Integrated Motion on EtherNet/IP: Solution Overview

Copyright © 2017 Rockwell Automation, Inc. All Rights Reserved. 2Rockwell Automation TechED 2017 @ROKTechED #ROKTechED
PUBLIC
Integrated Motion on EtherNet/IP:
Solution Overview

Agenda
Demonstration
Integrated Motion on EtherNet/IP Product Portfolio Overview

Motion Product Portfolio
Software, Controllers, Drives, Switches, I/O
Encoder Output Module

Logix Controllers
Portfolio Overview
CompactLogix™ 5370 ControlLogix® 5570
ControlLogix® 5580CompactLogix™ 5380
CompactLogix™ 5480
General Purpose
High
Performance
High
Performance /
Open Controller

GuardLogix® 5580 Controller
1-Gb Embedded EtherNet/IP Port
 Enabled for CIP safety connections,
I/O and safety devices
Scalable Safety Level
 SIL CL2, Up to PLd – Primary Controller
 SIL CL3, Up to PLe – Primary Controller + Safety Partner
Safety I/O Support
 5069S, 1734 Guard I/O™, 1732ES and
1791ES
PLd SIL CL2
1oo1 Architecture
PLe SIL CL3
1oo2 Architecture
Catalog Number Standard
Memory
Safety
Memory
Nodes Axes
1756-L81ES 3 MB 1.5 MB 100 256
1756-L82ES 3 MB 2.5 MB 175 256
1756-L83ES 10 MB 5 MB 250 256
1756-L84ES 20 MB 6 MB 250 256
Drive Safety Instruction Support
 Kinetix® 5700, PowerFlex® 755/755T
4Q
2017

GuardLogix 5380 Controller
2-Gb Embedded EtherNet/IP Port
 Enabled for CIP Safety Connections,
I/O and Safety Devices
Scalable Safety Level
 SIL CL2, Up to PLd – Primary Controller
Safety I/O Support
 5069S, 1734 Guard I/O™, 1732ES and
1791ES
Drive Safety Instruction Support
 Kinetix® 5700, PowerFlex® 755/755T
Catalog Number Standard
Memory
Safety Memory Nodes EtherNet/IP
Motion Drives
5069-L306ER(M)S2 600 KB 300 KB 16 2
5069-L310ER(M)S2 1 MB 0.5 MB 24 4
5069-L320ER(M)S2 2 MB 1 MB 40 8
5069-L330ER(M)S2 3 MB 1.5 MB 50 16
5069-L340ER(M)S2 4 MB 2 MB 55 20
5069-L350ER(M)S2 5 MB 2.5 MB 60 24
5069-L380ER(M)S2 8 MB 4 MB 70 28
5069-L3100ER(M)S2 10 MB 5 MB 80 32
PLd SIL CL2
1oo1 Architecture
4Q
2017

5069 Compact I/O
 High-performance local and distributed I/O
 New for 2017
 5069 Serial -> 4Q 2017
 5069 Safety -> 4Q 2017
Output - 24V DC
Input – Analog/Temperature
Output – Analog
Output – Relay Isolated
EtherNet/IP Adapter
Field Power Distribution
ARM
IB16F
OB16F
IY4
OF4
OW4I
AEN2TR
FPD
OF8
Address Reserve
IF8
IB6F-3W
OX4I
High-Speed CounterHSC2xOB4
IB16
OB16
Input - 24V DC
Output – 120/240Vac
Output - 24Vdc
EtherNet/IP Adapter
OB8
AENTR
IA16
OA16
Input – 120/240Vac
Output – RelayOW16
SerialSERIAL
OB8VS
IB8S
4Q
2017

CompactLogix 5480 Controller
Upstream GbE
GbE Configurable
DLR A1/A2
USB
5069 local I/O
(up to 31 modules)
OS dedicated GbE port
USB 3.0 (2)
External display port Redundant fans that can
be replaced during runtime
Multi-disciple high-performance controller
 Multi-discipline Logix controller with Microsoft Windows 10
IoT Enterprise for third-party applications
 6x motion performance boost over CompactLogix 5580
and 5380 controllers
Feature/Capability CompactLogix™ 5480
Control Engine Real-time Logix
Operating System Win 10 IoT Enterprise
Integrated HMI Yes
High-Level Languages Future (R2)
CPU Intel i7 2.4GHz Quad Core
Storage 32 GB*
SDRAM 5.75 GB (Windows)
GbE Ports 3 (Logix) 1 (OS)
Monitor Interface 1 (DisplayPort)
USB Ports 1 (Logix) 2 (USB 3.0)
Motion 256 axes/150 drives
* 16-18 GB Free Space Windows, 20 GB Equiv Logix program
3Q
2017

Drives Integrated Motion on EtherNet/IP
Portfolio
Kinetix 5500
Kinetix 6500Kinetix 5700
Linear Stages Kinetix VP motors
MP-Series Motors
Electric Cylinders
iTRAK …machine
builders
Addressing
the needs
of…
MagneMotion
PowerFlex 527 PowerFlex 755

Kinetix® 5700 Servo System
A Single Platform for Complete Motion Control
Snap fit bus systems, no tools required
for ease of installation.
Single cable technology – 60% less
wiring.
Best in class power density, single and
dual-axis servos. 40–70% cabinet
space reduction.
Features integrated safety — controller-
based safety delivered via EtherNet/IP for
safer and more flexible machines.
Servo and vector motor control in a single
platform to simplify integration.
Embedded runtime tuning technologies to
dramatically reduce commissioning
time.

Kinetix 5700 Servo System
Power dense design
saves cabinet space
Multiple motor types
supported, including DSL
single-cable technology
Advanced motor
control technology
200 A common DC bus
for shared energy usage
and savings
Advanced tuning
technologies that
help improve
performance and
reduce tuning
Combined safety technology.
integrated or hardwired safety
- Safe torque off SIL 3/PLe
DC Bus
Supplies Single-Axis
Servos
Dual-Axis
Servos

Kinetix 5700 Safe Monitoring Servos
Support for 842HR
sin/cos encoders
Ability to safety monitor speed,
direction, and position
Kinetix VP motors with
SIL 2/PLd rated encoders
“ERS4” Single-
Axis Modules
“ERS4”
Dual-Axis
Modules
MP motors with Hiperface
sin/cos encoders
Seamless and inherently
safe communication
Emergency safety stop
functions and zero
speed monitoring
4Q
2017

SIL 2 Rated Kinetix VP Motors:
5700
Will support advanced
safety functions via Kinetix®
5700 “ERS4”, safe speed
monitoring drives
23-bit primary channel
feedback provides
application flexibility
(Frame 100 - Frame 165)
9…12-bit safety
channel feedback when
used within Integrated
Safety systems “W” or
“Q” Encoder Option
Current “C, P” encoder
options remain active
for ease of orderingSIL 2 TÜV Certification
on optical encoder

Motion Safety Architecture
Kinetix VP motor with SIL
2/PLd safety-rated
encoder
Kinetix® 5700
Feedback from Encoder
STO and SS1 in drive
Motion and Safety Data
over EtherNet/IP
Controller owns everything –
I/O devices, feedback scaling,
safety configurations, monitoring
842HR sin/cos encoder
Safety I/O over EtherNet/IP

Motion Safety Functions
Safe Stop 2
SS2
V
t
Safe Stop 1
SS1
V
t
Safe Operating Stop
SOS
V
t
STO and Safe Brake Control w/External
Brake
V
t
SBC
Safely Limited Speed
SLS
V
t
SDI
V
t
SLP
Safely Limited Position
V
t
Stopping Functions Monitoring Functions
Safe Feedback
Scaling Function
4Q
2017

Motion Advanced Safety Instruction
Safe Stop 1
SS1
V
t
Safely Limited Speed
SLS
V
t
SLP
Safely Limited Position
P
t
……….

What Is the Kinetix VPC?
 Expansion of the Kinetix VP motor series
 VP = Single-cable (option)
 C = Continuous-duty
 Interior Permanent Magnet (IPM)
 Higher power
 Higher continuous torque
Kinetix® VPC Servo Drive

Key Features
EnDat digital multi-turn (25-bit)
DSL digital multi-turn (23-bit), SIL 2
Hiperface single-turn (21-bit)
Cooling fins
IE4 energy efficiency rated
Single- and dual-cable options
Increased max speeds
Kinetix® 5700
Servo Drive
Extended L10 bearing life
Expanded power up to 30 kW
* BOLD text denotes a new servo motor feature with VPC
Foot mount option
matches competition
Quick-change fan
Side shrouds

Why the Kinetix VPC Motor?
Reduce your downtime
 Up to 60% improvement in L10 bearing life
 Single cable provides faster installations
 10 minutes or less field-replaceable fan
Increase your machine performance
 Up to 60% increased continuous torque
 Up to 150% increased max speeds
 New 23 bit and 25-bit hi-resolution encoders
Reduce your energy costs
 IE4 rating offers up to 5% greater efficiency
 Less current draw with smaller drive and motor

MagneMover® LITE
 Intelligent conveyor system for light
payloads (≤10 kg)
 Easy design and setup
 Modular and flexible
 Simple programming and control of
1–1,000+ independent carts
 Intelligent propulsion and control system for intelligent conveyor
and positioning systems
 Payloads from tens to thousands of kilograms
 Flexible layout with variable motor spacing to optimize cost
 Intelligent positioning and conveyor system
 Deterministic closed loop servo performance
 Automatic synchronization with other motion axes
 High dynamic performance and force
Independent Cart
Portfolio Overview and Positioning

EtherNet/IP Encoder Output Module
Synchronize third-party devices to your integrated motion
system
Simplified installation – Eliminates the
need to mount external encoders on the
machine.
Ease of use – Configure with Studio
5000 Logix Designer®. Programming
interface with Logix Add-On Instruction.
Flexibility – Synchronize to any axis of
motion (over EtherNet/IP or virtual) within
the system.
Reduce wiring and increase reliability –
Eliminate the need to split encoder signals
between the motor and drive.

System Architecture
Kinetix® Motion Systems
Logix PAC Encoder Output Module
PowerFlex® Drives
In Line Printers
Camera Systems
Glue Dispensers
Print Registration Systems
Robotics
EtherNet/IP

Studio 5000 Logix Designer
Programming
Instruction-
based
programming
Graphical
motion profile
editorAxis
management
Drive status and
diagnostics
Kinetix® and
PowerFlex®
Drives-
EtherNet/IP

Broad Range of Motion Functions

Level 3 – Logix Robot Control

Delta Robot Geometry Examples
Codian – 4 Axis Delta
Codian - 5 Axis Delta
autonox24 - 4 Axis Delta
autonox24 - 5 Axis Delta
 New kinematics features/Instructions for support of up to 6-axis robot geometries. Delta 3, 4, 5 axis is supported in the
first release. SCARA, Articulated, Custom geometries in a future release.
4Q
2017

MCPM – 6-Axis Interpolation
 Coordinated path move of up to 6 axes
 Point-to-point (PTP)
 Continuous path linear (CP-L)
 Structure array profile
 Similar to Cam
 Time or MDSC mode
Operand Scroll List Or Checkbox Data Type Default Notes
Status List of {status bits} DINT 0 This will be hidden and not used in Release 1-Bit pattern
containing status of MCPM array element
Interpolation Type List of {Point to Point(0)
Continuous Path Linear(1)}
DINT 0 PTP – Point to Point
CP-L – Continuous Path Linear
Position [X, Y, Z, Rx, Ry, Rz] List of {constant or variable} REAL[9] 1 0 Coordination Units
Robot Configuration List of { Bit values:
Bit0 – Robot Configuration Change(1)/Same(0)
Bit1 – Lefty(1)/Righty(0)
Bit2 – Above(1)/Below(0)
Bit3 – Flip(1/No flip(0)}
DINT 0 Bit 0 – Always zero for Delta
Bit 1 – Don’t care for Delta
Bit 2 – Don’t care for Articulated Dependent, Delta and
SCARA
Bit 3 – Don’t care for Articulated Dependent, Delta and
SCARA
Turns Counters List of {variable} INT 16 0 J1, J4, J6 Joint axes Turns counters. Each integer is a
signed value.
Move Type List of {absolute(0),Incremental(1) bits} DINT 0
Termination Type List of {Actual Tolerance(0), No Settle(1),Command Tolerance(6)} DINT 0
Command Tolerance Linear List of {constant or variable} Real TBD not 0 Used for Linear axes only
Coordination Units Linear
Operand Scroll List or Checkbox Data
Type
Default Notes
Units Mode List of{0 = % of Maximum
1 = Coord Units (per)
2 = Time Based (future)}
DINT 0 Time Based not supported in
Release 1
Time Units List of{0 = Seconds
1 = Master Units}
DINT 0 Not use for %Maximum
Applicable to speed and
acc/dec only.
Profile List of{0= Trapezoidal
1= S-Curve}
DINT 0 *1
Speed List of {Constant or Value} Real 0 *1
% of Maximum -or-
Coordination Units/Time Unit
-or- Time Units
Acceleration List of {Constant or Value} Real 0 *1
% of Maximum -or-
Coordination Units/Time
Unit2
-or- Time Units
Deceleration List of {Constant or Value} Real 0 *1
% of Maximum -or-
Coordination Units/Time
Unit2
-or- Time Units
Acceleration
Jerk
List of {Constant or Value} Real 0 Always % Time
For all axes always
Deceleration
Jerk
List of {Constant or Value} Real 0 Always % Time
For all axes always
Orientation
Speed
List of {Constant or Value } Real 0 Degrees/Time Unit
Only used if Units Mode is
Coordination Units
Orientation
Acceleration
List of {Constant or Value } Real 0 Degrees/Time Unit2
Coordination Units
Orientation
Deceleration
List of {Constant or Value } Real 0 Degrees/Time Unit2
Coordination Units
4Q
2017

Agenda
Demonstration
Product Portfolio Overview

Demonstration
 Design:
 Integrated Architecture® Builder - offline performance metrics
 Studio 5000® axis scheduling pane - online performance metrics
 Configuration:
 Kinetix® 5700 “out-of-box” connect and run
 Integrated safety with the Kinetix® 5700 drive
 Programming:
 CIP Sync 5069 I/O performance - screw-screw, PLS, SOE
 Commissioning:
 ControlLogix® 5580 controller/network performance
 Kinetix® 5700 adaptive tuning
Topics

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Copyright © 2017 Rockwell Automation, Inc. All Rights Reserved. 35Rockwell Automation TechED 2017 @ROKTechED #ROKTechED
PUBLIC
Integrated Motion on EtherNet/IP:
Solution Overview

Integrated Motion on EtherNet/IP: Solution Overview

In this document