation Mode setting as the command source Overtravel Negative An inactive state causes the drive to begin decelerating the motor to bring it to a stop usi
349. rogram exe file Unlike the Stop command this command does not provide a controlled stop to program execution When the Kill command executes animation for the selected program s icon stops Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Using Direct Commands A direct command is a command executed through the Ultraware interface rather than through a compiled loaded and executed program for a drive in the On Line Drives branch of the Workspace window Motion caused by a direct command for example Jog Move or Gear is produced in addition to and not in lieu of motion caused by the currently executing program Thus commanded motion at any one time is the sum of all currently executing program motion commands plus direct commands To execute a direct command perform these steps 1 Select an item for a drive in the On Line Drives branch 2 Do one of these e Right click Commands then select a direct command from the pop up menu e Click a direct command from the Commands menu Many but not all of an online drive s branches or windows are associated with direct commands as shown in the tables and chapters below e Refer to Configuring the Ultra3000 Drive on page 37 e Refer to Configuring the Ultra5000 Drive on page 138 The following tables contain information about Ultra3000 and Ultra5000 executable commands and what each command can do
350. rring the configuration to an online drive e Display and monitor service information about the drive e Display the firmware revision of the drive The following parameters and status apply to the Service Information window Parameter Description Drive Size Change the power rating in kW of an offline drive Invalid no drive selected 0 5 500W 230V 2098 DSD 005 x 1 1kW 230V 2098 DSD 010 x 2 2kW 230V 2098 DSD 020 x 3 3kW 230V 2098 DSD 030 x 7 5 7 5kW 230V 2098 DSD 075 x 15 15kW 230V 2098 DSD 150 x 3 HV 3kW 460V 2098 DSD HV030 x 5 HV DKW 460V 2098 DSD HV050 x 10 HV 10kW 460V 2098 DSD HV100 x 15 HV 15kW 460V 2098 DSD HV150 x 22 HV 22kW 460V 2098 DSD HV220 x Status Description Drive Model The model number of the drive This is the number you selected from the Select New Drive dialog box after executing the Insert Ultra3000 command PICS Number A unique identifier assigned to each drive Firmware Version The revision of the selected On Line drive s firmware in the format XX YY where e XX major revision e YY minor revision Time In Service Total time hours and minutes the drive has been powered up Rockwell Automation Publication 2098 UM001G EN P February 2011 135 Chapter 3 Configuring the Ultra3000 Drive Customize the Service Information window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Setup button to open the
351. rs or statuses Except for Paste no other commands are associated with this item Rockwell Automation Publication 2098 UM001G EN P February 2011 205 Chapter4 Configuring the Ultra5000 Drive Understanding the Files Branch Understanding the Global Variables Branch The Ultra5000 drive s Files branch is a container that can hold any file The Files branch accesses drive memory to store electronic files The following direct commands can be executed from the Files branch Command Description Add New Lets the user to copy a file to memory in the local drive Right click a file in the Files branch and then click Export from the pop up menu to display the The Save As dialog box This lets you to save a file from the Ultra5000 drive to a storage device Clicking with the right mouse button also lets you to access the Cut Copy and Delete commands The Ultra5000 drive s Global Variables container or branch holds all the Global Variables that have been declared for the parent online or offline Ultra5000 drive A Global Variable is created using the Insert Variable command The name and value parameters of a Global Variable can be edited in the Global Variable window You can copy the Global Variables container and paste it into another Ultra5000 drive Because a drive can contain only one Global Variables container pasting a Global Variables container into another drive overwrites and replaces the recipient drive s pre existing
352. ry e enable or disable user faults e open a window where you can view a scope trace of selected drive signals for a period of time immediately prior to a fault The Faults window has these parameters status and commands associated with it Parameter Description Following Error Limit Position error overflow fault occurs when the difference between position command and actual position is greater than the value set by this parameter The range is 0 2 147 483 647 motor encoder counts The default is 99 999 counts AC Line Loss Fault Delay AC line loss fault delay is the time the main AC voltage can be absent without generating an AC line loss fault The range is 20 000 ms The default is 20 ms Command Description Fault Detail Setup This command lets the drive to capture four channels of drive variables when a drive fault occurs This can be helpful when diagnosing system faults sample Period The time in milliseconds between samples that constitute a trace The horizontal resolution of the fault detail data is 50 samples For example selecting a sample period of 1 0 ms will result in 50 ms of data being displayed The range is 0 2 19 8 ms with a resolution of 0 2 ms Channel A D Click the down arrow to the right of the Channel Setup dialog to assign a Channel A B C or D The following Warnings and Errors are displayed on the Status display of the drive and in the Value column of the Faults window 288 Rockwell A
353. ry 2011 Verity voltage level of the incoming AC power Check AC power sources for glitches or line drop Install uninterruptible power supply UPS on the AC input Verify input is within specification Verify shunt circuit Adjust motion profile to stay within the range of the regenerative resistor Replace regenerative transistor Replace drive Verify input is within specification Increase the time defined in Homing time limit in 01 11 Set a value other than 0 in Homing Velocity In 01 02 and Creep Velocity IN 01 03 Check if there is any obstacle that disturbs Homing Check mechanical parts and parameter settings for Homing Confirm encoder wiring Retune the drive system Verify the input gain of external speed or torque commands Increase following error limit Check position loop tuning 291 Chapter5 Configuring the Kinetix 3 Drive Status E 022 E ConoL E 023 E druol E 027 E notHN E 028 E EnCdE E 030 E EnCoP E031 E EnGPE Possible Cause Suggested Action The internal filter e Reduce acceleration protecting the motor from overheating has tripped Motor Continuous Current Overload rates e Reduce duty cycle ON OFF of commanded motion e Increase time permitted for motion e Use larger drive and motor e Checking tuning Drive Overload The motion application Reduce acceleration requires average drive rate
354. ry 2011 Configuring the Ultra5000 Drive Chapter 4 Customize the Motor window for your Ultra5000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 167 Chapter4 Configuring the Ultra5000 Drive U n d erstan d in g th e Tu nin g The Properties window for the Tuning branch looks like this Wi n d OW farUW_ 5000 Tuning Iof x Parameter Value Units Start Velocity Tuning E Velocity Regulator Gains Stop Velocity Tuning Start Position Tuning Stop Position Tuning Bandwidth Autotuning Upper Limit E Tuning Direction seconds counts sec E Position Tuning Setup Tuning Direction Bi Directional Period 0 seconds 0 WARHIHG Excessive tuning step profile values may cause uncontrolled motion OJ sms voe e ourtsisec 2 por O Bosw o Oo om o Command Acceleration 0 Courtsisec 2 Feedback Poston 0 Oo mw Courts Oo wsm o Oo om O Command Offset ounts Feedback Offset Counts M Show Status Revert Close Help V Show Commands D ounts
355. s Current in excess of rated capability e Reduce duty cycle ON OFF of commanded motion e Increase time permitted for motion e Use larger drive and motor e Check tuning Axis Not Homed Absolute positioning attempted without homing Verify homing position Encoder Data Range Error Encoder not programmed correctly Replace motor Encoder memory corrupted Communication is not established with an intelligent encoder Encoder Cable Open Verify the motor configuration is for an intelligent encoder Verify the motor has an intelligent encoder Verify continuity of the DATA and DATA Signal wires Verify encoder power is present Replace the motor Encoder Data Parameter Error Encoder not programmed Replace motor correctly Encoder memory corrupted 292 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Status Possible Cause Suggested Action E 036 E druot Drive Overtemperature Excessive heat exists in Verify cooling fan the drive operation only 2071 A10 2071 A15 e Check tuning e Reduce acceleration rate e Reduce duty cycle ON OFF of commanded motion e Increase time permitted for motion e Use larger drive and motor E 037 E ACoFF AC Line Loss Poor quality power Increase Ride Through time Attempted to enable Apply main power before drive without main enabling drive power active
356. s Maximum Speed Intermittent Current Continuous Current Feedback Encoder Commutation sinusoidal Startup Hall Input Offset Lines Meter Linear or Lines Revolution Rotary Thermal Integral Thermostat Software Protection 200 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Status Rth w e Cth w e Rth w a Cth w a Autotuning Autotuning State Total Inertia Total Motion Mass Velocity Regulator Gains P FF Bandwidth Upper Limit Lower Limit Position Regulator Gains Kp Kpz Kpz Zone Ki Ki Zone Kff Motor Encoder Output Fault State A B 51 S2 S3 Master Encoder Output Fault State A B Ratchet Settings Ratchet Buffer Rockwell Automation Publication 2098 UM001G EN P February 2011 201 Chapter4 Configuring the Ultra5000 Drive Status Ratchet Output Current Position Current Velocity Digital Inputs Input 1 through 16 Digital Outputs Output 1 through 8 Analog Input 1 and 2 Input Output Analog Output 1 and 2 Output Faults 4 Motor Overtemp 5 IPM Fault 9 Bus Undervoltage 10 Bus Overvoltage 11 Illegal Hall State 17 User Current 18 Overspeed 19 Following Error 20 Motor Encoder State 21 Auxiliary Encoder State 22 Motor Filter 23 Thermal Protect Filter 24 Velocity Error 26 User Velocity 29 Excessive Output Frequency 34 Ground Short Circuit 35 Soft Starting Fau
357. s and commands Parameter Description Test Distance The encoder count Value for the Test Distance The value should be scaled according to the existing logic for scaling the Position Motor Feedback Testing is started and stopped by clicking the appropriate Test button e Start Test e Stop Test Status Description Test Status Possible displays include e idle e Jest in Progress e Test Success e Jest Failure Test Results Possible displays include blank nothing to report Test Aborted by User Test Distance Reached Marker Found Wiring Changes Recommended Feedback Resolution Error Encoder Alignment Error Position Auxiliary Displays the Counts Electrical Cycle recorded during the test A ON indicates the presence of the master encoder s A output signal B ON indicates the presence of the master encoder s B output signal Command Description Start Test Turns testing ON Stop Test Turns testing OFF 92 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Auxiliary Motor Marker Diagnostics Use the Auxiliary Marker Diagnostics window to verify the operation of the motor marker signal The Auxiliary Marker Diagnostics window has these parameters status and commands Parameter Test Distance Status Test Status Test Results Position Motor Feedback Marker Position A Command Start Test Stop Test Description The encoder
358. s for Posn Compare 2 is true Positive Current Limit An active state indicates the drive s positive current is being limited as set in the Drive window Ready An active state indicates the drive is operational and does not have a fault Registered An active output state indicates the Registration sensor has been detected and the move has been adjusted for this iteration of the index Note The Registration Distance must be larger than the distance required to stop or the move is not adjusted Reverse Overtravel An active state indicates the negative soft limit as defined in the Drive window under Position Limits has been exceeded or the negative overtravel hardware input has become active or the motor s negative integral limit if this signal exists has been reached Startup Commutation Done An active state indicates that the drive has completed its commutation initialization algorithm 100 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Description Output 1 4 cont e Tracking An inactive state indicates that the absolute encoder position has been output and the encoder outputs are now tracking the motor encoder inputs This input is used in conjunction with the Position Strobe input function e Up to Speed An active output state indicates motor velocity feedback is greater than the Up to Speed setting in the Ultra3000 Drive window e
359. s for the command and a brief description of what each does 3 To paste the selected command to your file perform one of these actions e Position the cursor at the place where the command should be pasted Rockwell Automation Publication 2098 UM001G EN P February 2011 307 Chapter6 Creating and Running Programs e Click the text that you want to be replaced 4 Click Paste or double click the command To display a hidden Motion Library dialog bar click Motion Library in the View menu A check mark is displayed next to the Motion Library menu when the dialog is enabled The dialog also may be disabled by the user Ultraware software remembers the user setting for future use You can resize and move the Motion Library dialog bar in several ways e With the Motion Library dialog bar in its default state attached to the Ultraware interface you double click the Motion Library header bar to detach it from the Ultraware interface e Once detached the Motion Library dialog bar possesses all the parameters of any window It can be resized or moved entirely outside the Ultraware interface e To return the Motion Library dialog bar to its default position you double click the header bar or drag it to the left or right side of the main window 308 Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Using the Text Editor Ultraware software contains text editing tool
360. s mdb Make sure you transfer them before running the installation a second time or your back up copy will be overwritten Computers running Windows NT 4 operating system with Service Pack 5 SP5 might receive errors during install concerning registration of DLL and OCX files for example COMCAT DLL This is due to an incompatibility with the COMCAT DLL version 5 0 with other system DLL files The solution to this problem is to replace COMCAT DLL version 5 0 with COMCAT DLL version 4 71 This requires the un registration and deletion of COMCAT DLL version 5 0 and the copying and registration of COMCAT dll version 4 71 The batch file Comfix bat in the Util directory of the distribution CD completes this operation Run the batch file from its location on the CD and then run the install program again 346 Rockwell Automation Publication 2098 UM001G EN P February 2011 A about this publication 11 additional resources 12 Analog Inputs branch Ultra5000 parameters 184 statuses 184 Analog Outputs branch Ultra5000 parameters 186 statuses 187 Analog Outputs window Kinetix 3 274 parameters 2 4 Analog Outputs window Ultra3000 103 commands 103 parameters 103 statuses 103 Analog window Kinetix 3 237 commands 238 parameters 237 Analog window Ultra3000 59 commands 60 parameters 59 statuses 60 Arrange Icons command 18 bookmarks 312 Boot firmware revision display Ultra 5000 218 Build command 17 C Cam b
361. s parameter is visible only if the Type is Rotary Encoder lines per meter of travel Note This parameter is visible only if the Type is Linear Rockwell Automation Publication 2098 UM001G EN P February 2011 87 Chapter 3 Configuring the Ultra3000 Drive The following status is displayed by default for an Encoders window of an online drive Status Description Motor Encoder Position Motor Feedback Actual motor position in selected units Encoder Temperature Measured temperature of the motor encoder in degrees C Note This parameter is visible only if the Auto Motor Iden is enabled A A input channel of the motor encoder B input channel of the motor encoder Z Z input channel of the motor encoder S1 Hall input S1 of the motor encoder S2 Hall input S2 of the motor encoder S3 Hall input S3 of the motor encoder Auxiliary Encoder Position Auxiliary Actual auxiliary encoder position in selected units A A input channel of the auxiliary encoder B B input channel of the auxiliary encoder Z Z input channel of the auxiliary encoder The following commands can be executed on an online drive using the Encoders window Command To Commutation Diagnostics Verify motor commutation Motor Feedback Diagnostics Verify a motor s position feedback signals Motor Marker Diagnostics Verify the operation of the motor marker signal Auxiliary Feedback Verify the operation of the auxiliary feedback signals Diagnostics
362. s that help you write edit and test the C code in your source c and header h files Find Use this command to open the Find dialog box which you can use to search for text in the source c or header h file The Find command is enabled only if a source or header file is currently selected in the Client Area To execute the Find command perform these steps 1 Click the source c or header h file to search in the Client Area 2 Do one of these actions e Click Find from the Edit menu e Simultaneously press the Ctrl F keys e Click the Find icon in the Edit toolbar The Find dialog box appears Find het i Match Case l Regular expression M Wrap around search if Find est Direction C Up Down Mark All Cancel dE 3 Use the Find dialog box as follows Control Find What Match Case Regular expression Wrap around search Description Type click in the drop down list or describe using an expression the text that is the subject of the search If Regular expression below is selected you can search using expressions constructed with the Wildcard Search Characters on page 316 The characters in the text to be found must match the case upper or lower of the characters in the Find What field Permits searching of expressions made with Wildcard Search Characters on page 316 Continues the search beyond the end Direction Down or beginning Direction Up of
363. s the Ultra5000 Prog rams Bra nch drive can run It can be found in the Workspace window s On Line Drives branch or an Ultraware file If the Programs branch is in e the On Line Drives branch the Programs branch serves as a platform from which you can run a selected child executable program exe file by issuing the Run Stop and Kill commands e an Ultraware file the Programs branch is merely a container for its child executable program exe files IMPORTANT An executable program exe file is created for a Project in an Ultraware file in the Workspace window using the Build command it must be moved to the Programs branch of an On Line drive before it can be executed You can copy the Programs branch and paste it into another Ultra5000 drive Because a drive can contain only one Programs branch pasting a Programs branch into a drive overwrites and replaces the recipient drive s pre existing Programs branch Understanding the Archives The Ultra5000 drive s Archives branch is a container that can hold these types of Branch files e A Project file including its child header files and source files e An individual header file e An individual source file TIP You cannot copy an executable program file to an Archives branch The Archives branch lets you attach project source and header files to a drive so they follow the drive and are available to troubleshoot or recompile your program The Archives branch has no paramete
364. s the cutoff frequency of the low pass filter It has a range of 1 992 Hz Note Bandwidth reduces noise generated by encoder resolution or mechanical resonance in the system The following status is displayed by default for an Ultra3000 drive in the Manual Velocity Tuning window of the Tuning branch Status Drive Enabled Description ON indicates the power stage of the drive is enabled As a precondition all software and hardware enable inputs must be active and the drive cannot have any faults Note Drive Enable has a value of 1 when ON and a value of 0 when OFF The following commands can be executed on an online drive using the Manual Velocity Tuning window of the Tuning branch Command Start Tuning Stop Tuning Clear Faults Description Begins manual velocity tuning Stops manual velocity tuning Attempts to clear all drive faults Customize the Manual Velocity Tuning window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane Rockwell Automation Publication 2098 UM001G EN P February 2011 85 Chapter3 Configuring the Ultra3000 Drive Understanding the Encoders Window 86 e Click Revert to return parameter settings to the values they held when you opened this window The Properties window for Encoders looks like this il Drive Encoders
365. scilloscope window to trace one of four drive signals by e Configuring the oscilloscope by selecting a the drive signal to trace e Executing commands that run the oscilloscope s tracing function continuously or in response to the configured trigger e Monitoring the oscilloscope as it traces the selected drive signal 108 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The Oscilloscope window has these parameters and commands associated with it Parameter Description Channel A B C and D Input Signal scale Type Scale Offset Sweep Parameters Sample Period samples per Division Trigger Source Trigger Mode Trigger Threshold Trigger Status The drive signal to assign to the selected Channel A B C or D from the Channel Setup dialog box that opens when you click the down arrow to the right of this input box Note The resolution of this signal may be confusing if Velocity Feedback is selected See the topic Velocity Motor Feedback Resolution for information on how resolution is derived for various motor and feedback combinations Scale Types are e Auto e Manual e Same As ChA available for Channels B C and D e Same As ChB available for Channels C and D or e Same as ChC available for Channel D only The amplitude of the selected channel input signal that can be displayed between gridlines of the oscilloscope in the units of th
366. se Help 234 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Use the Velocity Control Panel window to directly set the drive s velocity in a temporary velocity mode The commands you execute override any motion commands originating from the drive s normal operation mode set in the Kinetix 3 Drive window operation mode The motor moves in response to Velocity Control Panel ATTENTION The Velocity Control Panel commands override the normal AN commands ATTENTION The Jog Forward and Jog Reverse commands of the AN Velocity Control Panel are not changed by the Command Polarity selection in the Kinetix 3 Drive Window They perform the command as though the Command Polarity were set to Normal The Velocity Control Panel has these parameters status and direct commands Parameter Description Velocity Command The speed at which the motor turns when the Jog Forward or Jog Reverse command executes provided that the drive is online and enabled Note The drive ramps up or ramps down to the commanded velocity at the rate of acceleration set in the Acceleration input box Acceleration Displays the maximum rate of acceleration or deceleration the drive uses to ramp up or down to the commanded velocity when velocity changes The following commands can be executed from the Velocity Control Panel window of an online drive Command Jog Forward Jog
367. se the Workspace window to navigate to all of the connected online and offline objects and perform these tasks Create new Drive Folder Project Header and Source files Cut Copy Paste and Delete Workspace window objects Open the Properties dialog box for Workspace window objects Copy or create cam table files which you can edit or graphically modify Open the text editor which you can use to edit header and source files Use the Build command to compile a Project and create an executable program exe file Copy or Move an executable program exe file from an Ultra5000 drive s Projects branch to a Programs branch for storage or for execution Copy a configured online drive with all its children from the On Line Drives branch to an offline file or vice versa Run an executable program exe file in the Programs branch of an online Ultra5000 drive Issue direct commands for certain online drive objects You can resize and move the Workspace window in several ways In its default state attached to the interface you can double click the title bar to detach the Workspace window from the interface If detached the Workspace window possesses all of the properties of any window It can be resized or moved entirely outside the interface To return the Workspace window to its default position double click the title bar To hide the Workspace window remove the checkmark from the Workspace in the View menu 16
368. set 1 reset 2 Amps 1 5 oO ce el BU Vl a VV Va VV d a Amps El Amps a2 T reset 4 Amps reset 5 reset 6 reset 7 Amps osition Counts cceleration 13 Deceleration 13 Show Statue R Setup Revert Close Help T Amps gr Amps D V T T T T V T V D T Revefs 2 Revels SSEECELEEEC CRASS RRE a Use the Preset window to configure e up to eight preset velocity values e up to eight preset current values and e up to eight preset position values Preset parameters control drive operation when the Operating Mode is set to Preset Position Preset Velocity or Preset Current in the Ultra3000 Drive window Note Preset gearing parameters are set in the Follower window shown on page 64 The drive uses the preset position value preset velocity value or preset current value selected by the Preset Select Lines 0 1 and 2 as set in the Digital Inputs properties window 62 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 The digital input s Preset Select Line binary values are as follows e Preset Select 0 1 if active 0 if not e Preset Select 1 2 if active 0 if not e Preset Select 2 4 if active 0 if not Ifa Preset Select Line is not assigned to a digital input the Preset Select Line is considered inactive If you want to use only a single gear ratio only set the Gear Ratio for Preset
369. side United States or Use the Worldwide Locator at http www rockwellautomation com support americas phone_ en html or contact Canada your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Rockwell Otomasyon Ticaret A S Kar Plaza Is Merkezi E Blok Kat 6 34752 Icerenk y Istanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 064
370. signal proportional to the commanded speed The range is 0 100 of the commanded speed Note Kff gain reduces position following error However high values can cause position overshoot Velocity Feedforward gain for the position loop The Kvff gain generates a feed forward signal proportional to the commanded speed The range is 0 200 Note Kvff gain reduces position following error However high values can cause position overshoot This value indicates the cutoff frequency of the pass filter that is applied to the position command The range is 0 2 500 Hz The default is 0 Hz An additional velocity command to be added in to the velocity speed command when the position error exceeds a threshold specified below The range is 0 450 rom or millimeters per second Minimum position error in counts at which the High Error Output Offset specified above will be added to the velocity command The range is 0 to 50 000 counts The default is 1000 Main Current Regulator Gains Gain Low Pass Filter Bandwidth 1st Resonant Frequency Suppression Filter 2nd Resonant Frequency Suppression Filter 1st Resonant Frequency suppression Filter Width 2nd Resonant Frequency Suppression Filter Width 2nd Resonant Frequency suppression Filter Depth Adjusting this gain adjusts the overall response of the current regulator It can be set to Low Medium or High Normally this gain should be left at the High Setting for best
371. splay or hide the Commands pane e Click Revert to return parameter settings to the values they held when you opened this window Manual Position Tuning Window Use the Manual Position Tuning window to configure manual position tuning parameters start and stop manual position tuning for an online drive and monitor the Drive Enable status During manual position tuning the drive commands an internal step position waveform and the user sets the gains manually The user sets the desired tuning command parameters and selects the Start Tuning button to begin manual position tuning ATTENTION The motor shaft moves during the tuning process Ensure that the motor is properly mounted and guarded TIP Closing the window returns the drive to its normal operating mode but software disabled Select the drive and execute an Enable command as instructed in the Windows message to make the drive operational The following parameters status and commands apply to this window Parameter Description Manual Position Tuning Settings Motor Direction The direction in which the motor rotates during tuning e Bi Directional e Forward Only or e Reverse Only Distance The the amplitude of the drive s commanded position step The range is 1 32 67 counts Time The period of the drive s commanded position step The range is 1 32 767 ms Position Regulator Gains 260 Rockwell Automation Publication 2098 UM001G EN P February 2011 Pa
372. ssign a specific Input Signal or Status to be displayed in the Monitor window for a Kinetix 3 drive This dialog box displays a tree diagram with all the status settings that can be monitored for the selected drive e Place a check mark in the checkbox to the left of a status item to monitor it e Ifyou place a check mark beside a parent item all of its child items become checked and their status will be displayed e Ifyou remove a check mark from a parent item check marks will be removed from all its child items and their status settings will not be displayed e Ifyou place a check mark next to some but not all child items the parent item will be checked but dimmed Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 The Monitor Setup window much like the Oscilloscope window lets you customize the display for the selected online Kinetix 3 drive The window displays a tree diagram with all the status settings that can be monitored for the selected drive Refer to Understanding Kinetix 3 Status Displays on page 282 for a detailed list of drive status selections Rockwell Automation Publication 2098 UM001G EN P February 2011 277 Chapter5 Configuring the Kinetix 3 Drive Understand i ng the The Properties window for the Oscilloscope looks like this Oscilloscope Window a em Tools Commands Window Help a arr e BEX ARAM lg i Tr
373. stance reversing if necessary The final position becomes the new Home position 70 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Parameter Description e Home to Current Value Back to Marker After the Home Current Value is reached the drive immediately reverses motor direction and looks for the marker After the marker is detected the drive moves the motor the Offset Move Distance from the marker reversing if necessary The final position becomes the new Home position The Homing Velocity is used for the initial motion until the current value Is reached The Creep Velocity is used for all the remaining motion e Home to Marker After the marker is detected the drive moves the motor the Offset Move Distance from the marker reversing If necessary The final position becomes the new Home position e To Sensor Back to Marker After the active going edge of the sensor is detected the drive immediately reverses motor direction and looks for the inactive going edge of the sensor After the inactive going edge of the sensor is detected the drive looks for the marker After the marker is detected the drive moves the motor the Offset Move Distance from the marker reversing If necessary The final position becomes the new Home position The Homing Velocity is used for the initial sensor search After the motor decelerates to a stop when it finds the active going sensor edge
374. t e Forward Uni directional moves to the desired position going forward e Reverse Uni directional moves to the desired position going reverse For Absolute mode moves the fixed position to which the motor travels It has a range of 2 147 483 647 2 147 483 647 counts For Jog mode moves the maximum distance the motor travels It has a range of 2 147 483 647 2 147 483 647 counts The number of times the indexed move must execute If it is set to 0 the indexed moves continuously execute It has a range of 0 65 535 Rockwell Automation Publication 2098 UM001G EN P February 2011 67 Chapter 3 Configuring the Ultra3000 Drive Parameter Dwell Registration Distance Velocity Acceleration Deceleration Next Index Action When Complete Description The amount of time the drive holds position before beginning the next index It has a range of 0 65 535 ms For Registration mode moves the relative distance the motor travels once a registration digital input is detected It has a range of 0 2 147 483 647 counts The commanded velocity used when executing the index It has a range of 0 2 147 483 647 counts per second The acceleration rate used to change to a higher velocity The value has a range of 0 2 147 483 647 counts per second The deceleration rate used to change to a lower velocity The value has a range of 0 2 147 483 647 counts per second The number 0 63 of the n
375. t Fault Detail Input Trigger Output Trigger Signal Channel Refer to Understanding the X X X X X Tuning Window on page 253 Refer to Understanding the X X X Tuning Window on page 253 The current through the U X X phase of the motor The current through the V phase of the motor r The current through the W X X phase of the motor Hall input S1 of the motor X encoder Hall input S2 of the motor X encoder Hall input S3 of the motor X encoder Refer to Understanding the Digital Inputs Window on page 267 Refer to Understanding the Digital Qutputs Window on page 271 Reports the percent of the X X X X X shunts rated capacity currently being used Power dissipated in the internal shunt resistor Reports the accumulated usage of the drive s capability to operate above its rated output power The drive may safely produce slightly more than the rated output power for a period of time If this value reaches 100 the drive produces fault 104 Continuous Power Overload Fault This value decreases to zero when the drive is operating at less than rated output power Rockwell Automation Publication 2098 UM001G EN P February 2011 285 Chapter5 Configuring the Kinetix 3 Drive Status Description Oscilloscope Oscilloscope Analog Output Fault Detail Input Trigger Output Trigger Signal Channel Instantaneous Output Power output of the drive X X X X X Power Faults Faults Refer to topic Faults
376. t Feedback Encoder Commutation Sinusoidal Startup Hall Input Offset Lines Revolution Lines Meter Thermal Integral Thermostat Software Protection Rth w e Configuring the Ultra3000 Drive Chapter 3 Description Indicates whether the motor provides built in feedback for travel limits e Yes e No Only for rotary motors Indicates whether the motor has built in gearbox Voltage rating of the motor in Volts The phase to phase resistance of the motor stator in Ohms The phase to phase inductance of the motor stator in milliHenries mH Eight separate values that specify the level of flux saturation in the motor at the specified fraction of maximum current level Maximum motor output shaft speed in revolutions per minute rom for rotary motors and meter per second mps for linear motors Maximum intermittent current of the motor in peak Amperes Continuous current rating of the motor in peak Amperes The encoder type e Incremental e Sine Cosine The type of commutation e Brush e Trapezoidal e Sinusoidal The type of startup for sinusoidal commutation e Self Sensing e Hall Inputs Hall Input offset from standard Rockwell Automation Orientation in electrical degrees Encoder lines per revolution of the output shaft Note This parameter is visible only if the Type is Rotary Encoder lines per meter of travel Note This parameter is visible only if the Type is Linear Ind
377. t a fault has occurred that caused the drive to disable Forward Overtravel An active state indicates the positive soft limit as defined in the Drive window under Position Limits has been exceeded or the positive overtravel hardware input has become active or the motor s positive integral limit if this signal exists has been reached In Dwell An active state indicates the motor is holding position in an index move and waiting for the commanded dwell time In Motion An active state indicates an index move is active and the motor is moving In Position An active state indicates that the position error has been less than the In Position Window Size setting for longer than the In Position Time setting and the speed is less than the Zero Speed setting in the Ultra3000 Drive window Neg HW Overtravel Input An active state indicates an integral motor overtravel switch has been encountered in the negative travel direction Negative Current Limit An active state indicates the drive s negative current is being limited as set in the Drive window Pos HW Overtravel Input An active state indicates an integral motor overtravel switch has been encountered in the positive travel direction Posn Compare 1 An active state indicates the condition defined in the drive window under Position Functions for Posn Compare 1 Is true Posn Compare 2 An active state indicates the condition defined in the drive window under Position Function
378. t bookmark If there are no more bookmarks in the source or header file the cursor goes to the top of the file and moves to the first bookmark Previous Bookmark Use this command to locate the bookmark a blue dot that appears above the cursor in the selected source or header file Ultraware software searches in a backward upward direction for the previous bookmark If no bookmark is found the search wraps around to the end of the file and finds the last bookmark in the file This command is available while a source or header file with at least one bookmark is open in the Client Area To execute the Previous Bookmark command perform these steps 1 Place the cursor in a line of code in a source or header file in the Client Area 2 Doone of these e Click the Previous Bookmark icon in the Edit toolbar e Click Bookmarks in the Edit toolbar and then click Previous Bookmark The cursor moves up to the previous bookmark If there is no previous bookmark in the source or header file the cursor goes at the bottom of the file and moves to the last bookmark Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Clear All Bookmarks Use this command to remove all bookmarks blue dots that have been set in the selected source or header file This command is available while a source or header file with at least one bookmark is open in the Client Area To execute the Cle
379. t may continue A transition to an active state abruptly terminates a homing sequence Preset Selects 0 through 5 are a special case Instead of activating a function Preset Selects 0 through 5 contribute a binary value when a digital input becomes active The drive sums the binary values and uses the resulting integer to determine the Preset Position Preset Velocity Preset Current Preset Follower Gearing Ratio or Index to use The digital input Preset Select binary values are as follows e Preset Select 0 1 if active 0 if not Preset Select 1 2 if active 0 if not Preset Select 2 4 if active 0 if not Preset Select 3 8 if active 0 if not Preset Select 4 16 if active 0 if not e Preset Select 5 32 if active 0 if not If a Preset Select is not assigned to a digital input the Preset select is considered inactive The drive uses only the Preset Select 0 1 and 2 binary values yielding values 0 7 when selecting a Preset Position Preset Velocity Preset Current and Preset Follower Gearing Ratio The drive uses all six Preset Select binary values yielding values 0 63 when selecting an Index For help in determining a preset number see the related topic Preset Select Examples A transition to an active state sets the Position parameter for the Preset Position Setup selected by the Preset Select configuration 0 5 below equal to the current drive position A transition to an active state zeros the ve
380. t sufficient data to compute new tuning gains It has a range of 1 100 172 Rockwell Automation Publication 2098 UM001G EN P February 2011 Parameter Bandwidth Filter Velocity Gain Response Configuring the Ultra5000 Drive Chapter 4 Description Enabled sets the autotuning algorithm to the Velocity Loop Bandwidth parameter appropriately for the Velocity Loop P Gain value Disabled sets the Bandwidth to zero or no filtering Enabled sets the autotuning algorithm to the Velocity Loop IGain parameter Disabled sets the IGain to zero This property determines how tight the drive is tuned A value of 2 indicates a critically damped system Values between 0 7 and 1 4 generally result in desirable results It has a range from 0 2 The following status is displayed by default for an Ultra5000 drive in the Autotuning window of the Tuning branch Status Autotuning State Total Inertia Total Motion Mass Velocity Regulator Gains P FF Bandwidth Lower Limit Upper Limit Description Describes the current state of the autotuning process as follows e Idle when tuning is inactive or has completed successfully e Running while the drive is moving the motor to determine the response e Complete when the autotuning algorithm has completed successfully Note this status displays momentarily before returning to the idle state e Failed when the autotuning algorithm was unable to finish
381. tains the cam table point information e Input Position and Velocity values are displayed for polynomial mode cam tables but e only Input and Position values are displayed for linear mode cam tables 158 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Position Profile Pane The Position Profile Pane on the top right displays the cam positions in an editable graph The cam table points in this view can be dragged to adjust both their Input and Position values Right click this pane to open a context menu in which you can modify the position profile with these commands Parameter Description Add Point Adds a point to the cam table at the location under the mouse cursor Delete Point Deletes the point under the mouse cursor from the cam table Dwell Segment sets the velocity of the cam segment under the cursor to have zero velocity The position of the segment end point is adjusted to be equal to the beginning point of the segment Constant Velocity Segment sets the velocity of the cam segment under the cursor to a constant value The positions of the segment endpoints are not adjusted The velocity required to move from the beginning of the segment to the end is calculated as change in Position change in Input This velocity is then set at the segment end points Velocity Profile Pane The Velocity Profile Pane on the right but below the Position Profi
382. tal Outputs Creating and Running Programs Chapter 6 Direct Commands Override Outputs containing Toggle Output 1 Toggle Output 2 Toggle Output 3 Toggle Output 4 Toggle Relay Turn All On Turn All Off Override Output Format Reset Peaks Setup Arm Trigger Run Continuous Stop Triggering Fault History Clear Faults Direct Commands save Power Up Values Clear Faults Reset Drive Reset Factory Settings Enable Position Limits Disable Position Limits Reset Position Limits Jog Forward Jog Reverse Stop Jog Abort Jog Start Move Stop Move Abort Move Unload Table Enable Cam Disable Cam Enable Gear Disable Gear Refresh Data Start Velocity Tuning stop Velocity Tuning Start Position Tuning Stop Position Tuning Autotuning Toggle Digital Output 1 8 Turn All On Turn All Off Rockwell Automation Publication 2098 UM001G EN P February 2011 329 Chapter6 Creating and Running Programs Ultra5000 Drive Branch Direct Commands Monitor Format Setup Oscilloscope Arm Trigger Run Continuous Stop Triggering Faults Fault History Clear Faults 330 Rockwell Automation Publication 2098 UM001G EN P February 2011 Introduction Accessing the Motor Database Chapter Creating Custom Motors Each motor controlled by a drive requires a unique parameter set The parameter set provides the drive with information about the motor needed for proper commutation and precise control The param
383. tanding Ultra3000 Status 118 Understanding the Faults Window 126 Understanding the Service Information Window 135 Rockwell Automation Publication 2098 UM001G EN P February 2011 37 Chapter 3 Configuring the Ultra3000 Drive Co nfiguring the Ultra3000 Each Ultra3000 drive in the Workspace window has these child branches or D riv e windows e Operation Modes Analog Preset Follower Indexing Homing Indexing and Homing operation modes are available only for drive types whose catalog numbers end in X for example 2098 DSD 005X e Motor e Tuning e Encoders e Digital Inputs e Digital Outputs e Analog Outputs e Monitor e Oscilloscope e Faults e DeviceNet e Service Information Except for the Monitor windows all of a drive s child branches can and must be configured in a Properties window 38 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Configuring Properties for the Ultra3000 Drive To configure the properties for an Ultra3000 drive or one of its child branches perform these steps 1 In the Workspace window click the drive branch to configure 2 Doone of these e Click Properties from the Edit menu e Right click the drive in the Workspace and click Export from the pop up menu e Double click the drive branch TIP If the drive is a SERCOS drive only those parameters status and direct commands appropriate for a SERCO
384. tanding the Monitor Window 275 Understanding the Oscilloscope Window 278 Understanding Kinetix 3 Status Displays 282 Understanding the Faults Window 287 Understanding the Fault Detail Window 296 Understanding the Service Information Window Lot Rockwell Automation Publication 2098 UM001G EN P February 2011 221 Chapter5 Configuring the Kinetix 3 Drive Co nfiguring the KI netix 3 Each Kinetix 3 drive in the Workspace window has these child branches or Drive windows e Operation Modes Analog Preset Follower Indexing Homing e Motor e Tuning e Encoders e Digital Inputs e Digital Outputs e Analog Outputs e Monitor e Oscilloscope e Faults e Service Information Except for the Monitor windows all of a drive s child branches can and must be configured in a Properties window Configuring Properties for the Kinetix 3 Drive To configure the properties for a Kinetix 3 drive or one of its child branches follow these steps 1 In the Workspace window enter the drive branch to configure 2 Do one of these options e Click Properties in the Edit menu e Right click and select Properties from the pop up menu e Double click the drive branch 222 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 A Properties window such as the Drive Properties window displayed below appears for the selected drive branch a uwal ee ioj x Eile Edit
385. tects the home sensor input velocity is decelerated to the creep velocity and the creep velocity is maintained until the marker is detected After the marker is detected the motor moves back to the position e Jo Limit Fwd to Marker This procedure is the same as the To Home sensor Fwd to Marker except that the physical overtravel is used instead of home sensor input The physical overtravel fault is disabled while homing e Home to Current Value When homing starts the motor moves in the homing direction at the homing velocity until it detects a stopper The motor stops when the motor current is maintained higher than the home current for the home current time after the home current e Home to Current Value Back to Marker This procedure is similar to Home to Torque Value but this method moves backward until the marker is detected when the motor torque is maintained higher than the home current for the home current time after the home current After the marker Is detected the motor is decelerated and stops and returns to the position where the marker is detected e Home to Marker This mode does not need extra sensors such as home sensor or physical overtravel When the homing starts it moves in the homing direction at the creep velocity When it detects the marker it stops with deceleration and then moves back to the position where the marker is detected e Home to Present Position The position when a Start Homing sign
386. the Client Area 2 Click Setup to open the Monitor Setup window as shown on page 197 You can customize the display of the Monitor window for the selected online Ultra5000 drive The window displays a tree diagram with all the status settings that can be monitored for the selected drive Refer to Ultra5000 Status on page 199 for a detailed list of drive status selections 196 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 e Place a check mark in the checkbox to the left of a status item to monitor it TIP If you place a check mark beside a parent item all its child items become checked and their status is displayed If you remove a check mark from a parent item check marks are removed from all its child items and their status are not displayed If you place a check mark next to some but not all child items the parent Item is checked but dimmed Monitor Setup x Hes Current Velocity bate Current Acceleration A Leste Moye an CI State i 0 Floating Zero Current Position Z Curent Velocity iea Curent Acceleration o Current Jerk bia OI Cam O Motor s O Tuning OI Encoders O Digital Inputs ve O Digital Outputs O Analog Inputs O Analog Outputs O Global Variables pe O Faults aa O Service Info i O Position Limits a O Enabled Fault coe Drive Address Cancel Rockwell Automation Publication 2098 UM001G EN P
387. the Digital Outputs Window 005 271 Understanding the Analog Outputs Window 005 274 Understanding the Monitor Window 0 cece eee eee eee 275 Monitor Setup Window 0c cece eee e cent nent neees 276 Understanding the Oscilloscope Window 0 cece ee eee 278 Chanel Setup W IdOW cvairets o5 treine araa E 281 Understanding Kinetix 3 Status Displays eee ee 282 Understanding the Faults Window t 52 c 0iaeondhaesaenewareedaats 287 Understanding the Fault Detail Window 0 08 296 Understanding the Service Information Window 297 8 Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Table of Contents Chapter 6 PC ROCMUCLION Asi nent tinct akon cn detec ues oke bute a tamu 299 Using a Project Branch aca da ucinisuwn ou E E sau 299 Creatina a New Project taaastecat cee eetenmodnauimesseeneeus 299 Contouring APTO reserare EA venue ertea enw 300 Executing Project Commands i2s sscedaninaneananwneeneaeds 302 Usine Source FICS out din tus rin En A ERANA 303 Creating a Now Source Filius acaveverawi emus ea eE aa 303 Renaming a Source Pile 3 soya tsar tausei etnies aS 303 sine Header FUGo ienien T A EE 305 Creating a New Header Pile si 3icectudeceeeeet ess rE 305 Renauune a Tieader Pile iii ere a E EEEE 305 Executing Source or Header File Commands 306 Using the Mot
388. the accelerations from the graph must be multiplied by the square of the actual input velocity in counts per second The following direct commands can be executed for a Cam Table branch of an online drive Command Description Load in Memory Load in Memory makes the selected cam table the active cam table in the drive When cam is enabled the selected cam table begins executing Export Cam File Copies a cam file from the local drive and export it to a computer file Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra5000 Drive Chapter 4 Understanding the Gear Window The Properties window for the Gear branch looks like this Uw 5000 Gear Parameter vate ums Enable Gear Disable Gear a i Current Acceleration SS Courtsisec Cse lke z Current Gear Ratio SS Motor Counts Master Counts Iv Show Status Setup Revert Close Help M Show Commands Use the Gear window to e configure the drive s Gear Ratio Gearing takes the position data provided by a master encoder and uses it to generate motion e monitor status relating to gear driven motion You can edit parameters for both an online and an offline Gear branch However you can monitor status and execute direct commands executed through the Ultraware interface rather than through a compiled loaded and executed program only for a Gear branch that is the child ofan online
389. the drives Write load and execute C language motion programs for Ultra5000 drives Monitor a wide variety of status and motion parameters on the drives Customize the application interface to display only the information you wish to see Rockwell Automation Publication 2098 UM001G EN P February 2011 13 Chapter 1 Before You Begin Download Ultraware To communicate and configure your Kinetix 3 drive by using serial Softwa re communication from a personal computer download and install Ultraware software on your personal computer To get the latest Ultraware software follow these steps 1 Navigate to http www ab com motion software get Ultraware 1 80 exe 2 Click Run Usi ng Online Help The following types of online help are available To use this Dothis Description Help files Click Contents and Index from Descriptions of all on screen the Help menu Navigate the objects help files using the Table of Object property configuration Contents the Index and the settings search tabs How to information Context Sensitive Help files Click Help in the active window For help about the selected Or object Click an on screen object and press F1 You can also click the Tip of the Day command from the Help menu which opens a dialog box that displays helpful hints on using Ultraware software How Ultraware Software Ultraware software is one part of a motion control system The user commands Works the Ultr
390. the existing offset of the Analog Command Input and resets the Velocity Offset value to eliminate the offset Remove Current Input Offset This command automatically measures the existing offset of the Analog Command Input and resets the Current Offset value to eliminate the offset Remove Position Input Offset This command automatically measures the existing offset of the Analog Command Input and resets the Position Offset value to eliminate the offset Customize the Analog window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window Rockwell Automation Publication 2098 UM001G EN P February 2011 61 Chapter 3 Configuring the Ultra3000 Drive Understandi ng the Preset The Properties window for Presets looks like this Wi n d ow Drive Preset _ OF x Baami Value Units reset Velocities reset 0 reset 1 reset 2 reset 3 reset 4 reset 5 reset 6 reset 7 ccelDecel Limits cceleration Revais eceleration Revels reset Currents reset re
391. this window e Click Revert to return parameter settings to the values they held when you opened this window 270 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Understand i ng the Dig ital The Properties window for Digital Outputs looks like this Outputs Window ETS i File Edit View Insert Program Tools Commands Window Help la x lUptoSpecd Broke SO Unassigned O Unassigned Unassigned O m m Active Delay M Show Status Ghar enne Setup Revert Close Help _ UW_K3 Di Use the Digital Outputs window to assign these parameters e assign functions to digital outputs e set both active and inactive brake delays e monitor the status of the digital outputs and the digital relay The following parameters are associated with this window Parameter Description Output 1 6 The functions to be assigned to each digital output 1 4 Note If multiple functions are assigned to a digital output the output is active if any of the assigned functions would make it active The assignments are logically OR d to determine the output state e Unassigned The digital output is not used e Within Position Window An active output state indicates that the position error is less than the In Position Size setting in the Drive window e Up to Speed An active output state indicates motor velocity feedback is greater than the Up to Speed s
392. ting a new project and configuring its settings or creating new Fil source or header files and editing their content you can import existing projects HES header files and source files using the File menu s Import command Only items that have been previously exported using the File menu s Export command can be imported Exporting a file saves it as an User data eXchange File with a uxf extension Exporting Projects Header Files and Source Files You can export Projects Header Files and Source Files Although you cannot export an executable program file you can export and save the Project Source file and Header file that are used to create an executable program file To Export a Project Header File or Source File 1 Select the item to be exported perform these steps TIP If you select a Project all of its child source files and header files also are exported If you select a Source File or a Header File only the selected source File or Header File is exported 2 Doone of these e Click Export in the File menu or e Place the cursor over the drive branch right click the mouse button and click Export from the pop up menu The Export To dialog box opens Export To Save in E3 Ultraware Save as type User data exchange File uxf Cancel 3 In the Export To dialog box enter the name for the exported file 4 Navigate to a location to where the file should be exported 5 Click Sa
393. tinuous torque rating for the ambient temperature Chapter 4 temperature increase Verify the proper motor 211 Chapter4 Configuring the Ultra5000 Drive Status 05 IPM Fault 09 Bus Undervoltage 212 Possible Cause Suggested Action ON indicates that a fault was detected In the Integrated Power Module which resides in the Ultra5000 drive ON indicates the DC Bus is below normal operating voltage ON indicates the DC Bus is below normal operating voltage Motor cables shorted Motor winding shorted internally Ultra5000 temperature too high Operation above continuous power rating Ultra5000 has a bad IPM output short circuit or overcurrent Low AC line AC power input 100 VAC minimum for safe Ultra5000 operation Excessive regeneration of power When the drive is driven by an external mechanical power source It may regenerate too much peak energy through the drive s power supply The system faults to save itself from an overload Excessive AC input voltage VAC Rockwell Automation Publication 2098 UM001G EN P February 2011 Disconnect motor power cables from the drive If faults stop then either replace cable or try to find the short Verify by disconnecting motor from drive and then try to turn by hand If difficult to turn by hand the motor needs to be repaired or replaced e Check for clogged vents or defective fan e Ensure cooling is not rest
394. tion 2098 UM001G EN P February 2011 2 Summary of Changes This manual contains new and updated information New and Updated This table lists the changes made to this revision Information Topic Pages Chapter 5 Configuring the Kinetix 3 Drive added PZ Nocctol Appendix A Ultraware Software Updates adds Version 1 80 notes 339 Rockwell Automation Publication 2098 UM001G EN P February 2011 Summary of Changes 4 Rockwell Automation Publication 2098 UM001G EN P February 2011 Preface Before You Begin Common Commands for Ultra Drive Configuration Table of Contents About This Publication 00 ccc cece eee ccc cee cece eee eeeeee 11 Who Should Use this Manual 0 0 0 0 eee eee ee ec ee eees 11 Conventions Used in This Manual 0 cece cece eee eens 11 Additional Resources 4s 4540034 0 06csnandd bocudcaenduiadasweninteded 12 Chapter 1 leod ON bodice dsh nek chee se ea kh ena T eneen 13 About Ultraware Software 0 ccc ccc cece cece cece ceeeesneee 13 Download Ultraware Software 0 cece cc cc cece eee eee e eee eees 14 Using Online Help eect ierte ynie a a E AONE 14 How Ultraware Software Works 0 0 0 ccc cece ccc cece eee eee ees 14 Understanding the Graphical User Interface 0 005 15 Workspace Wind OW quer unen cemgeGeenck Peet E 16 Output Window arcs cre rana eenaa eE ETE ERE We ieee a dolce ht aeons EE eee ed ae ees T seas cannes 18 Maii Men Dat ii cic
395. tom motor file created for Ultra Master to be added to the Ultraware motor database Select the type of file you want to import from the Open Import dialog box by 1 Selecting the file to import from the Files of type drop down list and 2 Click Open to add the motor to the database TIP The data contained in a mtr file does not include all the properties for a motor stored in the motor database You should examine the motor properties after importing an Ultra Master motor file to verify the information Exporti ng Motors The Export Menu copies the selected motor to a motor exchange file mxf The motor exchange file is a binary format that transfers between different personal computers but Ultraware software must be installed on both personal computers 338 Rockwell Automation Publication 2098 UM001G EN P February 2011 Appendix A Ultraware Software Updates Introduction This appendix lists the significant changes to each version of Ultraware software Topic Page Introduction 339 Version 1 80 339 Version 1 64 339 Version 1 63 339 Version 1 60 340 Version 1 50 342 Version 1 40 343 Version 1 30 344 Installation Notes 346 Version 1 80 Kinetix 3 Drive related Enhancements e Adds support for the Kinetix 3 drive General Enhancements e Enlarges the selection of RS 232 serial communication port numbers to COM1 COM4 Version 1 64 Ultra3000 Drive related Enhancements e Adds support for SKS SKM encoders V
396. tor Feedback Marker Position A Marker Test Status Command Start Test Stop Test Description The encoder count Value for the Test Distance The value should be scaled according to the existing logic for scaling the Position Motor Feedback Testing is started and stopped by clicking the appropriate Test button e Start Test e Stop Test Description Possible displays include e idle e Jest in Progress e Test Success e Jest Failure Possible displays include blank nothing to report Test Aborted by User Test Distance Reached Marker Found Wiring Changes Recommended Feedback Resolution Error Encoder Alignment Error Displays the Counts Electrical Cycle recorded during the test Displays the Counts Electrical Cycle recorded during the test ON indicates the presence of the master encoder s A output signal ON indicates the presence of the master encoder s B output signal ON indicates the presence of the master encoder s B output signal Possible displays include e idle e Jest in Progress e Test Success e Jest Failure Description Turns testing ON Turns testing OFF Rockwell Automation Publication 2098 UM001G EN P February 2011 91 Chapter 3 Configuring the Ultra3000 Drive Auxiliary Feedback Diagnostics Use the Auxiliary Feedback Diagnostics window to verify the operation of the auxiliary feedback signals The Auxiliary Feedback Diagnostics window has these parameters statu
397. trol switching Switches to the 2nd gain while the position command exists e Position Command and Speed Switches to the 1st gain when no position command status lasts for the delay time of gain switching x 200 us and the speed falls slower than the control settings of the gain control switching level and hysteresis of control switching 256 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Parameter Description Delay Time of Gain Switching This value indicates the delay time when changing form from 2nd gain to 1st gain in 0 2 ms units Level of Gain Switching This value indicates the switching level when changing form from 2nd gain to 1st gain Hysteresis of Gain Switching This value indicates the hyteresis width to be operated above below the switching level Position Gain Switching Time This value indicates the step by step switching time to tho position gain while changing the 1st gain to 2nd gain in 0 2 ms units 2nd Regulator Gains The drive uses these tuning values when the Alternate Gain Select pact is assigned to an input and that input Is active e P See the P Gain description in the Main Velocity Regulator Gains section above e Integrator Time See Integrator Time description in the Main Velocity Regulator Gains section above e Low Pass Bandwidth VReg See Low Pass Filter Bandwidth description in the Main Velocity Regulator Gains section above
398. tus Description Output 1 4 State The current state or condition of each digital output is depicted by a light bulb icon as follows e ON a bright light bulb e OFF a darkened light bulb Relay State The current state or condition of the Relay is depicted by a light bulb icon as follows e ON a bright light bulb e OFF a darkened light bulb The following command can be executed for a Digital Outputs window of an online drive Command Description Override Outputs Opens the Override Outputs window where you can e place individual outputs in override mode or normal mode e turn outputs in override mode on or off e monitor the state of the outputs Rockwell Automation Publication 2098 UM001G EN P February 2011 101 Chapter 3 Configuring the Ultra3000 Drive Customize the Digital Outputs window for your Ultra3000 Drive by selecting one or more of these commands e Click Show Status to display or hide the Status pane e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup window as shown on page 105 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 102 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Ultra3000 Drive Chapter 3 Understand i ng the Analog The Properties window for Analog Outputs looks like this Outputs Wi ndow m
399. ty Fault detection e Enabled turns on User Velocity Fault detection by the drive e Disabled turns off User Velocity Fault detection by the drive Note Not available for a SERCOS drive The minimum velocity error that triggers the Velocity Error fault The minimum time that the velocity error must be greater than the Velocity Error Fault Limit to cause a Following Error fault It has a range of 0 65 535 ms The minimum position error that triggers the Following Error fault Note Not available for a SERCOS drive The minimum time during that the position error must be greater than the Following Error Fault Limit to cause a Following Error fault It has a range of 0 65 535 ms Note Not available for a SERCOS drive Rockwell Automation Publication 2098 UM001G EN P February 2011 127 Chapter 3 Configuring the Ultra3000 Drive The Faults window displays the status of these faults Status Possible Cause s Suggested Action Note The value of status that are ON 1 The value of status that are OFF 0 01 Non Volatile Memory Endurance Exceeded 02 Position Change 03 Absolute Feedback 04 Motor Overtemp 128 A section of non volatile memory Is used to assist in tracking absolute position when the drive is connected to a motor with absolute feedback This fault occurs when the total number of memory writes to this area exceeds the maximum value Note This fault can only be generated fo
400. umber Refer to Understanding the Service Information Window on page 135 Ready Refer to Understanding the Digital Outputs Window on page 99 Reverse Enable Refer to Understanding the Digital Inputs Window on page 95 Analog Analog Command In Remove Command Refer to Understanding the Offset Daal inoais Window bags Inputs Window on page 95 Preset Preset Select 0 Refer to Understanding the through 5 Digital Inputs Window on page 95 Define Position Refer to Understanding the Digital Inputs Window on page 95 Follower Follower Enable Refer to Understanding the Digital Inputs Window on page 95 Indexing Selected Index Refer to Understanding the X Indexing Window on page 66 Batch Count Refer to Understanding the A a aa Window on page 66 Define Position Refer to Understanding the Digal ouis Window onpa Inputs Window on page Sequence Refer to Indexing Control Complete ZOTT a on page 54 In Accel or ON indicates the drive is Constant Velocity executing the acceleration or constant velocity portion of an index In Decel ON indicates the drive is executing the deceleration portion of an index In Dwell Refer to Indexing Control X X Panel on page 54 In Motion Refer to Indexing Control X X Panel on page 54 Rockwell Automation Publication 2098 UM001G EN P February 2011 119 Chapter 3 Configuring the Ultra3000 Drive Status Description Non SERCOS SERCOS Drive Continued D
401. up dialog box that is opened by selecting the menu commands Tools gt Serial Port Baudrate The communication speed e 9600 bps e 1400 bps e 19200 bps e 38400 bps e 56000 bps e 5 600 bps Frame Format The serial communication information of Data bit Parity bit and Stop bit 1 5 Stop bits is not supported e 8 Data No Parity 1 Stop bit e 8 Data Even Parity 1 Stop bit e 8 Data Odd Parity 1 Stop bit e 8 Data No Parity 2 Stop bit e 8 Data Even Parity 2 Stop bit e 8 Data Odd Parity 2 Stop bit Protocol The default protocol type e ASCII e MODBUS RTU Communication Method The communication method e RS232 e RS485 MODBUS Run Function Control Selects the Modbus protocol as the Run Function Control e Disable e Enable MODBUS Input Function Control Selects the Modbus protocol as the Input Function Control e Disable e Enable Current Limits During runtime the drive limits positive current to The lesser of the Positive Internal Current Limit or the Positive External Current Limit If the assigned digital input is active the Intermittent Current rating of the drive a fixed value hard coded into the drive or the Intermittent Current rating of the motor stored in the motor database e Positive Internal The positive current limit value of the drive The range is 0 500 of the motor s continuous current rating The default is 300 e Negative Internal The negative current limit value of the drive The range is 0
402. uration Motor Model Specifies a motor that is predefined in the Kinetix 3 Driver The following status is displayed by default for the Motor branch of an online drive Status Description General Motor Model Motor Flag Motor Type Torque Constant Force Constant Inertia Mass Mass Poles Revolution The model name for the motor being used by the drive If Auto Motor Iden is enabled this displays the motor model obtained from the motor Either e Standard indicates a motor whose status settings come preconfigured e Custom indicates a user configured motor that was added to the Motor Model list above using the Ultraware utility The type of motor selected e Linear e Rotary Only for rotary motors The sinusoidal force constant in Newton meters Ampere N m A Only for linear motors The sinusoidal force constant in Newtons Ampere N A Rotor inertia in Kilogram centimeter squared kg cm Only for linear motors Rotor mass in Kilograms kg Only for linear motors The moving mass of the motor and load combined in Kilograms kg The number of motor poles per revolution 250 Rockwell Automation Publication 2098 UM001G EN P February 2011 Status Continued Electrical Cycle Integral Limits Electrical Rated Voltage Resistance Inductance Ratings Maximum Speed Intermittent Current Continuous Current Feedback Encoder Commutation sinusoidal Startup
403. ured for PGM Data rate used for DeviceNet communication This value is used only if the rotary switch on the front panel is configured for PGM The options are e 125 kps e 250 kps e 500 kps e Autobaud Selects the output consumed assembly that is updated when a polled change of state or cyclic O message is received by the drive The options are e No Data Consumed Assembly Instance 1 Assembly Instance 2 Assembly Instance 3 Assembly Instance 4 Assembly Instance 5 Assembly Instance 6 Assembly Instance 7 Assembly Instance 8 e Assembly Instance 9 Note Refer to the Ultra3000 DSD with DeviceNet Reference Manual publication 2098 RM001 for information on these options Selects the input produced assembly that is transmitted by the drive over a polled I O messaging connection The options are e Assembly Instance 10 Assembly Instance 11 Assembly Instance 12 Assembly Instance 13 Assembly Instance 14 Assembly Instance 15 Assembly Instance 16 Assembly Instance 17 e Assembly Instance 18 Note Refer to the Ultra3000 DSD with DeviceNet Reference Manual publication 2098 RM001 for information on these options Selects the input produced assembly that is transmitted by the drive over a change of state or cyclic I O messaging connection The options are e Assembly Instance 10 e Assembly Instance 13 e Assembly Instance 15 Note Refer to the Ultra3000 DSD with DeviceNet Reference Manual publication 2
404. uses 250 Motor window Ultra3000 73 commands 6 166 parameters 4 Statuses 4 Move branch Ultra5000 commands 150 parameters 149 Statuses 150 MPG integrated gear motor selection 75 New command 25 New Linear command 332 New Rotary command 332 Next Bookmark command 314 0 online help 14 Open command 26 Open existing file command 24 Open Last File command 24 Oscilloscope window Kinetix 3 278 channel configuration 276 281 commands 280 Oscilloscope window Ultra3000 108 channel configuration 111 commands 110 parameters 109 Oscilloscope window Ultra5000 channel configuration 190 commands 190 parameters 188 output window 17 February 2011 P Paste command 31 Peak current display Ultra 5000 218 PICS Number display Ultra 3000 135 Ultra 5000 218 Preset window Kinetix 3 239 digital input values 239 parameters 240 Preset window Ultra3000 62 digital input values 63 parameters 63 Previous Bookmark command 314 program commands 321 parameters 321 Program menu 19 Program toolbar 19 Programs branch Ultra5000 205 project commands 302 new 299 parameters 301 Project command 299 Properties window Kinetix 3 222 Ultra3000 39 Ultra5000 139 Rated current display Ultra 5000 218 Redo command 319 related documentation 12 release notes 339 version 1 3 general 345 Ultra3000 344 Ultra5000 345 version 1 4 general 344 Ultra3000 343 Ultra5000 343 version 1
405. utomation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Three segments of the Status display show an abbreviated title bAt for example for any warning or overtravel condition Status bAt oCC oSC Pin PrE CAP Overtravel conditions that may display include not Pot 1 The value of status that are ON 1 OFF 0 Absolute Encoder Battery 3 2V or less output from Overcurrent Command Overspeed Command Digital O Assignment Power Up Overspeed Over Motor Capacity encoder battery or external power supply Improper setting of analog current scale System cannot meet motion profile Incorrect current limit settings Improper setting of analog velocity scale system cannot meet motion profile Inappropriate assignment of digital inputs or outputs Control power is applied to the drive while the motor is in motion It occurs when motor power is set higher than the drive rated output Indicates a Negative Overtravel condition Indicates a Positive Overtravel condition Rockwell Automation Publication 2098 UM001G EN P February 2011 Possible Cause Suggested Action Replace battery or verity external power supply Verify scaling parameter corresponds to analog signal range Verify velocity loop tuning Verify system sizing Verify current limits do not restrict current to less than system capabilities Ver
406. value rolls over to zero as it passes the Length value 151 Chapter4 Configuring the Ultra5000 Drive Status Input Velocity Current Position Current Velocity Current Acceleration Index Offset Cam Table File Name File Loaded Mode Count Description The current master velocity value in counts per second squared The output position of the cam in counts This position always corresponds to the output position defined for the given Input Position in the cam table If the cam ends at a non zero output position this value rolls back to zero where all cams start and the Offset cam status is incremented by the difference between the starting and stopping output positions for the cam table The actual position command generated by the cam Is the sum of the Offset and Current Position The actual velocity command generated by the cam in counts per second This value is equal to the Input Velocity multiplied by the instantaneous cam table velocity This is the rate of change of the cam position in counts per count The actual acceleration command generated by the cam in counts per second squared This value is equal to the instantaneous cam table acceleration This is the rate of change of the cam velocity in counts per count per count times the Input Velocity squared The segment of the cam table used to calculate the cam output This is determined by the Input Position The index is zero based
407. ve The exported file is saved as an User data eXchange File with a uxf extension Rockwell Automation Publication 2098 UM001G EN P February 2011 323 Chapter6 Creating and Running Programs Importing Projects Header Files and Source Files You can import Projects Header Files and Source Files Although you cannot independently import an executable program file if you previously exported a Project with a child executable program file importing that Project also imports the executable program file To Import a previously exported Project Header File or Source File perform these steps 1 Do one of these steps e To import a previously saved Project select the offline Ultraware file in the Workspace window e To importa previously saved Source File or Header File select the Project to which the Source File or Header File is to be imported 2 Then do one of these steps e Click Import in the File menu e Place the cursor over the branch selected in the Workspace window right click in the window and then click Import in the pop up menu The Import From dialog box opens Import From Ei Lookin E Ultraware ol al x Files of type User data echange File uf Cancel Open as read only 3 In the Import From dialog box navigate to and select the User data eXchange File uxf that contains the desired file settings 4 Click Open The imported file in the Workspace window is displa
408. vel and two 2098 DSD 005X drives may also be named Drive and Drive 1 You can import an existing previously configured drive to an Ultraware file using the File menu s Import command Only drives that have been previously exported using the File menu s Export command can be imported Exporting a drive saves it as an User data eXchange File with a uxf extension Exporting a Drive To Export a drive perform these steps 1 Click a drive branch 2 Do one of these actions to open the Export To dialog box e Click Export in the File menu e Right click the drive branch and click Export in the menu Export To REI Save in a Ultraware E c m Save as type User data eXchange File uxf Cancel 3 Type or click a name for the drive in the Export To dialog box 4 Navigate to a location where the file should be exported 5 Click Save The exported file is saved as an User data eXchange File with an uxf extension Rockwell Automation Publication 2098 UM001G EN P February 2011 Common Commands for Ultra Drive Configuration Chapter 2 Importing a Drive To Import a previously exported drive performs these steps 1 Click the offline Ultraware file 2 Do one of these actions to open the The Import From window e Click Import in the File menu e Right click the Ultraware file and then click Import from the pop up menu Import From Look in C Ultraware v E File name Files
409. viceNet communication network is broken For linear motors only ON indicates there is a problem with the motor s maximum line count ON indicates SERCOS overtravel limit exceeded Excessive regeneration of power When the drive is driven by an external mechanical power source It may regenerate too much peak energy through the drive s power supply The system faults to save itself from an overload Excessive AC input voltage Output short circuit Motor cabling wires shorted together Internal motor winding short circuit Incorrect wiring Home sensor or marker is outside the overtravel limit Home sensor marker or final home position exceeds a hardware overtravel limit DeviceNet communication network is broken Electrical cycle length exceeds maximum lines per electrical cycle Programmed overtravel limit has been exceeded Rockwell Automation Publication 2098 UM001G EN P February 2011 e Change the deceleration or motion profile e Use a larger system motor and Ultra3000 e Use an Active Shunt Verify input is below 264 VAC Disconnect the power line from the drive and then do continuity check from the positive and negative poles of the DC Bus to each of the motor output phases U V and W If a continuity exists check for wire fibers between terminals or send drive in for repair Disconnect motor power cables from the drive If faults stop then eithe
410. volutions per second per user unit Stopping Functions sets available Stopping Functions Over Travel Stop Method The method used to bring the motor to a stop when an overtravel condition occurs Current Control The Maximum Stopping Current is applied to reduce the measured speed to zero Dynamic Brake The motor windings are shorted together and connected to the positive DC bus to reduce the measured speed to zero Maximum Stopping Current Current is applied to motor in order to bring the axis to a stop in the event of an overtravel condition Fault and Disable Braking A method used to bring the axis to zero speed by use of the Internal dynamic brake relay in the event of a fault or disable condition Note This selection affects the operation of the drive soft start circuitry because the hardware Is shared Brake and Hold The motor windings are shorted together and connected to the positive DC bus whenever the drive is faulted or disabled Brake and Release If the motor speed is non zero when the drive faults or changes to a disabled state the motor windings are shorted together and connected to the positive DC bus until zero speed is reached and then are disconnected Note In this mode at zero speed the soft start circuitry is operational only when control power is absent Free Stop The motor windings are not shorted together and the motor coasts to a stop Note In this mode the soft start circuitry is operat
411. w 17 toolbars 332 Edit 19 Enable 19 File 19 program 19 workspace window 16 User toolbar 19 Rockwell Automation Publication 2098 UM001G EN P February 2011 353 Index 354 using the text editor 309 V Velocity control panel Kinetix 3 parameters 235 View menu 19 W wildcard search characters 316 Window menu 19 Workbook Mode 18 working in the Workspace window 30 workspace window 16 Rockwell Automation Publication 2098 UM001G EN P February 2011 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect support programs For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com support Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Out
412. ware keeps track of modifications to the temporary file and prompts you with the option to save your changes when you close a file or exit the application With this change the File New command no longer requires you to select a udb file name right away e The oscilloscope now contains a Save button which lets the data displayed in the scope to be written to a tab delimited text file which can then be read into other programs such as Excel e The Ultraware help file has been expanded to provide instructions for using the Motor Configuration tool and provide access to the release notes Rockwell Automation Publication 2098 UM001G EN P February 2011 345 Appendix A _Ultraware Software Updates Installation Notes e When installing Ultraware or on a machine that has a current version of the software already installed a dialog will ask to upgrade the current version This is the same as removing the old version and installing the new version If you have custom motors defined in your previously installed motor database they will be transferred to the new motor database If an error occurs during the transfer you can manually transfer them to your new database using these technique Your old motor database will have been copied to a database called MotorBackup1 mdb Use the Export function in the motor configuration Utility to retrieve your custom motors from the back up database and import them into your new motor database motor
413. where you can export the file and save it as an User data eXchange File with a uxf extension Build Creates an executable program file with an exe extension by compiling all project Header and Source files No status settings are associated with the Source File item 306 Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Using the Motion Library Dialog The Motion Library dialog lets you quickly find and insert specific motion library commands and C statements in a motion program a Ultraware Off line Drives Project Source c apk plema j Ro On Line Drives EHEJ Offline Off line Drives udb Fie Edit View Insert Program Tools Commands Window Help als oje aala g E Uw 3000 pa Mode Configuration EP Motor Tuning aff Encoders Digital Inputs O Digital Outputs EA Analog Outputs i g Monitor es Oscilloscope fy Faults ori BZ Service Info Uw 5000 Ba Motion EP Motor Tuning aff Encoders Digital Inputs 3 Digital Dutputs amp Analog Inputs EA Analog Outputs ju Monitor E Oscilloscope Tt Programs fel Archives J Files BE Global Variables ate A Faults BF Service Info Project f c Source c B Off line Drives Project Source c Command Group include lt motion h gt Include the motion library functions
414. xing Parameter Auto Start Indexing Abort Index Deceleration Index 0 to 63 Setup Mode Distance Absolute Direction Position Maximum Distance Batch Count Description When this field is set to ON the drive begins executing the selected index whenever the drive enables The deceleration used to stop motion when the Stop Index input terminates an index move The type of move commanded e Absolute moves from its starting position to the specified Position below Note The axis must be homed before the drive can execute an absolute index e Incremental moves from its starting position the specified Distance below e Jog moves from its starting position a distance not to exceed the specified Maximum Distance below e Registration moves from its starting position the specified Distance below provided that the Registration Sensor input is not detected If the Registration Sensor input is detected the move is adjusted so that the end position is determined by the Registration Distance setting below The Registration Distance value must be larger than the deceleration distance or the move is not adjusted For Incremental and Registration mode moves the relative distance the motor travels It has a range of 2 147 483 647 2 147 483 647 counts For Absolute mode moves the direction of travel when Position Rollover is Enabled e Bi directional moves to the desired position using shortest path defaul
415. y 2011 157 Chapter4 Configuring the Ultra5000 Drive lable Pane The Table pane on the left but below the Properties Pane contains values for these parameters in each segment of a cam Parameter Input Position Velocity Type Description The position on the x axis for each point of the cam Each input on the cam has a specific input value in counts The initial input value is 0 and the default final input value is 1000 The position on the y axis for each point of the cam Each input on the cam has a specific position value in counts The initial and typically the final position value is 0 Displayed only for Polynomial Mode cam tables The instantaneous velocity in units of output position counts per input count per input count for the specific point of the cam By default an instantaneous velocity of 0 is set for each point added to a polynomial type segment and the velocity for each point added to a linear type segment is calculated e A positive velocity value increases the initial acceleration of the cam segment and consequently results in reduced velocity at the end of the cam segment e A negative velocity value decreases the initial acceleration of the cam segment and consequently results in higher velocity at the end of the cam segment Displayed only for Polynomial Mode cam tables The type of cam segment following the point e Linear e Polynomial The Table pane below the Properties con
416. y encoder encountered an illegal transition Set a time violation interval on a Step Direction or CW CCW input command Motor overheated Rockwell Automation Publication 2098 UM001G EN P February 2011 Chapter 3 Possible Cause s Suggested Action e ncrease User Current Level and Time to a less restrictive setting e Increase the time period for motion to occur e Check cables for noise e Check motor wiring e Retune drive amp motor combination e Use an actual oscilloscope to check encoder phasing e Retune the drive starts by setting the feed forward gain to 100 e Increase the Following Error Limit above e f in Follower Mode increase the Slew Limit in the Follower window e Replace the motor encoder e Use shielded cables with twisted pair wires e Route the feedback away from potential noise sources e Check the system grounds e Ensure digital filtering of encoder signals is enabled e Use shielded cables with twisted pair wires e Route the encoder cable away from potential noise SOUICES e Bad encoder replace encoder e Check the ground connections Check input timing to determine if the auxiliary encoder timing requirements are met e Reduce acceleration rates e Reduce duty cycle ON OFF of commanded motion e Increase time permitted for motion e Check system tuning e Use larger Ultra3000 and motor 131 Chapter 3 Configuring t
417. y until it detects the home sensor At that time the motor decelerates and stops and moves toward reverse direction at creep velocity When it loses the signal input from home sensor and meets the first marker it is decelerated and stops and returns to the position where It detects the active going edge of the first marker e Jo Limit Back to Marker This procedure is the same as the To Home sensor Back to Marker except that the physical overtravel is used instead of the home sensor Input The physical overtravel fault is disabled while homing e To Home sensor Fwd to Marker When homing is started the motor moves toward the homing direction at homing velocity until it detects the home sensor At that time the velocity decelerates to the creep velocity The creep velocity is maintained until it detects the active going edge of marker and then it stops and moves backward to the position where it detects the active going edge of marker 246 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 Parameter Description e Jo Home sensor Move Back to Marker If the distance is very short between the home sensor and marker it may fail to detect the first marker To prevent this this method has one additional parameter that defines a minimum distance in which to detect a Marker The minimum distance is defined as a time in the moving distance after home sensor After it de
418. yed 324 Rockwell Automation Publication 2098 UM001G EN P February 2011 Creating and Running Programs Chapter 6 Executi ng Your Program Use the Program menu to insert Run Stop and Kill commands into a program To execute these commands in your program perform these steps 1 Create an executable program file Refer to Using Executable Program Files on page 6 320 2 Move the executable program file to the Programs branch of an online Ultra5000 drive as follows a Click an executable program file in a Project branch in the Workspace window b Click Copy from the Edit menu c Click in the Workspace window of the Programs branch for an online Ultra5000 drive d Click Paste in the Edit menu 3 Click the executable program file you want to run in the Programs branch of an online drive 4 click the Program menu 5 Click the desired command Run Stop or Kill These commands are described in the paragraphs below Run Program This command tells an online drive to start or resume execution of the selected executable program exe file While the program is running the Workspace window icon for the selected program is animated An executable program file can be run even though the drive is disabled If the drive is enabled while the program is running Ultraware software prevents sudden large motion by calculating an offset between the motor s actual position and the drive s command position then adding this
419. your Kinetix 3 drive by selecting one or more of these commands e Click Show Commands to display or hide the Commands pane e Click Setup to open the Monitor Setup Window on page 276 where you can customize the status display for this window e Click Revert to return parameter settings to the values they held when you opened this window 266 Rockwell Automation Publication 2098 UM001G EN P February 2011 Configuring the Kinetix 3 Drive Chapter 5 U nderstandin g the DI g ital The Properties window for Digital Inputs looks like this n p uts Wi n d ow 4 UW_K3 Digital Inputs E 5 x File Edit View Insert Program Tools Commands Window Help SEa 2 amp Bae X dW o T Paramete Value Units Pingu OiveEnabie SO n2 unssin O nta unssin o O input integretor innin OO input FeuttRest o o OO inpute Curent Limit Negstive Input F Current Limit Positive i inputs Unsssigned O n9 unssin O imowno unosio OO IY Show Status IY Show Commands UW_K3 Di Use the Digital Inputs window to e assign functions to digital inputs and e monitor the status of digital inputs Selecting a function in the Value selection box causes that function to become active when the associated Digital Input becomes active you change the assignments so that Drive Enable is not assigned to any input the drive automatically enable on powerup Be aware that in this case th

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