Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 215)

Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013 215
Logic Program Overview Appendix A
Device Modules
Device modules contain all of the logic to control the essential functions required by the device. For example, an
Integrated Motion servo drive like the Kinetix 6500 requires logic (MSO and MSF instructions) to enable and/
or disable the servo drive. This logic reduces the programming effort required by most applications providing
more time for the proprietary logic needed for the application.
Typically, the device module consists of a physical drive, but could also consist of a virtual or feedback-only axis.
Device modules can also consist of multiple devices (for example, a drive) and perhaps a feedback device (for
example, a sensor).
Device Module Tags
The application and individual device modules interact with each other via device specific control tags that
include both command and status information. The control tags consist of these data types.
Device Tags
All of the data types listed above can be modified to fit specific needs of your application. However,
modifications to the data types could have an impact on the device module and/or other preprogrammed logic,
especially during import of additional device modules.
For example, the UDT_ServoCtrl data type that is used by the integrated motion drives (CIP Motion and sercos
interface based drives) consists of these tags.
Device Classifications Covered Products Data Type
PowerFlex drives
• PowerFlex 4-class drives, for example, 4, 40, 40P
• PowerFlex 7-class drives, for example, 70EC, 700VC
• PowerFlex 750-Series drives for example, 753, 755
• PowerFlex 520-Series drives for example, 525
Product specific add-on defined (AOI) data type:
PFlex_XXX_AOI
Where XXX refers to the specific PowerFlex drive
Kinetix 300 drives Kinetix 300 User-defined type: UDT_K300_Ctrl
Sercos physical axis
• Kinetix 2000
• Kinetix 6000
• Kinetix 6000M
• Kinetix 6200
• Kinetix 7000
User-defined type: UDT_ServoCtrl
Sercos feedback-only axis Applicable sercos drives User-defined type: UDT_ServoCtrl
CIP Motion physical axis
• Kinetix 6500
• PowerFlex 755
User-defined type: UDT_ServoCtrl
CIP Motion feedback-only axis Applicable CIP motion drives User-defined type: UDT_ServoCtrl
Virtual axis N/A User-defined type: UDT_ServoCtrl
SMC-50 solid-state soft starters SMC-50 solid-state soft starters
Add-on defined (AOI) data type:
SMC_50_AOI
E3 Plus overload relay with
communications auxiliary
(193-DNENCAT) device
E3 Plus overload relay with 193-DNENCAT module
Add-on defined (AOI) data type:
E3_CommsAux_rev6_AOI
PowerFlex drives, SMC-50 soft
starters, and E3 Plus overload
relays with energy monitoring
• PowerFlex 7-class drives, for example, 70EC, 700VC
• PowerFlex 750-Series drives, for example, 753, 755
• SMC-50 solid-state soft starters
• E3 Plus overload relay with 193-DNENCAT module
In addition to the device AOI tags, a user defined data type is
used to provide energy monitoring: UDT_BEO