Rockwell Automation 193 Drives and Motion Accelerator Toolkit Quick Start - Manual (Page 98)

98 Rockwell Automation Publication IASIMP-QS019E-EN-P - August 2013
Chapter 4 Logic Configuration
For the Widg-O-matic packaging example, the following rungs are imported. The rungs include a series of
incremental moves for the Kinetix 300 Diverter_Drive and Start/Stop and Speed reference commands for the
PowerFlex Conveyor_Drive.
Kinetix 300 and PowerFlex Drives Incremental Move
============================================
K300/POWERFLEX
K300- EIP POSITION MODE
POWERFLEX-RUN FORWARD
Widg-O-Matic Packaging Example
The following application example demonstrates how to control a K300 and a PowerFlex drive using sequencers.
Note that the K300 MUST be in EIP Incremental Position mode ( EIP mode = 1, Reference Source = 2)
For this example, the mode is set in the K300 Module Reset Sequence. Tag K300_Ctrl.Cmd.DriveMode is set to 2.
The Run sequence will Configure and run incremental position moves using K300 EIP Move AOI and Set a speed
reference
and Start/Stop a PowerFlex Drive.
While the Machine is STARTING / RUNNING, the drives will be operated as follows:
1) Verify K300 is in EIP Incremental Position mode.
1) Set Direction FWD, Speed Reference 50 Hz
2) Enable K300 drive.
3) Configure Position, Speed, Accel/Decel and start an Incremental Move.
2) Start drive, run at speed 3 sec
3) Stop drive
4) Configure Position, Speed, Accel/Decel and start an Incremental Move.
2) Start drive, run at speed 4 sec
3) Stop drive
6) Repeat
The Run Sequence is continuously repeated until the Stop Sequence is initiated by a Machine ABORT or STOP
command.
============================================================================================
============================================
0 NOP
============================================
K300/POWERFLEX
K300- EIP POSITION MODE
POWERFLEX-RUN FORWARD
Widg-O-Matic Packaging Example
The following application example demonstrates how to control a K300 and a PowerFlex drive using sequencers.
Note that the K300 MUST be in EIP Incremental Position mode ( EIP mode = 1, Reference Source = 2)
For this example, the mode is set in the K300 Module Reset Sequence. Tag K300_Ctrl.Cmd.DriveMode is set to 2.
The Run sequence will Configure and run incremental position moves using K300 EIP Move AOI and Set a speed
reference
and Start/Stop a PowerFlex Drive.
While the Machine is STARTING / RUNNING, the drives will be operated as follows:
1) Verify K300 is in EIP Incremental Position mode.
1) Set Direction FWD, Speed Reference 50 Hz
2) Enable K300 drive.
3) Configure Position, Speed, Accel/Decel and start an Incremental Move.
2) Start drive, run at speed 3 sec
3) Stop drive
4) Configure Position, Speed, Accel/Decel and start an Incremental Move.
2) Start drive, run at speed 4 sec
3) Stop drive
6) Repeat
The Run Sequence is continuously repeated until the Stop Sequence is initiated by a Machine ABORT or STOP
command.
============================================================================================
============================================
============================================================================================
============================================
RUN SEQUENCE
============================================================================================
============================================
1 NOP
============================================================================================
============================================
RUN SEQUENCE
============================================================================================
============================================
SET K300 MODE
Set drive mode specific for this application.
This tag is used in Reset Routine in K300 Drive module to set Mode.
2 Move
Source
2
Dest Diverter_Drive_Ctrl.Data.AppMode
2
MOV
K300 Drive Mode for
application
SET K300 MODE
Set drive mode specific for this application.
This tag is used in Reset Routine in K300 Drive module to set Mode.