Allen-Bradley ControlLogix User manual

Reference Manual
Integrated Motion on the EtherNet/IP Network
ControlLogix, CompactLogix, Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500, PowerFlex 527,
PowerFlex 755

Important userinformation
Read this document and the documents listed in the additional resources section about installation, configuration, and operation of this equipment
before you install, configure, operate, or maintain this product. Users are required to familiarize themselves with installation and wiring instructions
in addition to requirements of all applicable codes, laws, and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are required to be carried out by
suitably trained personnel in accordance with applicable code of practice. If this equipment is used in a manner not specified by the manufacturer,
the protection provided by the equipment may be impaired.
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 Automation, 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 ordeath, property damage, or economic loss.
ATTENTION:Identifiesinformation aboutpractices orcircumstancesthatcan lead to personal injury or death, property damage, or economic
loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence
Important: Identifies information that iscritical forsuccessfulapplication and understanding of theproduct.
Labels may also be on or inside the equipment to provide specific precautions.
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.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to potential Arc Flash. Arc
Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL Regulatory requirements for safe work
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Trademarks not belonging to Rockwell Automation are property of their respective companies.

Rockwell Automation PublicationMOTION-RM003I-EN-P- February 2018 3
Summaryof changes
This manual contains new and updated information. Use these reference tables to
locate new or changed information.
Grammatical and editorial style changes are not included in this summary.
Global changes
This table identifies changes that apply to all information about a subject in the
manual and the reason for the change. For example, the addition of new supported
hardware, a software design change, or additional reference material would result
in changes to all of the topics that deal with that subject.
Subject Reason
Organizationbyfunctional category Updatedthroughout to align with the online help.
AccessRule naming conventions Updated throughout to reflect changes made in this version of Logix
Designer application.
New or enhanced features
This table contains a list of topics changed in this version, the reason for the
change, and a link to the topic that contains the changed information.
Topic Name Reason
Stopping and Braking Attributeson page431 Added Connection Loss Stopping Actionattribute.
Added Vertical Load Control attribute.
Updated descriptions of stopping sequences.
MotionPlanner Output Attributeson page 374 Added Motion Planner Output attributes.
PositionControlModeon page17
VelocityControl Modeon page 18
Added descriptions of OpenLoopPositionControlMethodand
OpenLoopVelocity ControlMethod.

Summary of changes
4Rockwell Automation PublicationMOTION-RM003I-EN-P- February 2018
Topic Name Reason
AccelerationControlAttributes on page 187
AccelerationControlConfigurationAttributes on page 189
APR Fault Attributeson page279
Auto-Tune ConfigurationAttributes on page 258
AxisExceptionActionon page283
AxisInfo Attributeson page 234
AxisSafetyStatus Attributes on page 414
CIP Axis Status Attributes on page 236
Current Control Configuration Attributeson page 196
DC Bus ControlAttributeson page 451
Drive General PurposeI/O Attributeson page249
Event CaptureAttributes on page 247
Exception Factory Limit Info Attributeson page290
Feedback Configuration Attributes on page 304
FrequencyControl ConfigurationAttributeson page 204
Hookup Test Configuration Attributes on page 266
InductionMotor Attributeson page 401
Inertia TestResultAttributeson page 272
Module Configuration Attributeson page 471
Module/Node Fault andAlarm Attributeson page297
MotionControl ConfigurationAttributeson page 317
Motion Planner Configuration Attributes on page 367
PositionLoopAttributeson page 206
Power and Thermal Management Status Attributes on page 254
Torque/Force ControlConfigurationAttributes on page 211
VelocityLoop Attributeson page 228
Velocity Loop ConfigurationAttributes on page221
Updated minimum, maximum, and default values.
CIPAPR Fault- Mfg attribute table removedfrom APR Fault
Attributeson page 279
Converter Control Signal Attributes
Removed unsupportedattributes.
Guard Safety Attributes on page 425 RenamedDriveSafetyAttributes to Guard Safety Attributes.
MotorTestResultAttributeson page 275 AddedMotor TestBus Overvoltage Speedattribute.
Kinetix5700Safety DriveModule Optional Attributeson page
147 Added optional attribute table for the 2198-xxxx-ERS4 safety
drive modules.
Kinetix 5700 Safety DriveModule Optional Attributeson page
138 Updated optional attributes for the 2198-xxxx-ERS3 drive
modules.
MotionControlAxis BehaviorModelon page51 Updated graphics.
StateBehavioron page 61
Exceptionson page 41
Updated descriptions.

Rockwell Automation PublicationMOTION-RM003I-EN-P- February 2018 5
Tableofcontents
Additional Resources...............................................................................................................11
Legal Notices ..............................................................................................................................12
Chapter 1
Integrated Motion Axis Control Modes and Methods.................................................16
Control Modes ..................................................................................................................16
Position Control Mode ..........................................................................................17
Velocity Control Mode ..........................................................................................18
Torque Control Mode............................................................................................20
No Control Mode....................................................................................................21
Control Methods..............................................................................................................21
Motion Instruction Compatibility..............................................................................22
Chapter 2
Acceleration Control Behavior.............................................................................................25
Acceleration Limiter........................................................................................................26
Load Observer....................................................................................................................27
Command Generation Behavior..........................................................................................28
Command Data Sources.................................................................................................29
Command Fine Interpolation ......................................................................................30
Command Ramp Generator..........................................................................................33
Feedforward Signal Selection........................................................................................34
Command Notch Filter..................................................................................................35
Current Control Behavior......................................................................................................35
Current Vector Limiter ..................................................................................................36
Voltage Output..................................................................................................................37
Current Feedback.............................................................................................................37
Motor Commutation ......................................................................................................38
Event Capture Behavior..........................................................................................................38
Event Input Sources.........................................................................................................39
Event Latches.....................................................................................................................40
Event Time Stamps..........................................................................................................40
Fault and Alarm Behavior.......................................................................................................41
Exceptions...........................................................................................................................41
Absolute Position Recovery...........................................................................................43
Absolute Position Loss without APR Faults....................................................44
APR Fault Conditions............................................................................................44
APR Fault Generation............................................................................................45
APR Fault Examples................................................................................................47
APR Recovery Scenarios.........................................................................................48
Reset an APR Fault..................................................................................................50
Preface
Integrated Motion on the
EtherNet/IP Network
Behavior models used in CIP
Motion

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6Rockwell Automation PublicationMOTION-RM003I-EN-P- February 2018
Motion Control Axis Behavior Model...............................................................................51
Active Control Axis Behavior Model .........................................................................52
Feedback Only Axis Behavior Model .........................................................................54
CIP Motion Converter Axis Behavior Model.........................................................56
Motor Attributes Model.................................................................................................57
Position Control Behavior.............................................................................................58
Position Feedback Selection..................................................................................59
Position PI Gains......................................................................................................60
Velocity Feedforward ..............................................................................................60
Position Loop Output Filters ...............................................................................61
State Behavior ....................................................................................................................61
Torque Control Behavior...............................................................................................71
Torque Input Sources .............................................................................................72
Inertia Compensation.............................................................................................73
Friction Compensation..........................................................................................75
Torque filters.............................................................................................................77
Torque Limiter..........................................................................................................78
Torque to Current Scaling ....................................................................................78
Velocity Control Behavior.............................................................................................79
Closed Loop Velocity Control.............................................................................80
Open Loop Frequency Control ...........................................................................83
Chapter 3
Attribute Units..........................................................................................................................90
CIP Data Types.........................................................................................................................91
Device Function Codes...........................................................................................................91
Required vs. Optional Axis Attributes................................................................................93
Identify Motion Axis Attributes Based on Device Function Codes..........................95
Attribute Conversion from SERCOS to Integrated Motion on the Ethernet/IP
Network....................................................................................................................................111
Drive Supported Optional Attributes .............................................................................114
Kinetix 350 Drive Module Optional Attributes..................................................116
Kinetix 5500 Hardwired STO Drive Module Optional Attributes ..............122
Kinetix 5500 Integrated STO Drive Module Optional Attributes................130
Kinetix 5700 Safety Drive Module Optional Attributes...................................138
Kinetix 5700 Advanced Safety Drive Module Optional Attributes...............147
Kinetix 6500 Drive Module Optional Attributes................................................155
PowerFlex 527 Axis Instance Optional Attributes..............................................161
PowerFlex 755 Standard Drive Module Optional Attributes..........................168
PowerFlex 755 Safety Drive Module Optional Attributes................................174
MSG Instruction Access Only Attributes......................................................................181
Interpret the Attribute
Tables

Table of contents
Rockwell Automation PublicationMOTION-RM003I-EN-P- February 2018 7
Chapter 4
Control Mode Attributes....................................................................................................187
Acceleration Control Attributes...............................................................................187
Acceleration Control Configuration Attributes..................................................189
Command Reference Generation Attributes........................................................191
Command Generator Configuration Attributes.........................................191
Command Generator Signal Attributes.........................................................195
Current Control Configuration Attributes ..........................................................196
Current Control Signal Attributes...........................................................................201
Frequency Control Configuration Attributes......................................................204
Frequency Control Signal Attribute........................................................................206
Position Loop Signal Attributes................................................................................206
Position Loop Configuration Attributes................................................................208
Torque/Force Control Configuration Attributes...............................................211
Torque/Force Control Signal Attributes...............................................................220
Velocity Loop Configuration Attributes................................................................221
Velocity Loop Signal Attributes................................................................................228
Data Attributes.......................................................................................................................233
Axis Info Attributes ......................................................................................................234
Axis Statistical Attributes............................................................................................235
CIP Axis Status Attributes..........................................................................................236
Event Capture Attributes............................................................................................247
Drive Attributes......................................................................................................................249
Drive General Purpose I/O Attributes ...................................................................249
Drive Output Attributes .............................................................................................251
Power and Thermal Management Configuration Attributes..........................252
Power and Thermal Management Status Attributes ..........................................254
Drive Commissioning and Tuning Attributes..............................................................257
Auto-Tune Configuration Attributes.....................................................................258
Hookup Test Configuration Attributes.................................................................266
Hookup Test Result Attributes.................................................................................267
Inertia Test Configuration Attributes ....................................................................269
Inertia Test Result Attributes....................................................................................272
Motor Test Result Attributes ....................................................................................275
Faults and Alarms Attributes..............................................................................................279
APR Fault Attributes....................................................................................................279
Axis Exception Action Configuration Attributes................................................281
Axis Exception Action .........................................................................................283
Configuration Fault Attributes.................................................................................287
CIP Error Codes....................................................................................................287
Exception Factory Limit Info Attributes................................................................290
Exception User Limit Configuration Attributes.................................................292
Exception, Fault and Alarm Attributes...................................................................293
Initialization Faults Attributes..................................................................................295
Standard Initialization Faults ............................................................................296
Rockwell Automation Specific Initialization Faults...................................296
CIP Axis Attributes

Table of contents
8Rockwell Automation PublicationMOTION-RM003I-EN-P- February 2018
Module/Node Fault and Alarm Attributes ...........................................................297
Feedback Attributes ..............................................................................................................302
Feedback Interface Types............................................................................................302
Feedback Configuration Attributes.........................................................................304
General Feedback Info Attributes ............................................................................316
General Feedback Signal Attributes.........................................................................316
Motion Control Attributes.................................................................................................317
Motion Control Configuration Attributes ...........................................................317
Motion Control Interface Attributes......................................................................323
Motion Control Signal Attributes............................................................................330
Motion Control Status Attributes ...........................................................................341
Motion Database Storage Attributes.......................................................................352
Motion Dynamic Configuration Attributes .........................................................354
Motion Homing Configuration Attributes...........................................................357
Motion Planner Configuration Attributes............................................................367
Motion Planner Output Attributes.........................................................................374
Motion Scaling Attributes ..........................................................................................375
Motion Resolution Value Examples................................................................386
Motor Attributes....................................................................................................................388
General Linear Motor Attributes.............................................................................388
General Motor Attributes...........................................................................................389
General Permanent Magnet Motor Attributes.....................................................396
General Rotary Motor Attributes.............................................................................399
Induction Motor Attributes.......................................................................................401
Linear PM Motor Attributes......................................................................................404
Interior Permanent Magnet Motor Attributes.....................................................406
Load Transmission and Actuator Attributes........................................................409
Rotary PM Motor Attributes.....................................................................................412
Safety Attributes.....................................................................................................................414
Axis Safety Status Attributes......................................................................................414
Guard Safety Attributes...............................................................................................425
Guard Safety Status Attributes..................................................................................426
Stopping and Braking Attributes ......................................................................................431
Stopping Sequences.......................................................................................................445
Proving Operational Sequences.................................................................................448
DC Bus Control Attributes........................................................................................451
Start Inhibits Attributes ..............................................................................................453
Standard Start Inhibits.........................................................................................454
Rockwell Automation Specific Start Inhibits...............................................455
Exceptions ................................................................................................................................456
Standard Exceptions .....................................................................................................456
Standard CIP Axis Fault and Alarm Names..........................................................461
Rockwell Automation Specific Exceptions............................................................465
Rockwell Automation Specific CIP Axis Fault Names......................................467
Rockwell Automation Specific CIP Axis Alarm Names....................................468

Table of contents
Rockwell Automation PublicationMOTION-RM003I-EN-P- February 2018 9
Chapter 5
Module Configuration Block Attributes........................................................................471
Module Class Attributes......................................................................................................473
Module Axis Attributes........................................................................................................474
Module Feedback Port Attributes ....................................................................................489
Module Timing Attributes..................................................................................................490
Module Support Attributes ................................................................................................492
Module Configuration
Attributes
Index