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Using the Kinetix 300 Drive

Using the Kinetix 300 Drive: Hands-On Lab
Training Lab Manual

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0) 6/20/2013 Page 5 of 35 .USING THE KINETIX 300 DRIVE____________________________________________________ 7 ABOUT THIS HANDS-ON LAB __________________________________________________ 7 LAB MATERIALS ___________________________________________________________ 7 DOCUMENT CONVENTIONS ____________________________________________________ 8 BEFORE YOU BEGIN ________________________________________________________ 8 LAB 1: B ASIC DRIVE CONFIGURATION (15 MINUTES) ___________________________________ 9 ABOUT THIS LAB ___________________________________________________________ 9 OPEN THE MOTIONVIEW ONBOARD SOFTWARE ___________________________________ 10 SELECT THE SERVO MOTOR _________________________________________________ 13 CHOOSE THE OPERATING MODE ______________________________________________ 14 CONFIGURE THE DRIVE INPUTS AND OUTPUTS ____________________________________ 15 AUTO TUNE THE DRIVE FOR VELOCITY MODE _____________________________________ 18 LAB 2: ANALOG VELOCITY MODE (10 MINUTES)______________________________________ 21 ABOUT THIS LAB __________________________________________________________ 21 CHANGE TO ANALOG VELOCITY MODE __________________________________________ 21 USE THE MONITOR FEATURE _________________________________________________ 23 USE THE FAULT HISTORY FEATURE ____________________________________________ 25 LAB 3: INDEXING MODE (20 MINUTES) _____________________________________________ 27 ABOUT THIS LAB __________________________________________________________ 27 AUTO TUNE THE DRIVE FOR INDEXING MODE _____________________________________ 27 CONFIGURE THE DRIVE FOR INDEXING MODE _____________________________________ 29 COMMAND THE DRIVE IN INDEXING MODE ________________________________________ 31 BLEND A SERIES OF INDEX MOVES_____________________________________________ 32 Using the Kinetix 300 Drive (Rev 1.

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you will: Configure and tune the Kinetix 300 drive for usage Command the drive in analog velocity and indexing modes Who Should Complete This Lab This hands-on lab is intended for individuals who: Have a base knowledge of servo drive systems Would like to explore the web-based configuration software for the Kinetix 300 drive Lab Materials For this Hands-On lab. Software This hands-on lab uses the following software: The embedded web-based configuration tool included in the drive. we have provided you with the following materials that will allow you to complete the labs in this workbook. as well as its use as an analog velocity drive and an indexing drive. motor and some I/O. the most simplistic of these being as a stand-alone drive. Internet Explorer Using the Kinetix 300 Drive (Rev 1. This lab shows the initial setup and configuration of the drive. What You Will Accomplish In This Lab As you complete the exercises in this hands-on session. Hardware This hands-on lab uses the following hardware: A modified Kinetix 300 drive demo unit including drive. and what you will need to do to complete the hands-on exercises. The following sections explain what you’ll be doing in this lab session.Using the Kinetix 300 Drive About This Hands-On Lab The versatile Kinetix 300 drive can be used in many ways.0) 6/20/2013 Page 7 of 35 .

This style or symbol: Words shown in bold italics (e. a variable). The text that appears inside of this gray box is supplemental information regarding the lab materials. we have used the following conventions to help guide you through the lab materials.g.. Words shown in bold italics.g.Document Conventions Throughout this workbook.0) 6/20/2013 Page 8 of 35 . Note: If the mouse button is not specified in the text. Typical Ethernet Layout (specific ports are not required) Using the Kinetix 300 Drive (Rev 1. but not information that is required reading in order for you to complete the lab exercises. or a menu name from which you must choose an option or command. This will be an actual name of an item that you see on your screen or in an example.. Verify that you have an Ethernet connection between the Kinetix 300 drive and your workstation. enclosed in single quotes (e. This is information that you must supply based on your application (e. Most often. Controller1). An item that you must type in the specified field. authors use this “Tip Text” style for important information they want their students to see. RSLogix 5000 or OK) Indicates: Any item or button that you must click on. The text that follows this symbol may provide you with helpful hints that can make it easier for you to use this product.. simply type the words that are contained within them (e. you should click on the left mouse button. 'Controller1') Before You Begin The following steps must be completed before starting the lab exercise: 1. remember that you do not need to type the quotes.g. Verify that 120Vac power has been applied to the drive and that the Drive Power switch is on. Note: When you type the text in the field.g. 2..

Lab 1: Basic Drive Configuration (15 minutes) This section assumes that you have previously connected to the Kinetix 300 drive. which automatically installs the Java application MotionView Onboard. In this lab. Once installed. About This Lab This lab allows the user to become familiar with the web-based configuration tool included in the Kinetix 300 drive. NOTE: The classroom workstations are not to be connected to the internet. Note that you must have an internet connection when installing this application because the drive’s embedded installation tool simply points to the Java website for the complete program installation. Using the Kinetix 300 Drive (Rev 1. you will: Open the drive configuration software and observe its features Restore the drive to it’s default settings Configure the motor and I/O Auto tune the drive for first usage Follow the steps below to complete Lab Section 1.0) 6/20/2013 Page 9 of 35 . you no longer need an internet connection and the MotionView Onboard program will run automatically upon connecting to the drive.

4. Select Open when the popup window appears. 5. Using the spreadsheet posted at your workstation. 1.0) 6/20/2013 Page 10 of 35 . enter the IP Address of your Kinetix 300 drive and press Enter. Read the warning and answer YES. you will simply attach to the drive using Internet Explorer software and reset the drive to its factory configuration. I have to the prompt. 2.Open the MotionView OnBoard Software The embedded web-based configuration tool eliminates the need to maintain software support in the field. 3. Using the Kinetix 300 Drive (Rev 1. Open Internet Explorer by double-clicking on the desktop shortcut. In this section of the lab. The Java application has been pre-installed on the workstation. The current software revision is already available – directly from the drive. Follow the steps in the Before You Begin section of this document before proceeding.

6. 7.The MotionView OnBoard window opens. Using the Kinetix 300 Drive (Rev 1. Enter your IP Address from the spreadsheet again and click Connect. The software uploads the drive information.0) 6/20/2013 Page 11 of 35 . To attach to your drive. TIP: You could also use the Discover option to locate drives on your subnet. click Connect.

Reset to the drive to its default configuration by selecting Restore Defaults. Using the Kinetix 300 Drive (Rev 1.0) 6/20/2013 Page 12 of 35 . so be careful to choose your Kinetix 300 drive in the tree. click on the root drive in the tree to see a system summary.8. Answer Yes to confirm your action. When your software is ready. NOTE: The IP Address was not affected by the reset. 9. 10. Wait for the process to complete and press OK to confirm the reset. There may several drives available.

your motor selection should be automatically made.Select the Servo Motor If you are using one of Rockwell Automation’s high performance servo motors which employ the Hyperface encoder feedback. Our training units include an incremental encoder option. Using the Kinetix 300 Drive (Rev 1. click Change Motor. Step. Step. so you will need to manually select the motor. Move to the Motor branch. 11. 14. WE NEED THE 120VAC DRIVE CONNECTED TO AN INCREMENTAL MOTOR TO COMPLETE THIS SECTION.0) 6/20/2013 Page 13 of 35 . In the window on the right. 13. 12.

0) 6/20/2013 Page 14 of 35 . which we will perform in Lab 2. 15. Locate the Velocity Mode Acceleration section within this same window. only the scale. we will leave the drive in the Auto Tune mode. Use the drop-down menu to view the available drive modes. 17. We will keep most of these entries at their default values in order to prevent damage to the drive or motor. however. we will need to set up a few more options in order to do so. This is indeed the first operation that we will need to complete. Leave the limits at their default values. 18. Using the Kinetix 300 Drive (Rev 1. so we’ll use these limits to avoid step changes in the command signal (upon enabling the drive). NOTE: You can not change the name of the user units. Change the Enable Accel / Decel Limits setting to Enable. 16. In this section of the lab. but be sure to leave it set to Auto Tune. Leave all other settings in this section at their default values. Move to the General branch.Choose the Operating Mode The Kinetix 300 drive can operate in one of several modes which were discussed in the kickoff presentation. 19. We will initially be running the drive in analog velocity mode. You can see that the Drive Mode is currently set to Auto Tune.

but some are pre-assigned. Using the Kinetix 300 Drive (Rev 1. Many of these I/O points are user configurable.0) 6/20/2013 Page 15 of 35 . For now. We will come back and configure more of them in the Indexing section of this lab.Configure the Drive Inputs and Outputs The Kinetix 300 drive includes 12 digital inputs and 4 digital outputs plus a relay output. Here is a list of the pre-assigned inputs: The pre-assigned inputs will not appear in the configuration sections below. 20. Move to the IO > Digital IO branch. use the drop-downs to assign the digital signals as shown. The drive also includes an analog input and an analog output. 21.

24. Move to the Limits > Velocity Limits branch. Here is an overview of how the settings affect the output signals: Using the Kinetix 300 Drive (Rev 1. We have no display at our workstations.22. If we were using some sort of an analog meter or display.0) 6/20/2013 Page 16 of 35 . we’ll be setting the ranges for the digital outputs we configured above. Enter ‘600. We’ll worry about offsets and Dead-Bands in a bit. we might assign and scale the analog output to annunciate the speed of the drive. Next. 23.00’ for the Analog Input (Velocity Scale) as shown. We will. move to the IO > Analog IO branch. Here. however. so we’ll leave that one blank. So for 6000 RPM / 10 VDC. WHY? Because our servo motor is capable of 6000 RPM and our analog input is capable of +10 VDC. we will need 600 RPM / Volt. need to scale the Velocity Scale of our Analog Input in order to utilize the full scale of the motor’s speed range.

25. Set the Velocity Limits as shown below. This will make them easier to work with throughout the lab. Using the Kinetix 300 Drive (Rev 1.0) 6/20/2013 Page 17 of 35 .

27. 26. Using the Kinetix 300 Drive (Rev 1. so we really don’t care about the position loop gains. We will test the Auto Tune feature for the Kinetix 300 product. Remember to tune only the Velocity loop for now. Press Autotuning in the window on the right. Follow the instructions in the popup window and press Start to complete the tuning procedure.Auto Tune the Drive for Velocity Mode In this section of the lab.0) 6/20/2013 Page 18 of 35 . We will be running in analog velocity mode. we will tune the velocity loop of the drive. TIP: The Enable switch is Input #3 on our drive demo unit. 28. Move to the Dynamics branch.

0) 6/20/2013 Page 19 of 35 .29. Remember. however it will feel quite spongy. Using the Kinetix 300 Drive (Rev 1. Accept the tuning parameters by answering Yes. Your Kinetix 300 drive is now tuned for analog velocity mode and ready to run. we are still in Auto Tune mode and the stiffness of the system will change when we go into our velocity mode. Don’t worry! We’ll play with the tuning manually in the Indexing section of the lab. TIP: You may be tempted to grab hold of the motor shaft and “feel” the results of the tuning.

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Turn ON Input #3. Explore the content included in the software’s Monitor and Fault History features. Not all power supplies are created equal. WARNING: You are about to command motion.Lab 2: Analog Velocity Mode (10 Minutes) About This Lab Now that we have configured the drive’s inputs and outputs and tuned it for analog velocity mode. Using the Kinetix 300 Drive (Rev 1. Change to Analog Velocity Mode Although we have tuned the drive for analog velocity. so let’s quickly deal with this. 2. so as to Disable the drive. WARNING: Be sure to carefully complete the following (2) steps before re-enabling the drive. The shaft should turn freely by hand. you will: Use the demo units I/O to command the drive in Velocity mode. It may take many complete revolutions to accomplish this step. the Drive Mode is still set for Auto Tune. Return to the General branch and use the drop-down to change the Drive Mode to Analog Velocity Input. we can begin to command it. Follow the steps below to complete Lab Section 2. This is the black dial located just below the output indicators on the drive demo unit. even though we are technically issuing a “zero speed” command. In this lab. 3. 4. you will change modes.0) 6/20/2013 Page 21 of 35 . The motor shaft may begin to rotate. so as to Enable drive. 1. In this section of the lab. Turn OFF Input #3. Turn the ANALOG INPUT potentiometer on the drive demo unit all the way counter-clockwise until it shows ‘0’ for its setting.

but then the motor begins to creep again. or you will loose high end speed capability. it seems to work briefly. 6. “What speed is the motor currently running at?” you ask. Using the Kinetix 300 Drive (Rev 1. Return to the IO > Analog IO branch and use the Analog Input Offset button to attempt to “zero out” the input. Don’t go too high. Well. We’ll need to add some dead-band where the input (and associated fluctuation) is ignored. Try entering a ‘50’ mV value for the Analog Input Dead-Band as a stating place. increasing the motor speed.0) 6/20/2013 Page 22 of 35 .5. Play around until you are satisfied. one which we’ll address in the next section. Good question. 7. Slowly begin to turn the ANALOG INPUT potentiometer clockwise.

5) in Lab 1 above. Click on the Monitor branch and a new window should open. Nice. It is also providing digital values for motion status and I/O. Output #2 should be ON. The Monitor window opens: The Monitor is showing analog values for position. as well as the command input. WHY? Because we configured it to be ON at 20 Revs / Sec with a window of 10 Revs / Sec (+/. 9.Use the Monitor Feature This tool allows you to access the most commonly needed information about the drive. There are other tools included within the software. Turn the ANALOG INPUT until the Actual Velocity is about 20 Revs / Sec. but let’s take a look at what this one provides.0) 6/20/2013 Page 23 of 35 . velocity and current. Using the Kinetix 300 Drive (Rev 1. 8.

0) 6/20/2013 Page 24 of 35 . Use the drop-down to set it for Disable and Coast. Turn OFF Input #1 (and Input #2 as well). 12. but the Hard Limit Switch feature has not been enabled. respectively. Try to stop the drive by turning ON Input #1 or Input #2. Turn the ANALOG INPUT up and down and confirm that Output #2 turns OFF below 15 and above 25 Revs / Sec. 11. 17. 16. You’ll need to Disable and re-Enable the drive (using Input #3) to restart the drive. What happens? Nothing. the inputs are turning on. With the drive still enabled and running.10. Move to the IO > Digital IO branch and scroll down to the Hard Limit Switches Action setting. The drive immediately faults and coasts to a stop. Notice how the motor gently ramps up to speed using our Accel / Decel Limits. Spend time on this point until you clearly understand the functionality. leave Input #1 turned ON. Using the Kinetix 300 Drive (Rev 1. 13. Return the MotionView OnBoard window. These are the dedicated negative and positive hard travel limit inputs. 15. 14.

The Fault Code is displayed. Click on the Faults branch at the bottom of the tree. Using the Kinetix 300 Drive (Rev 1. Click Load Faults and the fault history is displayed. We will explore more of the troubleshooting tools in the final section of this lab.0) 6/20/2013 Page 25 of 35 . complete with Device Time stamps. 18. we forgot to look at the fault code or display to see what happened. In our haste to get the drive running again. Need more information? Looking for a more complete history in order to understand what has been happening on the customer’s machine? 19.Use the Fault History Feature Of course no drive software is complete without the ability to display and log faults.

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the stand-alone Indexing feature of the Kinetix 300 may be what you need. we are now concerned with the Position loop as well. You’ve already completed many of these steps in the Velocity mode section above. TIP: If you receive an error message about the incorrect I-Gain values. See your instructor if you have any trouble. 1. Return to the General branch and Drive Mode to Auto Tune.0) 6/20/2013 Page 27 of 35 . The shaft should turn freely by hand.Lab 3: Indexing Mode (20 Minutes) About This Lab Looking to lower your overall system costs? If your application involves simple point to point moves or recipes or moves. 2. Move to the Dynamics branch and perform the Auto Tune as follows: With indexing. Using the Kinetix 300 Drive (Rev 1. Auto Tune the Drive for Indexing Mode In this section of the lab. Tune the drive to be run in Indexing (position) mode Use the demo units I/O to command the drive in Indexing mode Explore the content included in the software’s Oscilloscope feature Follow the steps below to complete Lab Section 3. We will be running in Indexing mode. we will tune the position loop of the drive. Turn OFF Input #3. so we now care about the position loop gains. so as to Disable the drive. so some experience is assumed in the steps. use your tuning knowledge to try to fix the problem and reattempt the Auto Tune. 3.

Accept the gains by clicking Yes.4. A little will do. but we’ll check it in Indexing mode shortly. it seems a little spongy. With the drive still enabled. Again. carefully and gently try to rotate motor shaft.0) 6/20/2013 Page 28 of 35 . 5. Using the Kinetix 300 Drive (Rev 1.

We will be interested in Output 3. The shaft should turn freely by hand. Finally. move to the Indexing branch in order to enter the move profiles. 10. the In Position signal. We’ll need to configure the additional digital inputs required to command indexing. you will change modes as well as add the Digital I/O required for stand-alone Indexing control. Return to the General branch and use the drop-down to change the Drive Mode to Indexing. Turn OFF Input #3.Configure the Drive for Indexing Mode Although we have re-tuned the drive for positioning. In this section of the lab.0) 6/20/2013 Page 29 of 35 . so as to Disable the drive. 6. Scroll down until you can see the Outputs that we configured previously. 8. Using the Kinetix 300 Drive (Rev 1. the Drive Mode is still set for Auto Tune. 7. Move to the IO > Digital IO branch and configure these additional inputs: 9.

NOTE: It looks a lot like the move profile of an index in Ultraware! 12. Using the Kinetix 300 Drive (Rev 1.11. Expand Index 00 and take a look at the parameters provided for index moves. 5 revs each at the dynamics shown.0) 6/20/2013 Page 30 of 35 . Don’t forget the brief Dwell. Set Index 00 to make (3) sets of incremental moves. Now let’s have some fun.

Grab hold of the motor shaft again and notice that the tuning is really quite stiff. 17. Next. 16.Command the Drive in Indexing Mode Let’s get right into commanding the drive. Turn ON Input #3. 15. Open the Monitor window again. Toggle (press and release) Input #6 to Start Index. including the S-Curve type Move. Toggle (press and release) Input #5 to Define Home. The Actual Position register goes to 0. WARNING: You are about to command motion. this time making note of how the outputs transition. Issue the Start Index again. Use it like Position BW in Logix to change performance but keep stability between the loops. The motor should quickly make 3 sets of 5 revolutions as the Actual Position register goes to 15. 13. 14. You can always return them to these functional settings: This Gain Scaling value is your “one touch” handle for tuning. we’ll see how the blended index move feature works. 18. so as to Enable drive. NOTE: The range is -16 to +4. Using the Kinetix 300 Drive (Rev 1. Spend some time playing with the settings.0) 6/20/2013 Page 31 of 35 . Feel free to move to the Dynamics branch and play around with the tuning values manually.

Be sure to loop it back to Index 00. We’ll open up the Oscilloscope feature in the drive to see what is actually happening. Return to the Indexing branch in the main window. 19. IMPORTANT: Remember that the Kinetix 300 drive does not support the calling of indexes using a BCD (binary coded decimal) masking on the digital inputs.Blend a Series of Index Moves In this section. 21. 20. 22. Configure Index 00 to blend into next index as shown below. TIP: Remember that Input #7 is configured as the Abort Index command. Configure Index 01 as shown below. Using the Kinetix 300 Drive (Rev 1. Toggle (press and release) Input #6 to Start Index. Issuing the Start Index command will trigger Index 00 every time. you’ll program a blended set of index moves.0) 6/20/2013 Page 32 of 35 .

25. which shouldn’t be much with no load. 23. Let’s look at the Velocity Command. repeating over and over. let’s use the Oscilloscope feature. 26. Set the Scale to 1 (Amp / Div). 27. Set the Scale to 5 (revs / Div). Set the Signal to Current Command. b. Click Run to start the scope. Set the Time Base to 500 ms / Div. Move to the Tools branch and click Oscilloscope. For Channel 2: a. Using the Kinetix 300 Drive (Rev 1. To see the actual velocities. For Channel 1: a. Set the Signal to Velocity Command. as well as the Current Command.The drive should appear to run briefly at a higher speed and then a lower speed. which should 5 and 10 revs/sec.0) 6/20/2013 Page 33 of 35 . The Scope window opens. b. 24.

29. open the Parameter & IO View. 31. feel free to play around with the tool if you prefer. You can Close the Scope window at this time. Click Stop to stop the scope. 30. Click Add to choose the desired signals. IMPORTANT: Notice that you do not have the ability to control the accel and decel rates used during blended moves. 28. The Diagnostic window opens. Using the Kinetix 300 Drive (Rev 1. Still on the Tools branch. The planner within the Kinetix 300 drive spaces out the velocity change over the entire index.0) 6/20/2013 Page 34 of 35 .The scope shows the blended velocities between the indexes.

Use the tool to add the signals of your choice.0) 6/20/2013 Page 35 of 35 . You may play around or Close the Diagnostic window as time permits.32. This concludes the Using the Kinetix 300 lab. Click Add to complete. 33. Here is a screen showing some random signals: You can even Save and Load the signals to create a familiar troubleshooting environment. Using the Kinetix 300 Drive (Rev 1. Expand the entries and place a check beside the desired signal.