Rockwell Automation 1768-L43 User manual

1768 CompactLogix System
Catalog Numbers 1768-L43 and 1768-L45 CompactLogix Controllers
Quick Start

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 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.
Allen-Bradley, Rockwell Automation, Rockwell Software, Inc., CompactLogix, ControlLogix, FactoryTalk ME, Kinetix, Logix5000, Point I/O, Panelview Plus, PowerFlex, RSLinx, RSLinx Classic, RSLinx Enterprise,
RSLogix, RSLogix 5000, RSLogix 5000 with PhaseManager, RSView Machine Edition, RSView ME, RSView SE, RSView Studio, RSView Enterprise, and TechConnect are trademarks of Rockwell Automation, Inc.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
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.
IMPORTANT
Identifies information that is critical for successful application and understanding of the product.
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.

3Publication IASIMP-QS003B-EN-P - October 2009 3
Where to Start
Follow the path that matches your hardware and network configuration.
Chapter 12
Create a PanelView Plus
Application
Chapter 13
Create a Kinetix 6000
Application
Chapter 11
CCreate a PowerFlex 70
Application
Chapter 1
Prepare the CompactLogix
Hardware
Chapter 2
Prepare the Computer and Load
Controller Firmware
Chapter 3
Prepare the Distributed
POINT I/O Hardware
Chapter 6
Prepare the Kinetix 6000
Multi-axis Servo Drive
System
Chapter 5
Prepare the PanelView
Plus Terminal
Chapter 7
Configure the
EtherNet/IP Network
Chapter 8
Configure the
DeviceNet Network
Chapter 9
Create a Project in RSLogix 5000
Chapter 10
Add Distributed Point
I/O Modules to the
Required
Optional
depending on your system
Optional
depending on your network
Required
Optional
depending on your system
Required
Chapter 4
Prepare the
PowerFlex 70 Drive

4Publication IASIMP-QS003B-EN-P - October 2009
Where to Start
How Hardware Is Connected
This quick start demonstrates CompactLogix L43 and L45 control systems using a single
EtherNet/IP or DeviceNet network for cost-effectiveness and simplified setup. You may
choose to use a multiple network system requiring a combination of EtherNet/IP and
DeviceNet procedures shown in this quick start.
Rockwell Automation also offers many devices other than those in the examples. See your
local Rockwell Automation representative for other device options.
Option 1: 1768-L43 and 1768-L45 Systems with EtherNet/IP Network
1768-L43 CompactLogix Controller with
1768-ENBT EtherNet/IP and 1768-M04SE SERCOS Modules
Computer with Ethernet Port
Distributed POINT I/O
with 1734-AENT Adapter
PowerFlex 70 Drive with
20-COMM-E Adapter
2711P PanelView Plus Terminal
with Built-in EtherNet/IP Port
Ethernet Switch
1756-CP3
EtherNet/IP
SERCOS
2094 Kinetix 6000
Multi-axis Servo Drive System
Serial

Publication IASIMP-QS003B-EN-P - October 2009 5
Where to Start
Option 2: 1768-L43 and L45 Systems with DeviceNet Network
1768-L43 CompactLogix Controller with
1768-M04SE SERCOS and 1769-SDN DeviceNet Modules
Distributed POINT I/O
with 1734-ADN Adapter
PowerFlex 70 Drive with
20-COMM-D Adapter
DeviceNet Power Supply
1606-XLDNET8
2711P PanelView Plus Terminal
Computer
Serial
DeviceNet
SERCOS
DeviceNet with KwikLink
flat cable and micro connectors
2094 Kinetix 6000
Multi-axis Servo Drive System
2706-NC13
1756-CP3

6Publication IASIMP-QS003B-EN-P - October 2009
Where to Start
Sample System Panel Layout
The sample panel layout shows the general orientation of 1768-L43 and 1768-L45 system
components for both EtherNet/IP and DeviceNet networks used in this quick start.
For additional panel layout assistance, the Kinetix Accelerator Toolkit CD in Appendix B
provides CAD enclosure, component, and wiring diagrams, in DXF format, for most
Rockwell Automation motion components. Refer to the System Design for Control of
Electrical Noise Reference Manual, publication GMC-RM001, for best practice techniques.
For panel layout instructions specific to the Kinetix 6000 drives, refer to the Kinetix 6000
Installation Manual, publication 2094-IN001.
PanelView Plus
AC Line
Filter Line Interface
Module
PowerFlex 70
Kinetix 6000 Drive Modules
DeviceNet Power Supply
Distributed POINT I/O
Ethernet Switch
1768-L43 CompactLogix System
DeviceNet KwikLink System
E-Stop
Through-the-door
Disconnect
1794-PS3

7Publication IASIMP-QS003B-EN-P - October 2009
Table of Contents
Preface
About This Publication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Audience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Required Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Parts List: Option 1, 1768-L43 System with EtherNet/IP . . . . . . . . . 15
Parts List: Option 2, 1768-L43 System with DeviceNet . . . . . . . . . . . 17
Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Chapter 1
Prepare the CompactLogix
Hardware
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
About the 1768 CompactLogix Controller. . . . . . . . . . . . . . . . . . . . . . 23
Mount and Wire the Line Interface Module. . . . . . . . . . . . . . . . . . . . . 24
Assemble the 1768 CompactLogix System. . . . . . . . . . . . . . . . . . . . . . 25
Make EtherNet/IP Network Connection. . . . . . . . . . . . . . . . . . . . . . . 28
Make DeviceNet Network Connections. . . . . . . . . . . . . . . . . . . . . . . . 29
Wire the 1768-PA3 Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Chapter 2
Prepare the Computer and Load
Controller Firmware
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Make Network Connections for Personal Computer. . . . . . . . . . . . . . 38
Install RSLogix Programming Software . . . . . . . . . . . . . . . . . . . . . . . . 39
Configure a Serial Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Set the IP Address for the Computer . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Configure the EtherNet/IP Driver in RSLinx Software . . . . . . . . . . . 48
Load the Controller Firmware. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Install Additional Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Chapter 3
Prepare the Distributed POINT I/O
Hardware
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Mount and Connect the Network Adapter. . . . . . . . . . . . . . . . . . . . . . 55
Mount the POINT I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Mount and Wire the POINT I/O Power Supply. . . . . . . . . . . . . . . . . 58
Wire the Adapter and I/O Modules to the Power Supply. . . . . . . . . . 59
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

8Publication IASIMP-QS003B-EN-P - October 2009
Table of Contents
Chapter 4
Prepare the PowerFlex 70 Drive
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Mount and Wire the PowerFlex 70 Drive. . . . . . . . . . . . . . . . . . . . . . . 63
Configure the Communication Adapter . . . . . . . . . . . . . . . . . . . . . . . . 65
Connect Communication Adapter to the PowerFlex 70 Drive . . . . . . 66
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Chapter 5
Prepare the PanelView Plus
Terminal
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Mount and Wire the PanelView Plus Terminal . . . . . . . . . . . . . . . . . . 71
Make Network Connections for PanelView Plus. . . . . . . . . . . . . . . . . 72
Assign IP Address for PanelView Plus . . . . . . . . . . . . . . . . . . . . . . . . . 73
Upgrade Terminal Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Chapter 6
Prepare the Kinetix 6000
Multi-axis Servo Drive System
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Mount and Bond the Power Rail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Mount the Integrated Axis and Axis Module . . . . . . . . . . . . . . . . . . . . 80
Wire Power to the Integrated Axis Module . . . . . . . . . . . . . . . . . . . . . 82
Wire Servo Motors to Integrated Axis and Axis Modules . . . . . . . . . . 83
Connect the SERCOS Fiber Optic Cables . . . . . . . . . . . . . . . . . . . . . . 84
Set the SERCOS Node Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Chapter 7
Configure the EtherNet/IP
Network
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Assign IP Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Browse the EtherNet/IP Network in RSLinx Classic Software . . . . . 91
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Publication IASIMP-QS003B-EN-P - October 2009 9
Table of Contents
Chapter 8
Configure the DeviceNet Network
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Apply Power to the DeviceNet Network . . . . . . . . . . . . . . . . . . . . . . . 94
Set the Node Address of the DeviceNet Scanner . . . . . . . . . . . . . . . . 95
Create a DeviceNet Configuration File. . . . . . . . . . . . . . . . . . . . . . . . . 97
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Chapter 9
Create a Project in RSLogix 5000
Programming Software
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Create a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Configure 1768-ENBT Ethernet Module. . . . . . . . . . . . . . . . . . . . . . 104
Configure 1769-SDN DeviceNet Module . . . . . . . . . . . . . . . . . . . . . 105
Configure 1769 Local I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Verify I/O Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Add Ladder Logic to Test Local 1769 Compact I/O Modules. . . . . 109
Set the Project Path and Download to the Controller . . . . . . . . . . . . 112
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Chapter 10
Add Distributed Point I/O Modules
to the Project
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Add Distributed I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Configure the DeviceNet Subnet . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Configure the 1734-ADN Properties . . . . . . . . . . . . . . . . . . . . . . . . . 123
Create a DeviceNet Scanlist. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Add Ladder Logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Create DeviceNet Tags and Add Ladder Logic . . . . . . . . . . . . . . . . . 130
Download the Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Test the Distributed I/O Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

10 Publication IASIMP-QS003B-EN-P - October 2009
Table of Contents
Chapter 11
Create a PowerFlex 70 Application
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Add the Drive to Your RSLogix 5000 Project . . . . . . . . . . . . . . . . . . 139
Edit the Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Create a DeviceNet Scanlist. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Create DeviceNet Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Download the Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Test the PowerFlex 70 Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Chapter 12
Create a PanelView Plus
Application
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Create a New Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Create an RSLinx Enterprise Configuration in
FactoryTalkView ME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Create Device Shortcuts to the Controller . . . . . . . . . . . . . . . . . . . . . 166
Create the OB16_Light Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Create a Push Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Test the Indicator and Push Button . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Add a Goto Configuration Mode Button . . . . . . . . . . . . . . . . . . . . . . 176
Assign Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Assign an Initial Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Transfer the Application to the PanelView Plus Terminal. . . . . . . . . 179
Test the Application on the PanelView Plus Terminal . . . . . . . . . . . 181
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Chapter 13
Create a Kinetix 6000 Application
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Before You Begin. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Enable Coordinated System Time Master . . . . . . . . . . . . . . . . . . . . . 185
Create the Motion Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Configure Your Logix SERCOS Module . . . . . . . . . . . . . . . . . . . . . . 187
Configure Your Kinetix IAM and AM Modules . . . . . . . . . . . . . . . . 189
Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Save and Download Your Program. . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Test the Kinetix Application File . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Additional Resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

Publication IASIMP-QS003B-EN-P - October 2009 11
Table of Contents
Appendix A
Network Information
Network Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Appendix B
Kinetix Accelerator Toolkit
Sample Panel Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Simplified Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Preconfigured HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Preconfigured Logic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Diagnostic Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Kinetix Accelerator Toolkit CD . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Appendix C
Motion Anaylzer
Motion Analyzer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

12 Publication IASIMP-QS003B-EN-P - October 2009
Table of Contents

13Publication IASIMP-QS003B-EN-P - October 2009 13
Preface
About This Publication
This quick start provides examples and procedures for 1768-L43 and 1768-L45
CompactLogix systems. It includes version 18 release updates for RSLogix 5000
programming software. These procedures cover many common user tasks, such as:
•connecting the controller to multiple devices including local and distributed I/O, drives,
Kinetix 6000 servo drives, and a PanelView Plus terminal.
•connecting and configuring EtherNet/IP, DeviceNet, and serial networks using
CompactLogix systems.
•creating and monitoring controller programs.
The examples are designed to get devices installed and communicating with each other in the
simplest way possible. The programming examples are not complex, and offer easy solutions
to verify that devices are communicating properly.
The beginning of each chapter contains the following information. Read these sections
carefully before beginning work in each chapter.
•Before You Begin - This section lists the steps that must be completed and decisions
that must be made before starting that chapter. Because the chapters in this quick start
do not have to be completed in the order in which they appear, this section defines the
minimum amount of preparation required before completing the current chapter.
•What You Need - This section lists the tools that are required to complete the steps in
the current chapter. This includes, but is not limited to, hardware and software.
•Follow These Steps - This section illustrates the steps in the current chapter and
identifies which steps are required to complete the examples using specific networks.
Also note that the electronic version of this publication contains links to pages within
publications for easier navigation. Click on any chapter title, chapter number, topic title, or
page number to follow a link to the item.

14 Publication IASIMP-QS003B-EN-P - October 2009
Audience
This quick start was created to assist experienced or new industrial control users not familiar
with the CompactLogix controllers or Integrated Architecture products of Rockwell
Automation.
Required Software
The table lists software required to complete the examples in this quick start. Some software
is required regardless of the 1768 CompactLogix system you use and other software is
dependent on the network and devices in the system.
Rockwell Automation Version Required for
RSLogix 5000 programming software 18 All 1768-L43 and 1768-L45
systems
RSNetWorx for DeviceNet software 7.0 DeviceNet network
FactoryTalkView Machine Edition software
Includes:
•Factory Talk Services
•RSLinx Enterprise
•RSLinx Lite (Classic)
PanelView Plus terminals

Publication IASIMP-QS003B-EN-P - October 2009 15
Parts List: Option 1, 1768-L43 and 1768-L45 Systems with EtherNet/IP
The table lists the parts for the 1768-L43 and 1768-L45 systems with an EtherNet/IP
network and a 200/230V Kinetix 6000 Multi-axis Servo Drive System.
Parts List: Option 1, 1768-L43 and 1768-L45 Systems with EtherNet/IP Network
Quantity Catalog Number Description
General Configuration
1 1768-L43 and 1768-L45 CompactLogix Controller
1 1768-PA3 CompactLogix Power Supply
1 1769-ECR Compact I/O Right End Cap/Terminator
1 1769-IF4 Compact 4 Channel Analog Current/Voltage Input Module
1 1769-IQ16 Compact 16 Point 24V dc Sinking/Sourcing Input Module
1 1769-IF4XOF2 Compact 8 Bit Resolution, High Speed 4 In/2 Out Analog Combination Module
1 1769-OF2 Compact 2 Channel Analog Current/Voltage Output Module
11769-OB16 (1) Compact 16 Point 24V dc Sourcing Output Module
11734-IB4 (2) POINT I/O 4 Sink Input Module
11734-OB4E (2) (3) POINT I/O 4 Protected Output Module
11734-OE2C (2) POINT I/O 2 Current Output Analog Module
1 1734-TB Wiring Base w/ Removable IEC Screw Terminals (Quantity of 10)
1 1794-PS13 FLEX I/O 85-264V ac to 24V dc 1.3A Power Supply
1 20AB4P2A3AYNNNNN PowerFlex 70 Drive.
1 2711P-B10C4D1 PanelView Plus 10 inch color keypad/touch terminal with EtherNet/IP and RS-232
1 1747-CP3 or 1756-CP3 RS-232 cable for connection between the 1768-L43 controller and personal computer
1 64-134 DIN rail (steel not aluminum), 1 m
EtherNet/IP Configuration
1 1768-ENBT CompactLogix EtherNet/IP Communication Module
1 1734-AENT POINT I/O Ethernet Adapter
1 20-COMM-E PowerFlex 70 EtherNet/IP Adapter
1 Ethernet Switch
6 Non Rockwell Automation Ethernet CAT5 Straight-through cables

16 Publication IASIMP-QS003B-EN-P - October 2009
Kinetix 6000 Servo Drive System - 200/230V (The quantity, size, and cat. nos. for the Kinetix equipment will vary by application motion requirements.)
11768-M04SE SERCOS interface module installs in 1768 CompactLogix controller and connects to
Integrated Axis modules or Axis modules.
12094-AL75S (4) Line Interface Module (LIM), 230V, 75 A
1 140U-H-RVM12R Through-the-door Disconnect for LIM
1 2090-XXLF-X330B Line Filter, 3-phase, 30 A ac
1 2094-PRS2 Power Rail, 2-slot, Slim
1 2094-AC09-M02 Integrated Axis Module (IAM), 6 kW Converter and 19 A Inverter Output
1 2094-AM01 Axis Module (AM), 9 A Inverter Output
1 MPL-A310P-MK22AA MP-Series Low Inertia Motor, 0.73 kW Output with Absolute, Multi-turn Feedback
2 2090-XXNPMP-16S03 Motor Power Cable: 3 m (9.8 ft)
2 2090-UXNFBMP-S03 Motor Feedback Cable, 3 m (9.8 ft)
2 2090-SCEP0-9 SERCOS Fiber Optic Cable, 0.9 m (2.9 ft)
1 2090-SCEP0-1 SERCOS Fiber Optic Cable, 0.1 m (5.1 in.)
(1) The 1769-OB16 is the only Compact I/O module used in this quick start. The other modules are added as examples only and are not required.
(2) Use POINT I/O modules at series C or later to complete examples in this quick start.
(3) The 1734-OB4E module is the only POINT I/O module used in this quick start. The other modules are added as examples only and are not required.
(4) The 2094-AL75S line interface module (LIM) is optional. Individual components can be purchased separately instead of the LIM.
Parts List: Option 1, 1768-L43 and 1768-L45 Systems with EtherNet/IP Network
Quantity Catalog Number Description

Publication IASIMP-QS003B-EN-P - October 2009 17
Parts List: Option 2, 1768-L43 and 1768-L45 Systems with DeviceNet
The table lists the parts for a 1768-L43 and 1768-L45 Systems with DeviceNet I/O, serial
connections, and a 200/230V Kinetix 6000 Multi-axis Servo Drive System.
Parts List: Option 2, 1768-L43 and 1768-L45 Systems with DeviceNet Network
Quantity Catalog Number Description
General Configuration
1 1768-L43 and 1768-L45 CompactLogix Controller
1 1768-PA3 CompactLogix Power Supply
1 1769-ECR Compact I/O Right End Cap/Terminator
1 1769-IF4 Compact 4 Channel Analog Current/Voltage Input Module
1 1769-IQ16 Compact 16 Point 24V dc Sinking/Sourcing Input Module
1 1769-IF4XOF2 Compact 8 Bit Resolution, High Speed 4 In/2 Out Analog Combination Module
1 1769-OF2 Compact 2 Channel Analog Current/Voltage Output Module
11769-OB16 (1) Compact 16 Point 24V dc Sourcing Output Module
11734-IB4 (2) POINT I/O 4 Sink Input Module
11734-OB4E (2) (3) POINT I/O 4 Protected Output Module
11734-OE2C (2) POINT I/O 2 Current Output Analog Module
1 1734-TB Wiring Base w/ Removable IEC Screw Terminals (Quantity of 10)
1 1794-PS13 FLEX I/O 85-264V ac to 24V dc 1.3A Power Supply
1 20AB4P2A3AYNNNNN PowerFlex 70 Drive
1 2711P-B10C4D1 PanelView Plus 10 inch color keypad/touch terminal with EtherNet/IP and RS-232
1 1747-CP3 or 1756-CP3 RS-232 cable for connection between the 1768-L43 controller and personal computer
1 2711-NC13 RS-232 cable for connection between the PanelView Plus terminal and the 1768-L43
controller or personal computer
1 64-134 DIN rail (steel not aluminum), 1 m
DeviceNet Configuration
1 1769-SDN Compact DeviceNet Scanner
1 1734-ADN POINT I/O DeviceNet Adapter
1 20-COMM-D PowerFlex 70 DeviceNet Adapter
1 1606-XLDNET8 DeviceNet Power Supply
1 1485C-P1E75 KwikLink Flat Cable, 75 m
2 1485A-T1E4 KwikLink Terminator/Resistor
3 1485P-P1E4-R5 KwikLink Sealed Micro Connector
3 1485K-P1F5-C KwikLink QD Cordset Micro Right-Angle Male
1 1485T-P1E4-B1 KwikLink Power Tap Module

18 Publication IASIMP-QS003B-EN-P - October 2009
Kinetix 6000 Servo Drive System - 200/230V (The quantity, size, and cat. nos. for the Kinetix equipment will vary by application motion requirements.)
11768-M04SE SERCOS interface module installs in 1768 CompactLogix controller and connects to
Integrated Axis modules or Axis modules.
12094-AL75S (4) Line Interface Module (LIM), 230V, 75 A
1 140U-H-RVM12R Through-the-door Disconnect for LIM
1 2090-XXLF-X330B Line Filter, 3-phase, 30 A ac
1 2094-PRS2 Power Rail, 2-slot, Slim
1 2094-AC09-M02 Integrated Axis Module (IAM), 6 kW Converter and 19 A Inverter Output
1 2094-AM01 Axis Module (AM), 9 A Inverter Output
1 MPL-A310P-MK22AA MP-Series Low Inertia Motor, 0.73 kW Output with Absolute, Multi-turn Feedback
2 2090-XXNPMP-16S03 Motor Power Cable: 3 m (9.8 ft)
2 2090-UXNFBMP-S03 Motor Feedback Cable, 3 m (9.8 ft)
2 2090-SCEP0-9 SERCOS Fiber Optic Cable, 0.9 m (2.9 ft)
1 2090-SCEP0-1 SERCOS Fiber Optic Cable, 0.1 m (5.1 in.)
(1) The 1769-OB16 module is the only Compact I/O module used in this quick start. The other modules are added as examples only and are not required.
(2) Use POINT I/O modules at series C or later to complete examples in this quick start.
(3) The 1734-OB4E module is the only POINT I/O module used in this quick start. The other modules are added as examples only and are not required.
(4) The 2094-AL75S line interface module (LIM) is optional. Individual components can be purchased separately instead of the LIM.
Parts List: Option 2, 1768-L43 and 1768-L45 Systems with DeviceNet Network
Quantity Catalog Number Description

Publication IASIMP-QS003B-EN-P - October 2009 19
Conventions
This manual uses the following conventions.
Convention Meaning Example
Courier
font Type or enter text exactly as shown. Type cmd.
Check or uncheck Click to activate or deactivate a checkbox. Check the Disable Keying checkbox.
Click Click the left mouse button once while the cursor is positioned
on object or selection. Click Browse.
Double-click Click the left mouse button twice in quick succession while the
cursor is positioned on object or selection. Double-click the application icon.
Expand Click the + to the left of a given item /folder to show its
contents. Expand 1768 Bus under I/O Configuration.
Right-click Click the right mouse button once while the cursor is positioned
on object or selection. Right-click the 1768 Bus icon.
Select Click to highlight a menu item or list choice. Select New Module from the pull-down list.
>Shows nested menu selections as menu name followed by menu
selection. Select File>Menu.

20 Publication IASIMP-QS003B-EN-P - October 2009
Notes: