Integrated Motion on EtherNet/IP

Handsc on Lab Manual

 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
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In no event will Rockwell Automation, Inc., or any of its affiliate or subsidiary companies (hereinafter “Rockwell Automation”) be
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Reproduction of the contents of the Documentation, in whole or in part, without written permission of Rockwell Automation is
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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.

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Integrated Motion on EtherNet/IP - Hands on Lab

Contents
Before you begin ........................................................................................................................................... 5
About this lab .................................................................................................................................................................................... 5
Tools & prerequisites ........................................................................................................................................................................ 5

Demonstration: Apply Integrated Motion on EtherNet/IP (Estimated Time 10 minutes) .............................. 6

Launch Studio 5000 and Open Application Files .............................................................................................................................. 6
Open and Run the HMI Application .................................................................................................................................................. 8
Start and Stop the Machine .............................................................................................................................................................. 9
Control the Axis with the CIP Motion Axis Faceplate ...................................................................................................................... 10

Lab 1: Configure a Motion System (Estimated Time 15 Minutes) .............................................................. 12

Configure the Controller for Integrated Motion on EtherNet/IP ....................................................................................................... 12
Add Drive Hardware........................................................................................................................................................................ 15
Configure Axis Properties ............................................................................................................................................................... 20
Create an Axis Trend ...................................................................................................................................................................... 30

Lab 2: Commission a Motion System (Estimated Time 20 Minutes) .......................................................... 38

Download Your Motion Project ....................................................................................................................................................... 38
Open and Run the HMI Application ................................................................................................................................................ 40
Explore Axis01 Tuningless Configuration ....................................................................................................................................... 41
Execute Axis Hookup Tests for Axis01 ........................................................................................................................................... 45
Execute Motor Analyzer for Axis02 ................................................................................................................................................. 48
Use Motion Direct Commands ........................................................................................................................................................ 53

Lab 3: Program a Motion System (Estimated Time 15 Minutes) ................................................................ 75

Explore an Existing Sequencer Program ........................................................................................................................................ 75
Open and Run the HMI Application ................................................................................................................................................ 76
Execute the Sequence Logic .......................................................................................................................................................... 77
Add a Motion Axis Jog Instruction................................................................................................................................................... 78

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Lab 4: Create a Cam Profile (Estimated Time 25 Minutes) ........................................................................ 85
Open and Run the HMI Application ................................................................................................................................................ 86
Demonstration................................................................................................................................................................................. 87
Configuration................................................................................................................................................................................... 91

Lab 5: Explore a Coordinated Motion System (Estimated Time 20 Minutes) ........................................... 106
Open and Run the HMI Application .............................................................................................................................................. 107
Demonstration............................................................................................................................................................................... 108

Lab 6: Troubleshoot a Motion System (Estimated Time 25 Minutes) ....................................................... 118

Download the Troubleshooting Project ......................................................................................................................................... 118
Open and Run the HMI Application .............................................................................................................................................. 119

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Before you begin

About this lab

In this lab, you will be introduced to the Logix Designer software environment as the single software tool used 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
▪ Explore camming and multi-axis coordinated motion capabilities
▪ 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
▪ 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

Optional Files
▪ Troubleshoot_SOLUTIONS.pdf

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Demonstration: 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.

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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.

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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.

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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.

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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.

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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.

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Lab 1: 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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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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.

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

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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.

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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.

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

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

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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.

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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

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

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

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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.

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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.

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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.

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5. Click Finish.

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

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

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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.

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

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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.

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Lab 2: Commission a Motion System (Estimated Time 20 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.

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5. 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.

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.

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

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.

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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…

…press the button to clear the faults.

After a few moments the machine should transition to the Healthy 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.

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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.

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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.

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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.

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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.

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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.

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6. Click Accept Test Results to update/save the Motor and Feedback Polarity settings.

7. Click OK to close the Axis Properties window.

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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.

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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.

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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.

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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.

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

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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.

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

The Motion Direct Commands window opens.

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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.

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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.

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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.

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9. Take a moment to watch the trend and then click Execute.
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.

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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.

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2. Take a moment to watch the trend and then click Execute.

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!

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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.

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2. Take a moment to watch the trend and then click Execute.

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

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Home an Axis Using a Motion Direct Command

1. Select the Motion Axis Home (MAH) instruction.

2. Take a moment to watch the trend and then click Execute.

Although the axis does not physically move, its position changes to 0.

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 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.

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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.

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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.

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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

1. Click on Run in the Trend - Axis01_Profile window.

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.

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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.

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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.

2. Take a moment to watch the trend and click Execute.

3. Once the move instruction has been executed, click Stop in the Trend - Axis01_Profile window.

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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.

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Issue a Motion Axis Move (MAM) with the Trapezoidal and S-Curve Profile Types

1. Click on Run in the Trend - Axis01_Profile window.

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

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3. Take a moment to watch the trend and click Execute.

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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

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5. Take a moment to watch the trend and click Execute.

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.

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Lab 3: 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.

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

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.

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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…

…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.

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.

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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.

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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.

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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.

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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.

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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:

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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.

NOTE: If the dialog box does not appear, go to and select Run Mode.
Click Yes in the dialog box that appears.

15. Navigate to the View 5000 Emulator HMI.

16. 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.

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.

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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.

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Lab 4: Create a Cam Profile (Estimated Time 25 Minutes)

The dynamics of a motion profile play a large role in the performance of an axis and the stress placed on the mechanical system.
No matter how well the axis is tuned, having the right profile can mean the difference between being capable of meeting the
requirements of the application or not.
In this lab, we will demonstrate the effects the motion profile has on the axis and how you can utilize a CAM to implement
complex motion profiles not available on a simple move instruction. We will be comparing the axis dynamics for a trapezoidal
move, an s-curve move, and a modified sine move.

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.

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Open and Run the HMI Application
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.

2. In the Project menu, select Project Properties.

3. Confirm that “C:\Lab Files\Motion_Demo_Logix.ACD” is entered for the Logix Project File.

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

5. Verify the controller path is set to AB_ETHIP-1\192.168.1.21, otherwise, highlight the controller and click OK.

6. Click OK in the Project Properties window.

7. 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.

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Demonstration
In the first part of this lab, we will demonstrate the effect the motion profile has on velocity, current, and position error. Through
trending, you will see that each profile type has different characteristics that need to be considered when programming your
application.

1. In Logix Designer, open the trend called Move_Profiles. It is located under Assets->Trends. This trend is
configured to show velocity, current reference, and position error.

2. Start the trend by pressing the Run button at the top of the trend window.

3. Now return to the HMI screen and select the Cam Profiles radial button to enable the content for this lab.

4. If the machine is faulted (check status on banner), press the Clear button to clear the fault.

5. Press the Reset button and then press the Start button to put the system into Execute.

6. Press the Sequenced Move button on the HMI.

This starts the move cycle which steps through a Trapezoidal Move, an S-Curve Move, and a Modified Sine Move with a 1
second dwell in-between each move. While the cycles are executing, the pushbutton will be illuminated.

7. When all 3 move sequences complete, stop the trend by pressing the Stop button at the top of the
trend window.

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8. Click on the center of the Trapezoidal Profile to place the Value bar on the trend.

9. Right-Click on the trend and select Active Value Bar -> Delta to activate the Delta bar.

10. Click on the center of the Modified Sine Profile to place the Delta bar on the trend.
The first thing to point out is that the velocity for the modified sine profile is about 16% higher than the trapezoidal or s-curve
moves.
This is important because some applications may not be able to achieve the higher velocity. If the higher velocity was not
acceptable, we would have to choose a different profile or allow more time for the move to complete.

The next thing to point out is the shape and magnitude of the current reference.
The trapezoidal move produces an instantaneous change in current while the s-curve and modified sine, ramp the current.
Instantaneous changes in current (torque) place a large amount of stress on the mechanical system which could lead to
premature wear and failure.

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11. Move the Value bar to the highest current reference value on the Trapezoidal profile and move the Delta bar to
the highest current reference value for the Modified Sine profile.

Note: To move the Value and Delta bars you simply click the location you want to move them to while they
are selected. To select the bar you are moving, right-click on the trend and select Active Value Bar->Value
or Active Value Bar->Delta to activate that particular bar.

Also notable is that the peak current of the modified sine is approximately 30% lower than the trapezoidal and about 36%
lower than the s-curve.
This is important because that could mean the difference between being able to complete the move with the current drive
and motor combination and having to select the next size.

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12. Finally, we will examine the position error. Move the Value bar to the highest position error value on the S-
Curve profile and move the Delta bar to the highest position error value for the Modified Sine profile.
Although the position error is low for all three moves, we can make similar observations to those made with the current
reference.
The modified sine profile has a peak error which is approximately 5% less than the trapezoidal and 28% less than the s-
curve.

13. Press the Stop button to bring the system to the Stopped state.

Key Takeaway: Not all profiles are created equal. Each one has its own unique set of characteristics. You
must understand your application so that you can select the profile that provides the performance you need.

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Configuration
This section of the lab walks you through the process of creating a cam profile and adding a cam instruction.

Motion Profiles
Trapezoidal

There are numerous motion profiles available for moving an axis from point A to point B. The most commonly used is the
Trapezoidal. The Trapezoidal has a constant acceleration segment, a constant velocity segment, and a constant deceleration
segment. The peak velocity requirements for this profile are the lowest possible for any point to point move. The transition
between the segments produces an instantaneous change in torque which is stressful to the mechanical system.

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S-Curve

Another commonly used profile is the S-Curve. It uses a triangular acceleration segment, a constant velocity segment, and a
triangular deceleration segment. The triangular acceleration and deceleration produce a much smoother transition and therefore
produces less stress on the mechanical system but has a significantly higher torque requirement. The peak velocity for the S-
Curve is the same as an equivalent Trapezoidal.

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Modified Sine

The Modified Sine Curve is a symmetrical curve composed of three segments. The first segment is a ¼ sine wave function that
covers from 0 to 1/8th of the total profile width. The second segment is a ½ cosine function that covers from 1/8th to 7/8ths of the
profile width. The final segment is another ¼ sine wave function that covers from 7/8ths to the end of the profile. The
characteristics of this profile are relatively low peak velocity with low power and torque requirements. In addition, the longer
transition from positive to negative torque (approximately 40% of the move) puts less stress on the mechanics and makes it a
good choice when moving large inertial loads.
The equations and profiles (position, velocity, acceleration, and jerk) for the modified sine profile are below:

𝑡 1 𝑡 𝑡
1. ) 0 ≤ ≤ 𝑦 = 𝑑[0.43990085 − 0.0350062𝑠𝑖𝑛4𝜋 ]
𝑡𝑚 8 𝑡𝑚 𝑡𝑚

1 𝑡 7 𝑡 4𝜋 𝑡 𝜋
2. ) < < 𝑦 = 𝑑[0.28004957 + 0.43990085 − 0.31505577 cos ( − )]
8 𝑡𝑚 8 𝑡𝑚 3 𝑡𝑚 6

1 𝑡 7 𝑡 𝑡
3. ) < < 𝑦 = 𝑑[0.56009915 + 0.43990085 − 0.0350062 sin 4𝜋 ]
8 𝑡𝑚 8 𝑡𝑚 𝑡𝑚

Where:
𝑑 = 𝑀𝑜𝑣𝑒 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒
𝑡𝑚 = 𝑀𝑜𝑣𝑒 𝑇𝑖𝑚𝑒
𝑡 = 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 𝑇𝑖𝑚𝑒
For some really challenging applications, the characteristics of the Trapezoidal and the S-Curve profiles may make them less
than desirable. When these situations arise, we can utilize a cam to implement a more complex profile like the 5th order
polynomial for example.
Each profile has its own unique characteristics so you need to understand your application before you can select the right one.
The complex profile we are going to present in this lab is the Modified Sine.

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CAM Profile Creation
CAM profiles can be generated a few ways. We can sit down with our calculators and hand calculate multiple points to produce
a smooth profile, but who wants to do that! We can utilize other tools like Excel or MATLAB to do the heavy lifting and import the
data into Logix. We could also program the equations into our Logix controller and let it do the calculations for us.
Fortunately for us there are tools readily available that we can use. There are AOIs that perform these complex move profiles
and spreadsheets that can calculate the profiles for us. In this lab, we will demonstrate how to use the Advanced Motion Profile
spreadsheet which can be found on the Rockwell Automation Knowledgebase.

1. Open the Excel file “Lab Files\Advanced Motion Profiles_Vxx” (xx is the current file version).

2. On the bottom of the workbook, select the ModSine worksheet.

3. In the top left corner, there is a section labeled Input Data. The Move Time (T) and Move Dist (S) are the only
fields we need to modify.
The units for Move Time are seconds and the units for Move Distance are position units. The spreadsheet specifies the
units as inches, but they can be whatever position units your axis utilizes.

4. Let’s say we needed to move a distance of 20 inches in 4 seconds, simply enter 4 for the Move Time and 20 for
the Move Distance and the cam profile data will automatically update. In cell B6, enter 4 for the Move Time and
in cell B7, enter 20 for the Move Distance.

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5. All of the values updated accordingly, and the plots adjusted to show the new values as well.
You can see on the position plot that the axis will travel 20 units in 4 seconds.

6. Now that the profile has been generated, the data needs to get added into Logix. In Logix Designer, set the
controller to Program Mode.
IMPORTANT: You must be in Program Mode to complete the next steps.

7. Now navigate to EM01_CE_Motion -> Parameter and Local Tags and double-click on it to open the Tag
Editor.

8. At the bottom of Tag Editor Window, select the Edit Tags tab.

9. Scroll down to the bottom of the editor to reveal the Create Tag line in the table.

10. Create a new local tag named MyCamProfile with a data type of CAM_PROFILE[50]. Leave all other options
for the tag at their default values.

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11. After the tag has been created, right-click on the row containing the tag and select Configure “MyCamProfile”
to open the Cam Editor.

12. Return to the spreadsheet and select all of the data in the Calculated Data section under the headings TIME
and POS (cells B12 through C52) and copy it.

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13. Return to the Logix Designer Cam Editor. Right-click on the asterisk button at the top of the Cam Editor
window and paste the copied data.

Note: For this procedure to work, the Cam table must be empty. If there is data present, you will need to
delete it.

14. This should have populated the table and you should see something in the graph view, but it does not show the
entire profile.

To see the profile in its entirety, click on the Zoom Extents button on the toolbar.

15. We are almost done. The final step is to change the type for each one of the point pairs from Linear to Cubic.
This will smooth out our velocity profile by changing the interpolation between the points from linear interpolation to cubic
interpolation.
To change the type, click on each line to open the drop-down list and select Cubic. For the sake of time, only do this on a
couple of points just to make sure you grasp the concept.
As you change the type, observe the velocity profile (red trace). You will see the profile becoming a continuous curve
instead of small step changes.

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 Note: This step could have been accomplished in Excel as well. It would require copying the data to a blank
location on the spreadsheet and adding a 3rd column for the Type. You would populate that column with
either Linear or Cubic. You would then copy the 3 columns of data and paste that into the profile editor.

That is all there is to it. There are a few steps, but in practice you can create a complex cam profile in a matter of minutes.

16. Click OK to close the Cam Editor and save the profile.

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Motion Axis Time Cam (MATC) Instruction
Now, let’s look at how the MATC instruction is configured and see how quickly we can change a cam profile by using the scaling
functionality.

1. Set the controller back to Run Mode.

2. From the Controller Organizer navigate to the routine EM01_CE_Motion -> _App_Execute_CamProfiles and
open it by double-clicking.

3. Go to rung 11 and click on the Expand/Collapse button at the bottom of the MATC instruction to show all
of the instruction parameters.

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 The instruction is configured as follows:
Axis Axis01 Axis we want to run
Motion Control CE_Axis01_MI.MATC[0] Unique MOTION_INSTRUCTION tag for instruction operation
Direction 0 The direction we move through the profile.
0 (same) will follow the literal direction of the profile.
1 (opposite) will move backwards through the profile.
3 (reverse) will move through the profile in the opposite direction of the
last time it was executed.
4 (unchanged) will move through the profile in the same direction as the
last time it was executed
Cam Profile ModifiedSine_Profile Profile we want the axis to follow.
Distance Scaling Move_Distance Numeric value that scales the slave points in the cam profile
Time Scaling Move_Time Numeric value that scales the master points in the cam profile
Execution Mode Once Specifies whether the profile is executed once (0 or Once) and then
stops or if it executes continually (1 or Continuous)
Execution Immediate Specifies whether the profile starts as soon as the instruction is
Schedule executed (0 or Immediate) or if it waits to blend in at the end of a
currently running profile (1 or Pending)
Lock Position 0 When configured in Master Driven Mode, specifies the absolute position
of the master axis to start following the profile
Lock Direction None When configured in Master Driven Mode, specifies the direction the
master must be traveling when it reaches the Lock Position to start
following the profile (None, Immediate Forward Only, Immediate
Reverse Only, Position Forward Only, or Position Reverse Only)
Instruction Mode Time Driven Mode Specifies whether the instruction is run in Time Driven Mode or Master
Driven Mode. Master Driven mode is used with Master Driven Speed
Control functionality which is not covered in this lab.

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4. Now, let’s examine the cam profile. Click on the ellipsis button next to the Cam Profile tag to open the
profile editor.
The ModifiedSine_Profile is a unity profile. This profile is configured to go 1 rev in 1 second.

5. Close the profile editor window and open the trend called Move_Position_Velocity. It is located under Assets-
>Trends. This trend is configured to show actual position and actual velocity for Axis 1.

6. Start the trend by pressing the Run button at the top of the trend window and then return to the HMI.

7. If the machine is faulted (check status on banner), press the Clear button to clear the fault.

8. Press the Reset button and then press the Start button to put the system into Execute.

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9. Press the CAM Move button to execute the MATC instruction.

10. When the move sequence completes (single move), stop the trend by pressing the Stop button at
the top of the trend window.

11. Click on the velocity profile (red) where the velocity starts to increase, to place the Value bar on the trend.

12. Right-Click on the trend and select Active Value Bar -> Delta to activate the Delta bar.

13. Click on the velocity profile (red) where the velocity returns to 0, to place the Delta bar on the trend.
If you look at the delta values at the top of the trend, you will see that the axis moved 80 revs in 2 seconds.
How is this possible? The profile that was used only covered 1 rev in 1 second.

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14. Let’s examine the MATC instruction a little closer.
If you look at the Distance Scaling and Time Scaling parameters, you will see that the specified value for Distance Scaling
is 80 and the specified value for the Time Scaling is 2.

In the previous section of the lab (Cam Profile Creation), we created a profile that went 20 position units in 4 seconds. Let’s
see if we can accomplish the same thing with the unity profile to see the power of the scaling functionality of the MATC
instruction.

15. On the HMI, press the Move Distance Numeric Entry button and enter 20, then press OK.

16. On the HMI, press the Move Time Numeric Entry button and enter 4, then press OK.

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17. Start the trend by pressing the Run button at the top of the trend window.

18. Press the CAM Move button to execute the MATC instruction.

19. When the move sequence completes, stop the trend by pressing the Stop button at the top of the
trend window.

20. Click on the velocity profile (red) where the velocity starts to increase, to place the Value bar on the trend.

21. Right-Click on the trend and select Active Value Bar -> Delta to activate the Delta bar.

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22. Click on the velocity profile (red) where the velocity returns to 0, to place the Delta bar on the trend.
If you look at the delta values at the top of the trend, you will see that the axis moved 20 revs in 4 seconds.
By using the scaling feature, we can create one profile and scale it for our application requirements. The Distance Scaling
and Time Scaling tags can be part of a recipe that updates based on the product being run. This is much more efficient
than creating different profiles to accommodate different product dimensions.

23. Press the Stop button to bring the system to the Stopped state.

Key Takeaway:
▪ Cams can be used to implement complex motion profiles.
▪ With readily available tools, creating common complex motion profiles is greatly simplified.
▪ We can utilize the scaling functionality of the cam instructions to scale a profile to our application.

That completes this lab section.

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Lab 5: Explore a Coordinated Motion System (Estimated Time 20 Minutes)

Coordinated motion is similar to single axis moves but it gives us the ability to implement a point to point move along a linear or
circular path. The multi-axis coordinated motion instructions are used to perform linear and circular moves in single and
multidimensional spaces. A Cartesian coordinate system in Logix Designer can include one, two or three axes as shown below.

In addition to coordinating the movement of multiple axes, coordinated motion gives us the ability to blend a series of moves
together to follow a planned path. How we blend the moves together has an impact on how the axes behave as they transition
from one move to the next. This transition is controlled by the termination type selected for each individual coordinated move.
In this lab, we will look at an example of a two axis Cartesian system application. Most motion applications require multiple
motion moves to be executed in succession. A gluing machine is a typical example. The simulated gluing machine will apply a
glue bead following the tool path shown below.

This application can be accomplished with the following:

• (3) MCLM Instructions
• (2) MCCM Instructions
• A simple ladder-based state machine

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.

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Open and Run the HMI Application
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.

2. In the Project menu, select Project Properties.

3. Confirm that “C:\Lab Files\Motion_Demo_Logix.ACD” is entered for the Logix Project File.

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

5. Verify the controller path is set to AB_ETHIP-1\192.168.1.21, otherwise, highlight the controller and click OK.

6. Click OK in the Project Properties window.

7. 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.

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Demonstration

Actual Tolerance
In the first part of this lab, we will demonstrate the effect each termination type has on the blended coordinated moves. Through
trends, you will see how each type effects the velocity as well as the path followed.
Let’s look at the Actual Tolerance termination type.

1. In Logix Designer, open the trends titled XY_Plot and XY_Velocity. They are located under Assets->Trends.

2. Start both trends by pressing the Run button at the top of the trend windows.

3. Now return to the HMI screen and select the Coordinated Motion radial button to enable the content for this lab.

4. If the machine is faulted (check status on banner), press the Clear button to clear the fault.

5. Press the Reset button and then press the Start button to put the system into Execute

6. On the list selector, select Actual Tolerance.

7. Press the Coordinated Move button on the HMI.

This starts the coordinated move cycle. While the cycle is in progress, the button will illuminate.

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8. Observe the XY_Plot and XY_Velocity trends.
The literal path was followed. The vector velocity decelerated to 0 between each move.

With a termination type of Actual Tolerance, the motion planner interpolates the complete move and then waits for the
actual position of the coordinate system axes to settle and be within the actual tolerance window, set in the coordinate
system, before allowing the system to transition to the next move.

The command velocity would decelerate to 0 between each move and the moves would follow the literal path. This type
would be desirable if the precision of the end points were critical and coming to a stop between moves was not an issue.
With this termination type, it is possible that the transition would never occur if the tolerance was too tight or the tuning was
soft.

Note: You might have noticed that the velocity trend during the circular moves appears to have some
oscillation. This is because the XY velocity is a calculated value. The calculation is being performed in Logix
at the coarse update rate and it uses the individual axes velocities as a representation of the instantaneous
tangential velocity.

9. Stop the trends by pressing the Stop button at the top of the trend windows.

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No Settle
Let’s look at the No Settle termination type.

1. Start both trends by pressing the Run button at the top of the trend windows.

2. On the list selector, select No Settle.

3. Press the Coordinated Move button on the HMI.

This starts the coordinated move cycle. While the cycle is in progress, the button will illuminate.

4. Observe the XY_Plot and XY_Velocity trends.

The literal path was followed. The vector velocity decelerated to 0 between each move.

No Settle is nearly identical to Actual Tolerance. Both termination types decelerate to 0 between each move and both
reach the programmed position (within some tuning tolerance) before transitioning. The big difference between the two is
that No Settle does not wait for the coordinate system axes to settle in on a position within the actual tolerance window
before transitioning to the next move. As soon as the motion planner has interpolated the entire path for the currently
executing move profile, it will transition to the next one in the sequence.
This is the most commonly used termination type and the one motion instructions will revert to if there is not another move
cued up and ready to blend into.

5. Stop the trends by pressing the Stop button at the top of the trend windows.

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Command Tolerance and Command Tolerance Programmed
These two termination types are identical with one exception. Command Tolerance uses the command tolerance value specified
in the coordinate system properties while Command Tolerance Programmed uses the command tolerance value specified in the
coordinated motion instruction.

With these termination types, the system transitions as soon as the motion planner has interpolated the path to a position within
the command tolerance window. The system does not follow the literal path and will not reach the programmed end point which
results in a rounding effect between the moves. The larger the tolerance window, the more dramatic the rounding.
There is normally some deceleration between the moves. The amount of deceleration depends on the deceleration rate for the
move as well as the command tolerance setting. If the command tolerance is a value that equates to a constant velocity location
on the velocity profile, very little deceleration would be noticed. These termination types are commonly used when blending two
linear moves and the literal path is not a requirement.

1. Start both trends by pressing the Run button at the top of the trend windows.

2. On the list selector, select Command Tolerance or Command Tolerance Programmed.

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3. Press the Coordinated Move button on the HMI.
This starts the coordinated move cycle. While the cycle is in progress, the button will illuminate.

4. Observe the XY_Plot and XY_Velocity trends.

The literal path was not followed.

There is some rounding that occurred which is more noticeable between the two linear moves 4 and 5. The vector velocity
did decelerate between each move but not all the way to 0.
Because the system does not decelerate to 0 between the moves, the amount of time to complete the entire path is less
than what it was for Actual Tolerance or No Settle.

5. Stop the trends by pressing the Stop button at the top of the trend windows.
Repeat steps 15 thru 18 above for the command tolerance termination type you did not select the first time through. There
will be a slight difference between the results because the tolerance values are different, but the general observations will
be the same.

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No Decel
With a termination type of No Decel the system transitions as soon as the motion planner has interpolated the path to the
deceleration point in the velocity profile.
With this termination type, the system does not follow the literal path and will not reach the programmed end point which results
in a rounding effect between the moves. The amount of rounding depends on the deceleration rate for the move.
This termination type is also useful for smoothly blending two linear moves when the literal path is not a requirement.

1. Start both trends by pressing the Run button at the top of the trend windows.

2. On the list selector, select No Decel.

3. Press the Coordinated Move button on the HMI.

This starts the coordinated move cycle. While the cycle is in progress, the button will illuminate.

4. Observe the XY_Plot and XY_Velocity trends.

The literal path was not followed.

There is some rounding that occurred which is more noticeable between the two linear moves 4 and 5. Although only
obvious between moves 4 and 5, the vector velocity did decelerate between each move. If you zoom in between moves 2
and 3, you can see the slight deceleration.
Because the system does not decelerate to 0 between the moves, the amount of time to complete the entire path is less
than what it was for Actual Tolerance or No Settle.

5. Stop the trends by pressing the Stop button at the top of the trend windows.

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Follow Contour Velocity Constrained
With the Follow Contour Velocity Constrained termination type, the system transitions as soon as the motion planner has
interpolated the path to the programmed endpoint. There will be no deceleration between the moves, and the vector velocity will
be the programmed velocity at the instant of the transition. With this type, the system follows the literal path and reaches the
programmed end point. This termination type is beneficial when transitioning between linear and circular moves or circular and
circular moves at a constant vector velocity. It should be avoided when blending two linear moves unless both moves are along
the same vector, since it will produce an instantaneous change in the individual axis velocities at the transition point.

1. Start both trends by pressing the Run button at the top of the trend windows.

2. On the list selector, select Follow Contour Velocity Constrained.

3. Press the Coordinated Move button on the HMI.

This starts the coordinated move cycle. While the cycle is in progress, the button will illuminate.

4. Observe the XY_Plot and XY_Velocity trends.

The literal path was followed.

There is no deceleration between moves except for the two linear moves 4 and 5. To avoid the instantaneous change in
velocity for the individual axes, move 4 was set to No Settle.
Because the system does not decelerate to 0 between the moves, the amount of time to complete the entire path is less
than what it was for Actual Tolerance or No Settle.

5. Stop the trends by pressing the Stop button at the top of the trend windows.

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Follow Contour Velocity Unconstrained
Follow Contour Velocity Unconstrained is similar to Follow Contour Velocity Constrained but it gives us the ability to configure the
moves such that the vector velocity accelerates or decelerates through each segment of the path.
For the acceleration segments, we specify the final velocity we want to achieve at the end of the acceleration segments as well
as the acceleration rate required to reach that velocity. For the deceleration segments, we must specify the starting velocity for
each segment along with the deceleration rate required to reach our final velocity at the end of the deceleration segments.
Let’s say that we wanted to use a triangular velocity profile so that the move completed in the shortest amount of time possible.
We could use this termination type to achieve those results.
This type is not commonly used because it does require you to calculate velocities and acceleration/deceleration rates.

1. Open the XY_Velocity trend properties, by right-clicking on the trend and selecting Chart Properties.

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2. On the Y-Axis tab select Custom for the Minimum / maximum value options. Make sure the minimum value is -1
and the maximum value is 11. Click OK to save and exit.

3. Start both trends by pressing the Run button at the top of the trend windows.

4. On the list selector, select Follow Contour Velocity Unconstrained.

5. Press the Coordinated Move button on the HMI.

This starts the coordinated move cycle. While the cycle is in progress, the button will illuminate.

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6. Observe the XY_Plot and XY_Velocity trends.
The literal path was followed.

For this type to be truly beneficial, we modified the velocities, accelerations, and decelerations to produce the triangular
velocity profile. Had we not made those modifications, there would have been no difference between Follow Contour
Velocity Unconstrained and Follow Contour Velocity Constrained.
The velocity changes across the entire path. Again, the termination type for move 4 was set to No Settle to avoid the
instantaneous change in the individual axis velocities at the transition point.
Because the system does not decelerate to 0 between the moves, the amount of time to complete the entire path is less
than what it was for Actual Tolerance or No Settle.

7. Stop the trends by pressing the Stop button at the top of the trend windows.

8. Press the Stop button to bring the system to the Stopped state.

That completes this lab section.

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Lab 6: Troubleshoot a Motion System (Estimated Time 25 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.

3. Select Download in the Communications menu.

4. Click Download in the dialog box that appears.

5. When downloading completes, put 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.

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Open and Run the HMI Application
Complete the following steps if the View 5000 Emulator HMI is not already running.

8. Minimize Logix Designer so the desktop can be seen. Browse to the folder Lab Files on the desktop and open
Motion_HMI.VPD.

9. In the Project menu, select Project Properties.

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

Project File.

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

12. Verify the controller path is set to AB_ETHIP-1\192.168.1.21, otherwise, highlight the controller and click OK.

13. Click OK in the Project Properties window.

14. 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.

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

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