Using the Kinetix 300 Drive

Using the Kinetix 300 Drive: Hands-On Lab

Training Lab Manual

USING THE KINETIX 300 DRIVE_____________________________________________________7 ABOUT THIS HANDS-ON LAB...........................................................................................................7 LAB MATERIALS..............................................................................................................................7 DOCUMENT CONVENTIONS...............................................................................................................8 BEFORE YOU BEGIN........................................................................................................................8 LAB 1: BASIC DRIVE CONFIGURATION (15 MINUTES)_____________________________________9 ABOUT THIS LAB.............................................................................................................................9 OPEN THE MOTIONVIEW ONBOARD SOFTWARE ............................................................................10 SELECT THE SERVO MOTOR..........................................................................................................13 CHOOSE THE OPERATING MODE....................................................................................................15 CONFIGURE THE COMMUNICATIONS................................................................................................16 CONFIGURE THE DRIVE INPUTS AND OUTPUTS................................................................................17 AUTO TUNE THE DRIVE FOR INDEXING MODE.................................................................................20 LAB 2: INDEXING MODE (20 MINUTES)______________________________________________23 ABOUT THIS LAB...........................................................................................................................23 CONFIGURE THE DRIVE FOR INDEXING MODE.................................................................................23 COMMAND THE DRIVE IN INDEXING MODE.......................................................................................25 EXPLORE THE MONITOR FEATURE..................................................................................................26 BLEND A SERIES OF INDEX MOVES................................................................................................29 LAB 3: ADDITIONAL FEATURES (15 MINUTES)_________________________________________33 ABOUT THIS LAB...........................................................................................................................33 USE THE FAULT HISTORY FEATURE...............................................................................................33 HOME THE DRIVE...........................................................................................................................34 MANUALLY TUNE THE DRIVE..........................................................................................................36
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APPENDIX A: HOME METHODS OF THE KINETIX 300____________________________________39 HOME METHODS 7-14...................................................................................................................40 HOME METHOD 23.........................................................................................................................41 HOME METHOD 25.........................................................................................................................42 HOME METHOD 27.........................................................................................................................43 HOME METHOD 29.........................................................................................................................44 HOME METHOD 33.........................................................................................................................45 HOME METHOD 34.........................................................................................................................45 HOME METHOD 35.........................................................................................................................45

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Using the Kinetix 300 Drive

About This Hands-On Lab
The versatile Kinetix 300 drive can be used in many ways; the most simplistic of these being as a stand-alone drive. This lab shows the initial setup and configuration of the drive, as well as its use as an analog velocity drive and an indexing drive. The following sections explain what youll be doing in this lab session, and what you will need to do to complete the hands-on exercises. What You Will Accomplish In This Lab As you complete the exercises in this hands-on session, you will: Configure and tune the Kinetix 300 drive for various modes of operation Command the drive in analog velocity and indexing modes

Who Should Complete This Lab This hands-on lab is intended for individuals who: Have a base knowledge of servo drive systems Would like to explore the web-based configuration software for the Kinetix 300 drive

Lab Materials
For this Hands-On lab, we have provided you with the following materials that will allow you to complete the labs in this workbook. Hardware This hands-on lab uses the following hardware: DEMO-09P096A Kinetix 300 drive demo unit including drive, motor and some I/O

Software This hands-on lab uses the following software: The embedded web-based configuration tool included in the drive Internet Explorer

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Document Conventions
Throughout this workbook, we have used the following conventions to help guide you through the lab materials. This style or symbol: Words shown in bold italics (e.g., RSLogix 5000 or OK) Indicates: Any item or button that you must click on, or a menu name from which you must choose an option or command. This will be an actual name of an item that you see on your screen or in an example. An item that you must type in the specified field. This is information that you must supply based on your application (e.g., a variable). Note: When you type the text in the field, remember that you do not need to type the quotes; simply type the words that are contained within them (e.g., Controller1). The text that appears inside of this gray box is supplemental information regarding the lab materials, but not information that is required reading in order for you to complete the lab exercises. The text that follows this symbol may provide you with helpful hints that can make it easier for you to use this product. Most often, authors use this Tip Text style for important information they want their students to see. Note: If the mouse button is not specified in the text, you should click on the left mouse button.

Words shown in bold italics, enclosed in single quotes (e.g., 'Controller1')

Before You Begin

The following steps must be completed before starting the lab exercise: 1. Verify that you have an Ethernet connection between the Kinetix 300 drive and your workstation.

Typical Ethernet Layout (a switch is shown, but is not required) 2. Verify that 120Vac power has been applied to the drive, the Emergency Stop button is pulled completely out and that the Drive Power switch is on. 3. Verify that the Motor Power switch is set to Internal for our usage.
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Lab 1: Basic Drive Configuration (15 minutes)

This section assumes that you have previously connected to the Kinetix 300 drive, which automatically installs the Java application MotionView Onboard. Note that you must have a live internet connection when installing this application because the drives embedded installation tool simply points to the Java website for the complete program installation. Once installed, you no longer need an internet connection and the MotionView Onboard program will run automatically upon connecting to the drive. NOTE: The classroom workstations are not to be connected to the internet.

About This Lab

This lab allows the user to become familiar with the web-based configuration tool included in the Kinetix 300 drive. In this lab, you will: Open the drive configuration software and observe its features Restore the drive to its default settings Configure the motor and I/O Auto tune the drive for first usage

Follow the steps below to complete Lab Section 1.

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Open the MotionView OnBoard Software

The embedded web-based configuration tool eliminates the need to maintain software support in the field. The current software revision is already available directly from the drive. In this section of the lab, you will simply attach to the drive using Internet Explorer software and reset the drive to its factory configuration. The Java application has been pre-installed on the workstation. 1. Follow the steps in the Before You Begin section of this document before proceeding. 2. Open Internet Explorer by double-clicking on the desktop shortcut.

3. Using the spreadsheet posted at your workstation, enter the IP Address of your Kinetix 300 drive and press Enter.

4. Select Open when the popup window appears.

5. Read the warning and answer YES, I have to the prompt.

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The MotionView OnBoard window opens.

6. To attach to your drive, click Connect.

7. Enter your IP Address from the spreadsheet again and click Connect.

TIP: You could also use the Discover option to locate drives on your subnet.

The software uploads the drive information.

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8. When your software is ready, click on the root drive in the tree to see a system summary. There may several drives available, so be careful to choose your Kinetix 300 drive in the tree.

9. Verify that all of the inputs on the demo unit are in the OFF position and the Emergency Stop button is pulled OUT.

10. Reset the drive to its default configuration by selecting Restore Defaults. Answer Yes to confirm your action.

11. Wait for the process to complete and press OK to confirm the reset. The IP Address on the drive is set by DHCP, so well need to configure that shortly. Just dont cycle power before we change that setting.

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Select the Servo Motor

If you are using one of Rockwell Automations high performance servo motors which employ a selfidentifying high resolution encoder, your motor selection should be automatically made. If your system includes an incremental encoder option, you will need to manually select the motor. 12. Move to the Motor branch.

For our demo units, we are using the TLY-A110T-HJ62AA motor. This motor does not use the auto identification feature, so well need to choose it from a list. 13. In the window on the right, click Change Motor.

14. When the Motor Database window opens, use the Motor Model drop-down list to select the TLY-A110T-Hxx2 motor used in our demo unit.

15. Press Update Drive to save the selection. 16. Answer No to load the default gains for this motor and drive combination.

NOTE: We will tune the drive for our needs shortly.

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Take a minute to note a few things about the motor used in the demo unit. Although the Kinetix 300 drive supports the use absolute encoders, the motor used in these demo units is not absolute. The 24VDC input on the right-hand side of the drive will remember the encoder position should the Drive Power switch be cycled. The motor is capable of 6000 RPM max, but since we are running it with 120VAC on the 220VAC input terminals (for International usage), it is capable of only about half this speed.

Lets continue on.

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Choose the Operating Mode

The Kinetix 300 drive can operate in one of several modes which were discussed in the kickoff presentation. In this section of the lab, we will leave the drive in the Auto Tune mode, which we will perform in Lab 2. 17. Move to the General branch.

You can see that the Drive Mode is currently set to Auto Tune. This is indeed the first operation that we will need to complete; however, we will need to set up a few more options in order to do so. We will keep most of these entries at their default values in order to prevent damage to the drive or motor. 18. Use the drop-down menu to view the available Drive Mode selections, but be sure to leave it set to Auto Tune.

19. Locate the Velocity Mode Acceleration section within this same window. 20. Change the Enable Accel / Decel Limits setting to Enable. Set the Accel and Decel Limit to a smooth 10,000 for our needs.

We will initially be running the drive in indexing mode, but well use these limits in later labs to avoid step changes in the command signal (such as upon enabling the drive). 21. Leave all other settings in this section at their default values. NOTE: You may notice the User Units value at the bottom of the General screen. You cannot change the name of the user units, only the scale.

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Configure the Communications

The Kinetix 300 drive supports DHCP and our classroom is setup for it. Lets make sure that our drive is configured accordingly. 22. Move to the Communication > Ethernet branch.

23. Check the box to Obtain IP Address using DHCP if it is not already checked.

Your drive should have maintained its address, or you would have been knocked offline by now. Even if power is cycle at this point, youll be given an address from the DHCP server at your station.

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Configure the Drive Inputs and Outputs

The Kinetix 300 drive includes 12 digital inputs and 4 digital outputs plus a relay output. The drive also includes an analog input and an analog output. Many of these I/O points are user configurable, but some are pre-assigned. Here is a list of the pre-assigned inputs:

The pre-assigned inputs will not appear in the configuration sections below.

24. Move to the IO > Digital IO branch.

NOTE: Only Inputs B1 B4 and Outputs 1 - 2 are provided on this demo unit.

Configure the Inputs as shown below.

25. Scroll down until you can see the Output functions.

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26. Set Output 1 and 2 as shown below. These are likely important for an indexing application.

IMPORTANT: Verify once again that your inputs are all turned OFF.

27. Scroll down to the bottom of this window and set the Enable Switch Function to Run.

28. Next, move to the IO > Analog IO branch.

If we were using some sort of an analog meter or display, we might assign and scale the analog output to annunciate the speed of the drive. We have no display at our workstations, so well leave that one blank. Also, if we were running in analog velocity mode, we would scale our input here. 29. Move to the Limits > Velocity Limits branch. Here, well be setting the range for the In Speed Window output that we configured above.

Here is a general overview of how the settings affect the digital output signals: The Zero Speed setting is actually a window centered around an actual velocity of 0.0. If the actual velocity is between +/- (Zero Speed)/2, the Zero Speed output would be turned ON.

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The Speed Window setting is actually a window centered around the At Speed set point. If the actual velocity is equal to the At Speed value +/- (Speed Window)/2, the In Speed Window output configured above will be turned ON.

30. Set the Velocity Limits as shown below. This will make them easier to work with throughout the lab.

NOTE: We are only using the Speed Window and At Speed values in this lab. So this means that the In Speed Window output should be on for actual velocities between 9 and 11 Rev/s (and negative equivalents) for our drive.

31. Move to the Limits > Position Limits branch. Here, well be setting the range for the In Position output we configured above.

32. Well leave the In Position Limit setting as it is.

Remember that this value simply turns on the digital output (another +/- window, as above) and does not set any functional tolerances. The Position Error value, however, would create drive faults if exceeded. Well also leave it at the default setting for now. Keep in mind that this value is affected by tuning and the machines dynamics, so dont forget where it is located within the software. Next, lets tune the drive.
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Auto Tune the Drive for Indexing Mode

Throughout the coming labs, we will be running in both indexing and velocity modes, so we care about both the position loop gains and the velocity loop gains. TIP: Use common sense here. If you are only concerned with speed, tune only the Velocity loop. In Indexing mode where the end points are critical and not the path getting there, tune only the Position loop. Gearing, however, may require tuning both the Velocity and the Position loop, depending on the allowable tolerances.

33. Move to the Dynamics branch.

We will test the Auto Tune feature for the Kinetix 300 product. 34. Press Autotuning in the window on the right.

Your values may differ.

35. Change the selections as shown.

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36. Follow the instructions in the popup window and press Start to complete the tuning procedure.

TIP: Did you remember to turn the ENABLE input ON? See Step 1 above.

37. Accept the tuning parameters by answering Yes.

TIP: You may be tempted to grab hold of the motor shaft and feel the results of the tuning; however it will feel quite spongy. Remember, we are still in Auto Tune mode and the stiffness of the system will change when we go into our indexing mode.

Dont worry! Well play with the manual tuning later in the lab. Your Kinetix 300 drive is now tuned and ready to run.

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Lab 2: Indexing Mode (20 Minutes)

About This Lab
Looking to lower your overall system costs? If your application involves simple point to point moves or recipes of moves, the stand-alone Indexing feature of the Kinetix 300 may be what you need. Configure and command the drive to run in Indexing (position) mode Explore the content included in the softwares Monitor feature Explore the content included in the softwares Oscilloscope feature

Follow the steps below to complete Lab Section 2.

Configure the Drive for Indexing Mode

Although we have tuned the drive for positioning, the Drive Mode is still set for Auto Tune. In this section of the lab, you will change modes. 1. Turn OFF the ENABLE input, so as to disable the drive. The shaft should turn freely by hand. 2. Return to the General branch and use the drop-down to change the Drive Mode to Indexing.

3. Finally, move to the Indexing branch in order to enter the move profiles.

4. Expand Index 00 and take a look at the parameters provided for index moves.

NOTE: It looks a lot like the move profile of an index in Ultraware!

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5. Set Index 00 to make (3) sets of incremental moves, 5 revs each at the dynamics shown. Dont forget the brief Dwell.

Now lets have some fun.

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Command the Drive in Indexing Mode

WARNING: You are about to command motion.

6. Turn ON the ENABLE input. 7. Grab hold of the motor shaft again and notice that the tuning is really quite stiff. 8. Toggle (turn ON and the OFF) the Start Index input (INPUT B3) to command motion. The motor should quickly make 3 sets of 5 revolutions. 9. Toggle the Start Index one more time, this time making note of the dwell between moves. Are you sure that there was a 50ms Dwell between the Index move batches? Hard to tell. 10. Return to the Indexing branch in the main window and set the Dwell for Index 00 to 5000 ms (5 seconds).

11. Issue the Start Index one last time. That was definitely not 5 seconds. Whats going on? NOTE: The Dwell variable is not active between batches of index moves; only between linked (but not blended) index moves. This is different than the Ultra3000i drive.

Spend some time playing with the Index settings, including the S-Curve type Move. Next, well explore one of the troubleshooting tools provided in the drive software.

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Explore the Monitor Feature

This tool allows you to access the most commonly needed information about the drive. There are other tools included within the software, but lets first take a look at what this one provides. 12. Click on the Monitor branch and a new window should open.

The Monitor window opens:

The Monitor is showing analog values for position, velocity and current, as well as the command input. It is also providing digital values for motion status and I/O. Nice. 13. Toggle the Define Home input (INPUT B2) on the demo unit. The Actual Position register goes to (near) 0.

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14. Toggle the Start Index input again and carefully watch as the Actual Velocity reaches about 10 Revs / Sec. Output #1 (In Speed Window) should briefly turn ON and OFF three times during the move.

WHY? Because we configured it to be ON at 10 Revs /Sec with a window of 2 Revs/Sec (+/- 1) in Lab 1 above.

Output #2 (In Position) should only be on when the index has completely finished. 15. Command the Start Index again and immediately try to halt the drive by turning ON the + OVER TRAVEL or the OVER TRAVEL inputs. These are the dedicated positive and negative hard travel limit inputs, respectively. What happens?

Nothing; the inputs are turning on, but the Hard Limit Switch feature has not been enabled. 16. Return the MotionView OnBoard window. 17. With the drive still enabled, move to the IO > Digital IO branch and scroll down to the bottom of the associated window.

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18. Use the drop-down to set the Hard Limit Switches Action setting to Disable and Coast.

19. Briefly hold one of the OVER TRAVEL inputs on the demo unit ON. The drive immediately faults and even displays a fault code of E06 which well explore later. 20. Release the OVER TRAVEL input. 21. Youll need to remove the ENABLE input to the drive and then toggle the Fault Reset input (INPUT B1) to clear the fault. 22. Finally, you can turn the ENABLE input back ON and command the drive. NOTE: The drive must see a transition on the ENABLE input following a fault.

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Blend a Series of Index Moves

In this section, youll program a blended set of index moves. Well open up the Oscilloscope feature in the drive to see what is actually happening. 23. Return to the Indexing branch. IMPORTANT: Remember that the Kinetix 300 drive does not support the calling of indexes using a BCD (binary coded decimal) masking on the digital inputs. Issuing the Start Index command will trigger Index 00 every time. This is different than the Ultra3000i drive.

24. Configure Index 00 to blend into next index as shown below.

25. Configure Index 01 as shown below. Be sure to loop it back to Index 00.

Youll get a Motion Error on the drive if all associated Index Types are not set for Blended.

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26. Toggle the Start Index input (INPUT B3) again. TIP: Remember that Input B4 is configured as the Abort Index command.

The drive should appear to run briefly at a higher speed and then a lower speed, repeating over and over. To see the actual velocities, lets use the Oscilloscope feature. 27. Move to the Tools branch and click Oscilloscope.

The Scope window opens.

Lets look at the Velocity Command, which we programmed to be between 5 and 10 revs/sec, as well as the Current Command, which shouldnt be much with no load. 28. For Channel 1: a. Set the Signal to Velocity Command. b. Set the Scale to 5 (User Units / Div). 29. For Channel 2: c. Set the Signal to Current Command. d. Set the Scale to 1 (Amp / Div). 30. Set the Time Base to 500 ms / Div. 31. Click Run to start the scope.

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The scope shows the blended velocities between the indexes.

IMPORTANT: Notice that you do not have the ability to control the accel and decel rates used during blended moves. The planner within the Kinetix 300 drive spaces out the velocity change over the entire index.

Reference: Publication #2097-UM001n-EN-P 32. Click Stop to stop the scope. 33. You can Close the Scope window at this time; feel free to play around with the tool if time permits.

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34. Still on the Tools branch, open the Parameter & IO View.

The Diagnostic window opens.

35. Click Add to choose the desired signals. 36. Use the tool to add the signals of your choice. Expand the entries and place a check beside the desired signal. Click Add to complete.

Here is a screen showing some random signals:

You can even Save and Load the signals to create a familiar troubleshooting environment. 37. You may play around or Close the Diagnostic window as time permits. 38. Toggle the Abort Index input (INPUT B4) to stop the motion.

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Lab 3: Additional Features (15 Minutes)

About This Lab
In this last lab section, we will explore some additional functions and features of the Kinetix 300 drive. We will: Explore the content included in the softwares Fault History feature Configure and command a homing routine Explore the manual tuning ability of the drive

Follow the steps below to complete Lab Section 3.

Use the Fault History Feature

Of course no drive software is complete without the ability to display and log faults. In our haste to get the drive running again, we forgot to look at the fault code or display in order to see what had happened during the over travel event above. 1. Click on the Faults branch at the bottom of the tree.

The Fault Code is displayed.

Need more information? Looking for a more complete history in order to understand what has been happening on the customers machine? 2. Click Load Faults and the fault history is displayed, complete with Device Time stamps. NOTE: The Device Time stamps are currently the time since the drive was last powered up. Future firmware releases will allow the fault history to perform more like the Ultra3000i drive and track faults over hours of usage.

You can create additional faults by enabling the drive with the Drive Power switch in the OFF position. We will explore more of the troubleshooting tools in the final section of this lab.

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Home the Drive

In this section of the lab, youll experiment with the different homing sequences provided by the drive. 3. Move to IO > Digital IO branch in the software. 4. Change Input B2 to Start Homing (it was previously set to Define Home).

The home switch input assignment is actually made on the Homing screen, as well see shortly. NOTE: Many settings can be change while the drive is still enabled. This is different than the Ultra3000i drive.

5. Move to the Homing branch in the software.

By default, the Home Switch input is set to Input B1, as shown above. 6. Change the Home Switch to Input C3 as shown.

This is physically wired to the registration switch located just below the motor on the drive demo unit. Disable the drive and use the Monitor feature to confirm this, if you like. This is the dedicated registration input, as mentioned at the beginning of the lab.

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7. Set the rest of the homing dynamics as shown below.

8. Leave the Home Method set the default value of 7 (Switch to Marker) so we can observe the functionality.

9. Toggle the Start Homing switch (INPUT B2) on the drive demo unit to start the process. NOTE: The drive must be enabled and in the indexing mode to start the homing process.

Experiment with other homing settings. Be sure to change the Home Method shown below and observe the way the drive behaves. The Home Offset parameter may behave differently than you expect. This feature behaves more like a redefine position function in the Kinetix 300 drive.

Please see Appendix A of this lab for a complete description of the homing functions and diagrams of the various Home Methods.

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Manually Tune the Drive

There is not much of a challenge in manually tuning the drive and motor in the demo unit, since the load is small and tightly coupled. Follow the steps below to at least become familiar with the process. 10. Move to the Dynamics branch in the software.

11. Start the blended move routine by toggling the Start Index input (INPUT B3) as before. IMPORTANT: Please read ALL of the bullet points below thoroughly before changing the tuning values. Notice the part about disabling the drive, especially.

Feel free to play around with the tuning values manually: Note that values dont take effect until you press Enter or leave the entry window (use Tab) Add some Position I-Gain, for instance. Keep it below 25% of the Position P-Gain for stability Change the Gain Scaling value mentioned below, using the range shown The Filters section will be difficult to explore with our tightly coupled load Start and stop the blended move profile to check your position holding capability Increase the dynamics of the blended move profile (add/dec and speed) for fun If you run into any trouble, simply Disable the drive You can always Autotune again or return to these functional settings:

This Gain Scaling value is your one touch handle for tuning. Use it like Position BW in Logix to change performance but keep stability between the loops. NOTE: The range is -16 to +4.

Summary: The Kinetix 300 is a perfect low-cost solution for stand-alone indexing applications. The MotionView OnBoard software is simple, yet powerful. Be sure to conduct the MicroLogix and CompactLogix labs, as well.

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This concludes the Using the Kinetix 300 lab.

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Appendix A: Home Methods of the Kinetix 300

This is a table of the Home Methods available in the Kinetix 300 drive. It is not currently provided in the user manual. VAR_HOME_METHOD 7 8 9 10 11 12 13 14 23 25 27 29 33 34 35 Home Method Switch-Marker Switch-Marker Switch-Marker Switch-Marker Switch-Marker Switch-Marker Switch-Marker Switch-Marker Switch-Fast Switch-Slow Switch-Slow Switch-Fast Marker Marker Immediate Direction Forward Forward Forward Forward Reverse Reverse Reverse Reverse Forward Forward Reverse Reverse Reverse Forward N/A Homing Type Bi-directional Uni-directional Bi-directional Uni-directional Bi-directional Uni-directional Bi-directional Uni-directional Home to sensor Home to sensor Home to sensor Home to sensor Home to marker Home to marker N/A Home Sensor Polarity Active/Rising Active/Rising Inactive/Falling Inactive/Falling Active/Rising Active/Rising Inactive/Falling Inactive/Falling Active/Rising Inactive/Falling Inactive/Falling Active/Rising N/A N/A N/A

Table 1: Homing Methods The sections below provide a description of each Home Method and provide a diagram of their motion path and functionality.

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Home Methods 7-14

Home Methods 7-14 use a home switch that is active over only a portion of the travel; in effect, the switch has a momentary action as the axis position sweeps past the switch. Using methods 7 to 10, the initial direction of movement is forward, and using methods 11 to 14, the initial direction of movement is reverse, except, if the home switch is active at the start of motion. In this case, the initial direction of motion is dependent on the edge being sought. The home position is at the Index Pulse on either side of the rising or falling edges of the Home Switch, as shown in the following two diagrams. If the initial direction of movement leads away from the Home Switch, the drive must reverse on encountering the relevant limit switch. All of these methods use the fast acceleration parameter.

Home Methods 7-10 use a forward initial move

Home Methods 11-14 use a reverse initial move

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Home Method 23
Using Home Method 23, the initial direction of movement is forward (if the homing switch is inactive). The home position is the leading edge of the homing switch. Axis will accelerate to fast homing velocity in the forward direction and continue until the homing switch is activated (rising edge) shown at position A. Axis then decelerates to zero velocity. If the homing switch is already active when the homing routine commences then this initial move is not executed. Axis will then accelerate to fast homing velocity in the reverse direction. Motion will continue until the falling edge of the homing switch is detected (position B), where the axis will decelerate to 0 velocity. Axis will then accelerate to slow homing velocity in the forward direction. Motion will continue until the rising edge of the homing switch is detected (position C), where the axis will decelerate to 0 velocity. Axis will then accelerate to slow homing velocity in the reverse direction. Motion will continue until the falling edge of the homing switch is detected (position 23). This is the home position (excluding offset). NOTE: If the axis is on the wrong side of the homing switch when homing is started then the axis will move forward until it contacts the positive limit switch. Upon activating the positive limit switch the axis will change direction (reverse) following the procedure as detailed above but ignoring the initial move in the forward direction.

Home Method 23 uses a forward initial move

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Home Method 25
Using Home Method 25, the initial direction of movement is forward. The home position is the negative edge of the homing switch. The axis will accelerate to fast homing velocity in the forward direction and continue until Homing Switch is deactivated (falling edge) shown at position A. Axis then decelerates to zero velocity. Axis will then accelerate to slow homing velocity in the leftward direction. Motion will continue until the rising edge of the homing switch is detected (position B), where the axis will decelerate to 0 velocity. Axis will then accelerate to slow homing velocity in the rightward direction. Motion will continue until the falling edge of the homing switch is detected (position 25). This is the home position (excluding offset). NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move forward until it contacts the positive limit switch (A2). Upon activating the positive limit switch the axis will change direction (reverse) continuing motion until it sees the rising edge of the homing switch. The axis will then stop and follow the procedure as detailed above.

Home Method 25 uses a forward initial move

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Home Method 27
Using Home Method 27, the initial direction of movement is reverse. The home position is the negative edge of the homing switch. Axis will accelerate to fast homing velocity in the reverse direction and continue until Homing Switch is deactivated (falling edge) shown at position A. Axis then decelerates to zero velocity. The Axis will then accelerate to slow homing velocity in the forward direction. Motion will continue until the rising edge of the homing switch is detected (position B), where the axis will decelerate to 0 velocity. The axis will then accelerate to slow homing velocity in the reverse direction. Motion will continue until the falling edge of the homing switch is detected (position 27). This is the home position (excluding offset). NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move reverse until it contacts the negative limit switch (A1). Upon activating the negative limit switch the axis will change direction (forward) continuing motion until it sees the rising edge of the homing switch. The axis will stop and follow the procedure as detailed above.

Home Method 25 uses a reverse initial move

Using the Kinetix 300 Drive (Rev 1.1) 6/20/2013 Page 43 of 45

Home Method 29
Using Home Method 29, the initial direction of movement is reverse (if the homing switch is inactive). The home position is the leading edge of the homing switch. Axis will accelerate to fast homing velocity in the leftward direction and continue until the homing switch is activated (rising edge) shown at position A. Axis then decelerates to zero velocity. If the homing switch is already active when the homing routine commences then this initial move is not executed. Axis will then accelerate to fast homing velocity in the forward direction. Motion will continue until the falling edge of the homing switch is detected (position B), where the axis will decelerate to 0 velocity. Axis will then accelerate to slow homing velocity in the reverse direction. Motion will continue until the rising edge of the homing switch is detected (position C), where the axis will decelerate to 0 velocity. The axis will then accelerate to slow homing velocity in the rightward direction. Motion will continue until the falling edge of the homing switch is detected (position 29). This is the home position (excluding offset). NOTE: if the axis is on the wrong side of the homing switch when homing is started then the axis will move reverse until it contacts the negative limit switch (A1). Upon activating the negative limit switch the axis will change direction (forward) following the procedure as detailed above but ignoring the initial move in the reverse direction.

Home Method 29 uses a reverse initial move

Using the Kinetix 300 Drive (Rev 1.1) 6/20/2013 Page 44 of 45

Home Method 33
Using Home Method 33, the initial direction of movement is reverse. The home position is the first index pulse to the past the shaft starting Position. The axis will accelerate to fast homing velocity in the reverse direction and continue until the rising edge of the first index pulse (position 33) is detected.

Home Method 33 uses a reverse initial move

Home Method 34
Using Home Method 34, the initial direction of movement is forward. The home position is the first index pulse to the past the shaft starting Position. The axis will accelerate to fast homing velocity in the forward direction and continue until the rising edge of the first index pulse (position 34) is detected.

Home Method 34 uses a forward initial move

Home Method 35
Using Home Method 35, the current position is taken to be the home position. There is no motion of the motor shaft during this procedure. Any Home Offset specified will be added to the stored home position.

Using the Kinetix 300 Drive (Rev 1.1) 6/20/2013 Page 45 of 45