50
Rev 003 QUICK START GUIDE Configuration of the MTR-ECI-EP-SA with integrated EtherNet/IP
Rev 003
QUICK START GUIDE Configuration of the MTR-ECI-EP-SA with integrated EtherNet/IP
2
Authors
Author E-mail Address Phone Number
Eric Rice [email protected] (773) 578-9670
Product Technical Support
Hotline Support E-mail Address Phone Number
Steven Proud [email protected] (905) 614-2761
Product Inquiries
Product Management E-mail Address Phone Number
Nuzha Yakoob [email protected] (631) 404-3206
Tom Worsnopp [email protected] (631) 404-3221
3
Contents
1 Overview ...................................................................................................................................................... 4
2 Version Information ...................................................................................................................................... 5
3 Resource DVD ............................................................................................................................................... 5
4 Configure the MTR-ECI via Festo Configuration Tool (FCT)............................................................................ 6
4.1 Download the MTR-DCI plug-in for FCT ................................................................................................. 6
4.2 Configure the MTR-ECI via FCT .............................................................................................................. 6
4.3 Conversion Factor ............................................................................................................................... 10
5 Change the IP address of the MTR-ECI via SYCON.net ................................................................................ 11
5.1 Install the SYCON.net software ........................................................................................................... 11
5.2 Use Ethernet Device Setup to locate the MTR-ECI ............................................................................... 12
5.3 Use SYCON.net to change the IP address of the motor ....................................................................... 13
6 Configure the generic Ethernet adapter and the AOIs in RSLogix 5000 ...................................................... 21
6.1 Sample project provided with Resource DVD...................................................................................... 21
6.2 Add the MTR-ECI to an RSLogix 5000 project as a generic Ethernet module ....................................... 21
6.3 Import the Festo Add-On Instructions (AOI) ........................................................................................ 24
6.4 Configure the Add-On Instructions (AOI) ............................................................................................. 28
7 Use the Add-On Instructions (AOI) in RSLogix 5000 ................................................................................... 31
7.1 Enable the MTR-ECI ............................................................................................................................. 31
7.2 Status bits .......................................................................................................................................... 32
7.3 Use Record Select mode ..................................................................................................................... 33
7.4 Use Direct mode ................................................................................................................................. 34
7.5 Use the Festo Parameterization Channel (FPC) ................................................................................... 35
A Example: Change Project Zero Point with FPC ............................................................................................ 36
A.1 Project Zero Point vs. Axis Zero Point .................................................................................................. 36
A.2 Create a new Project Zero Point .......................................................................................................... 37
B Example: Direct mode, Force mode for continuous rotation ....................................................................... 41
B.1 Edit Force Mode settings in FCT .......................................................................................................... 41
B.2 Start continuous rotation in CTRL function block ................................................................................ 42
C Import EDS file into RSLinx ......................................................................................................................... 43
C.1 EDS file provided on Resource DVD .................................................................................................... 43
C.2 Use the EDS Hardware Installation Tool to import EDS file ................................................................. 43
C.3 Note MTR-ECI icon in RSLinx ............................................................................................................... 48
D Wiring connections of the MTR-ECI ............................................................................................................. 49
D.1 M12 D-coded EtherNet/IP connector .................................................................................................. 49
D.2 M8 3-pin Homing switch connector..................................................................................................... 49
D.3 M8 4-pin RS232 connector.................................................................................................................. 50
D.4 M16 24VDC power connector ............................................................................................................. 50
4
1 Overview
This Quick Start Guide provides instructions for configuring a prototype MTR-ECI-EP-SA (MTR-ECI) motor on an EtherNet/IP network to be controlled by a Rockwell ControlLogix or CompactLogix PLC. This includes configuring the MTR-ECI with the Festo Configuration Tool (FCT) software, changing the IP address of the MTR-ECI, and using the Add-On Instructions (AOI) provided by Festo for use with the RSLogix 5000 software.
The diagram below illustrates a typical system consisting of a PLC, an Ethernet switch, one or more MTR-ECI-EP-SA motors, and a PC for configuring the motors.
RS-232 for configuration
with FCT
PLC
Ethernet switch
One or more MTR-ECI-EP-SA
Figure 1.1 – EtherNet/IP network
PC
5
2 Version Information
The following versions of software and hardware were used in the creation of this guide:
Description Version
FCT software 1.2.1.3
MTR-DCI FCT plug-in* 2.1.1.4
MTR-ECI-EP-SA hardware 01.00
MTR-ECI-EP-SA firmware 1.07.03
SYCON.net software 1.351 Build 130214
RSLogix 5000 software 20.00.00 (CPR 9 SR 5)
RSLinx software 2.59.00
PLC type CompactLogix L16ER
PLC firmware 20.13
*Configuring an MTR-ECI-EP-SA with Festo Configuration Tool (FCT) requires use of the MTR-DCI plug-in.
3 Resource DVD Each prototype MTR-ECI was shipped from Festo with a DVD containing various resource files for assistance in configuring and commissioning the motor. This guide makes frequent reference to these files. If you don’t have the DVD containing these files contact your Festo Sales Engineer or Application Engineer for assistance.
6
4 Configure the MTR-ECI via Festo Configuration Tool (FCT) 4.1 Download the MTR-DCI plug-in for FCT
1. The MTR-ECI uses the same FCT plug-in as the MTR-DCI. Download the MTR-DCI plug-in from the Support Portal of the Festo website: http://www.festo.com/net/en-us_us/SupportPortal/default.aspx?tab=4&q=533748
Figure 4.1 – Download the MTR-DCI plug-in from the Festo website
2. Once downloaded, locate the plug-in installation file and double-click it to install the plug-in. If you don’t have internet access you can also find the plug-in on the resource DVD.
4.2 Configure the MTR-ECI via FCT
1. Connect the PC to the MTR-ECI using the KDI-MC-M8-SUB-9-2.5 serial cable. 2. Power on the MTR-ECI and go online with it by clicking the Offline/Online button in
FCT.
Click “Commissioning” to download the MTR-DCI plug-in.
7
Figure 4.2 – Go online with the MTR-ECI
3. Configure the motor size, gear type and axis type specific to the motor and axis being
used. Set the Interface Type to DeviceNet.
Figure 4.3 – Configure Interface Type for DeviceNet
Click “Offline” to connect to the MTR-ECI. Afterward the button will change to green and display “Online”.
8
4. Configure the homing method, either block or switch.
Figure 4.4 – Select preferred Homing Method
5. Set the MAC ID to “1”, the Bit Rate to “500Kbit/s”, and the IO Configuration to “16 Byte FHPP Standard + FPC”.
Figure 4.5 – Configure Interface Parameters for DeviceNet
9
6. Configure the direct mode settings for Positioning and Force Mode if Direct Mode (FHPP) is to be the control method.
Figure 4.6 – Configure Direct mode settings
7. Enter position records into the Position Set Table if Record Select Mode (FHPP) is to be the control method.
Figure 4.7 – Enter position records into Position Set Table
8. Download and Store the configuration to the MTR-ECI.
10
4.3 Conversion Factor Unlike the CMMx-xx series of motor controllers, the MTR-ECI does not have Position Factor conversion built in. The conversion from encoder increments to either degrees for a rotary application or millimeters for a linear application must be calculated manually. The resulting conversion factor (numerator and denominator) must be inserted into the AOI in RSLogix 5000. The formula to calculate the conversion factor is as follows: UF = UFN/UFD = (ENC*GEAR)/FEED, where… UF = Conversion factor UFN = Conversion factor numerator UFD = Conversion factor denominator ENC = Encoder resolution GEAR = Final gear ratio FEED = Feed constant of the actuator in micrometers or tenths of a degree Example 1: The following example is for a rotary application based on the G14 gearbox. ENC = 2000 increments/motor_rev GEAR = 3969/289 motor_rev/gear_rev FEED = 3600 tenths of a degree per revolution UFN/UFD = (2000*3969)/(289*3600) = 7.63, or… UFN = 2000*3969 = 7,938,000 UFD = 289*3600 = 1,040,400 To remove unnecessary decimal places we will reduce UFN to 79,380 and UFD to 10,404. The UFN and the UFD are the numbers to be entered into the AOI. Example 2: The following example is for a linear application based on the G14 gearbox. ENC = 2000 increments/motor_rev GEAR = 3969/289 motor_rev/gear_rev FEED = 5800 micrometers/gear_rev UFN/UFD = (2000*3969)/(289*5800) = 4.74, or… UFN = 2000*3969 = 7,938,000 UFD = 289*5800 = 1,676,200 To remove unnecessary decimal places we will reduce UFN to 79,380 and UFD to 16,762. The UFN and the UFD are the numbers to be entered into the AOI.
11
5 Change the IP address of the MTR-ECI via SYCON.net The prototype MTR-ECI was shipped from Festo with static IP address 192.168.1.100. If a different IP address is needed for connection to the EtherNet/IP network follow the instructions below. Otherwise skip to section 6. 5.1 Install the SYCON.net software
1. The SYCON.net software must be installed on the PC first. The installer file can be found on the resource DVD.
2. During installation of the SYCON.net software you may see a Windows message regarding a Windows Security Alert. Be sure to click the “Allow access” button. Otherwise SYCON.net will not be able to communicate across the network.
Figure 5.1 – Allow access for SYCON.net software
3. Once installation is complete proceed to the next step.
12
5.2 Use Ethernet Device Setup to locate the MTR-ECI
1. Installation of the SYCON.net software includes a utility called Ethernet Device Setup. Launch this application from Start Menu > All Programs > SYCON.net System Configurator > Ethernet Device Setup. Make sure that the MTR-ECI is powered on and connected either directly to the PC or to the PC via an Ethernet hub/switch.
Figure 5.2 – Open Ethernet Device Setup software utility
2. Within Ethernet Device Setup, click the “Search Devices” button to locate the MTR-ECI motor. The IP address of the MTR-ECI will appear in the list of devices. Note that if more devices appear in the list you may narrow the list by clicking Options > Protocol and de-selecting “DCP”. Then click Search Devices again to refresh the list.
Figure 5.3 – Note the current static IP address of the MTR-ECI
(1) Click “Search Devices”
(2) Note the current static IP address of the MTR-ECI
13
3. After finding the IP address of the MTR-ECI you no longer need the Ethernet Device Setup software utility, however you can leave the software open for reference if you wish.
5.3 Use SYCON.net to change the IP address of the motor
1. Before proceeding with SYCON.net, the IP address of your PC must be set to a static IP address on the same subnet as the MTR-ECI, in this case 192.168.1.xxx. A suitable IP address of the PC would be anything other than the IP address of the MTR-ECI, as long as it’s on the same subnet, e.g. 192.168.1.102.
2. After setting a static IP address for the PC, launch SYCON.net which can be found in
Start Menu > All Programs > SYCON.net System Configurator > SYCON.net. Make sure that the MTR-ECI is powered on and connected either directly to the PC or to the PC via an Ethernet hub/switch.
Figure 5.4 – Open SYCON.net software
3. When SYCON.net is launched you will be prompted for an Administrator password. Leave the password field blank and click OK.
Figure 5.5 – Leave Admin password blank and click OK
4. Open the project file provided with the MTR-ECI, which can be found on the resource DVD. The name of the file is “MTR-ECI_IP-board_16byte_Festo.spj”.
(1) Leave password blank.
(2) Click “OK”.
14
Figure 5.6 – Click File menu > Open to open the project file
5. After opening the project, right-click on the gateway in the netProject portion of the screen, click Configuration and click Gateway. Note that there may be a delay after right-clicking on the gateway before the context menu appears.
Figure 5.7 – Open Gateway configuration window
15
6. In the dialog box that opens, click “netX Driver”, then select the “TCP Connection” tab. Enter the current IP address of the MTR-ECI and click “Save”.
Figure 5.8 – Enter current MTR-ECI IP address
7. Next, click “Device Assignment” and click the “Scan” button. The MTR-ECI gateway (NETTAP 50) should appear in the list of devices. Check the box next to the gateway and click “Ok”.
Figure 5.9 – Scan for and select the NETTAP 50 Gateway inside the MTR-ECI
(1) Click “netX Driver”. (2) Click “TCP Connection”.
(3) Enter the current static IP address of the MTR-ECI-EP-SA.
(4) Click “Save”.
(1) Click “Device Assignment”. (2) Click “Scan”.
(3) Check the box for the gateway. (4) Click “OK”.
16
8. Right-click on the gateway in the netProject portion of the main screen, click Configuration and click EtherNet/IP Adapter.
Figure 5.10 – Configure EtherNet/IP Adapter settings
17
9. In the dialog box that opens, enter the new IP address and subnet desired for the MTR-ECI to operate on the EtherNet/IP network, then click “OK”.
Figure 5.11 – Enter new/desired static IP address for the MTR-ECI
10. Right-click on the gateway in the netProject portion of the main screen and click “Download”. Wait for the download process to begin, which can take up to 1 minute.
Figure 5.12 – Begin download of settings to the MTR-ECI
(1) Enter the new IP address and subnet desired for the EtherNet/IP network.
(2) Click “OK”.
18
11. When a pop-up appears asking to confirm the download, click “Yes” and again wait for the download to proceed, which can take 1-3 minutes depending on computer speed.
Figure 5.13 – Confirm download
12. Once download is complete the download progress window will disappear and the gateway will be shown highlighted in green in the netDevice portion of the main screen.
Figure 5.14 – Download complete
Green highlighting shows that SYCON.net is connected to the gateway.
19
13. You have now successfully changed the IP address of the MTR-ECI. Right-click the gateway, wait for the context menu to appear (which can take 10 seconds or more) and click Disconnect.
Figure 5.15 – Disconnect from MTR-ECI
14. Wait (up to 1 minute) for SYCON.net to completely disconnect from the gateway. When it has successfully disconnected from the gateway the highlighting of the gateway will change from green to yellow to no highlighting.
Figure 5.16 – MTR-ECI disconnected
No highlighting means SYCON.net is disconnected from the gateway.
20
15. If you need to change the IP address of only one MTR-ECI unit you can exit SYCON.net at this point and proceed to the next section. If you need to change the IP addresses of additional MTR-ECIs, repeat the steps in this section.
Figure 5.17 – Exit SYCON.net software
21
6 Configure the generic Ethernet adapter and the AOIs in RSLogix 5000 6.1 Sample project provided with Resource DVD A sample RSLogix 5000 project is included on the resource DVD. This project was built using a CompactLogix PLC. You may use this project at your discretion. Otherwise, to add the MTR-ECI to an existing or new project in RSLogix 5000, follow the steps below. 6.2 Add the MTR-ECI to an RSLogix 5000 project as a generic Ethernet module
1. In RSLogix 5000 create a new Ethernet module by right-clicking on Ethernet and clicking “New Module…”.
Figure 6.1 – Create New Module under Ethernet adapter
22
2. Select the module type ETHERNET-MODULE … Generic Ethernet Module.
Figure 6.2 – Select and create Generic Ethernet Module
(1) Search “generic Ethernet module” to find the module type faster.
(3) Click “Create”.
(2) Select Generic Ethernet Module.
23
3. Configure the new module with a Name, Comm Format = Data-DINT, the IP address of the MTR-ECI (set in section 5.3, step 9), and Connection Parameters according to the following:
a. Input: Assembly Instance: 101; Size: 9 b. Output: Assembly Instance: 100; Size: 8 c. Configuration: Assembly Instance: 102; Size: 0
The Connection Parameters should look like the image below:
Figure 6.3 – Configure new module as MTR-ECI
Name is arbitrary.
Comm Format: Data – DINT.
IP address of MTR-ECI.
Connection parameters for the MTR-ECI.
24
4. On the “Connection” tab of the new module window use the default RPI of 10.0 ms and click “OK”.
Figure 6.4 – Click OK to complete module creation
6.3 Import the Festo Add-On Instructions (AOI) For ease of programming Festo has developed three Add-On Instructions (AOI) for RSLogix 5000, which are available for download from the Festo website as well as from the resource DVD. These three AOIs allow access to the Direct Mode and Record Select operating modes of the MTR-ECI as well as the Festo Parameterization Channel (FPC).
1. Under Data Types in the project tree, right-click “User-Defined” and click “Import Data Type…”.
Figure 6.5 – Import Data Type…
(2) Click “OK”.
(1) Click “Connection” tab.
25
2. Locate the file named “FestoDT_FHPP_PRM_REF.L5X” and click “Import”.
Figure 6.6 – Locate and import the Data Type file
3. Click “OK” to confirm importing the data type.
Figure 6.7 – Confirm import of Data Type
(2) Click “Import”. (1) Locate file.
Click “OK”.
26
4. Right-click “Add-On Instructions” and click “Import Add-On Instructions…”.
Figure 6.8 – Import Add-On Instruction…
5. Locate the file “FestoAOI_MTR_ECI_CTRL.L5X” and click “Import”.
Figure 6.9 – Locate and import the first AOI
(1) Locate file. (2) Click “Import”.
27
6. Click “OK” to confirm the import.
Figure 6.10 – Confirm import of AOI
7. Repeat steps 4, 5 and 6 above for the remaining two AOIs, named “FestoAOI_PRM_FPC1_INIT.L5X” and “FestoAOI_PRM_FPC1_SINGLE.L5X”. When you’re done the Add-On Instructions section of the project tree should look like this:
Figure 6.11 – Repeat steps 4, 5 and 6 for the remaining two AOIs
Click “OK”.
28
6.4 Configure the Add-On Instructions (AOI)
1. Drag the “FestoAOI_MTR_ECI_CTRL” AOI from the project tree to the desired (or new) rung in the MainRoutine ladder.
2. Name the instance of the newly created function block, then right-click on the label and click “New” to create a new tag for the control block.
Figure 6.12 – Add CTRL control block to ladder of MainRoutine
3. Click “Create” (or “OK”) to confirm the creation of the new tag.
Figure 6.13 – Confirm creation of new tag
(1) Name the CTRL block, then right-click on the new name and…
(2) …click “New” to create a new tag for the block.
Click “Create”.
29
4. Assign the address of the first input DINT, skipping the first DINT of data which is reserved for diagnostics, as shown below.
Figure 6.14 – Assign address of first input DINT
5. Assign the remaining input and output addresses as shown below. Note that while the first address of input data is not used, the first address of output data is used.
Figure 6.15 – Assign remaining DINTs to function block
(1) Open the drop-down list of addresses available for the first input DINT.
(2) Skip the first address [0] which is for diagnostics, and select the second address [1].
30
6. Repeat steps 1 through 5 with the two remaining AOIs, making sure to put each AOI on its own rung. Use the diagram below as a guide for naming the function blocks, creating tags and addressing the input and output DINTs.
Figure 6.16 – Create blocks and tags for remaining AOIs
Name this instance and create a new tag (right-click -> “New…”).
Name the DATA_REF and create a new tag.
Name this instance and create a new tag.
Assign the same DATA_REF name as was created above for the FPC1_INIT block. This data type is used to pass data between the two blocks.
31
7 Use the Add-On Instructions (AOI) in RSLogix 5000
7.1 Enable the MTR-ECI Once you’ve configured the AOIs you are ready to go online with the controller and test. Make sure that the MTR-ECI, PLC and PC are connected via an Ethernet switch. The diagram below shows the necessary settings in the CTRL function block in the order in which they should be specified for enabling the MTR-ECI.
Figure 7.1 – Bits in the CTRL block for enabling the motor
(4) Set the Enable drive bit.
(3) Set the Halt and Stop bits.
(5) Start homing (optional).
(2) Enter UFD from section 4.3.
(1) Enter UFN from section 4.3.
32
7.2 Status bits The diagram below shows some of the status bits available in the CTRL block.
Figure 7.2 – Status bits in the CTRL block
Active when motor is enabled.
Active when motor is ready to execute a positioning task.
Active when Halt bit is set.
Active when a positioning task has finished (motion complete).
Active when supply voltage is present.
Active when the motor has acknowledged the StartTask bit.
Active after a Homing task has been completed.
33
7.3 Use Record Select mode If you entered positioning records into the Position Set Table in section 4.2, step 7, you can
execute these records with the CTRL function block. Use the diagram below as a guide in the
order in which the steps are numbered.
Figure 7.3 – Executing positioning tasks in Record Select mode
(2) Select a record number from the Position Set Table.
(3) Execute the record by toggling the StartTask bit low to high (0 to 1).
(1) Enable Record Select mode by setting the OPM bit to 0.
34
7.4 Use Direct mode Direct mode allows you to enter a new position (either absolute or relative) for every
positioning command, along with a velocity value that is set as a percentage of the maximum
speed (1 to 100%). Use the diagram below as a guide in the order in which the steps are
numbered.
Figure 7.4 – Executing positioning tasks in Direct mode
(1) Enable Direct mode by setting the OPM bit to 1.
(3) Enter a position value for the move in tenths of a unit, e.g. 3600 equates to 360.0 degrees.
(4) Enter a velocity value as a percentage of the max velocity, e.g. 90 = 90%.
(2) AbsoluteRelative bit = 0 for absolute, 1 for relative.
(5) Execute the positioning task by toggling the StartTask bit low to high (0 to 1).
35
7.5 Use the Festo Parameterization Channel (FPC) While the CTRL function block controls the bulk of the functionality needed for most
applications, additional motor parameters from the Festo Parameterization Channel (FPC)
can be read and written via the SINGLE function block (which works in conjunction with the
INIT function block in the background). The parameters in the FPC are called
Parameterization Numbers, or PNUs. All PNUs available with the MTR-ECI are summarized in
Appendix B of the manual P.BE-MTR-DCI-DN-EN (part no. 553531) which can be downloaded
from the Festo website.
Example: Change the acceleration and deceleration ramp
In the diagram below, PNU 541 is being used to change the accel/decel ramp of positioning
tasks executed in Direct mode. Note that in the SINGLE function block the Conversion Factor
UF (UFN/UFD) is not applied automatically to the ParamValueWR value. The user must apply
the UF manually. For example, to enter an accel/decel ramp of 1728 deg/sec, the user must
enter 131842, according to the following calculation:
UFN= 79380
UFD=10404
PNU 541 = (1728 deg/sec) x (79380 / 10404) = 13184.2
And, because the decimal place is implied in the function block we enter the value 131842.
Figure 7.5 – Using the FPC with the SINGLE function block
(4) Set the Write bit.
(1) Determine the desired PNU and enter it here, e.g. 541 = accel/decel rate for Direct mode.
(3) Depending on the PNU, calculate the correct value by manually applying the conversion factor UF.
(5) Set the Execute bit to write the PNU value to the motor.
(2) Some PNUs require a non-zero value for DatatypeWR.
36
A Example: Change Project Zero Point with FPC
The following example provides instructions for changing the working zero position, or Project Zero Point, of the MTR-ECI using the Festo Parameterization Channel (FPC) in the manner described in section 7.5. This can be useful in applications where the absolute zero position of an axis must be changed after the machine is in operation.
A.1 Project Zero Point vs. Axis Zero Point
In FCT we can see the Axis > Homing and Axis > Measure screens as shown in the screen captures below. For the purpose of changing the zero position of a machine by way of the PLC, we use the Project Zero Point. The Axis Zero Point should not be used for this purpose. In other words, Axis Zero Point should only be changed in FCT.
Figure A.1 – Axis Zero Point setting in FCT
Figure A.2 – Project Zero Point setting in FCT
Change Axis Zero Point in FCT only.
Project Zero Point can be changed from PLC using PNU 500.
37
A.2 Create a new Project Zero Point
To change the Project Zero Point from the PLC we must use the SINGLE function block as can be seen in the subsequent screen captures.
1. The first step is to move the axis into the desired new zero position, usually done by either jogging the axis positive/negative into position or disabling the axis and moving it manually.
2. The next step is to clear the existing Project Zero Point. (If you know the Project Zero
Point is already zero this step can be skipped). Do this by writing a value of zero into PNU 500 using the SINGLE function block. Follow the steps shown in the screen capture below in the order in which they are numbered.
Figure A.3 – Clear existing Project Zero Point
(1) Set PNU to 500.
(2) Set DatatypeWR to 4.
(5) Set Execute bit to 1.
(4) Set Write bit to 1.
(3) Set ParamValueWR to 0.
38
3. The next step is to convert the desired new zero position into units needed by the SINGLE function block. As an example, the screen capture of the CTRL function block below shows a desired new zero position of 6461 tenths of a degree, or 646.1 degrees.
Figure A.4 – Desired new zero position shown in CTRL function block
4. Before entering this value into the SINGLE function block it needs to be scaled by the Conversion Factor numerator (Pos_Factor_numerator) and denominator (Pos_Factor_denumerator). This is done as follows:
Desired new zero position of 646.1 deg.
Pos_Factor_numerator
Pos_Factor_denumerator
39
Example:
5. Once scaled, the new zero position value (ParamValueWR) can be written into PNU
500 via the SINGLE function block. Continuing the example above, the new ParamValueWR value of 49296 is now written to the axis using the SINGLE function block, per the steps in the screen capture below in the order in which they are numbered.
Figure A.5 – Write new Project Zero Point to PNU 500
6. Finally, as can be seen from the following screen capture of the CTRL function block, once the new zero position is written the CTRL function block automatically updates and reflects the new ActualPosition value. Note that a small position deviation of less than 1 degree is normal.
(1) Set PNU to 500.
(2) Set DatatypeWR to 4.
(5) Set Execute bit to 1.
(4) Set Write bit to 1.
(3) Set ParamValueWR to 49296.
40
Figure A.6 – New Project Zero Point reflected in CTRL function block
After new zero position has been written to PNU 500, the ActualPosition value in the CTRL block updates immediately, e.g. ActualPostion = -0.1 deg (~0.0 deg).
41
B Example: Direct mode, Force mode for continuous rotation
The following example provides instructions for operating the MTR-ECI in Direct mode, Force mode (OPM = 5) to achieve continuous rotation.
B.1 Edit Force Mode settings in FCT
Before operating the motor in Force mode from the PLC, there are parameters that should be set in FCT. These are found in the Motor > Direct Mode screen of FCT.
Figure B.1 – Force mode settings in FCT
1. In particular the Stroke Limit should be set to a high enough value that the motor will not reach its stroke limit during continuous operation. For most gear ratios available with the MTR-ECI, a Stroke Limit value of 2,000,000.0 degrees is sufficient.
2. Speed Limit should also be set. This is the maximum speed of the motor while in
Force mode. If the target force value (SetValueForce) set by the PLC is greater than the force required by the load, the motor will not run away at an uncontrolled speed. It will automatically be limited to the Speed Limit value.
3. Force Window and Quiet Time are optional parameters for continuous rotation. See
the Help in FCT for more details.
42
B.2 Start continuous rotation in CTRL function block
Once the Force mode settings have been downloaded and stored into the motor from FCT, you can start Force mode tasks from within the CTRL function block. Use the diagram below as a guide in the order in which the steps are numbered.
Figure B.2 – Use CTRL function block to start a continuous rotation task
(1) Set OPM = 5 to enable Force mode.
(5) Toggle the Stop bit high to low (1 to 0) to stop continuous rotation.
(2) Set SetValueForceRamp to a percentage of the nominal value (1 to 100%), e.g. 10 = 10%.
(3) Set SetValueForce to a percentage of maximum torque (1 to 100%), e.g. 50 = 50%.
(4) Toggle the StartTask bit low to high (0 to 1) to begin continuous rotation.
43
C Import EDS file into RSLinx
C.1 EDS file provided on Resource DVD
An EDS file for the MTR-ECI is included on the resource DVD. It is not essential to import this EDS file into RSLinx, however it does help identify the motor in RSLinx by replacing the yellow question mark “?” with the following icon:
Figure 6.1 – MTR-ECI icon provided with EDS file
C.2 Use the EDS Hardware Installation Tool to import EDS file
1. Launch the EDS Hardware Installation Tool located in Start > All Programs > Rockwell Software > RSLinx > Tools.
2. Once the tool opens click “Add”.
Figure 6.2 – Click Add to begin EDS file import process
Click “Add”.
44
3. Select “Register a single file” and click “Browse”.
Figure 6.3 – Click to register a single file and Browse for EDS file
4. Locate the file called “MTR-ECI-EP_V1_2.eds” on the resource DVD and open it.
Figure 6.4 – Locate EDS file and open it
Select “Register a single file”.
Click “Browse”.
Locate the file called “MTR-ECI-EP_V1_2.eds” on the resource DVD.
Click “Open”.
45
5. After opening the EDS file click “Next”.
Figure 6.5 – Click Next to accept EDS file location
6. Note the green check mark to the left of the file in the Installation Test Results list. Click “Next”.
Figure 6.6 – Note green check mark and click Next
Click “Next”.
Note the green check mark.
Click “Next”.
46
7. In the next screen you are asked to select an image for the device, but there is only one provided with the MTR-ECI so simply click “Next”.
Figure 6.7 – Click Next to accept image for icon
8. Click “Next” once more.
Figure 6.8 – Click Next to complete import process
Click “Next”.
Click “Next”.
47
9. Click “Finish”.
Figure 6.9 – Click Finish
10. Click “Exit”.
Figure 6.10 – Exit Hardware Installation Tool
Click “Finish”.
Click “Exit”.
48
C.3 Note MTR-ECI icon in RSLinx
Once the EDS file has been imported you can launch RSLinx and scan the network. In addition to the PLC you should see the MTR-ECI icon now displayed.
Figure 6.11 – Note MTR-ECI icon in RSLinx
Note MTR-ECI icon displayed in RSLinx.
49
D Wiring connections of the MTR-ECI
The diagram below shows the connectors available on the back of the MTR-ECI.
D.1 M12 D-coded EtherNet/IP connector
The table below shows the available Ethernet cables for the M12 D-coded EtherNet/IP connector.
Part No. Type Code Notes
13101413 M12-RJ45-5M-SA Ethernet Cable 5 m
13101414 M12-RJ45-10M-SA Ethernet Cable 10 m
D.2 M8 3-pin Homing switch connector
If you are not using a reference switch:
Seal the terminal with the protective cap supplied (ISK-M8).
50
Selecting the reference switch:
Use the correct switch type “normally-open contact” in the PNP variant for the reference switch.
Use a reference switch with screw locking (outer thread M8x1) at the end of the cable or, as adapter, the connecting cable KM8-M8-… with screw locking.
Use e.g. the following proximity switches from Festo:
Magnetic proximity switches SMT-8M-…
Inductive proximity sensor SIEN-…-M8B-…
When selecting the sensor, note that the accuracy of the switchover point of the sensor determines the accuracy of the reference point.
D.3 M8 4-pin RS232 connector
The table below shows the available programming cable for the M8 4-pin RS232 connector.
Part No. Type Code Notes
537926 KDI-MC-M8-SUB-9-2,5 Programming Cable 2.5 m
D.4 M16 24VDC power connector
The table below shows the available power cables for the M16 24VDC power connector.
Part No. Type Code Notes
13101415 KPWR-MC-1-M16-3B-5D-SA
Power Cable 5 m
Cable wires are marked 1, 2, 3 and correspond to the connector pin numbers. The GND wire is GRN/YEL.
13101562 KPWR-MC-1-M16-3B-10D-SA
Power Cable 10 m
Cable wires are marked 1, 2, 3 and correspond to the connector pin numbers. The GND wire is GRN/YEL.
