Micro 850

Micro 850:Modbus to PF4M Kinetix 3 y PanelView Component Micro 850:Modbusto PF4M Kinetix 3 y PVC V 2013 1.0

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START PROGRAMMING ........................ ................................... ....................... ......................... ......................... ....................... ....................... ....................... .....................3 ..........3 SETTING UP POWERFLEX 4M...................... 4M...................................... .............................. ............................ ............................. .............................. .......................26 ........26 COMMUNICATION SETTING FOR COMMUNICATION PORT............................ .......................................... ............................ ........................41 ..........41 TESTING THE MODBUS COMMUNICATION PROGRAM........................................................................44 CONFIGURING THE KINETIX 3 DRIVE (20 MINUTES)____________________ )_______________________________ _________________51 ______51 CONFIGURE THE DRIVE COMMUNICATION SETTINGS FOR SERIAL....................................................51 CONNECT TO THE DRIVE USING ULTRAWARE....................... .................................... .......................... ......................... ......................... .....................54 ........54 CONFIGURE THE DRIVE USING ULTRAWARE.............................. .............................................. ................................ ................................ .....................59 .....59 CONFIGURE WITH REQUIRED INDEXING MOVES....................... .................................... ......................... ......................... ......................... ..................63 ......63 CONFIGURE THE REQUIRED HOMING PROCEDURE.................................. ................................................... .................................. .......................65 ......65 CONFIGURE THE DRIVE COMMUNICATION SETTINGS FOR MODBUS............................ ........................................... ......................66 .......66 POWERFLEX KINETIX

AND

AND

PVC.................................................................................................................69

PVC....................... ................................... ........................ ........................ ......................... ......................... ........................ ........................ .........................72 .............72

Micro 850:Modbusto PF4M Kinetix 3 y PVC V 2013 1.0

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START PROGRAMMING ........................ ................................... ....................... ......................... ......................... ....................... ....................... ....................... .....................3 ..........3 SETTING UP POWERFLEX 4M...................... 4M...................................... .............................. ............................ ............................. .............................. .......................26 ........26 COMMUNICATION SETTING FOR COMMUNICATION PORT............................ .......................................... ............................ ........................41 ..........41 TESTING THE MODBUS COMMUNICATION PROGRAM........................................................................44 CONFIGURING THE KINETIX 3 DRIVE (20 MINUTES)____________________ )_______________________________ _________________51 ______51 CONFIGURE THE DRIVE COMMUNICATION SETTINGS FOR SERIAL....................................................51 CONNECT TO THE DRIVE USING ULTRAWARE....................... .................................... .......................... ......................... ......................... .....................54 ........54 CONFIGURE THE DRIVE USING ULTRAWARE.............................. .............................................. ................................ ................................ .....................59 .....59 CONFIGURE WITH REQUIRED INDEXING MOVES....................... .................................... ......................... ......................... ......................... ..................63 ......63 CONFIGURE THE REQUIRED HOMING PROCEDURE.................................. ................................................... .................................. .......................65 ......65 CONFIGURE THE DRIVE COMMUNICATION SETTINGS FOR MODBUS............................ ........................................... ......................66 .......66 POWERFLEX KINETIX

AND

AND

PVC.................................................................................................................69

PVC....................... ................................... ........................ ........................ ......................... ......................... ........................ ........................ .........................72 .............72


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Start Programming This section of the lab will show you how to setup the communication setting and creating a program to communication between Micro800 controller and PowerFlex 4M drive. Setting up communication 1.Start the Connected Component Workbench for the Start Menu: Start Programs  Rockwell Automation  CCW  Connected Components Workbench.

Alternatively, Alternatively, double double click on the the shortcut shortcut on the Desktop


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.

2. At the Connected Component Workbench window, drag 2080-L50-24QBB from the Catalog Window into the Project Organizer Window, a new project will be created.

3. Click in FileSave Project As… in the Name field, enter “Mod_Drive”

4. Click “OK”


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5. In the Project Organizer double click in Global Variables 6. Create the following variables shown in the table below PF_ON

BOOL

PF_STOP

BOOL

SERVO_ON SERVO_OFF START_INDEX SET_PFSPEED JOG_PF

BOOL BOOL BOOL BOOL BOOL

JOG_ON

BOOL

JOG_OFF

BOOL

JOG_SERV SET_SERVJOGS SPEED_PFREF JOG_PFSPEED SET_PF_JSP JOG_SPDSERV

BOOL BOOL INT INT BOOL INT

7. The Local Variable will appear as shown upon completion.


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4. Map the PF_ON variable to register address 500001 Enter the register address in this field.

Then click here to select the PF_ON variable

Select the User Global Variables TabV

Then click OK

5. Repeat steps 3 and 4 for the others variables, and map them to the register addresses as shown below Micro 850:Modbusto PF4M Kinetix 3 y PVC V 2013 1.0

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Create a PanelView Component Application

First you have to decide how you want to create the application, this can be as online or offline.

A. Create an Online application

The first one is by Ethernet. First of all energize your PanelView to get IP address.

Set the IP Address to your personal computer

1. Click Start >> Settings>> Network Connections 2. Click Local Area Connection


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3. Click Properties 4. Double Click Internet Protocol (TCP/IP) 5. Mark Use the following IP address, and in IP address put your IP. Note: Remember the last number of IP address should be different from IP of the PanelView. 6. Click Ok Note: There are different ways to change the computer IP, verify the way, and change the IP.

Configure Browser Settings


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Launch PanelView Explorer (Internet Explorer 7 web browser, Mozilla Firefox 2.0 or 3.0 Web Browser)


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B. Create an Offline application

Then click here to select the PF_ON variable

4. Follow the next section “Create a PanelView application”. 5. Once you create your application you need to transfer the Offline PVc Application to a PVc Terminal.


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Create PanelView Application

Once you area in the Application dashboard you can create or edit an application. For this lab we are going to create a new application. If you are online just click Create & Edit button. If you are offline chose the platform and click the button. The application will launch in a new tab or window.

1.


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2.

3.

Click add

Click the HIM Tags tab

4.


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Create the following tags as shown below-make sure to choose th correct data

Create a screen display with objects linked to the tags you just created Click on HMI Screens….

Create a maintained pushbutton linked to tag PF_ON .


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Configure the Connections Write Tag and Indicator Tag to PF_ON tag

Repeat these steps to create the following screen

1

2

4

3 6

7 12

5 8

9

Micro 850:Modbusto PF4M Kinetix 3 y PVC 10 V 2013 1.0 Page 22 of 75 11

In the Numeric Entry Entry Properties panel, select the connections connections tab and configure the write tag and indicator tag to, SPEED_PFREF

1 2 3 4 5 6 7 8 9 10 11 12

PF_ON PF_STOP SERVO_ON SERVO_OFF START_INDEX SET_PFSPEED JOG_PF JOG_ON JOG_OFF JOG_SERV SET_SERVJOGS SET_PF_JSP

Drag and drop a numeric entry object from the entry object palette onto your display

Create a numeric input Enable object linked to tag, SPEED_PFREF


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Repeat these steps to create the following screen

1 2 3

1 2 3

SPEED_PFREF JOG_PFSPEED JOG_SPDSERV

5. Create a Goto config button and a text as show next


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6. If you are online you need to validate your application. Click Validate Application.

Wait for the next prompt. If there are any warnings the application is valid, but no with errors.

Save your work, and close the application with the next icon.


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Setting Up PowerFlex 4M Configuring the PowerFlex 4M In this section of the lab, the PowerFlex 4M drive will be configured to communicate with the Micro830 controller. The following is the overview of the steps to be taken for configuring the drive. •

Reset the Drive to Factory Default

•

Setting up the control and the speed referencing of the Drive.

•

Setting up the communication setting and the Node number of the Drive.

To complete this lab, the drive needs to be reset to the factory defaults. Follow these steps: Using the keypad 1. To verify if the drive is controlled by the integral keypad, check if the Green LED beside the green start button is lit. If the LED is on, the drive can be controlled by pressing the Start/Stop button in the keypad. To control the speed, turn the potentiometer above the Green Led. 2. Get familiar with the integral keypad:

Key

Name

Description

Esc

Escape

Back up one step in programming menu/ Cancel a change to a parameter value / Exit Program Mode.

Sel

Select

Advance one step in the programming menu / Select a digit when viewing parameter value.

Up Arrow, Down Arrow

Scroll through groups and parameters/ Increase/decrease the value of a flashing digit.

Enter V 2013 1.0

Advance one step in programming menu/ Save a change to a parameter Micro 850:Modbusto PF4M value. Kinetix 3 y PVC Page 26 of 75

Resetting to factory defaults (Setting Parameter P112 to a value of 1) 3. Press the Esc key (multiple times if necessary) until the display shows “0.0” 4. Press the Enter key once and the display should show “xyyy” where x is d,P,t,C or A and y is a numerical value. 5. Verify that the leftmost alphabet character (x) is flashing. 6. Press the Up Arrow or Down Arrow key until the leftmost character displayed is a flashing “P”. Press the Enter key and the “P” will stop flashing and the rightmost numeric character is flashing. 7. Press the Up Arrow or Down Arrow key until “P112” is displayed. 8. Press the Enter key and a “0” will be displayed as the current value of parameter P112. 9. Press the Enter key again and “0” begins flashing. Press the Up Arrow key to adjust the value to “1” and press the Enter key to enable the default settings. 10. The display will flash “F048” and the red FAULT LED will flash also. This fault indicates that the drive parameters have been reset to factory default. Press the Red Stop Button to clear the fault. 11. Since both green LEDs on the front of the drive are on, verify that you can: •

•

•

•

Start the drive by pushing the Green Start Button (if the drive doesn’t start and the display still reads “0.0”, try rotating the speed potentiometer clockwise). Then verify that you can stop the drive by pushing the Red Stop Button (note that the drive does not stop immediately, but decelerates at a configured rate to zero). Start the drive again and verify that once the drive is done accelerating, the speed potentiometer can be used to speed up or slow down the drive. Now stop the drive by pressing the Red Stop Button.


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Changing the Control and Speed References This lab shows communications between the Micro 830 and the PF4M drive. The drive needs to be set to accept remote control commands from the Micro 830. This is done by setting the parameters for the Start Source (P106) and Speed reference (P108) to a value of “5”. Setting the start source to “Remote”. (Comm port) - P106 12. Press the Esc key (multiple times if necessary) until the display shows “0.0”. 13. Press the Enter key once, the display show “xyyy” where x is and alphabet (d,P,t,C or A) and y is numerical number. 14. Press the Up Arrow or Down Arrow key until the leftmost alphapet value displayed is a flashing “P”. Press the Enter key. Now the “P” stops flashing and the rightmost numeric character is flashing. 15. Press the Up Arrow or Down Arrow key until “P106” is displayed. 16. Press the Enter key and the current value of parameter P106 will be displayed, which by default is “0”. 17. Press the Enter key again and “0” begins flashing. Press the Up Arrow key multiple times to adjust the value to “5” and then press the Enter key to accept this value. (“5” should not be flashing any longer) Notice that the green LED next to the green Start button on the drive is now off. 18. Press the Esc key and “P106” should be displayed (with the “6” flashing). Press the Up Arrow key twice so that “P108” is displayed (with the “8” flashing). Setting the Speed Reference to “Remote” (Comm port) - P108 19. Press the Enter key and the current value of parameter P108 will be displayed. The value of “0” means “Keypad”. 20. Press the Enter key again and “0” begins flashing. Press the Up Arrow key multiple times to adjust the value to “5” and then press the Enter key to accept this value. (“5” should not be flashing any longer) Notice that the green LED next to the Speed Potentiometer on the drive is now off. 21. Press the Esc key multiple times until “0.0” is displayed. The drive is now ready to be controlled by Modbus RTU communication commands initiated from the Micro 830 controller.


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Changing the communication settings of the drive The following steps will show how to change the communication setting of the PowerFlex 4M Drives for communication with Micro 830 via Modbus RTU communication. Modbus Communication Settings: Parameter

Description

Setting

C302

Comm. Data Rate (Baud Rate) 4 = 19200 bps

4

C303

Comm. Node Addr.

2

C304

Comm. Loss Action ( Action taken when loss communication) 0 = Fault with coast stop

0

C305

Comm. Loss Time (Time remain in communication before taking action set in C304) 5 sec ( Max. 60)

5

C306

Comm. Format (Data/Parity/Stop) RTU:8 Data Bit, Parity None, 1 Stop bit

0


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Setting the Baud Rate – C302 22. Press the Esc key (multiple times if necessary) until the display shows “0.0”. 23. Press the Enter key once, the display shows “xyyy” where x is and alphabet (d,P,t,C or A) and y is numerical number. 24. Press the Up Arrow or Down Arrow key until the leftmost alphanumeric value displayed is a flashing “C”. Press the Enter key. Now the “C” stops flashing and the rightmost numeric character is flashing. 25. Press the Up Arrow or Down Arrow key until “C302” is displayed. 26. Press the Enter key and the current value of parameter C302 will be displayed, which by default is “3”. 27. Press the Enter key again and “3” begins flashing. Press the Up Arrow key to change the baud rate of the drive to 19200 bps to “4” and then press the Enter key to accept this value. 28. Press the Esc key and “C302” should be displayed (with the “2” flashing). Press the Up Arrow once so that “C303” is displayed (with the “3” flashing). Setting the Node Address – C303 29. Press the Enter key and the current value of parameter C303 will be displayed, which by default is “100”. 30. Press the Enter key again and “100” begins flashing. Press the Down Arrow key to adjust the Modbus node address to “2” (for multiple drives, you would assign address 2 for the second drive, 3 for the third drive, etc.) and then press the Enter key to accept this value. 31. Press the Esc key and “C303” should be displayed (with the “3” flashing). Verify Communications Loss Action – C304, Communications Loss Time –C305, Communications Format –C306 32. Parameter C304, C305 and C306 should be the factory default value, which is “0”, “5” and “0” respectively. Verify if C304 value is “0” by pressing the Enter key and the current value of parameter C304 will be displayed, which by default is “0”. 33. Press the Esc key again and “C304” should be displayed (with the “4” flashing). Press the Up Arrow once so that “C305” is displayed (with the “5” flashing). 34. Press Enter key and the current value of parameter C305 will be displayed, which by default is “5”. 35. Press the Esc key again and “C305” should be displayed (with the “5” flashing). Press the Up Arrow once so that “C306” is displayed (with the “6” flashing).


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36. Press Enter key and the current value of parameter C306 will be displayed, which by default is “0”. 37. Press the Esc key (multiple times if necessary) until the display shows “0.0”. 8. Turn off the power to the drive until the PowerFlex 4M display blanks out completely, then restore power to the PowerFlex 4M. The drive is now ready to be controlled by Modbus RTU communication commands initiated from the Micro 830 controller. 9. 10. Under the Project Organizer, right click on the Programs select Add and select New LD: Ladder Diagram.

43. Right click on UntitledLD and select Rename.


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44. Type in “Mod_Message” and press Enter:

11. Double click on Mod_Message. From the Toolbox ,drag a Block to the rung


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Creating a Time On-Off (TONOFF) Block 12. From the Instruction Block Selector Window, select TONOFF.

13. Click OK to proceed.


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14. Click on variable, and enter in T#2S for both PT and PTOFF

15. From the Toolbox, drag a Reverse Contact to the Rung 1, before the TONOFF_1.

16. From the Variable Selector Window, select TONOFF_1.Q.


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17. The Rung 1 will look like the following:

18. From the Toolbox, create a new rung in the workspace.


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19. Drag a Direct Contact to the Rung 2.

20. From the Variable Selector Window, select TONOFF_1.Q.

21. From the Toolbox, drag a Block to Rung 2. Micro 850:Modbusto PF4M Kinetix 3 y PVC V 2013 1.0

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22. From the Instruction Block Selector window, select MSG_MODBUS

23. Then click on OK to proceed.

24. Double click on the Local Variable at the Project Organizer .


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Creating Variables 25. Create the following variables shown in the table below in the Mod_MessageVAR Tab. Variable Name

Data Type

1. Cancel

BOOL

2. D2_lcfg

MODBUSLOCPARA

3. D2_Tcfg

MODBUSTARPARA

4. D2_laddr

MODBUSLOCADDR

5. D2_error

BOOL

6. D2_errorc

UINT

26. The Local Variable will appear as shown upon completion.

27. Double click on the Mod_Message, assign the variable to the parameters of the MSG_MODBUS_1.


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Variable Name

Parameter of MSG_MODBUS_1

1

Cancel

Cancel

2

D2_lcfg

LocalCfg

3

D2_Tcfg

TargetCfg

4

D2_laddr

LocalAddr

5

D2_error

Error

6

D2_errorc

Error ID

Upon completion, the Rung 2 will appear as followed:


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28. Finally, build and save the Ladder Program. Right click on the Micro850 icon in Project Organizer and select Build.

29. At the Output window at the bottom center of the screen, the build should show succeeded.

64. Click on Save icon

to save your work.


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Communication Setting for Communication Port This section of the lab will show you how to add a Serial Communication Plug-In module and configure the Serial Plug-In for Modbus Communication. 65. Double on Micro850 under the Project Organizer . The following Micro850 tab will appear.

66. Right-Click on the first in the list, and select 2080-SERIALISOL.


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Upon selection, the image of the Serial Communication Plug-in module will appear.

67. At the

Properties, select the following settings.

Note: The Baud Rate for the PowerFlex 4M and Micro 830 Controller be the same .


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68. At the Advanced Settings, select RS485 in the Media Field.

69. Build the program again. Right click on the Micro830 icon in Project Organizer and select Build.

70. At the Output window at the bottom center of the screen, the build should show succeeded.

71. Click on Save icon

to save your work.


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Testing the Modbus Communication Program 72. In the Project Organizer , right click on Micro830, and select Download.

73. From the Connection Browser , select 2080-L30-16QWB, and click on OK.

74. The following dialog box will appear for confirmation of the downloading if the controller is in RUN mode. Click on Yes to proceed.


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In the completion of downloading the program, the Output window will display Succeeded

75. The following window will appear to change from Program Mode to Run Mode. Click on Yes to proceed.


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76. Click on the at the Debug Toolbar, the programming workspace will change from white background to beige background.

At the same time, the status and value of the parameters will be display on the screen.


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77. To test the Modbus Communication, assign the following value to the variables:

Variable Name

Description

Value

D2_Icfg.Channel

Serial Port Channel no. for communication 2, 5 or 6 depending on application.

5

D2_Icfg. TriggerType

0: for one shot, 1: for continuous trigger

0

( 1 continuous Trigger Function not available yet) D2_lcfg.Cmd

Modbus Communication Function Code

6

03(Read Single Coil), 06 (Write Single Coil) or 16 (Write Multiple Coil) D2_Icfg.ElementCnt

No of data to Read or Write

1

D2_Tcfg.Addr

Register Address of the Slave to Read or Write

8193

D2_Tcfg.Node

Slave Node Number

2

D2_laddr[1]

Data to Write/ Return data from Slave if read command is issued. ( Bit 2 of 8193 = Start)

2

78. Change the D2_lcfg. Channel, double click on the variable,


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The following Variable Monitoring window will appear. 79. Click on

to expandable the variable’s tree.

80. To change the value of the D2_lcfg.Channel, double click on Logical Value of D2_lcfg.Channel. Change the value with respect to the table shown above, 5.


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Note: The Channel number is determine by the serial port used for communication.

The following is the port number assignment.

Channel 2 Channel 4

Channel 5

Channel 6

81. Repeat Steps 10 till all the respective variables’ values had been changed. When the last parameter D2_laddr.[1], is enter, the RUN Led on the PowerFlex 4M will turn ON. This indicated that a Start Command was send to the Drive.

82. Change the respective value of the following variables to as shown. Variable Name

Description

Value

D2_Tcfg.Addr


8194

D2_laddr[1]


200

Notice that the Display on the PowerFlex 4M will show 20.0 (200 x 0.1), and the motor will start running.


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Note: Address 8194 is the Speed Reference address for the PowerFlex 4M. To vary the speed of the drive, change the value writing to 8194. Please note a multiplier of 0.1 will be applied.


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83. Change the value of the following variables as shown: Variable Name

Description

Value

D2_Tcfg.Addr


8193

D2_laddr[1]


1

Notice that the Display on the PowerFlex 4M will ramp down till 0.0 and the motor will stop running. Note: Address 8193 is the control register, where Bit 0 of 8193 is Stop, and Bit 1 of 8193 is Start.

84. To stop the monitor of the variable, click on

at the Debug Toolbar.

Configuring the Kinetix 3 Drive (20 Minutes) We will first be putting the Kinetix 3 servo drive into a known state and then configuring it for our needs. The drive may be setup for operation in a mode other than indexing, plus the communication protocol may not work for our immediate needs.

Configure the Drive Communication Settings for Serial We will be connecting to our Kinetix 3 drive using a serial connection. The PC at your workstation has a 9-pin serial port on the back of the processor unit, but an extension has been brought up to your tabletop for easy access. 1. Follow the steps in the Before You Begin section of this document before proceeding. 2. Connect the drive demo to 120Vac using the attached power cord. 3. Turn power switch ON (position ‘1’) located in the lower right corner of the demo unit.


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4. Disconnect any communication cables from the Up Port and the Down Port of the Kinetix 3 drive.

5. Press and release the Mode/Set key until the message Pr-0.00 is displayed.

This is the Parameter Edit mode for changing drive parameters. TIP: Other modes available include Index Edit mode for changing the indexing profile values and Display mode for observing operating values of the drive and motor.

6. Use the Up button to change the display to Pr-0.09 and press the Enter key.

Pr-0.09 is the communication protocol setting for the serial port on the Kinetix 3 drive. It will have (2) unique settings for our usage in the lab: 

Pr-0.09 = 0005 for communicating with a PC using Ultraware (serial ASCII)



Pr-0.09 = 1102 for communicating with the Micro830 using Modbus RTU Micro 850:Modbusto PF4M Kinetix 3 y PVC V 2013 1.0

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7. Use the Left/Right and Up/Down arrows on the keypad to change Pr-0.09 to ‘0005’ for use with Ultraware. The drive was likely left in the Modbus mode from the previous user. Ultraware will not communicate in the Modbus mode. 8. PRESS and HOLD the Mode/Set key until the display flashes.

The drive is now configured for use with Ultraware.


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Connect to the Drive using Ultraware The following drive parameters will be configured using Ultraware software: •

Operation mode

•

Modbus control function parameters

•

Digital inputs

•

Digital outputs

•

Indexing parameters

•

Homing parameters

For the next step, a serial port extension cable has been provided for you at your workstation. This means there is no need to crawl on the floor. 9. Connect the Up Port of the Kinetix 3 drive to your workstation’s PC using the 2090CCMPCDS-23AA03 serial cable.

NOTE: Use the serial extension cable provided at your station, not the PC’s port.

10. Open Ultraware from Start > Programs > > Ultraware > Ultraware .


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The following window will appear.

11. At the Ultraware Dialog box, select Create new file.

12. You may be prompted with a Tip of the Day. Simply answer OK to the prompt. The software will then attempt to scan the network for connected servo drive.

The scan will fail after not finding any drives. Your default serial settings will likely not match those required by the Kinetix 3 drive.


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13. From the drop-down menu, select Tools > Serial Port .

14. Change your Baud Rate to 57600 as shown and press OK .

This may be COM2 when using VMware.

15. Check for drives again by selecting Tools > Rescan from the menu.


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16. When a node is scanned, the following dialog box will appear. Click on No to continue.

NOTE: This wizard currently assists users with stepper and analog operations. However, we will be using the Indexing operation mode.


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17. Double click on the Drive under On-Line Drives in the workspace on the left (the actual name may differ). The parameter summary screen will be shown on the right.


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Configure the Drive Using Ultraware It’s always a great idea to put the drive into a known state. Who knows what settings exist? 18. Press Reset to Factory Settings on the right.

This will eliminate a lot of little issues along the way. 19. Confirm any prompts to complete the reset process. The motor used in the demo has a smart encoder that allows the drive to identify it automatically. That’s one less step we have to consider within the lab. 20. Select Operation Modes from the pull-down menu, select the Indexing/None. Answer Yes to confirm the reset.

This is to configure the Kinetix 3 as a stand-alone indexing drive. 21. Expand the Communications branch.


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22. Configure the following Modbus function control settings:

These settings will allow us to update parameters from the controller over Modbus but issue commands from the drive I/O. We would have to create a Modbus message for enable/disable, start index, stop index and fault reset if we changed the Input Function Control to Enable. We simply don’t have time in the lab to create all of these messages. NOTE: We will eventually change these settings to Modbus Protocol as well, but changing them now would knock us offline with Ultraware.

23. Expand the Drive tree and select Digital Inputs by double clicking.

24. Assign Input 1 as the Drive Enable input. Selection can be made from the pull down menu.


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Assign the remaining inputs according to the table shown below. Parameter

Value

Input 1

Drive Enable

Input 2

Start Indexing

Input 3

Stop Indexing

Input 4

Start Homing

Input 5

Fault Reset

Upon completion, the Digital Input parameter should look like the following.

25. From the Drive tree, select the Digital Outputs.


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26. Assign Output 1 as Ready . Selection can be made from the pull down menu.

Assign the remaining outputs according to the table shown below. Parameter

Value

Output 1

Ready

Output 2

Axis Homed

Output 3

Brake

Upon completion, the Digital Output Parameter should look as followed.

Note that none of the outputs should be on currently on the demo unit.


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Configure with Required Indexing Moves 27. Expand the Mode Configuration branch and double click on the Indexing icon from the workspace. The index table will be shown on the right.

The servo motor used in this demo unit includes an encoder that produces 131,072 counts per motor rev. We will make each index move a factor of this. 28. Expand Index 0 Setup and configure the index as follows:

1 rev forward

This means 1 motor rev in the forward direction. 29. Then expand and configure Index 1 Setup as follows:

1 more rev forward

When the Start Index input is activated, Index 0 will execute. Upon completion, Index 1 will execute immediately before coming to a stop.


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30. Proceed to configure Index 2 Setup as shown.

2 revs backwards

Although we won’t be testing this particular move (Index 2) in the next section, you will have the opportunity to use it in Extra Task if time permits. Stay tuned. TIP: The drive also allows the user to use custom positioning and velocity units, which only appear in Ultraware software. The commands from any external controllers over Modbus would still use encoder counts and motor RPM.

31. Click on Save to save the parameters upon completion. Answer Yes to upload a copy of the drive’s parameters. Select a location (like My Documents) and give the file a name in order to complete the process.


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Configure the Required Homing Procedure 32. From Drive > Mode Configuration, select Homing .

33. Configure the Homing Type as Home to Marker by selecting from the pull down menu.

34. Configure the rest of the parameters as shown:

35. On a topic related to homing, move to the Encoders branch and set the Encoder Backup Battery setting to Not Installed . Our demo units do not have batteries and will cause an error.


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Configure the Drive Communication Settings for Modbus Now we’ll need to set the drive to the Modbus RTU protocol for it to receive commands from the Micro830 controller. 36. You may close Ultraware software at this point. 37. Turn the DRIVE ENABLE to the off (left) position to disable the drive. 38. Disconnect any communication cables from the Up Port and the Down Port of the Kinetix 3 drive.

TIP: Ignore the E.030 fault (it is caused by our modified demo units).

39. Press and release the Mode/Set key until the message Pr-0.00 is displayed.

40. Use the Up button to change the display to Pr-0.09 and press the Enter key.


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Recall the following table:

41. Use the Left/Right and Up/Down arrows on the keypad to change Pr-0.09 to ‘1102’ for use with Ultraware. 42. PRESS and HOLD the Mode/Set key until the display flashes.

43. Connect the 2090-CCMCNDS-48AA xx cable between the Up Port on the Kinetix 3 and the 8-pin mini-DIN connector on the Micro830 controller. This is the serial Modbus communication cable. See your instructor if you cannot find the cable.


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The drive is now ready for use with the Micro850 controller. To test the Modbus Communication and write your new speed value, we will assign the following values on rung 1 to the variables. The steps that follow will guide you through this task.


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Variable Name

Description

Value

SPEED_Lcfg.Channel

Serial port channel number for the physical communication port you have chosen (see figure below):

2

- 2 for the embedded serial port - 5 for the plug-in serial module if in slot 1 - 6 for the plug-in serial module if in slot 2 SPEED_Lcfg. TriggerType

0: for one shot, 1: for continuous trigger

0

SPEED_Lcfg.Cmd

Modbus Communication Function Code

6

03 (Read Single), 06 (Write Single) or 16 (Write Multiple) SPEED_Lcfg.ElementCnt

No. of data words to Read or Write

1

SPEED_Tcfg.Addr


6601

SPEED_Tcfg.Node

Slave Node Number

1

SPEED_Laddr[1]

Data to Write/ Return data from Slave if 50 read command is issued. This is the new 50 RPM speed command. Crear variables a enclavar Variables on of y set

PowerFlex and PVc 1. In Local Variable tab create the next variables


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Pay attention in the initial values

2. Create the next rung

This is for power on the PF 3. Now create this rung

This is for power off the PF 4 .Now create this

This is for set the reference speed 4. Build the program again. Right click on the Micro850 icon in Project Organizer and select Build.


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5. In the Project Organizer , right click on Micro850, and select Download.


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Kinetix and PVc 1. Under the Project Organizer, right click on the Programs select Add and select New LD: Ladder Diagram.

2. Right click on UntitledLD and select Rename.


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3. Type in “Mod_Message_kinetix” and press Enter:

6. In Local Variable tab create the next variables Variable Name

Data Type

1. KCancel

BOOL

2. K2_lcfg

MODBUSLOCPARA

Initial Value

3. K2_Tcfg

MODBUSTARPARA

4. K2_laddr

MODBUSLOCADDR

5. K2_error

BOOL

6. K2_errorc

UINT

7. Kofon

UDINT

3001

8. Kon

WORD

1

9. Koff

WORD

0

10. Indxaddr

UDINT

3003

11. Indx

WORD

1

7. Now create the next rungs


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8. Build the program again. Right click on the Micro850 icon in Project Organizer and select Build.


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Micro 850

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