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Rockwell Automation Publication 1756-UM001O-EN-P - October 2014 143
Chapter 9
Develop Motion Applications
Motion Control Options
ControlLogix controllers support digital, analog, and Integrated Motion
interfaces:
• Digital drive interfaces include EtherNet/IP connected drives and sercos
interface connected drives.
• Analog drives support ±10V analog output and can interface with various
feedback device types including quadrature encoder, SSI, and LVDT
feedback.
• Integrated Motion on an EtherNet/IP network supports Kinetix 350,
Kinetix 5500, Kinetix 6500, and PowerFlex 755 drives.
Topic Page
Motion Control Options 143
Motion Overview 144
Obtain Axis Information 144
Program Motion Control 145
- ControlLogix System 1
- Important User Information 2
- Summary of Changes 3
- New and Updated 3
- Information 3
- Table of Contents 5
- Chapter 4 6
- Chapter 5 6
- Communication Networks 6
- Controllers 7
- Appendix B 10
- History of Changes 10
- Studio 5000 Environment 11
- ControlLogix Controllers 11
- Overview 11
- Before You Begin 14
- Additional Resources 15
- . To order paper copies of 17
- Chapter 1 19
- 1756-L7x Controller Parts 21
- Installation 22
- Insert the Controller 23
- Insert the Key 24
- Install the SD Card 25
- Remove the SD Card 26
- –Leave an SD card installed 27
- 1784-SD1 or 1784-SD2) 27
- Install the ESM 28
- Uninstall the ESM 29
- Logix 55xx 31
- Chapter 2 33
- Logix 5563 35
- CompactFlash Card 36
- Installation and Removal 36
- Battery Connection 39
- Remove the Controller 44
- Start Using the Controller 45
- Connect to the 46
- Configure the USB Driver 47
- Virtual Chassis Driver 48
- USB Port Driver 48
- To Workstation 49
- To Controller 49
- To Workstation To Controller 49
- Configure the Serial Driver 50
- Upgrade Controller Firmware 52
- Obtain Controller Firmware 53
- 6. Click Yes 57
- The firmware upgrade begins 57
- Set the Communication Path 58
- Go Online with the Controller 58
- Download to the Controller 59
- Upload from the Controller 60
- Choose the Controller 62
- Operation Mode 62
- Load or Store to the 65
- Memory Card 65
- Load from the Memory Card 68
- Use ControlLogix Energy 70
- Storage Modules (ESMs) 70
- Estimate the ESM Support 72
- Maintain the Battery (Only 72
- 1756-L6x Controllers) 72
- Battery Storage and Disposal 77
- Design a ControlLogix System 81
- ControlLogix Controller 82
- Features 82
- Memory Options 83
- Electronic Keying 84
- POINT I O 86
- ControlNet Network 89
- DeviceNet Network 92
- Data Highway Plus (DH+) 95
- Network Communication 95
- Universal Remote I/O (RIO) 97
- Foundation Fieldbus 98
- HART Communication 99
- Chapter 6 101
- 1756-L6x Controller 102
- Serial Port 102
- Communication with 103
- Serial Devices 103
- DF1 Master Protocol 104
- DF1 Point to Point Protocol 105
- DF1 Radio Modem Protocol 106
- DF1 Radio Modem Limitations 107
- DF1 Slave Protocol 109
- DH-485 Protocol 110
- EXTERNAL 111
- ASCII Protocol 112
- Configure the 1756-L6x 113
- Controller for Serial 113
- Communication 113
- Broadcast Messages Over 115
- Modbus Support 118
- Chapter 7 119
- Connection Overview 119
- Produce and Consume 119
- (Interlock) Data 119
- Send and Receive Messages 121
- Calculate Connection Use 122
- Local Connections 123
- Remote Connections 123
- Connections Example 124
- I/O Modules 127
- Remote I/O Modules 129
- Chapter 8 I/O Modules 130
- I/O Modules Chapter 8 131
- Distributed I/O 132
- Reconfigure an I/O Module 135
- Add to the I/O Configuration 137
- While Online 137
- Determine When Data is 141
- Develop Motion Applications 143
- Motion Overview 144
- Obtain Axis Information 144
- Program Motion Control 145
- Develop Applications 147
- Figure 29 - Tasks 149
- Programs 151
- Figure 33 - Programs 152
- Routines 154
- Parameters and Local Tags 155
- Extended Properties 156
- Programming Languages 158
- Add-On Instructions 159
- Access the Module Object 160
- Monitoring Controller Status 161
- Monitoring I/O Connections 162
- Timed Out 163
- I/O Module Properties 164
- System Overhead Time Slice 165
- Sample Controller Projects 167
- Using the PhaseManager Tool 169
- Minimum System 171
- Requirements 171
- State Model Overview 171
- How Equipment Changes States 172
- Manually Change States 173
- PhaseManager Tool versus 174
- Other State Models 174
- Equipment Phase 174
- Instructions 174
- Redundant Systems 175
- System Requirements 177
- System Considerations 178
- Build a Redundant System 179
- ControlNet Considerations 180
- EtherNet/IP Considerations 180
- Redundancy and Scan Time 181
- Chapter 12 Redundant Systems 182
- Troubleshoot the Module 183
- Fault Type Determination 185
- 1756-L7x Controller Status 186
- Display and Indicators 186
- 1756-L7x Controller 186
- Status Display 186
- Fault Messages 187
- Table 49 - Fault Messages 188
- Major Fault Messages 189
- I/O Fault Codes 191
- Status Indicators 195
- 1756-L6x Status Indicators 196
- I/O Indicator 197
- FORCE Indicator 197
- RS232 Indicator 197
- BAT Indicator 198
- OK Indicator 198
- No changes documented 201
- Revision not published 202
- Numerics 203
- Rockwell Automation Support 212
- Documentation Feedback 212
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