Motion

Motion
c
Important User Information
This documentation, whether, illustrative, printed, “online” or electronic (hereinafter “Documentation”) is intended for use only as
a learning aid when using Rockwell Automation approved demonstration hardware, software and firmware. The Documentation
should only be used as a learning tool by qualified professionals.
The variety of uses for the hardware, software and firmware (hereinafter “Products”) described in this Documentation, mandates
that those responsible for the application and use of those Products must satisfy themselves that all necessary steps have been
taken to ensure that each application and actual use meets all performance and safety requirements, including any applicable
laws, regulations, codes and standards in addition to any applicable technical documents.
In no event will Rockwell Automation, Inc., or any of its affiliate or subsidiary companies (hereinafter “Rockwell Automation”) be
responsible or liable for any indirect or consequential damages resulting from the use or application of the Products described in
this Documentation. Rockwell Automation does not assume responsibility or liability for damages of any kind based on the
alleged use of, or reliance on, this Documentation.
No patent liability is assumed by Rockwell Automation with respect to use of information, circuits, equipment, or software
described in the Documentation.
Except as specifically agreed in writing as part of a maintenance or support contract, equipment users are responsible for:
• properly using, calibrating, operating, monitoring and maintaining all Products consistent with all Rockwell Automation
or third-party provided instructions, warnings, recommendations and documentation;
• ensuring that only properly trained personnel use, operate and maintain the Products at all times;
• staying informed of all Product updates and alerts and implementing all updates and fixes; and
• all other factors affecting the Products that are outside of the direct control of Rockwell Automation.
Reproduction of the contents of the Documentation, in whole or in part, without written permission of Rockwell Automation is
prohibited.
Throughout this manual we use the following notes to make you aware of safety considerations:
Identifies information about practices or circumstances

that can cause an explosion in a hazardous environment,
which may lead to personal injury or death, property damage, or economic loss.
Identifies information that is critical for successful application and understanding of the product.
Identifies information about practices or circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you:
• identify a hazard
• avoid a hazard
• recognize the consequence
Labels may be located on or inside the drive to alert people that dangerous voltage may be present.
Labels may be located on or inside the drive to alert people that surfaces may be dangerous temperatures.
Motion
Contents
Before you begin ........................................................................................................................................... 5
About this lab .................................................................................................................................................................................... 5
Tools & prerequisites ........................................................................................................................................................................ 6
Introduction: Accessing Motion Analyzer (Estimated Time 5 minutes) ......................................................... 7

Entering Lab User Credentials .......................................................................................................................................................... 7
Sample Project.................................................................................................................................................................................. 9
Lab 1: Architecture Overview in Motion Analyzer (Estimated Time 5 minutes) .......................................... 10

Project Level Activities .................................................................................................................................................................... 11
Axis Level Controls ......................................................................................................................................................................... 11
Axes with Nested Functionalities .................................................................................................................................................... 12
Preferences..................................................................................................................................................................................... 14
Lab 2: Exploring Project Creation in Motion Analyzer (Estimated Time 15 minutes) ................................. 15
Explore the Profile Editor ................................................................................................................................................................ 15
Components.................................................................................................................................................................................... 19
Analysis........................................................................................................................................................................................... 22
Configure Components ................................................................................................................................................................... 25
Exploring BOM ................................................................................................................................................................................ 26
Introduction: Apply Integrated Motion on EtherNet/IP (Estimated Time 10 minutes) ................................. 27

Launch Studio 5000 and Open Application Files ............................................................................................................................ 27
Open and Run the HMI Application ................................................................................................................................................ 29
Start and Stop the Machine ............................................................................................................................................................ 30
Control the Axis with the CIP Motion Axis Faceplate ...................................................................................................................... 31
Lab 3: Configure a Motion System (Estimated Time 15 Minutes) .............................................................. 33

Configure the Controller for Integrated Motion on EtherNet/IP ....................................................................................................... 33
Add Drive Hardware........................................................................................................................................................................ 36
Configure Axis Properties ............................................................................................................................................................... 41
Create an Axis Trend ...................................................................................................................................................................... 51
Rockwell Automation | Foundations 3 of 110

Lab 4: Commission a Motion System (Estimated Time 30 Minutes) ......................................................... 59
Download Your Motion Project ....................................................................................................................................................... 59
Explore Axis01 Tuningless Configuration ....................................................................................................................................... 62
Execute Axis Hookup Tests for Axis01 ........................................................................................................................................... 66
Execute Motor Analyzer for Axis02 ................................................................................................................................................. 69
Use Motion Direct Commands ........................................................................................................................................................ 74
Lab 5: Program a Motion System (Estimated Time 15 Minutes) ............................................................... 96

Explore an Existing Sequencer Program ........................................................................................................................................ 96
Execute the Sequence Logic .......................................................................................................................................................... 98
Add a Motion Axis Jog Instruction................................................................................................................................................... 99
Lab 6: Troubleshoot a Motion System (Estimated Time 30 Minutes) ...................................................... 106

Download the Troubleshooting Project ......................................................................................................................................... 106
Open and Run the HMI Application .............................................................................................................................................. 107
Lab 7: Troubleshoot a Motion System - 2 (Estimated Time 30 Minutes) ................................................. 108

Download the Troubleshooting Project ......................................................................................................................................... 108
Open and Run the HMI Application .............................................................................................................................................. 109

Before you begin
About this lab

In the first part of the lab, you will be introduced you to Rockwell Automation’s motion sizing and system analysis software,
Motion Analyzer. The software allows you to enter information about the moving axes of your machine (the load and the
actuator) as well as your required move or cycle profile in order to select the appropriate servo motor and drive combination.
Users can additionally select preferred Rockwell Automation partner components such as gearboxes, motors, and rotary
indexers. Motion Analyzer allows machine designers to optimize their machine design using advanced analysis tools. As you
complete the exercises in this hands-on session, you will:
▪ Login to Motion Analyzer & learn how to use the software
▪ Learn what type of information is required by Motion Analyzer
▪ Gain exposure to a simplified sizing tool
This portion of the hands-on lab is ideal for:
▪ Engineers directly involved in the selecting, sizing, and optimizing of drives and motors or actuators for a motion control
system
In the second part of the lab, you will be introduced to the Logix Designer software environment as the single software tool for
Rockwell Automation Integrated Motion systems for configuration, commissioning, programming, and troubleshooting. You will
also experience the inherent ease with which you can define your motion process.
You will see how easy it is to create an Integrated Motion Solution as you do the following:
▪ Create and configure motion axes using Logix Designer
▪ Learn basic motion-direct commands to simplify commissioning
▪ Configure the tuningless features that are available for the Kinetix 5500 & Kinetix 5700 drives
▪ Learn some basic troubleshooting techniques

Tools & prerequisites
For this hands-on lab, you have been provided with the following materials that will allow you to complete the labs in this
workbook.
Software
▪ Google Chrome
▪ Logix Designer v33.00
▪ View Designer v7.02
Required Files
▪ Motion_HMI.VPD
▪ Motion_Demo_Logix.ACD
▪ Motion_Configure_Logix.ACD
▪ Motion_Commission_Logix.ACD
▪ Motion_Program_Logix.ACD
▪ Motion_Troubleshoot_Logix.ACD
▪ Motion_Troubleshoot_Part2_Logix.ACD
Optional Files
▪ Troubleshoot_SOLUTIONS.pdf
▪ Troubleshoot_Part2_SOLUTIONS.pdf

Introduction: Accessing Motion Analyzer (Estimated Time 5 minutes)
In this lab you will review a completed project of a Vertical Form, Fill and Seal (VFFS) machine. The machine’s axes are shown
in the image below:
NOTE: The engineer has shared the project with read-only access. For this reason, you will be unable to
modify the objects within this project.
Entering Lab User Credentials
1. Open the Motion Analyzer shortcut on the desktop .
NOTE: You can also open a web browser (Chrome) and search for the Motion Analyzer link in the favorites
bar or manually navigate to “motionanalyzer.rockwellautomation.com”.
2. Click on Create Account on the Motion Analyzer home page.

3. Fill out the following information and click Submit.
4. Check your email address for an email with subject AccountCreated from
MotionAnalyzerSupport@ra.rockwell.com.
5. Click on the link in the email to activate your account.
6. Enter your email address and new password to log in.
7. An End User License Agreement will appear.
8. Click Agree to continue to the Motion Analyzer site.

Sample Project
1. Navigate to the Library by clicking LIBRARY on the main banner.
2. The Library page will appear with a list of the current projects. Click on the VerticalFormFillSeal (VFFS) project.

Lab 1: Architecture Overview in Motion Analyzer (Estimated Time 5 minutes)
Architecture Overview is the first page to appear when you open an existing project. On this page, you have a project level
header for project pages (Architecture Overview, Preferences, Power Setup, and Bill of Materials); axis level controls to select,
add, duplicate, and delete one or multiple axes; and project level elements and activities.
1. Notice that you can edit your project name by using the pencil edit icon button. For the purpose of this lab,
you are not required to change the Project Name.
NOTE: You will get an error if you try to change the project title since editing of this project is not allowed.

2. Architecture Overview presents all axes related to the VFFS Machine project. The VFFS Machine project
contains five axes. Each axis is identified by a name that defines its function. Naming can help distinguish
multiple axes, allows quicker navigation, and provides a clear overview.
Project Level Activities
1. The Architecture Overview allows users to accomplish several project level activities such as:
(1) Export project as XML;

(2) Save project state by Snapshot;
(3) add and set permission level of Shared Users;
(4) add Project Level Comments;
(5) Edit shared projects; and
(6) Restore project state from Snapshot
Take some time to explore the dropdowns for items (2), (3), and (4).
Axis Level Controls
1. With the axis level controls in the Architecture Overview, you can:
(1) multi-select,
(2) duplicate and
(3) delete axes
NOTE: Keep in mind that this project was shared with you, and you have been granted Read Only
permission, which prevents you from Duplicating or Deleting components. These options are enabled when
you have Read/Write permission or if you are the project owner.

Axes with Nested Functionalities
1. For each axis in your architecture, you can
(1) move the axis to a different cluster/ bus or remove the axis from the current cluster/current bus,
(2) add comments,
(3) share the axis with any valid Motion Analyzer account, or
(4) add the axis to your library for future use.
2. You can review the motion type of each axis in your project by selecting the View Details dropdown. In this
image, we have chosen to view details for the Clamp Jaws axis. Notice that the Axis Type for the Clamp Jaws
axis has been set to Rotary.
3. Click on the VIEW button for any axis to take you to the Axis Setup page. Observe the various Motion Types
and Application Templates available.
NOTE: Since you have been given Read Only access for this project, the Motion Types and Application
Templates will appear greyed out.

4. The Axis Setup page provides navigation to multiple components of your axis and easy access to application
templates. The Axis Navigation Bar allows access to any components of the axis from the axis setup page,
provides a step through process for completion, and displays feedback on completion status. You can view the
status of your components provided by the green checkmark.
5. Click the BACK TO ARCHITECTURE OVERVIEW button to return to the Architecture Overview page.
NOTE: You can also navigate to the Architecture Overview by clicking the project name
VerticalFormFillSeal (VFFS) or by clicking the TO ARCHITECTURE OVERVIEW text.

Preferences
1. Click on the Preferences tab on the Architecture Overview page.
2. The Preferences page provides access to Customer Information (client, contact person with email and phone
number), Site data (altitude and temperature), and Use (industry and application). Users can enter this
information at any point during the creation of the project.
3. The Altitude describes the elevation relative to sea level of the application environment while the ambient
temperate dictates the temperature of the application environment.
NOTE: We recommend entering the Site information before editing axis components, as the altitude and
temperature information directly impact the axis performance calculations.
4. The Industry and Application information can be used as filters when browsing projects in the site library.

Lab 2: Exploring Project Creation in Motion Analyzer (Estimated Time 15 minutes)
Explore the Profile Editor
1. Click on the Architecture Overview tab, click View Details for the Clamp Jaws axis and click on Rotary Motion
Profile to navigate to the Profile Editor page.
2. The Profile Editor page is used to edit the motion profile information for an axis. The load and profile information
has already been entered for you for this axis. Take a moment to explore the profile plots.
3. Click the checkboxes next to the various plots to examine the profile information.

4. Use your mouse to drag the plot and your mouse’s wheel to auto-adjust (zoom) the plot scales.
5. Click the SETTINGS AND START CONDITIONS button.
6. The SETTINGS AND START CONDITIONS button allows you to define inclination and initial starting position or
velocity. Click the SETTINGS AND START CONDITIONS button again to close this tab.
7. You can click on a segment to view the information for the individual segments.

8. The Segment Parameter View provides access to configuration information for the selected segment. The
Segment Type dropdown offers both basic and complex motion types. The Data Entry Permutation dropdown
offers an option for entering the profile segment parameters based on different data types.
The Cruise/Dwell segment, for example, includes
(1) Segment Loads,

(2) Segment Type,
(3) Data Entry Permutation, and
(4) Motion Type entries.
9. Notice the Segment Actions. The actions from left to right are
(1) undo - to revert to the previous state; redo - to proceed with the changes;
(2) invert - to reverse the direction of Index Motion only;
(3) cut – to remove a segment and place it in your paste tray; copy - to copy any segment in your profile; paste - to duplicate
a segment;
(4) delete - to delete the selected segment;
(5) previous – to move to the previous segment; and next - to move to the next segment.
NOTE: You have a read only permission, therefore you will not be able to edit the axis and project. The steps
below show what options you would have if you were to have read/write permissions.

10. The INSERT option contains your Segment Actions. The insert segment action allows you to insert a motion or
load segment in front of an existing or selected segment.
11. The ADD option also contains your Segment Actions. The add segment action allows you to insert a motion or
load segment at the end of any existing segments.

Components
1. When you are finished exploring the Profile Editor page, click on the Transmission tab.
2. The Transmission page appears. Here you can edit the properties for any transmission components in your
application. The Clamp Jaws axis is using a Spur Gear which has been specified with the details shown in the
Selected Transmissions box.
3. Click on the Gearbox tab. A gearbox provides a speed-torque conversion, such as increased torque at a
reduced speed as compared to the motor output.

4. Since a gearbox was not selected for this axis, you will not see one listed under the Selected Gearbox Families
or Selected Gearboxes windows. Notice that you can choose to filter products by selecting options from the
Gearbox Filters dropdowns or by entering the catalog string of the product.
5. Click the Rotary Motor tab.
6. Like the gearbox page, there are various filtering options. You can choose to filter products by selecting options
from the Rotary Motor Filters dropdowns or by entering the catalog string. For our purpose, we have selected the
Low-Inertia Servo Motor and you can see it in the Selected Motors window.

7. Navigate to the drives by clicking on the Drive tab.
8. As a drive was selected for this axis and you can see it in the Selected Drives window.
9. For this lab, the Power Requirements have been set to 460 V and 3 Phase as shown.

Analysis
When using the automatic method of selecting components, the Solution Search provides a solution list of gearbox/motor/drive
combinations based on the application requirements that you entered previously. You can manually select components and go
directly to the Analysis page to view the performance of the components compared to the application. Since the project has been
pre-configured for you, you are not required to do a Solution Search for this lab.
1. Since a drive and motor have already been selected for the application, let’s take a look at the performance plots
for this solution. Click the Analysis tab and wait for the page to completely load.
2. The Axis Analysis page contains information and tools that you can use to evaluate system performance and
efficiency. You can review the graphical representations of the performance characteristics for the system. The
Torque-Speed tab contains the torque/speed graph for the selected motor/drive combination. This graph is
created dynamically, which means that if the supply voltage changes in the Drive tab or if the motor/drive combo
is changed, for example, the graph will change accordingly.

3. Click on the Power/Speed tab to see the power and speed performance information for the selected axis.
4. On the SUMMARY tab you can see the performance characteristics of the selected motor and drive for the axis.
You can use the – SIZE DOWN and + SIZE UP buttons to see the performance as the size of the Motor or Drive
varies.

5. Navigate to the DRIVE tab to review drive versus application performance information.
6. Navigate to the MOTOR tab to review motor versus application performance information.

Configure Components
The Configure Components tab provides complete configuration of the drive and motor. You can determine the required drive
and motor catalog by defining features to include for each product.
1. Click the Configure Components tab.
2. The motor and drive components have been configured and two cables were selected. Notice the details of the
selected Rotary Motor and Drive as populated in the tiles.
3. Click on the Serial column to reorganize the displayed results in ascending or descending order. Each column
can be sorted in this way.
NOTE: Since this project has been shared with you with read-only access, you cannot change the Motor or
Drive Configurations. For this reason, you are unable to click on the Motor and Drive tiles.

Exploring BOM
1. Navigate to the Bill of Materials page by clicking the TO ARCHITECTURE OVERVIEW text.
2. Click on the Bill of Materials tab. The Bill of Materials contains product catalog numbers and descriptions for the
drives and motors you have selected in your project.
3. You can choose to View by Axis (axis 1 components, axis 2 components, etc.) or View by Type (drives, motor,
and gearbox).
4. You can view if any accessories were added to your axes by clicking the Show text to see the items included in
your axis components. In this image we can see the two accessories selected for the Clamp Jaws Axis.
5. You can export a BOM to an excel file by clicking the Export BOM text.

Introduction: Apply Integrated Motion on EtherNet/IP (Estimated Time 10 minutes)
Before starting the lab, let’s begin with a brief demonstration with completed files. During the demonstration, you will be able to
control a complete 3 axis solution with an HMI. Following the demonstration, you will move into the formal lab where you will
learn how to configure, commission, program, and troubleshoot a motion system with detailed step-by-step directions.
For the remainder of this lab
▪ Drive01 and Axis01 will refer to the first axis of the Kinetix 5700 dual axis drive with a VP-Series Motor. Drive02 and Axis02
will refer to the second axis of the Kinetix 5700 dual axis drive with an Induction Motor. Drive03 and Axis03 will refer to the
PowerFlex 527 AC drive with an Induction Motor.
Launch Studio 5000 and Open Application Files
1. Launch Studio 5000; double-click on the Studio 5000 desktop icon.
2. From the Open column, choose the Existing Project -> Project File icon.
The Open Project window appears.
3. Browse to the folder Lab Files on the desktop and open Motion_Demo_Logix.ACD.
Logix Designer opens.
4. Select Who Active from the Communications menu.

The Who Active window appears.

5. Navigate to the AB_ETHIP-1 driver and select the GuardLogix Safety processor at 192.168.1.21.
If the path is not already set in the controller, click Set Project Path.
6. Click the Download button in the Who Active window.

The Download window opens.
7. Click the Download button to send the program to the controller.
8. When downloading completes, place the controller back into Run Mode by clicking Yes in the dialog box.
NOTE: If the dialog box does not appear, go to and select Run Mode.
Click Yes in the dialog box that appears.

Open and Run the HMI Application
1. Minimize Logix Designer so the desktop can be seen.
2. Browse to the folder Lab Files on the desktop and open Motion_HMI.VPD.
3. In the Project menu, select Project Properties.
4. Confirm that “C:\Users\LabUser\Desktop\Lab Files\Motion_Demo_Logix.ACD” is entered for the Logix

Project File.
5. Click the ellipses next to Emulator to Controller Path.
6. Verify the controller path is set to AB_ETHIP-1\192.168.1.21, otherwise, highlight the controller and click OK.
7. Click OK in the Project Properties window.
8. In the Project menu, select Emulate Project.

The Emulate Project window will appear while building the runtime application, and then the View 5000 Emulator appears.
NOTE: It may take about a minute for the Emulator to establish the connection to the controller.

Start and Stop the Machine
1. If the machine is currently in the Faulted state…
…press the button to clear the faults.
After a few moments the machine should transition to the Healthy state.
2. Press the button to initialize the machine. The drives will transition to the Idle state.
3. Press the button to start the machine.

The axes begin operating according to the Logix Designer program.
The program in Logix Designer is gearing Axis02 to Axis01 at a 2:1 (Leader : Follower) gear ratio, while Axis03 jogs at a
constant speed using a Motion Drive Start instruction.
4. Press the button to stop the machine.

The motion system stops.

Control the Axis with the CIP Motion Axis Faceplate
1. Press the button to open the Power Device Object faceplate.
The Power Device Object faceplate provides axis status information, fault information, and trending data. The faceplate
also includes the ability to manually control the axis.
From the tab, you have the ability to enable, disable, and jog the axis.
2. Press the slider to enable Drive01.
The axis will now be enabled and the Axis status will transition from to in the faceplate.

3. Press and hold the button to jog the motor.
4. To change the jog speed, click the corresponding Velocity setpoint display box to launch the keypad.
5. Take a few moments to manually control the axis by executing a Jog command with various dynamic settings.
6. This concludes the demonstration.

Maximize Logix Designer, and go offline with the current file by selecting Go Offline from the Communications menu.

Lab 3: Configure a Motion System (Estimated Time 15 Minutes)
In this lab, we will introduce you to the programmable automation controller, the Kinetix servo drive, and the Logix Designer
interface by stepping you through the configuration of a motion system.
Configure the Controller for Integrated Motion on EtherNet/IP

You will begin by configuring the Logix controller for Integrated Motion on EtherNet/IP.
1. Navigate to the folder Lab Files on the desktop and open the Motion_Configure_Logix.ACD file. When you
open the file, the Controller Organizer appears on the left side of the Logix Designer window.

2. Select Controller Properties from the Edit menu.
The Controller Properties window opens.
NOTE: The controller type has already been selected for you. With the GuardLogix and ControlLogix
controllers, chassis type and slot are specified depending on the size of the chassis and position of the
controller. With CompactLogix controllers, the slot and chassis type cannot be changed by the user.

3. Select the Date/Time tab and check the Enable Time Synchronization box to enable Integrated Motion on
EtherNet/IP in your project.
4. Click Apply, then OK to close the Controller Properties window.

Add Drive Hardware
Next you will add a Kinetix drive to the I/O configuration. The other drives have been pre-configured for you.
1. Right-click on the Ethernet network icon in the I/O Configuration and select New Module.
The Select Module Type window opens.
2. In the search box, type ‘Kinetix 5700’ and watch as the list repopulates. Select the catalog number 2198-D006-
ERS4 and click Create.
NOTE: Be sure to select the 2198-D006-ERS4 and not the 2198-D006-ERS3 module.

3. On the General tab in the New Module window:
▪ Type ‘KNX_5700_Module01’ in the Name field.

▪ Select Private Network, and set the Ethernet address to 192.168.1.81.
▪ Click OK.
TIP: The IP address for the Kinetix drive can be configured from the HIM of the drive OR you can use DHCP
to assign an IP address. On the HIM navigate to Settings -> Network -> Static IP to change the static IP
address or Settings -> Network -> DHCP to set up DHCP.
4. In the Select Module Type window, press Close.

The drive that you just added will now appear under the Ethernet heading in your I/O configuration.

5. To complete the drive configuration, right-click on KNX_5700_Module01 and select Properties.
6. Click the Change button under Module Definition.
The Module Definition window opens.

7. Select Safe Stop Only – No Feedback for Motion Safety 1 and 2 and click OK.
8. Click Yes in the dialog box that appears.
9. Click Apply in the Module Properties window.
10. Click the ellipses next to Safety Network Number.
11. In the Safety Network Number window, enter 42AF_0499_5BCB for the Number and click OK.
NOTE: The Kinetix 5700 ERS4 requires a specific Safety Network Number to allow a connection to the
Safety Controller. This also prevents the acceptance of connection requests from other controllers.

12. On the Digital Input tab, and set Digital Input 1 - 4 to Unassigned, since we will not be using them.
13. The digital inputs for the other axis of the module must also be configured. Select 3 from the Axis drop down
menu, and set Digital Input 1 - 4 to Unassigned.
14. Click Apply and OK.

Configure Axis Properties
In this section you will configure a new axis (Axis02) and a pre-existing axis (Axis01) for the Kinetix drive you just added. You
will then associate a motor to each axis of the drive. Axis03 has already been configured for you.
1. Right click on the MotionGroup, and select New Axis -> AXIS_CIP_DRIVE.

2. Name the axis Axis01, check the Open AXIS_CIP_DRIVE configuration check box and click Create.

3. From the General tab of the Axis Properties window, associate Axis01 with the Kinetix drive named
KNX_5700_Module01 and note that 1 is selected for the Axis Number.
4. Click Apply.

5. Navigate to the Motor tab.
▪ Select Data Source -> Catalog Number.

▪ Click the Change Catalog button
▪ Select (or type) the VPL-B0631T-W motor.
▪ Click OK in the Change Catalog Number dialog box.
6. Click Apply to save changes.

7. From the Scaling tab, change the units to ‘revs’ and click Apply.

8. Navigate to the Cyclic Parameters tab, select CurrentReference and PositionError, and click OK.

9. You will now associate the preexisting Axis02 with the Kinetix module you created. Open the Module Properties
window for the KNX_5700_Module01 by right-clicking on the module and selecting Properties.
10. Navigate to the Associated Axes tab. Confirm that Axis01 and DSL Feedback 1 Port are selected for Axis 1
and its Motor Feedback Device. Select Axis02 in the Axis 3 dropdown and select Universal Feedback 2 Port
as the Motor Feedback Device. Click OK.
NOTE: In this step, you are designating that Axis02 of the motion group corresponds to the second axis of
the Dual Axis Kinetix drive module. Axis Numbers 1 & 2 of the Dual Axis module relate to the control of the
first axis (i.e. Motor & Load feedback) and Axis Numbers 3 & 4 relate to the control of the second axis of the
module.

11. Double click on Axis02 to open its Axis Properties and navigate to the General tab. You can see that you have
associated the KNX_5700_Module01 with Axis02 in the previous step.
12. We’re going to leave this axis in Position Loop, so navigate to the Motor tab.
13. From the Motor Type drop down select Rotary Induction. Enter the Nameplate parameters of the induction
motor and click Apply.
▪ Rated Power: 0.09 kW

▪ Pole Count: 4
▪ Rated Voltage: 460 Volts
▪ Rated Frequency: 60 Hz
▪ Rated Speed: 1560 RPM
▪ Max Speed: 1800 RPM
▪ Rated Current: 0.4 Amps
▪ Peak Current: 2.3 Amps
▪ Motor Overload Limit: 100% Rated

14. Navigate to the Motor Feedback tab, select Digital AqB as the Type and click Apply.

15. Navigate to the Polarity tab, select Feedback 1 Polarity as Inverted and click OK.

Create an Axis Trend
A trend is a graphical display of changing tag values. It is a useful feature in Studio5000 to monitor and troubleshoot the system
behavior. In this section you will configure a trend to monitor the motion profile of Axis01.
1. In the Controller Organizer, expand Assets, right click on Trends, and select New Trend.

2. Name the trend Axis01_Profile, change the Sample Period to 50 Milliseconds, and click Next.
3. We’re going to monitor tags by adding them to the trend. Click on the Select Tag dropdown and then click the
sort tags button.

4. Expand Axis01 tags and then add the following tags by first clicking on the tag and then clicking Add:
▪ Axis01.ActualPosition
▪ Axis01.ActualVelocity
NOTE: To remove a tag from the list of Tags to trend, select the tag and click Remove.

5. Click Finish.
6. Right click on the trend profile, and click Chart Properties.

7. Select the Pens tab and change the Width of each of the Pen Attributes to 2.

8. Change the Color of Axis01.ActualPosition tag trend to Orange.
▪ Click on Blue bar for the tag Axis01.ActualPosition.

▪ Select Orange from the color palette.
▪ Click OK.

9. In the X-Axis tab, change the Time span to 90 Seconds.

10. In the Y-Axis tab, check the Isolated graphing checkbox, and change the value of Decimal places to 4. Then
click OK to save the changes.

Lab 4: Commission a Motion System (Estimated Time 30 Minutes)
In this lab, we will guide you through the process of commissioning an Integrated Motion System. You will download your
controller project, configure an axis for tuningless operation, execute a hookup test for the induction motor, and control an axis
with Motion Direct Commands.
NOTE: This lab continues from the previous lab. However, if you have not completed the previous lab, you
can begin here by opening the Motion_Commission_Logix.ACD file in the Lab Files folder on the desktop.
Download Your Motion Project
1. Select Who Active from the Communications menu.

The Who Active window will open.
2. Under the AB_ETHIP-1 driver, find the 1756-L84ES/B processor at 192.168.1.21.
Verify the controller path is set to AB_ETHIP-1\192.168.1.21, otherwise, highlight the controller and click Set Project Path.
3. Click the Download button in the Who Active window.

The Download window will open.
4. Click the Download button to send the program to the controller.

5. When downloading completes, place the controller back into Run Mode by clicking Yes in the dialog box.
6. Open the Controller Properties in the Edit menu, and navigate to the Date/Time tab.
7. Click the ‘Set Date, Time and Zone from Workstation’ to set the current date and time in the controller. Click
OK.

Complete the following steps if the View 5000 Emulator HMI is not already running, otherwise move to the next page.

Project File.


Explore Axis01 Tuningless Configuration
Closed-loop servo systems require settings for the control loop gain and filter values to ensure that the load accurately follows
the desired input-command signal. The process of adjusting and refining the gain and filter configuration is called tuning.
With the tuning features of the Kinetix® 5500 and Kinetix® 5700 servo drives, tuningless operation can now be achieved without
compromising performance.
Load Observer
Let’s begin by exploring the Load Observer feature for Axis01.
1. From the View 5000 Emulator, if the machine is currently in the Faulted state…
2. Return to Logix Designer. Right-click on Axis01 and select Properties.
3. Navigate to the Autotune tab.

Modern servo and variable frequency drives from Rockwell Automation tune themselves while they run, so you don’t have
to. This means there is no need to run the autotune test.
NOTE: Do not perform Autotune on firmware version 13 and higher, since the drives are now automatically
configured to tune themselves. Refer to the Motion Tuningless Quick Start Guide (publication MOTION-
QS001) to learn more about manually setting tuningless operation for versions prior to version 13.

4. Navigate to the Load category. Note that the Load Ratio is set to 0.0.
For most applications, the load ratio should remain at zero when the drive is configured for tuningless operation. If the load
ratio is set to a non-zero value, the tuning may be too aggressive, and the motor may become unstable.

5. Navigate to the Observer category. Note that Load Observer with Velocity Estimate is selected by default.
The Load Observer feature operates in real time while the motor is running. During machine operation, the Load Observer
estimates the mechanical load inertia on the motor and compensates for it. The result is that the drive controls the motor as
if it is unloaded, which provides a relatively high level of drive performance. In addition, the drive automatically compensates
for mechanical variations in the system such as changing loads, compliance, and machine wear over time.

Tracking Notch
Now let’s explore the Tracking Notch feature for Axis01.
1. Navigate to the Compliance category.
2. Note that the Tracking Notch Adaptive Tuning Configuration with 4 Tracking Notch Filters is configured by
default.
The Tracking Notch filters operate in real time while the motor runs. During machine operation, the drive measures the
mechanical resonances in the system and dynamically sets the notch filter frequencies to mitigate the resonances.
With the Load Observer and Tracking Notch filters, most applications no longer require experts to execute tests and manual
tuning procedures during the commissioning process to achieve exceptional precision and repeatability.

Execute Axis Hookup Tests for Axis01
In this section of the lab, you will run the Motor and Feedback Hookup Test. The Motor and Feedback test applies motion to the
motor allowing the user to verify the power and feedback connections between the drive and motor. This test also establishes
the forward or positive direction of axis motion.
1. In the Axis Properties window for Axis01, navigate to the Hookup Tests page.
Verify the Test Distance is ‘1.0’ rev. This will provide enough axis travel to detect a marker. The Test State should display
Ready.
NOTE: The Motor and Feedback Hookup Test makes the axis move even when the controller is in program
mode.
2. Press Start to conduct the test.

Once the Start button has been pressed, the axis will immediately begin to move.

3. The Motor and Feedback Test window opens.
Axis01 will move approximately one revolution in the CW direction.
4. When the motor has completed one revolution and the drive has received the encoder signals correctly, the Test
State will change from Executing to Passed.
Click OK.
5. Click Yes if the axis moved in the forward or positive (CW) direction.

6. Click Accept Test Results to update/save the Motor and Feedback Polarity settings.
7. Click OK to close the Axis Properties window.

Execute Motor Analyzer for Axis02
Now that Axis01 is ready to run, you will now commission Axis02. In this section of the lab, you will run the Motor Analyzer for
the induction motor.
1. Double click on Axis02 to open its Axis Properties, and navigate to the Analyzer tab. Click on the Calculate
Model tab and click the Start button.
2. The Calculate Model window opens. When the test is complete, click OK.
When a Calculate test is run, the drive uses motor nameplate data to estimate the motor’s Rated Flux Current, Stator
Resistance (Rs), Stator Leakage Reactance (X1) and Rotor Leakage Reactance (X2). The drive also calculates the rated
slip speed based on rated speed and rated frequency.

3. Click Accept Test Results to update/save the Model Parameters settings.
4. On the Static Motor Test tab, press Start to conduct the test.
The test will take a few moments to complete.

5. The Static Motor Test window opens. When the test is complete, click OK.
The Static Motor Test does not create motor movement when it runs. During this test, the Stator Resistance (Rs), Stator
Leakage Reactance (X1), and Rotor Leakage Reactance (X2) values are measured during a series of static tests. The
Rated Flux Current is estimated, since measurement of this value requires motor movement. The drive calculates the rated
slip speed based on rated speed and rated frequency.
6. Click Accept Test Results to update/save the Model Parameters settings.

7. On the Dynamic Motor Test tab, press Start to conduct the test.
Once the Start button has been pressed, the axis will begin to move. The test will take a few moments to complete.
8. The Dynamic Motor Test window opens. When the test is complete, click OK.

9. Click Accept Test Results to update/save the Model Parameters settings. Click OK to close the Axis Properties
window.

Use Motion Direct Commands
Motion Direct Commands let you issue motion commands without having to write or execute an application program. You must
be online with the controller to execute a Motion Direct Command. Let’s see how the commands work with Axis01 of the project.
Jog an Axis Using Motion Direct Commands
1. Open the Axis01_Profile trend within the Trends folder under Assets.
2. Click on Run in the Trend - Axis01_Profile window.

This will start capturing the trend for the configured tags.

3. Right-click on Axis01 and select Motion Direct Commands.
The Motion Direct Commands window opens.

4. Take a moment to look through all the commands available to you by moving the mouse cursor over the
instructions.
5. Select the Motion Servo On (MSO) instruction.
The MSO instruction enables the specified axis by activating both the drive amplifier and drive control loop.

6. Take a moment to watch the trend and then click Execute.
7. You should see an indication that the command was executed in the Errors window.

8. Select the Motion Axis Jog (MAJ) instruction.
▪ Enter a Speed value of ‘3’.

The MAJ instruction will move the axis at a constant speed until you tell it to stop.

Once the Execute button has been pressed, the axis will begin to move.
You should see the Axis01.ActualVelocity increase to 3 revs/s and the Axis01.ActualPosition tag gradually increasing
as the axis rotates.
10. The axis should be rotating at ‘3 revs/s’. The speed can be monitored in the controller, HMI, or visually.

Change the Speed of an Axis Using a Motion Direct Command
1. Select the Motion Change Dynamics (MCD) instruction.
▪ Set Change Speed to Yes and enter a Speed of ‘12’.

The MCD instruction will selectively change the speed, acceleration rate, or deceleration rate of a move and/or jog profile in
process.

You should see a clear increase in the rotational velocity of the axis.
Remember, we initially had configured the axis to jog at 3 revs/s. Now it’s rotating at four times that speed without having to
write an application program – everything was done “on the fly” using Motion Direct Commands!

Stop an Axis Using a Motion Direct Command
1. Select the Motion Axis Stop (MAS) instruction.
The MAS instruction will initiate a controlled stop of any motion in process on the designated axis.

You should see Axis01.ActualVelocity drop down to 0 and Axis01.ActualPosition becomes constant.

Home an Axis Using a Motion Direct Command
1. Select the Motion Axis Home (MAH) instruction.
Although the axis does not physically move, its position changes to 0.

NOTE: The MAH instruction is used to set the absolute position of the specified axis. Absolute Homing
Mode requires the axis to be equipped with an absolute feedback device. The Homing type is configured in
the Axis Properties window.
Two different homing modes can be selected during axis configuration: Passive or Active.
Passive: The axis is moved by some external agent to generate the homing event. With this mode, the
current absolute position of the axis is redefined on the occurrence of a home switch or encoder marker
event.
Active: The configured Home Sequence is executed to establish an absolute axis position.
The following Homing Sequences are available:
Immediate: Sets home position to the current axis position without moving the axis.
Switch: Axis moves to a physical switch and then sets the home position.
Marker: Axis moves to the marker (index) pulse and then sets the home position.
Switch-Marker: Axis moves to physical home limit switch, then to the marker pulse and then sets the home
position.
Additional information on homing is available in the Logix Designer Help menu.

3. Click Stop in the Trend - Axis01_Profile window.
4. The Value Bar is useful for determining a tag value at a particular time. To view the Value Bar, click anywhere
inside the trend chart.

5. Take some time to explore the trend using the Backward and Forward buttons.
TIP: You can also replay the trend using the Scroll button. Right click on the trend and then click Scroll to
watch the trend play from the beginning.
6. To save the trend log, click Log and Save Trend Log As.

Move an Axis Using Motion Direct Commands
In this section we will control the motion profile for the axis by issuing the Motion Axis Move (MAM) command.
Issue a Motion Axis Move (MAM) with the Incremental Move Type
2. Select the Motion Axis Move (MAM) instruction and configure it with Incremental for the Move Type, a value
of 1.75 for the Position and a value of 0.5 for the Speed.

3. Take a moment to watch the trend and click Execute.
The MAM instruction is used to move an axis to a specified position or by a specified distance following the configured
motion dynamics. In this case, we are asking the axis to move by 1.75 revs at a speed of 0.5 revs/s.

Issue a Motion Axis Move (MAM) with the Absolute Move Type
1. Select the Motion Axis Move (MAM) instruction with Absolute for Move Type, a value of 0.5 for Position and
a value of 0.5 for Speed.
3. Once the move instruction has been executed, click Stop in the Trend - Axis01_Profile window.

4. Notice the final position of the axis before and after the execution of the above instruction using the Value Bar.
The value of Axis01.ActualPosition changed to an absolute position of 0.5 which means that the axis actually moved by
1.25 rev in the reverse. The velocity during the move is negative which means that the axis moved in the counterclockwise
direction.

Issue a Motion Axis Move (MAM) with the Trapezoidal and S-Curve Profile Types
2. Configure the Motion Axis Move (MAM) instruction with the Trapezoidal profile and the following move
dynamics:
▪ Move Type: Incremental

▪ Position: 5
▪ Speed: 0.5
▪ Speed Units: Units per sec
▪ Accel Rate: 0.1
▪ Accel Units: Units per Sec2
▪ Decel Rate: 0.1
▪ Decel Units: Units per Sec2
▪ Profile: Trapezoidal


4. Next, configure the Motion Axis Move (MAM) instruction with the S-Curve profile and the following move
dynamics:
▪ Move Type: Incremental

▪ Position: 5
▪ Speed: 0.5
▪ Speed Units: Units per sec
▪ Accel Rate: 0.1
▪ Accel Units: Units per Sec2
▪ Decel Rate: 0.1
▪ Decel Units: Units per Sec2
▪ Profile: S-Curve

Notice the smoothness of the velocity profile during acceleration and deceleration of the move in the S-Curve profile as
compared to the Trapezoidal profile. The trapezoidal profile utilizes a step change in the acceleration and deceleration
values of the motion profile, which can be hard on the mechanics in the system. With S-Curve selected, the acceleration
and deceleration are ramped up to the programmed value, which results in smoother motion.
6. When the axis has slowed to a stop, click Stop in the Trend - Axis01_Profile window.
7. Select and execute the Motion Servo Off (MSF) instruction.

The MSF instruction disables the specified axis by deactivating both the drive amplifier and the drive control loop.
8. Click Execute.
9. You can close the Motion Direct Commands & Trend windows.

Lab 5: Program a Motion System (Estimated Time 15 Minutes)
In this lab you will learn motion programming concepts by building a motion program using basic motion instructions and
navigating the Logix Designer interface.
NOTE: This lab continues from the previous lab. However, if you have not completed the previous lab, you
can begin here by opening the Motion_Program_Logix.ACD file in the Lab Files folder on the desktop and
downloading it to the controller.
To download:
- Select Download in the Communications menu.
- Click Download in the dialog box that appears.
When downloading completes, place the controller back into REM RUN mode.
Explore an Existing Sequencer Program

In this section you will explore a simple routine to understand how a sequencer can be used in a motion application.
1. Under the ms0008p08 task in the Controller Organizer, expand the EM01_CE_Motion program, and double
click on the _App_Execute_BasicMotion routine to open the Ladder Editor.
2. Take a moment to examine the “EXECUTE SEQUENCE” logic.

This routine follows a programming structure called a sequencer and currently consists of a single step. When the controller
receives a command to begin Executing, from the HMI for example, the _SEQ_Execute[0] tag will be set to a 1, and this
sequence will execute. Let’s observe how this sequence works.

Complete the following steps if the View 5000 Emulator HMI is not already running, otherwise move to the next page.

Project File.


Execute the Sequence Logic
In this section of the lab, you will execute the sequence logic. Navigate to the View 5000 Emulator HMI.
1. From the View 5000 Emulator, if the machine is currently in the Faulted state…
2. Press the button to initialize the machine. The drives will transition to the Idle state.
3. Press the button to start the machine.
4. Navigate to the Logix Designer window.
Axis01 will begin operating according to the EXECUTE SEQUENCE logic. The EXECUTE SEQUENCE currently consists of
a single step in which Axis01 moves 10 revolutions at a speed of 2 revs/sec. When the move completes, the Motion Axis
Move instruction transitions to the Process Complete (PC) status and the MOV instruction sets the _SEQ_Execute[0] tag to
999 to indicate that the sequence has completed.

Add a Motion Axis Jog Instruction
Now let’s practice using what you’ve learned by adding a step to the Execute Sequence.
1. Press the button on the HMI to stop the machine.
2. In Logix Designer, go offline with the current file by selecting Go Offline from the Communications menu.
3. Highlight Rung 3, right click on the rung and select Copy Rung.
4. With rung 3 still highlighted, type Ctrl+V.

Rung 3 will now be duplicated as Rung 4.

5. Let’s modify the instructions to add a second step in the sequence. Rather than setting the _SEQ_Execute[0]
tag to a value of 999 when the MAM instruction completes, we want to move to the new step, so…
▪ In rung 3: Change the Source in the MOV instruction from 999 to 10.
▪ In rung 4: Change the Source B in the EQU instruction from 1 to 10.
NOTE: The MOV instruction in rung 4 sets the _SEQ_Execute[0] tag to 999 to indicate that the Execute
Sequence has completed.
6. In Rung 4, highlight the MAM instruction and delete it.

7. In the Language Element toolbar, navigate to the right by clicking the right arrow, and select the Motion Move
Element Group. Then Click and drag the MAJ instruction to where the MAM instruction was that you deleted
from rung 4.
A green circle will appear at the location where the instruction will be added.

8. Enter the following information into the Motion Axis Jog instruction that you just added to the rung to program
Axis02 to execute a jog:
NOTE: When you hover over various Instruction entry fields, a description of the options and operand types
for that entry will appear in the bottom left corner of the Logix Designer window. For example, here is
information for the Direction entry in the MAJ instruction:
If you’d like more information on the MAJ instruction, highlight it and press F1 to open the Help file.

9. We want to indicate the Execute Sequence is complete once the MAJ instruction is in process. While holding
down the Ctrl key, drag and drop the Motion Control tag for the MAJ instruction to the XIC instruction in the
branch. You will see a green circle appear next to the XIC instruction:
10. Now double click the tag you just copied into the XIC instruction, and add .IP to the end of the tag name. The
XIC instruction in rung 4 should look like this when you are finished:
11. Now double click on the comments for rung 4, and modify the text to say that we are jogging Axis02. Your
completed rung 4 should look similar to this:

12. Select Download in the Communications menu.
13. Click Download in the dialog box that appears.
14. When downloading completes, put the controller back into Run Mode by clicking Yes in the dialog box.
15. Navigate to the View 5000 Emulator HMI.
16. If the machine is currently in the Faulted state…
17. Press the button to initialize the machine. The drives will transition to the Running state.
18. Press the button to start the machine, and the motors will spin according to your sequencer logic.
Axis01 should execute a move to 10 revolutions and then Axis02 should begin jogging at a speed of 3 revs/sec.

19. Press the button after Axis02 begins jogging, and the axis will come to a stop.
20. If you have additional time, try applying what you’ve done by adding a Motion Change Dynamics instruction as a
third step in the sequence to change the jog speed of Axis02.

Lab 6: Troubleshoot a Motion System (Estimated Time 30 Minutes)
This lab is designed to allow you to experience the troubleshooting process by exploring a file that contains four errors. The goal
is to eliminate all the errors so that you can spin the motors.
NOTE: This lab is meant to allow you to identify the appropriate clues to locate the various errors with the
project. We encourage you to try to troubleshoot the project without step-by-step instructions, however we
have included the solutions in the Troubleshooting Solutions folder in the Lab Files folder on the desktop
if you would like to see hints and/or the solutions.
WARNING: Be aware that at some point in the troubleshooting process a motor will become unstable after pressing
Start. Do not be alarmed when this occurs. Simply press Stop on the HMI.
Download the Troubleshooting Project
1. In Logix Designer, click Open in the File menu.

The Open window appears. You do not need to save changes to your existing file.
2. Browse to the folder Lab Files on the desktop and open the Motion_Troubleshoot_Logix.ACD file.

Complete the following steps if the View 5000 Emulator HMI is not already running.
1. Minimize Logix Designer so the desktop can be seen. Browse to the folder Lab Files on the desktop and open
Motion_HMI.VPD.

Project File.

8. You are now ready to begin troubleshooting the system.

Lab 7: Troubleshoot a Motion System - 2 (Estimated Time 30 Minutes)
This lab is designed to allow you to experience the troubleshooting process by exploring a file that contains four errors. The goal
is to eliminate all the errors so that you can spin the motors.
Physically, the program sequence should move in the following order:
▪ Gear Slave Axis (Axis02) to Master Axis (Axis01) at the ratio of 1:2.
▪ Jog Master Axis (Axis01) at a speed of 3 Position Units/sec for 3 sec and then change Master Axis (Axis01) speed to 10
Position Units/sec for 3 sec and the cycle continues.
▪ Jog Axis03 at a constant speed of 5 Position Units/sec.
NOTE: This lab is meant to allow you to identify the appropriate clues to locate the various errors with the
project. We encourage you to try to troubleshoot the project without step-by-step instructions, however we
have included the solutions in the Troubleshooting Solutions folder in the Lab Files folder on the desktop
if you would like to see hints and/or the solutions.
Download the Troubleshooting Project
1. In Logix Designer, click Open in the File menu.

The Open window appears. You do not need to save changes to your existing file.
2. Browse to the folder Lab Files on the desktop and open the Motion_Troubleshoot_Part2_Logix.ACD file.

Complete the following steps if the View 5000 Emulator HMI is not already running.
1. Minimize Logix Designer so the desktop can be seen. Browse to the folder Lab Files on the desktop and open
Motion_HMI.VPD.

Project File.

8. You are now ready to begin troubleshooting the system.

Rockwell Automation is a trademark of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.
Copyright© 2021 Rockwell Automation, Inc. All rights reserved. Printed in USA.

Motion

Uploaded by

Motion

Uploaded by

Motion

Identifies information about practices or circumstances

Introduction: Accessing Motion Analyzer (Estimated Time 5 minutes) ......................................................... 7

Lab 1: Architecture Overview in Motion Analyzer (Estimated Time 5 minutes) .......................................... 10

Introduction: Apply Integrated Motion on EtherNet/IP (Estimated Time 10 minutes) ................................. 27

Lab 3: Configure a Motion System (Estimated Time 15 Minutes) .............................................................. 33

Rockwell Automation | Foundations 3 of 110

Lab 5: Program a Motion System (Estimated Time 15 Minutes) ............................................................... 96

Lab 6: Troubleshoot a Motion System (Estimated Time 30 Minutes) ...................................................... 106

Lab 7: Troubleshoot a Motion System - 2 (Estimated Time 30 Minutes) ................................................. 108

Rockwell Automation | Foundations 4 of 110

About this lab

Rockwell Automation | Foundations 5 of 110

Rockwell Automation | Foundations 6 of 110

Entering Lab User Credentials

1. Open the Motion Analyzer shortcut on the desktop .

2. Click on Create Account on the Motion Analyzer home page.

Rockwell Automation | Foundations 7 of 110

5. Click on the link in the email to activate your account.

6. Enter your email address and new password to log in.

7. An End User License Agreement will appear.

8. Click Agree to continue to the Motion Analyzer site.

Rockwell Automation | Foundations 8 of 110

1. Navigate to the Library by clicking LIBRARY on the main banner.

Rockwell Automation | Foundations 9 of 110

Rockwell Automation | Foundations 10 of 110

Project Level Activities

(1) Export project as XML;

Axis Level Controls

Rockwell Automation | Foundations 11 of 110

1. For each axis in your architecture, you can

Rockwell Automation | Foundations 12 of 110

Rockwell Automation | Foundations 13 of 110

1. Click on the Preferences tab on the Architecture Overview page.

Rockwell Automation | Foundations 14 of 110

Explore the Profile Editor

Rockwell Automation | Foundations 15 of 110

5. Click the SETTINGS AND START CONDITIONS button.

Rockwell Automation | Foundations 16 of 110

The Cruise/Dwell segment, for example, includes

(1) Segment Loads,

Rockwell Automation | Foundations 17 of 110

Rockwell Automation | Foundations 18 of 110

Rockwell Automation | Foundations 19 of 110

5. Click the Rotary Motor tab.

Rockwell Automation | Foundations 20 of 110

Rockwell Automation | Foundations 21 of 110

Rockwell Automation | Foundations 22 of 110

Rockwell Automation | Foundations 23 of 110

Rockwell Automation | Foundations 24 of 110

1. Click the Configure Components tab.

Rockwell Automation | Foundations 25 of 110

Rockwell Automation | Foundations 26 of 110

Launch Studio 5000 and Open Application Files

1. Launch Studio 5000; double-click on the Studio 5000 desktop icon.

The Open Project window appears.

4. Select Who Active from the Communications menu.

Rockwell Automation | Foundations 27 of 110

6. Click the Download button in the Who Active window.

7. Click the Download button to send the program to the controller.

Rockwell Automation | Foundations 28 of 110

1. Minimize Logix Designer so the desktop can be seen.

3. In the Project menu, select Project Properties.

4. Confirm that “C:\Users\LabUser\Desktop\Lab Files\Motion_Demo_Logix.ACD” is entered for the Logix

5. Click the ellipses next to Emulator to Controller Path.

7. Click OK in the Project Properties window.

8. In the Project menu, select Emulate Project.

Rockwell Automation | Foundations 29 of 110

1. If the machine is currently in the Faulted state…

…press the button to clear the faults.

3. Press the button to start the machine.

4. Press the button to stop the machine.

Rockwell Automation | Foundations 30 of 110

1. Press the button to open the Power Device Object faceplate.

2. Press the slider to enable Drive01.

Rockwell Automation | Foundations 31 of 110