Allen-Bradley Kinetix 6500 User Manual

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Integrated Motion on the EtherNet/IP Network:

Configuration and Startup

ControlLogix, CompactLogix, GuardLogix, Compact GuardLogix, Kinetix 350, Kinetix 5500, Kinetix 5700, Kinetix 6500,

PowerFlex 527, PowerFlex 755

User Manual

Original Instructions

Table of Contents

Default Chapter3
- Table of Contents3
- Additional Resources9
Preface9
- Summary of Changes9
Chapter 111
Controller, Communication, Drive, and Software Options11
- Module Options11
- Integrated Motion on Ethernet/Ip Drives13
- Software Options13
- Options for Powerflex 755 Drives16
- Configuration and Startup Scenarios18
- Help for Selecting Drives and Motors20
- Create a Controller Project21
  - Configure Integrated Motion Control Using Kinetix Drives21
Chapter 224
- Set Time Synchronization24
- Add an Ethernet Communication Module26
- Add a Kinetix Ethernet/Ip Drive32
Chapter 336
- Configure the Safety Category - Kinetix 5500 Drives36
- Configure the Power Options37
- Configure Digital Inputs39
- Create an Associated Axis40
  - Create an Axis for a Kinetix Drive40
  - Establish Feedback Port Assignments41
- Create a Motion Group42
  - Set the Base Update Period44
- Configure the Axis Properties46
- Configure the Associated Axis and Control Mode47
- Specify the Motor Data Source50
- Assign Motor Feedback54
- Display Motor Model Information54
- Configure the Load Feedback55
- Configure Feedback Only Axis Properties57
  - Configure Integrated Motion Control Using Kinetix 5700 Drives59
- Configure the Master Feedback57
Chapter 4 Ethernet/Ip Drive60
- Configure the DC-Bus Power Supply and Associate an Axis60
- Configure the Regenerative Bus Supply64
- Continue Inverter Configuration69
- Configure the Inverter Drives72
- Create an Associated Axis and Establish Feedback Assignments for an Inverter Drive80
- Create a Motion Group83
  - Set the Base Update Period84
- Configure the Axis Properties86
- Configure the Associated Axis and Control Mode88
- Specify the Motor Data Source91
- Assign Motor Feedback95
- Display Motor Model Information95
- Configure the Load Feedback97
- Configure the Master Feedback98
- Add a Powerflex 755 Drive99
  - Configure Integrated Motion Using a Powerflex 755 Drive99
Chapter 5101
- Select a Peripheral Feedback Device and Slot Assignment101
- Select an I/O Device102
- Assign a Power Structure104
- Configure Power Options106
- Configure Digital Inputs107
- Configure Digital Outputs108
- Create an Associated Axis109
- Configure the Axis Properties115
- Configure the Associated Axis and Control Mode116
- Specify the Motor Data Source119
- Display Motor Model Information123
- Assign Motor Feedback125
  - Rockwell Automation Publication MOTION-UM003K-EN-P - January126
  - Configure Integrated Motion Using a Powerflex 527 Drive129
- Add a Powerflex 527 Drive130
Chapter 6130
- Set the Network Configuration130
- Configure the Powerflex 527 Drive132
- Configure Digital Inputs138
- Create an Axis for a Powerflex 527 Drive138
- Create the Motion Group139
- Configure the Axis Properties140
- Configure the Associated Axis and Control Mode142
Chapter 7 About Axis Scheduling146
- Timing Model147
  - One Cycle Timing148
  - Two Cycle Timing149
- Axis Scheduling Configuration150
- Configure the Update Periods151
- Motion Utilization158
- Example 1: Position Loop with Motor Feedback Only159
Chapter 8163
- Example 2: Position Loop with Dual Feedback163
- Example 3: Feedback Only167
- Example 4: Kinetix 5500 Drive, Velocity Loop with Motor Feedback172
- With Motor Feedback176
  - Example 5: Kinetix 350 Drive, Position Loop with Motor Feedback176
- With no Feedback180
  - Example 6: Kinetix 5700 Drive, Frequency Control with no Feedback180
- Example 7: 842E-CM Integrated Motion Encoder with Master Feedback183
Chapter 9188
- UFB Feedback Device188
  - Example 1: Position Loop with Motor Feedback Via a UFB Feedback Device188
- Example 2: Position Loop with Dual Motor Feedback Via a UFB Feedback Device191
- Example 3: Velocity Loop with Motor Feedback Via a UFB Feedback Device196
- UFB Feedback Device196
- Example 4: Velocity Loop with no Feedback199
- Example 5: Frequency Control with no Feedback202
- Example 6: Torque Loop with Feedback206
  - This Chapter Provides Example Axis Configurations When Using a209
- Example 1: Frequency Control with no Feedback210
Chapter 10 Example 2: Velocity Control with Motor Feedback214
- The Powerflex 527 Drive Example 2: Velocity Control with Motor Feedback214
- Example 3: Position Control with Motor Feedback217
Chapter 11 Commission an Axis Scaling222
- Direct Coupled Rotary223
- Direct Coupled Linear224
- Rotary Transmission224
- Linear Actuator225
- Changing Scaling Factors225
Scaling222
- Hookup Tests226
- Applying the Commutation Hookup Test232
- Run a Commutation Test234
- Autotune235
- Polarity235
- Load239
- Load Observer241
- Adaptive Tuning243
- Load Ratio Data from Motion Analyzer249
- Test an Axis with Motion Direct Commands249
Chapter 12 Guidelines for Homing256
- Active Homing256
- Passive Homing257
Homing256
- Examples258
  - Active Homing258
  - Passive Homing261
- Absolute Position Recovery (APR)262
- APR Faults269
Chapter 13 When to Manually Tune an Axis275
- Axis Configuration Types275
- Current Tuning Configuration276
- Loop Responses277
- Motion Generator and Motion Direct Commands279
Manual Tune275
- Additional Tune281
- Monitor Tags with the Quick Watch Window285
- Use Motion Generator286
Faults and Alarms Dialog Box289
Chapter 14291
- Quickview Pane291
- Connection Faults and Errors292
- Data Monitor292
- Drive Status Indicators292
- Manage Motion Faults293
- Troubleshoot Faults293
- Configure the Exception Actions for AXIS_CIP_DRIVE294
- Inhibit an Axis297
  - Example: Inhibit an Axis298
  - Example: Uninhibit an Axis299
- Digital I/O Status Indicators300
Parameter Dialog-Box Listings303
Appendix A305
Appendix B305
- Definition of Jerk305
- Choose a Profile306
- Use % of Time for the Easiest Programming of Jerk307
- Velocity Profile Effects308
- Jerk Rate Calculation308
- Profile Operand313
- Program a Velocity Profile and Jerk Rate305
- Enter Basic Logic316
  - Example Motion Control Program317
  - Download a Project318
- Choose a Motion Instruction318
- Troubleshoot Axis Motion321
- Programming with the MDSC Function329
- Powerflex Out-Of-Box Configuration332
  - Recommended Out-Of-Box Settings332
- Setting the ACO/AVO Attributefor PF527 Drives Only336
Glossary337
Index341
- Rockwell Automation Publication MOTION-UM003K-EN-P - January342

Other manuals for Allen-Bradley Kinetix 6500

Reference Manual497 pages

Safety Manual42 pages

Design Guide114 pages

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Allen-Bradley Kinetix 6500 Specifications

General

Drive Type	Servo Drive
Series	Kinetix 6500
Communication	EtherNet/IP
Shock Resistance	15 g
Safety	Safe Torque Off (STO)
Feedback	Incremental Encoder
Control Method	Torque, Velocity, Position
Protection Features	Overvoltage, Undervoltage, Overcurrent, Overtemperature, Short Circuit
Ambient Operating Temperature	0°C to 50 °C
Storage Temperature	-40 to 85 °C
Relative Humidity	5% to 95% (non-condensing)
Certifications	CE, UL, cUL
Dimensions	Varies by model
Axis	Single or Multi-axis

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