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Important User InformationSolid state equipment has operational characteristics differing from those of electromechanical equipment. Safety Guidelines forthe Application, Installation and Maintenance of Solid State Controls (publication SGI-1.1 available from your local RockwellAutomation sales office or online at http://www.literature.rockwellautomation.com) describes some important differencesbetween solid state equipment and hard-wired electromechanical devices. Because of this difference, and also because of the widevariety of uses for solid state equipment, all persons responsible for applying this equipment must satisfy themselves that eachintended application of this equipment is acceptable.In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages resulting from the use orapplication of this equipment.The examples and diagrams in this manual are included solely for illustrative purposes. Because of the many variables andrequirements associated with any particular installation, Rockwell Automation, Inc. cannot assume responsibility or liability foractual use based on the examples and diagrams.No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits, equipment, or softwaredescribed in this manual.Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation, Inc., isprohibited.Throughout this manual, when necessary, we use notes to make you aware of safety considerations.WARNINGIMPORTANTIdentifies 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.ATTENTIONIdentifies information about practices or circumstances that can lead to personal injury or death, property damage, oreconomic loss. Attentions help you identify a hazard, avoid a hazard, and recognize the consequence.SHOCK HAZARDLabels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous voltage maybe present.BURN HAZARDLabels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may reachdangerous temperatures.Allen-Bradley, CompactLogix, ControlLogix, Kinetix, PanelView, PanelView Plus, RSLogix, RSLogix 5000, RSTrainer, FactoryTalk View, FactoryTalk View Machine Edition (ME),FactoryTalk View ME Station, FactoryTalk View Studio, FactoryTalk View ME Integrated Motion, Logix5000, RSLinx, RSLinx Enterprise, RSLinx Classic, SoftLogix, TechConnect, andRockwell Automation are trademarks of Rockwell Automation, Inc.Trademarks not belonging to Rockwell Automation are property of their respective companies.

Where to StartFollow the path below to complete your Kinetix Integrated Motion application.Chapter 1Hardware SelectionChapter 4Logix IntegrationChapter 5Motion FactoryTalk ViewIntegrationLogix IntegrationChapter 2System LayoutDIRTYDIRTYCLEANCLEANDIRTYDIRTYChapter 6Motion SystemApplication GuideCLEANCLEANDIRTYDIRTYCLEANChapter 3System WiringChapter 7Motion Analyzer MotionProfile ExportPublication IASIMP-QS018C-EN-P — February 20103

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Table of ContentsImportant User Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Where to Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3PrefaceIntroduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Required Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Conventions Used in This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Chapter 1Hardware SelectionBefore You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Install Kinetix Accelerator Toolkit from DVD . . . . . . . . . . . . . . . . . .Get Motion Analyzer Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Install and Run Motion Analyzer Software . . . . . . . . . . . . . . . . . . . . .Reviewing Basic Panel Component Listings . . . . . . . . . . . . . . . . . . . .Select System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1111121314161719Chapter 2Plan System LayoutBefore You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Load Basic System CAD Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . .Verifying Your Basic Panel Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . .Modify Your Motion Panel Layout. . . . . . . . . . . . . . . . . . . . . . . . . . . .Download Other Allen-Bradley CAD Drawings . . . . . . . . . . . . . . . . .21212223242526Chapter 3Plan System WiringBefore You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Load Basic System CAD Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . .Routing Cables for Your Integrated Motion Panel . . . . . . . . . . . . . . .Laying Out Power and I/O Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . .Laying Out SERCOS and Ethernet Cables . . . . . . . . . . . . . . . . . . . . .27272829303133Chapter 4Motion Logix IntegrationPublication IASIMP-QS018C-EN-P — Febuary 2010Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Follow These Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Select Your Logix Application File. . . . . . . . . . . . . . . . . . . . . . . . . . . .Load and Open the Logix Application File . . . . . . . . . . . . . . . . . . . . .Configure Your Logix Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Configure Your Logix SERCOS Module . . . . . . . . . . . . . . . . . . . . . . .Add Logix Program Code for Additional Axes . . . . . . . . . . . . . . . . . .Configure Your Kinetix Drive Modules to the Additional Axes . . . .Configure Axis Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .353536373738394048515

Table of ContentsConfigure Logix Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Save and Download Your Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Chapter 5Motion FactoryTalk ViewIntegrationLogix IntegrationBefore You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Follow These Steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Select Your FactoryTalk View ME Application File . . . . . . . . . . . . . . 59Load and Restore the FactoryTalk View ME Application . . . . . . . . . . 59Configure Design (Local) Communications . . . . . . . . . . . . . . . . . . . . . 60Configure Runtime (Target) Communications . . . . . . . . . . . . . . . . . . . 63Adding EMs to the Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Using Multiple Languages in the Project. . . . . . . . . . . . . . . . . . . . . . . . 71Test the Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Download Fonts to the Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72Download the Project to a Terminal . . . . . . . . . . . . . . . . . . . . . . . . . . . 74Run the Project on a Terminal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76Chapter 6Motion System Application Guide Before You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79Follow These Steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80Use the PowerUp Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81General Display Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Machine State Model Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Manual Mode (EM Manual Jog) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84Automatic Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85Use the EM Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87Use the Command Condition Display . . . . . . . . . . . . . . . . . . . . . . . . . 88Use the EM Configuration Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89Shut Down Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90Chapter 7Motion Analyzer Motion ProfileExportBefore You Begin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91What You Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91Follow These Steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92Create a PCam (Position Cam) Motion Profile. . . . . . . . . . . . . . . . . . . 92Copy Position Cam Profile to RSLogix 5000 Program . . . . . . . . . . . . 97Appendix ALogix Base Program Overview6Basic Program Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101PackML 3.0 State Model Integration. . . . . . . . . . . . . . . . . . . . . . . . . . 102Main Machine Control (UN01 ExampleUnit) . . . . . . . . . . . . . . . . . . 104Axis/Equipment Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105User-defined Data Types (UDTs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110Add-On Instructions (AOIs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110Publication IASIMP-QS018C-EN-P — Febuary 2010

Table of ContentsAppendix BFactoryTalk View MECommunications SetupConfigure Local Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . 145Appendix CRockwell Automation TrainingServicesPublication IASIMP-QS018C-EN-P — Febuary 2010Available Training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1497

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