Configuring a SERCOS analog motion system

Configuring a motion system is a process with many different configuration options. Basic SERCOS motion system setup requires these steps in the Logix Designer application:
Step
Process
Reason
1.
Add a SERCOS motion module
Identifies the motion module being used to the Logix controller
2.
Configure module properties
Defines how the module connects to the controller and how data is transferred.
3.
Add a SERCOS interface drive module to the controller I/O configuration
Establishes the communications channel between the drive module and the controller
4.
Modify properties for the interface drive
Defines the axes and power settings for the motion module
5.
Add a motion group
Consolidates the axes into a control set to provide coordinated motion.
6.
Set the base update rate
Selects the periodic rate (at which the Motion Planner executes motion tasks) to compute the servo commanded position, velocity, and accelerations to be sent to the output modules when executing motion instructions
7.
Add an axis
An axis is used to define forward and backward motion in one direction.
8.
Configure a SERCOS motion axis
Configures the individual attribute of the motion axis.
For the purposes of this quick start, assume this configuration:
  • A new controller project with a SERCOS motion module configured
  • Linear Displacement Transducer feedback
  • Servo axis configuration
    IMPORTANT: For all modules, use the firmware revision that goes with the firmware revision of your controller. See the release notes for your controller’s firmware.
Add a SERCOS motion module
  1. In the
    Controller Organizer
    , right-click the backplane and choose
    New Module
    .
  2. On the
    Select Module Type
     dialog box, choose the module that you want to add.
  3. Select the
    Close on Create
    check box, and click
    Create
    .
  4. On the
    New Module
    dialog box, in the
    Name
     box, type a name for the module.
  5. In the
    Slot
    box, choose the number that corresponds to the physical slot that contains the module.
  6. (optional) In the
    Description
    box, type a description.
  7. In the
    Electronic Keying
    list, choose a keying option of either
    Compatible Keying
    or
    Exact Match
    .
    WARNING:
    Disable Keying
     should
    never
     be used with motion modules.
  8. Select the
    Open Module Properties
     check box, and click
    OK
    .
Configure module properties
  1. If the
    Module Properties Report
     dialog box is not already open, in the
    Controller Organizer
    , double-click the motion module.
  2. On the
    Module Properties Report
    dialog box, click the
    Connection
    tab.
  3. Verify that the
    Major Fault on Controller If Connection Fails While in Run Mode
    check box is clear.
    TIP: Keep this check box clear until you execute the program the first time. If this check box is selected, then a Major Fault is generated when the SERCOS ring attempts to phase up the first time.
  4. Click the
    SERCOS Interface
     tab.
  5. In the
    Data Rate
     and
    Cycle Time
     boxes, choose the baud rate and update rate for the SERCOS ring using the following table as a guide. The data rate and the number of drives associated with the module dictate your minimum cycle time.
    Baud Rate of Drives
    Number of Drives on the Ring
    Type of Drives
    Cycle Time
    4 Mbps
    Up to 2
    Kinetix 2000
    Kinetix 6000
    Kinetix 6200
    Kinetix 7000
    0.5 ms
    Up to 4
    —
    1 ms
    Up to 8
    —
    2 ms
    9…16
    —
    No Support
    8 Mbps
    Up to 4
    Kinetix 2000
    Kinetix 6000
    Kinetix 6200
    Kinetix 7000
    0.5 ms
    Up to 8
    —
    1 ms
    Up to 16
    —
    2 ms
  6. Click
    OK
    .
Add a SERCOS interface drive module to the controller I/O configuration
The interface module links the controller to the drive.
  1. In the
    Controller Organizer
    , right-click
    SERCOS Network
     and choose
    New Module
    .
  2. On the
    Select Module Type
     dialog box, choose the module that you want to add.
  3. Select the
    Close on Create
     check box, and click
    Create
    .
  4. On the
    New Module
     dialog box, in the
    Name
     box, type a name for the interface drive.
  5. In the
    Node
    box, choose the SERCOS node number of the interface drive (see the module's rotary switch).
  6. (optional) In the
    Description
    box, type a description.
  7. In the
    Revision
     boxes, select the Major Revision and Minor Revision of the module.
  8. In the
    Electronic Keying
    list, choose a keying option of either
    Compatible Keying
    or
    Exact Match
    .
    WARNING:
    WARNING: Disable Keying
     should
    never
     be used with motion modules.
  9. Select the
    Open Module Properties
     check box, and click
    OK
    .
Modify properties for the interface drive
  1. If the
    Module Properties Report
     dialog box is not already open, in the
    Controller Organizer
    , double-click the interface drive.
  2. On the
    Module Properties Report
    dialog box, click the
    Associated Axes
     tab.
  3. Click
    New Axis
    to create an AXIS_SERVO tag to associate to one of the nodes.
  4. On the
    New Tag
    dialog box, in the
    Name
     box, type a name for the axis tag.
  5. Click
    Create
    .
  6. (optional) Repeat steps 3 through 5 if an additional axis is required.
  7. On the
    Module Properties Report
     dialog box, in the
    Node
    (Number) box, choose an AXIS_SERVO_DRIVE tag to associate with the drive’s node.
  8. (optional) In the second
    Node
     (Number) box, choose an axis.
  9. Click the
    Power
     tab.
  10. In the
    Bus Regulator Configuration
     box, choose the catalog number that describes the bus regulator device used by the drive module. Depending upon the drive you have selected, one or more of the bus regulator IDs may be available.
    IMPORTANT: This setting does not apply to the 8720MC drive, the Ultra3000 SERCOS drive, or Kinetix 6200 Integrated Drive Motor (IDM) drive. For those drives,
    none
     is the only available option.
  11. If you are configuring a Kinetix 2000 230-volt drive, in the
    Input Power
     box, choose
    Single-Phase
    or
    Three-Phase
    .
  12. If you are configuring an IDM Power Interface Module (IPIM) or IDM module, in the
    Additional Bus Capacitance
     box, choose the additional bus capacitance that is required. This parameter is only valid if an axis is associated with the Kinetix 6000 and Kinetix 6200 IAM module. When an axis is initially associated to the IAM, this parameter shows the default value and is enabled. If a valid value is set in the associated axis, and the axis is not associated to the IAM, this parameter is reset to the default value and cannot be changed until an axis is associated to the IAM.
  13. Click
    OK
    .
Add a motion group
Motion groups collect axes together so that their motion can be controlled as a single unit.
IMPORTANT: Only one motion group can be created for each project.
  1. In the
    Controller Organizer
    , right-click
    Motion Groups
    and choose
    New Motion Group
    .
  2. On the
    New Tag
     dialog box, in the
    Name
     box, type a name for the motion group.
  3. (optional) In the
    Description
    box, type a description.
  4. Click
    Create
    .
Set the base update rate
The Base Update Period (also known as the Coarse Update Period) is how often the motion planner runs. The motion planner is the part of the controller that handles position and velocity information for the axes. When the motion planner runs, it interrupts most other tasks regardless of their priority.
  1. In the
    Controller Organizer
    , double-click the motion group.
  2. Click the
    Attribute
     tab.
  3. In the
    Base Update Period
     box, choose the update period. The valid values range from
    0.5
    to
    32
    , in 0.5 increments.
    Guidelines for the Base Update Period.
    Guideline
    Description
    Number of Axes
    1756-L 6
    x
    controller 4 axes/ms
    1756-L7
    x
     controller8 axes/ms
    Save Controller’s Time
    Leave at least half the controller’s time for the scan of all your code.
    Base Update Period and SERCOS modules
    Set the Base Update Period to a multiple of the cycle time of the motion module.
    Example: If the cycle time is 2 ms, set the Base Update Period to 8 ms, 10 ms, 12ms, and so on.
    Base Update Period and Analog modules
    Set the Base Update Period to:
    • at least 3 times the servo update period of the motion module.
    • a multiple of the servo update period of the motion module.
  4. In the
    General Fault Type
     list, choose
    Non Major Fault
    .
  5. Click
    OK
    .
Add an axis
Add an axis for each of your drives.
  1. In the
    Controller Organizer
    , right-click the motion group and choose
    New Axis
    .
  2. Choose the data type.
    • For these motion modules, choose
      AXIS_SERVO_DRIVE
      .
      • 1756-M03SE
      • 1756-M08SE
      • 1756-M16SE
      • 1768-M04SE
    • To use a virtual configuration (no hardware), choose
      AXIS_VIRTUAL
      .
  3. On the
    New Tag
    dialog box, in the
    Name
     box, type a name for the axis.
  4. (optional) In the
    Description
     box, type a description for the axis.
  5. Click
    Create
    .
Configure a SERCOS motion axis
After the axis is created, configure the axis of a SERCOS interface drive. The steps may differ depending on the type of drive you are configuring.
  1. In the
    Controller Organizer
    , double-click the axis.
  2. On the
    General
     tab, verify that the assigned motion group and module information is correct. Make any needed changes.
  3. Click the
    Units
     tab, and in the
    Position Units
     and
    Average Velocity Timebase
     boxes, enter the values.
  4. Click the
    Drive/Motor
     tab.
  5. Click
    Change Catalog
    , and on the
    Change Catalog Number
     dialog box, choose the related motor catalog numbers, and click
    OK
    .
    The following conditions apply for the Integrated Drive Motor (IDM).
    • The
      Amplifier Catalog Number
      appears dimmed and cannot be edited when the axis is associated to an IDM.
    • The
      Motor Catalog Number
       is automatically set to the catalog number of the only motor available from the Motion Database for the IDM module when it is associated to the axis.
    • The Catalog Number for the IDM appears dimmed and is read-only. It is automatically set to the compatible motor from the motion database for each IDM.
    • An IDM does not support Auxiliary Axis loop configurations. When the
      Axis Configuration
       box on the
      General
      tab is set to
      Servo
      , the selections for
      Loop Configuration
      for the IDM are:
      • Position Servo
      • Dual Command Servo (does not use the Auxiliary Port)
      • Velocity Servo
      • Torque Servo
        When the
        Axis Configuration
         box on the
        General
        tab is set to
        Feedback Only
        , the selection for
        Loop Configuration
         for the IDM is
        Motor Feedback Only
        .
    • The following are real-time attributes for the IDM.
      • Position Command
      • Position Feedback
      • Position Error
      • Position Int. Error
      • Velocity Command
      • Velocity Feedback
      • Velocity Error
      • Velocity Int. Error
      • Accel Command
      • Accel Feedback
      • Marker Distance
      • Torque Command
      • Torque Feedback
      • Positive Dynamic Torque Limit
      • Negative Dynamic Torque Limit
      • Motor Capacity
      • Drive Capacity
      • Power Capacity
      • Bus Regulator Capacity
      • Motor Electrical Angle
      • Torque Limit Source
      • DC Bus Voltage
  6. In the
    Drive Resolution
     box, type the resolution, and then in the
    Drive Counts /
    box, select the units.
  7. Click
    Calculate
    .
  8. On the
    Calculate Position Parameters
    dialog box, click
    Calculate
    , review the values and adjust as needed until you have the desired calculated values, then click
    Update
    and
    Close
    .
  9. Click the
    Homing
     tab, and in the
    Mode
     box, choose the homing mode.
  10. In the
    Position
     box, type the position units.
  11. In the
    Sequence
     box, choose the sequence type.
  12. For all sequence types except
    Intermediate
    , in the
    Description
     box, choose the active home sequence type, and then in the
    Speed
     and
    Return Speed
     boxes, set the homing speeds.
  13. Click
    OK
     to apply the changes.
Provide Feedback
Have questions or feedback about this documentation? Please submit your feedback here.