Sample Code

Programming Example Kinetix 3 in Index Mode using Modbus and MicroLogix

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Introduction
This sample code example shows one method to control a Kinetix 3 drive in Index mode with a MicroLogix PLC using Modbus RTU. This document will cover the following items: Basic drive setup. Communication connections for KINETIX 3 and MicroLogix. Brief explanation of the program code.

Basic Drive Setup

Install, connect, and commission the drive per user manual 2071-UM001. The user manual will step through using Ultraware online with the drive, configure the drive for the installed motor/feedback and autotuning. Note: Ultraware ver 1.79 or later is required. In addition to the basic setup, the following steps are specific to this sample code. Although the drive configuration is accomplished using Ultraware, parameter numbers are included if the user chooses to use the integral keypad. Included with the sample code is an Ultraware file of a drive configured for Index mode and controlled over Modbus. Note: The Ultraware file does not show the drive serial communications as Modbus. This is because the drive is connected to Ultraware when the file was saved.

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Set Operations Mode
Ultraware On the Drive tab, set Operations Mode (Main/Override) to Indexing mode. Parameters. Pr0.00 Operations Mode Set to I(12). (F(1) Default) I(12) Index

Set Modbus Control

Ultraware On the Drive tab under Communications, set MODBUS Run Function Control to Enable and set MODBUS Input Function Control to Enable Parameters. Pr0.32 I/O Control Authority Set to 0x11. (0x00 Default) 0x1 Digit 0 Enable Modus Input Function Control 0x1 Digit 1 Enable Modus Run Function Control

Index Configuration
The following configures Indexes 0-3 for the KINETIX 3 Index mode sample code. This configuration is required for the sample code, but your application can vary. Note: The motor in the example has an absolute encoder with 131072 counts/rev. Velocity is in RPM. Ultraware. On the Indexing tab under Mode Configuration, configure Indexes 0-3: Index 0 Setup Absolute 0 0 750 62.50 62.50 0 Stop Index 1 Setup Incremental 131072 2000 100 62.50 62.50 2 Start Next Index 2 Setup Incremental 262144 1500 50 62.50 62.50 3 Start Next Index 3 Setup Incremental -65536 0 200 62.50 62.50 0 Stop

Mode Distance Dwell Velocity Accel Decel Next Index Action When Complete

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Parameters. IN02.00 Index 0 Option Set to 0000. (0001 Default) Absolute move, Stop when complete. IN02.01 Index 1 Option Set to 0011. (0001 Default) Incremental move, Start Next Index when complete. IN02.02 Index 2 Option Set to 0011. (0001 Default) Incremental move, Start Next Index when complete. IN02.03 Index 3 Option Set to 0001. (0001 Default) Incremental move, Stop when complete. IN04.00 Index 0 Position/Distance Set Low word to 00000. (01000 Default) Set High word to 00000. Move Position 0 Counts. IN04.01 Index 1 Position/Distance Set Low word to 31072. (01000 Default) Set High word to 00001. Move Position 131072 Counts. IN04.02 Index 2 Position/Distance Set Low word to 62144. (01000 Default) Set High word to 00002. Move Position 262144 Counts. IN04.03 Index 3 Position/Distance Set Low word to -65536. (01000 Default) Set High word to 00000. Move Position -65536 Counts. IN07.00 Index 0 Dwell Set to 0. (0 Default) Dwell 0ms. IN07.01 Index 1 Dwell Set to 2000. (0 Default) Dwell 2000ms.

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IN07.02 Index 2 Dwell Set to 1500. (0 Default) Dwell 1500ms. IN07.03 Index 3 Dwell Set to 0. (0 Default) Dwell 0ms. IN08.00 Index 0 Velocity Set to 750. (750 Default) Index Velocity 750RPM. IN08.01 Index 1 Velocity Set to 100. (750 Default) Index Velocity 100RPM. IN08.02 Index 2 Velocity Set to 50. (750 Default) Index Velocity 50RPM. IN08.03 Index 3 Velocity Set to 200. (750 Default) Index Velocity 200RPM. IN12.00 Index 0 Next Index Set to 0. (0 Default) Index Next Index 0. IN12.01 Index 1 Next Index Set to 2. (0 Default) Index Next Index 2. IN12.02 Index 2 Next Index Set to 3. (0 Default) Index Next Index 3. IN12.03 Index 3 Next Index Set to 0. (0 Default) Index Next Index 0.

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Configure Digital Inputs
Ultraware. On the Digital Inputs tab configure inputs: Input 1 Drive Enable Input 2 Moving Enable Input 3 Fault Reset Input 4 Unassigned Input 5 Unassigned Input 6 Unassigned Input 7 Unassigned Input 8 Unassigned Input 9 Unassigned Input 10 Unassigned Parameters. See user manual 2071-UM001 for specific digit definitions. Pr0.10 Allocation of Input Signals 1 Set to 0x0BB1. (0x4BB1 Default) Pr0.11 Allocation of Input Signals 2 Set to 0x0003. (0x0003 Default) Pr0.12 Allocation of Input Signals 3 Set to 0x0000. (0x0000 Default) Pr0.13 Allocation of Input Signals 4 Set to 0x0000. (0x0000 Default) Pr0.14 Allocation of Input Signals 5 Set to 0x0020. (0x0000 Default) Pr0.15 Allocation of Input Signals 6 Set to 0x0000. (0x0000 Default) Pr0.16 Allocation of Input Signals 7 Set to 0x0000. (0x0000 Default) Pr0.17 Allocation of Input Signals 8 Set to 0x0000. (0x0000 Default) Pr0.18 Allocation of Input Signals 9 Set to 0x0000. (0x0000 Default)

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Homing Configuration
Homing is required before the drive will run an Index. The KINETIX 3 in the example is configured for Home to Marker. Your requirements for homing may differ. Ultraware On the Homing tab under Mode Configuration, configure Homing: Homing Type Home to Marker Auto Start Homing Inactive Homing Velocity 100RPM Offset Move Distance 0 Move Distance after Home Sensor - 0 Parameters. IN01.00 Homing Type Set to 8. (1 Default) Home to Marker IN01.01 Auto Start Homing Set to 2. (2 Default) Inactive IN01.02 Homing Velocity Set to 100. (100 Default) Homing velocity 100RPM IN01.05 Offset Move Distance Set Low word to 00000. (00000 Default) Set High word to 00000. Offset Move Distance 0 Counts IN01.08 Move Distance After Home Sensor Set Low word to 00000. (00000 Default) Set High word to 00000. Move Distance after Home Sensor 0 Counts

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Set Serial Port Configuration
The drive serial port configuration can be viewed with Ultraware. However changing one of the parameters will cause a communication loss. It is recommended that the serial port configuration be set through the drive keypad. KINETIX 3 Drive serial port configuration for communication with Ultraware: Parameters. Pr0.09 Serial Port Configuration Set to 0x0005. (0x0005 Default) 0x5 Digit 0 Baudrate - 57600 bps 0x0 Digit 1 8 Data, No Parity, 1 Stop bit 0x0 Digit 2 Protocol ASCII 0x0 Digit 3 RS232 0 KINETIX 3 Drive serial port configuration for Modbus communication with MicroLogix: Parameters. Pr0.09 Serial Port Configuration Set to 0x1102. (0x0005 Default) 0x2 Digit 0 Baudrate - 19200 bps 0x0 Digit 1 8 Data, No Parity, 1 Stop bit 0x1 Digit 2 Protocol MODBUS-RTU 0x1 Digit 3 RS485 - 1

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Kinetix 3 communication Connections
The Kinetix 3 communication port can be configured for RS232 communications for Ultraware or RS485 Modbus RTU. 3 cables are available for serial communication with the Kinetix 3. 2090-CCMPCDS-23AAxx Kinetix 3 Comm0A or Comm0B to PC 9-pin serial port for RS232 programming with Ultraware. 2090-CCMCNDS-48AAxx Kinetix 3 Comm0A or Comm0B to MicroLogix 1100/1400 channel 0 port for RS485 Modbus RTU. 2090-CCMDSDS-48AAxx Kinetix 3 Comm0A or Comm0B to Kinetix 3 Comm0A or Comm0B for multi-drive RS485 Modbus RTU. Note: The configuration of the serial port includes both Comm0A and Comm0B. Changing between RS232 and RS-485 Modbus requires different cabling and serial port configurations. RS232 connection for configuration with Ultraware.

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RS485 connection for control over Modbus RTU. The following shows connection to a MicroLogix 1100 or 1400 (MicroLogix 1400 shown). If the Kinetix 3 is the only device on the network or the last device on the network, the 485 Term switches on the front of the drive need to be set ON.

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Sample Code
The MicroLogix 1400 is used in the example but can be converted to a MicroLogix 1100. The KINETIX 3 Index sample code has 2 routines. Drive Communication routine o Read drive status words o Write drive command words o Read Warning code o Read Fault code Drive Control routine o Enable the drive o Disable the drive o Fault reset o Home o Select an Index o Start Index o Stop drive

The Drive Control routine contains command bits to Fault Reset, Home, Run Sequence, and Stop. These bits can be toggled when online with the controller, set by code added by the user, or set from the Custom Data Monitor. B131:0/2 From User Program Drive01 Fault Reset. This bit will set the Fault Reset Bit in the Command word. B131:0/5 From User Program Drive01 Home. This bit will execute a sequence to enable the drive and start homing. B131:0/0 From User Program Drive01 Run. This bit will execute a run sequence to enable the drive, select Index 1, and start the indexing. The indexes are configured so Index 1 calls Index 2 when complete. Index 2 calls Index 3 when complete. It loops back to the beginning when Index 3 is complete. B131:0/1 From User Program Drive01 Stop. This bit will execute a sequence to stop the drive. When it comes to a stop, the drive is disabled. Also included in the example, is code to stop and disable the drive on a fault and read the fault and error code.

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Disclaimer
This sample code delivered by Rockwell Automation is just an example of how to control a KINETIX 3 drive.

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