Sample Code

Programming Example for a K300 using

Indexing Mode and RSLogix500

K300 ML1400 Indexing Example v1_0

03/16/2010
 Sample Code

1) Introduction
This sample code example shows one method to write Index configurations to the Kinetix
300 drive in Indexing Mode via Class 3 explicit messaging.

The Indexing program code takes the values to configure a motion index profile and writes it
to the Kinetix 300 Index Assembly object.

This document will cover the following items:

Steps required for basic drive setup.

Brief explanation of the program code.
Assembly objects layout.

2) Basic Drive Setup

Once you have your MicroLogix system (controller, drive, motor, etc.) connected and
powered up per the installation manual instructions (2097-UM001A-EN-P), you can begin
configuring the Kinetix 300.

Establish an Ethernet connection from your PC to the Kinetix 300’s Ethernet port to
configure the drive. Once connected to the drive, navigate to the drives IP address from your
web browser or run the ‘MotionView OnBoard’ JAVA interface if already installed on your
PC.

See the user manual if you need additional information getting connected.

You will need to complete the following items at a minimum to use the program code in this
example:

Configure the motor. If using a motor with incremental feedback, select the motor
you are using from the listing. If the motor has an absolute programmed encoder it
will be automatically selected. (Note: if your motor has an intelligent encoder, -S,-M,
it will be recognized by the Kinetix 300 drive automatically.)
Set User Units scaling – in this example we use 1 rev/motor rev.
Auto Tune the motor (system).
Set the Drive Mode to Ethernet/IP External Reference under the General tab.

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3) Logix500 Program Code

The example code was written for a MicroLogix 1400 controller. The example code is
located in the following 4 program files:

• MAIN – Contains timer to execute ‘Power Up” program

before scanning the other program files.
• POWER UP – Initialize/reset program data files.
• AX1 MNTR – Reads drive status from the Input
Assembly object and writes drive parameters to the Output
Assembly object.
• AX1 PROG – Contains control and motion application code. The code within the
program shows an example of how to:
o Enable the drive
o Disable the drive
o Fault Reset – this is done via Explicit Message Instruction
o Configure and run two different index moves. The indexes are built by writing
to the K300 Index Assembly object. Use the Custom Data Monitors to
change the index values.
o Stop motion

Note: You will need to modify three (3) message instructions to enter in the IP Address of
the Kinetix 300 drive in your system. They are located as follows:

• LAD 190 – AX1 MNTR: Rungs 0 and 2

• LAD 191 – AX1 PROG: Rungs 3, 5, 8 & 10

Example:
Open the MSG Setup Screen.

Go to the MuliHop tab and enter in your IP Address in the To Address box.

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4) Assembly Objects Layout

The Input Assembly is identified by Instance 113 and consists of the following 64 bytes (see Appendix C
of the User Manual, 2097-UM001, for detailed descriptions of each of these fields):

Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Current
Registration
0 Reserved
Captured
Limit Reserved Reserved In Position Fault Enabled
Reached

1-3 Reserved

Neg. Limit Pos. Limit

Homing Motion Indexing
4 Reserved Homed
Active
Switch Switch Reserved
Complete Active
Engaged Engaged

5-7 Reserved

In Speed Zero
8 Reserved Reserved Reserved Reserved Reserved Ready
Window Speed

9-11 Reserved

12 Input B4 Input B3 Input B2 Input B1 Input A4 Input A3 Input A2 Input A1

13-15 Reserved

16 Reserved Reserved Reserved Reserved Input C4 Input C3 Input C2 Input C1

17-19 Reserved

20-23 Active Index (DINT)

24-27 Actual Velocity in UU/second (REAL)

28-31 Actual Position in UU (REAL)

32-35 Command Position in UU (REAL)

36-39 Position Error in UU (REAL)

40-43 Phase Current in Amps (REAL)

44-47 Registered Position in UU (REAL)

48-51 Data Link A (DINT)

52-55 Data Link B (DINT)

56-59 Data Link C (REAL)

60-63 Data Link D (REAL)

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The Output Assembly is identified by Instance 114 and consists of the following 52 bytes (see Appendix C
of the User Manual, 2097-UM001, for detailed descriptions of each of these fields):

Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Drive Start Abort Define Start Abort

0 Enable
Reserved
Homing Homing Home Motion
Reserved
Index

1-3 Reserved

4-7 Starting Index, applies only if drive mode is Indexing (DINT)

External Reference, applies only if drive mode is External Reference (DINT):

0 = current
1 = velocity
8-11 2 = incremental position
3 = absolute position
4 = incremental registration
5 = absolute registration
2
12-15 External reference maximum acceleration in UU/second (REAL)
2
16-19 External reference maximum deceleration in UU/second (REAL)

External reference current in Amps or Velocity in UU/second (REAL) (Mode dependant

20-23 field )

24-27 External reference maximum velocity in UU/second (REAL)

28-31 External reference position in UU (REAL)

32-35 External reference registration displacement in UU (REAL)

36-39 Data Link A output (DINT)

40-43 Data Link B output (DINT)

44-47 Data Link C output (REAL)

48-51 Data Link D output (REAL)

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The Index Assembly is identified by Instance 115 and consists of the following 48 bytes (see Appendix E
of the User Manual, 2097-UM001, for detailed descriptions of each of these fields):

Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0-3 Index Number, valid entries are 0-31 (DINT)

Index Type (DINT)

0 = Absolute
1 = Incremental
4-7
2 = Registration Absolute
3 = Registration Incremental
4 = Blended

Index Move Type/Motion Profile (DINT)

8-11 0 = Trapezoidal
1 = S-Curve

12-15 Index Distance in UU (REAL)

16-19 Index Batch Count (DINT)

20-23 Index Dwell in ms (DINT)

24-27 Index Velocity in UU/second (REAL)

2
28-31 Index Maximum Acceleration in UU/second (REAL)

2
32-35 Index Maximum Deceleration in UU/second (REAL)

36-39 Index Next Index, valid entries are 0-31 (DINT)

Index Action (DINT)

0 = Stop
40-43
1 = Wait For Start
2 = Next Index

44-47 Index Registration Distance in UU (REAL)

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 Sample Code

Disclaimer
This sample code delivered by Rockwell Automation is just an example of how to control a
K300 drive.
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