Configuring an Ethernet motion system

Configuring a motion system is a process with many different configuration options. Basic Ethernet motion system setup requires these steps in the Logix Designer application:
Step
Process
Reason
1.
Add an Ethernet motion module
Identifies the motion module being used to the Logix controller
2
Create an axis for a motion drive
An axis is used to define forward and backward motion in one direction.
3.
Create a motion group
Consolidates the axes into a control set to provide coordinated motion.
4.
Configure the axis properties
Defines the individual properties for the axis, including motor feedback, axis configuration, and scaling.
For the purposes of this quick start, assume this configuration:
  • An Ethernet motion module, either Kinetix or PowerFlex
  • Motor feedback
  • Position loop axis configuration
  • A new controller project with an Ethernet communications module configured
Add an Ethernet motion module
  1. Right-click the Ethernet network (node) and choose
    New Module
    .
  2. In
    Select Module Type
    , under
    Module Type Category Filters
    , select the appropriate checkbox to filter the selections and select the motion module from the list.
  3. Click Create. The
    New Module
     dialog box appears.
    • In
      Name
      , type a name for the module.
    • (optional) In
      Description
      , type a description.
  4. In
    Ethernet Address
     specify an IP address.
  5. Under
    Module Definition
    , click
    Change
    . The
    Module Definition
     dialog box appears.
  6. In
    Electronic Keying
     select
    Compatible Module
    .
    IMPORTANT:
    The electronic keying feature automatically compares the expected module, as shown in the configuration tree, to the physical module before communication begins.
    When you are using motion modules, set the electronic keying to either
    Exact Match
     or
    Compatible Keying
    .
    Never use
    Disable Keying
     with motion modules.
  7. In
    Connection
    , select
    Motion
    .
  8. (optional) In
    Power Structure
    , select the appropriate power structure from the list (Example: 2094-BC01-MP5-M) and then select
    Verify Power Rating on Connection
    .
    TIP: Power structure identifiers are not required for all modules. If needed, these numbers are found on the hardware, in the device documentation, and on the bill of materials. Many modules have power structures defined by default.
  9. Click
    OK
     to apply the changes.
Create an axis for a motion drive
  1. Double-click the drive in the
    Controller Organizer
     to open the
    Module Properties
     dialog box.
  2. Click the
    Associated Axes
     tab.
  3. Click
    New Axis
    . The
    New Tag
     dialog box appears.
    • In
      Name
      , type a tag name.
    • (optional) In
      Description
      , type a description.
  4. In
    Type
    , select
    Base
    .
  5. In
    Data Type
     select
    AXIS_CIP_DRIVE
    .
  6. Click
    Create
    .
Create a Motion Group
  1. In the
    Controller Organizer
    , right-click
    Motion Groups
     and select
    New Motion Group
    .
  2. The
    New Tag
     dialog box appears.
    • In
      Name
      , type a tag name.
    • (optional) In
      Description
      , type a description.
  3. In
    Type
    , select
    Base
    .
  4. In
    External Access
    , select
    Read/Write
    .
  5. Click
    Create
    . The new motion group appears in the
    Controller Organizer
     under the
    Motion Groups
     folder.
  6. Right-click the new motion group and choose
    Properties
    . The
    Motion Group Properties
     dialog box appears.
  7. Click the
    Axis Assignment
     tab and move the axes (created earlier) from
    Unassigned
     to
    Assigned
    .
  8. Click the
    Attribute
     tab in the
    Motion Group Properties
     dialog box, set the
    Base Update Period
     to 5 ms. For the Kinetix 6500 drive, the minimum Base Update Rate is 1 ms.
  9. Click
    OK
    .
Configure the Axis Properties
  1. In the
    Controller Organizer
    , double-click the axis.
  2. Configure
    General
     properties
    • In
      Axis Configuration
      , select
      Position Loop
      .
    • In
      Feedback Configuration
      ,
      select
      Motor Feedback
      .
    • In
      Application Type
      , select
      Basic
    • In
      Loop Response
      , select
      Medium
      .
  3. Configure
    Motor
     properties
    • Select the
      Motor
       page.
    • Specify a motor with the
      Data Source
       selected as
      Catalog Number.
      All of the motor settings are completed automatically to match the settings specified for that catalog number.
  4. Motor Feedback
     properties are configured by default.
  5. Configure
    Scaling
     properties
    • Select the
      Scaling
       page.
    • In
      Load Type
      , select
      Direct Coupled Rotary
      .
    • In
      Scaling
       for
      Units
      , select
      Position Units
      .
    • Then in
      Scaling
       enter 1.0
      Position Units per
      1.0
      Motor Rev
      .
    • In
      Travel
      , for
      Mode
       select
      Unlimited
      .
  6. Click
    Apply
    .
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