Emerson Industrial Automation: Application Tools

Application Tools
CTOLAOIUG, rev 1, 12/1/2015

Applicable Products: Unidrive M200/M201, M300, M400
with SI-Ethernet
Emerson Industrial Automation

Unidrive M200-M400 with SI-Ethernet RSLogixTM 5000 Add-On Instruction User Guide
Introduction
The Add-On Instruction (AOI) was created to expedite and simplify integration of Emerson Control
Techniques Unidrive M products into Rockwell Automation PLC applications. The AOI enables easy
integration of an Emerson Control Techniques drive into the RSLogixTM 5000 programming and
configuration environment, as well as the Logix Architecture by incorporating the drives' controller tags
and user-defined variables into one simple instruction.
1
7078 Shady Oak Road, Eden Prairie, MN 55344
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Features and Functionality

 Speed Mode
o Change speed reference in Hz
o Command forward/reverse direction
o Change acceleration and deceleration rates
o Minimum and maximum speed clamps
 Jogging
o Change jog reference in Hz
o Command forward/reverse direction
o Change jog acceleration and deceleration rates
 Status
o Motor voltage
o Actual speed in Hz
o Motor current
o Motor power (kW and hp)
o Percentage load
o Overload accumulator
o Drive fault and error codes
o Alarms
o Motor rotation direction
o Supply loss
 Diagnostics
o Heatsink temperature
o Inverter IGBT temperature
o Drive error codes
 Current Limit Control – Motoring and Regenerative
 Auto/Manual Selection for Network or Terminal Strip Control and Reference
2
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Requirements
 One of the following Emerson Control Techniques drives:
o Unidrive M200/M201, M300, M400 frame size 2 and above
o SI-Ethernet option module with firmware V01.04.02.08 or greater
 Emerson Industrial Automation Unidrive M Connect software
o Unidrive M Connect V02.05.01.0 or greater
 Emerson Control Techniques Add-On Instruction for the Unidrive M200-M400
 Emerson Control Techniques Unidrive M Connect M200-M400 macro file
 Allen-Bradley ControlLogix or CompacLogix PLC with Ethernet interface
 Allen-Bradley RSLogixTM 5000 version 16 or higher
 Ethernet connections between Allen-Bradley PLC and Unidrive M200-M400 with SI-Ethernet
 OPTIONAL: CT-USB-CABLE and AI-485-ADAPTOR if needing to update firmware
Unidrive M I/O Wiring

 DI/O 2 – Drive Enable M200/M201 – Terminal 11
 STO 1 – Drive Safe Torque Off M300, M400 – Terminals 31/34 (frames 1 to 4)
 STO 2 – Drive Safe Torque Off M300, M400 – Terminals 31/35 (frames 5 to 9)
Note: 0 V common on external 24 V dc power supply must be connected to drive 0 V common
Setup Overview
 Set mode and region to Open-Loop and 60 Hz. NOTE: AOI will not function in RFC-A mode.
 Configure motor parameters for your particular motor
 Use the keypad (M200-M300 onboard, M400 needs CI-KEYPAD-LCD) to test motor operation
 Disable the drive and download the M200-M400 macro file to the Unidrive M drive
 Save the parameters in the drive
 Configure the Allen-Bradley PLC Ethernet/IP interface to the Emerson Control Techniques drive
using RSLogixTM 5000. See below for more information.
 Import the Control Techniques Add-On Instruction into your PLC program using RSLogixTM 5000
 Create a Tag with the Data Type Unidrive_M
 Insert the Add-On Instruction into your PLC program. There are only 3 required fields when
inserting the instruction: Tag created for AOI Data Type in the previous step, Out_ToDrive
(Ethernet Output Array Data), and Inp_FromDrive (Ethernet Input Array Data)
 Test the drive system using the Run/Jog command
 Write your application logic using the pre-defined data structures. See below for more
information.
3
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Emerson Control Techniques Supplied Items
Macro File .macro AOI File .L5X Example PLC Logic .ACD
Unidrive_M200_M400_Macro Unidrive_M200_M400_AOI L61vxx_M200_M400_AOI_OpenLoop
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Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Setting up the Unidrive M200-M400

Checking Firmware Versions and Updating Firmware:
 Build a new project by scanning the Ethernet network. SI-Ethernet must be installed. Go
Online with the drive and click Change Firmware. (Pop-up window will be grayed out with
“This tool can only be used when connected to the comms ports on the front of the drive.”)
o The current versions of firmware are displayed in the upper left of pop-up window
o Need drive firmware V01.04.03.04 or greater and SI-Ethernet firmware
V01.04.02.08 or greater
o Update firmware if required
 If firmware update is required, close out of the current project and re-open Unidrive M
Connect. Connect Unidrive M with an AI-485-ADAPTOR and CT-USB-CABLE to PC USB port.
 Build a Project by Scanning serial RTU network. (Cannot update the Unidrive M200-M400
or SI-Ethernet firmware over SI-Ethernet connection)
 Go Online with the drive and click Change Firmware
o Browse to select the current Drive, Power board, and SI-Ethernet firmware. Click
Next. The current versions of firmware can be downloaded from the Control
Techniques website: (http://www.emersonindustrial.com/en-
US/controltechniques/downloads/firmware/Pages/firmware.aspx)
 Save parameters in drive from the Unidrive M Connect Dashboard
 Repeat above steps for each drive
Setting the Drive IP Address:

 Setup PC to obtain IP address automatically. Unidrive M has DHCP enabled by default.
 Using Unidrive M Connect Build a Project by scanning the Ethernet network
 Go Online with the drive
 Disable DHCP by setting SI-Ethernet parameter 1.02.005 to “Off”
 Set desired IP address in SI-Ethernet parameter 1.02.006 (default is 192.168.1.100)
 Click Save parameters in drive from the Dashboard
 Turn “On” drive parameter 15.007 to reset Ethernet and update to newly assigned IP
address. This parameter will turn back “Off” when reset is complete. Verify that the drive
has the newly assigned IP address by checking Active IP Address in parameter 15.011.
 Repeat above steps for each drive
 Close Unidrive M Connect project
 Change PC IP address to be on the same sub-network as the drive IP address
 Build a Project by scanning the Ethernet network
5
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Configure Drive Using Unidrive M Connect:

 Click Set mode and region and select Open-Loop and 60 Hz
 Use Unidrive M Connect Dashboard to Rename drive if desired
 Setup motor data in parameter Menu 5 or with Motor Setup in the Setup Wizards
o Enter motor Rated Current
o Enter motor Rated Voltage
o Enter motor Rated Speed
o Enter motor Rated Power Factor
 Click Send to drive if using the Motor Setup Wizard and Save parameters in drive
Run Autotune (no load attached to motor):

 Set parameter 5.012 to “2” or use Autotune Wizard from the Dashboard
 Enable the drive
 Turn on parameter 6.034 “Run” to perform an Autotune. This will take several seconds.
 Turn off parameter 6.034 and disable the drive
 Save parameters in the drive
Testing Drive and Motor Setup (no load attached to motor):

 Use Unidrive M Connect and go Online with the drive
 Set parameter 1.014 “Reference Selector” to Preset
 Enter 10.00 Hz in parameter 1.021 “Preset Reference 1”
 Enable the drive
 Turn on parameter 6.034 and motor should rotate at 10.00 Hz
Download AOI Macro File:

 Load macro file into Unidrive M Connect software
o Right click on Macro Files folder and select “Add Files…”
o Navigate to the Unidrive_M200_M400_Macro macro file
 Right click on added Unidrive_M200_M400_Macro macro file and download file to drive
o Ignore any warning messages
 Save parameters in drive
 Cycle power to the drive
6
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Setup the PLC Program using RSlogixTM 5000

Configuring the Ethernet Communication to the Unidrive M:
 Using RSLogixTM 5000, right click Ethernet in the Project Tree and click New Module
 Scroll down to ETHERNET-MODULE to add a Generic Ethernet Module to the Ethernet
network. This will be your Unidrive M200-M400. Click Create.
 Using RSLogixTM 5000, setup the Ethernet module Name (use a descriptive name i.e
Unidrive_M200_M400), IP address (default IP Address for the drive i.e 192.168.1.100) and
connection parameters. Click OK.
 Connection parameters must be identical to Figure 2. See example screens below.
o Input:
 Assembly Instance = 100 and Size = 16
o Output:
 Assembly Instance = 101 and Size = 16
o Configuration:
 Assembly Instance =1 and Size = 0
Figure 1: Generic Ethernet Module (Unidrive M200-M400)
7
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Figure 2: Generic Ethernet Module Setup (Unidrive M200-M400)
Import Add-On Instruction into PLC Program:

 Right Click on the Add-On-Instructions folder in the Project Tree
 Browse to and select Unidrive_M200_M400_AOI.L5X file. Click Import.
 Drag the Unidrive_M200_M400_AOI into your main program
 Create a Tag for AOI Data Type (i.e. Drive_1)
 Enter Inp_FromDrive data (Unidrive_M200_M400:I.Data)
 Enter Out_ToDrive data (Unidrive_M200_M400:O.Data)
o For xxx:I.Data and xxx:O.Data, xxx = Generic Ethernet Module Name (i.e.
Unidrive_M200_M400)
8
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Figure 3: Unidrive M200-M400 Add-On Instruction
Creating the Application Logic:

AOI Variable Nomenclature:
 Variables with “Cfg” prefix are read/write system configuration setup data
 Variables with “Sts” prefix are read only status information. Examples are: At Set Speed,
Error Code, Drive Active, etc.
 Variables with “Set” prefix are read/write control word information. Examples are: Jog
Speed, Jog Accel, Jog Decel, etc.
 Variables with “Cmd” prefix are read/write command bits. Examples are: JogRev, JogFwd,
DriveEnable, etc.
Notes:
 Most data words have implied decimal points
9
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Figure 4: Example Project
Figure 5: Example Jog Logic
Figure 6: Example Network (Auto)/Terminal (Manual) Control

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Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Network/Terminal Control
 Drive control can be initiated either over a network (default) or via the drive terminals.
o Cmd_AutoManual command
 In network control, run and speed commands initiated through RSLogix program
 In terminal control, run and speed commands initiated through drives digital and analog inputs
Testing PLC Logic

 Connect the PLC, Unidrive M200-M400 with SI-Ethernet and PC via Ethernet
 Download the RSLogixTM 5000 program to the Allen-Bradley PLC
 Check status of the communications between PLC and Unidrive M (I/O and OK LEDs are solid
green)
 Enable the Unidrive M (keypad should read rdy (Ready), if keypad reads inh (Inhibit) enable
drive/STO input)
 In the Unidrive_M200_M400_AOI:
o Enter Jog Speed (Hz). Set_JogSpeedHz = 10.0
o Enter Jog Acceleration (sec). Set_JogAccel = 2.0
o Enter Jog Deceleration (sec). Set_JogDecl = 2.0
o Turn on Jog Forward. Cmd_JogForward = 1
 Motor should now rotate at 10.0 Hz
 For Network/Terminal Control, create an Auto/Manual rung similar to Figure 6 above
o Toggle bit so that Cmd_AutoManual is closed (this enables terminal control). Network
control is enabled by default (Cmd_AutoManual bit is open)
o With default drive digital input mapping designations, enable DI 2/STO and DI3 Run
Forward
o Drive will now run via Analog Input 1 control (potentiometer)
 Create project rungs of code similar to figures above or reference sample projects (available for
download from Control Techniques website: http://www.emersonindustrial.com/en-
US/controltechniques/products/software/plc/Pages/plc.aspx)
11
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Troubleshooting
 Make sure drive is enabled. Keypad reads rdy, if keypad reads inh enable drive. Digital I/O 2,
terminal 11 for M200/M201. STO input, terminals 31/34 or 31/35 for M300 and M400.
 Make sure drive is not tripped
 Motor data setup is correct
 Macro file has been downloaded and saved to drive
 Check Input assembly object size parameter 1.20.020 is 64 bytes
 Check Output assembly object size parameter 1.20.021 is 64 bytes
 Check that SI-Ethernet Menus 1.21 and 1.22 have values loaded into mapping parameters
o Menu 1.21 should have 16 input mapping parameters
o Menu 1.22 should have 16 output mapping parameters
 Check the drive active IP address in parameter 15.010. This should be the same IP address as
the Generic Ethernet Module in RSLogixTM 5000.
 Ethernet Connection Parameters are correct (Figure 2 above). I/O LED should be solid green. If
blinking green, this is a good indicator that these are wrong. Try cycling power to the drive.
 Drive Control Word is Enabled (parameter 6.043)
 Monitor drive Control Word (parameter 6.042) Out_ToDrive Word 0
 Monitor drive Status Word (parameter 10.040) In_FromDrive Word 0
 Make sure there are no errors in the RSLogixTM 5000 program (tags have been created, data
types, ect.)
 Check Sts_ErrorCode in Unidrive M Connect
 Check whether in terminal or network control Out_ToDrive Word 0 Bit 7
12
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Appendix A - PLC AOI Parameters

Name Usage Data Default Units Description
Type Value
Inp_FromDrive InOut DINT[16] Comms Data from Drive
Out_ToDrive InOut DINT[16] Comms Data to Drive
Cfg_DriveMinHZ Input REAL 0 Hz Minimum Reference Clamp
Cfg_DriveMaxHZ Input REAL 60 Hz Maximum Reference Clamp
Cfg_DriveMaxCurrentLimitPct Input REAL 150 % Symmetrical Current Limit
Cfg_MotoringCurrLim Input REAL 150 % Motoring Current Limit
Cfg_RegenCurrLim Input REAL 150 % Regen Current Limit
Set_RunSpeedHZ Input REAL 40 Hz Preset Reference
Set_RunAccel Input REAL 2 Sec Acceleration Rate
Set_RunDecel Input REAL 2 Sec Deceleration Rate
Set_JogSpeedHZ Input REAL 1.5 Hz Jog Reference
Set_JogAccel Input REAL 2 Sec Jog Acceleration Rate
Set_JogDecel Input REAL 2 Sec Jog Deceleration Rate
Cfg_Ref_Select Input DINT Reference Selector
Cmd_RunForward Input BOOL Command Run Forward
Cmd_AutoManual Input BOOL Auto Auto-Network Control, Manual-Terminal Control
Cmd_RunReverse Input BOOL Command Run Reverse
Cmd_JogForward Input BOOL Command Jog Forward
Cmd_JogReverse Input BOOL Command Jog Reverse
Cmd_DriveEnable Input BOOL Command Drive Enable
Cmd_FaultReset Input BOOL Command Fault Reset
Sts_ActualSpeedHZ Output REAL Hz Post Ramp Reference
Sts_ActualCurrent Output REAL A Current Magnitude
Sts_PercentLoad Output REAL % Percentage Load
Sts_OverloadAccum Output REAL % Motor Protection Accumulator
Sts_ActualMotorVoltage Output DINT V Output Voltage
Sts_ActualMotorkW Output REAL kW Output Power
Sts_ActualMotorHP Output REAL hp Output Power
Sts_DriveHeatsinkTemp Output DINT C Stack Temperature
Sts_TempAccumulator Output DINT % Percentage of d.c. Link Thermal Trip Level
Sts_DriveIGBTTemp Output DINT C Inverter Temperature
Sts_DrivePwrCircuit2Temp Output DINT C Auxiliary Temperature
Sts_DrivePwrCircuit3Temp Output DINT % Percentage of Drive Thermal Trip Level
Sts_DriveStatus Output DINT Status Word
13
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Sts_DriveIOStatus Output DINT Digital I/O Read Word

Sts_AtOrBelowMinSpd Output BOOL Running at or Below Min Frequency
Sts_BelowSetSpd Output BOOL Below Set Frequency
Sts_AboveSetSpd Output BOOL Above Set Frequency
Sts_LoadReached Output BOOL Rated Load Reached
Sts_Regening Output BOOL Regenerating
Sts_DBActive Output BOOL Braking IGBT Active
Sts_DBAlarm Output BOOL Braking Resistor Alarm
Sts_CMDForward Output BOOL Forward Direction Commanded
Sts_CMDReverse Output BOOL Reverse Direction Commanded
Sts_RunningForward Output BOOL Forward Direction Running
Sts_RunningReverse Output BOOL Reverse Direction Running
Sts_DriveActive Output BOOL Drive Active
Sts_AtZeroSpeed Output BOOL Zero Frequency
Sts_AtSetSpd Output BOOL At Frequency
Sts_InCurrentLimit Output BOOL Current Limit Active
Sts_InputPowerLoss Output BOOL Supply Loss
Sts_DriveOK Output BOOL Drive Healthy
Sts_DriveFlt Output BOOL Drive Healthy
Sts_ErrorCode Output DINT Trip 0
Sts_LastFault Output DINT Trip 0
Set_DriveInputWord1 Input DINT Application Menu 1 Read-write Integer 13
Set_DriveInputWord2 Input DINT Application Menu 1 Read-write Integer 14
Sts_DriveOutputWord1 Output DINT Application Menu 1 Read-write Integer 11
Sts_DriveOutputWord2 Output DINT Application Menu 1 Read-write Integer 12
Cmd_ForceDriveTrip Input BOOL Command Trip
14
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Appendix B – Ethernet IP Cyclic Data Interface

Cyclic Data from Drive (Inp_FromDrive)
Word (32-Bit) Direct AOI Tag Unidrive M Notes

Parameter
Word 0 Sts_DriveStatus 10.040 Status Word
Word 0 Bit 0 Sts_DriveOK 10.001 Drive Healthy
Word 0 Bit 1 Sts_DriveActive 10.002 Drive Active
Word 0 Bit 2 Sts_AtZeroSpeed 10.003 Zero Frequency
Word 0 Bit 3 Sts_AtOrBelowMinSpd 10.004 Running at or Below Min Frequency
Word 0 Bit 4 Sts_BelowSetSpd 10.005 Below Set Frequency
Word 0 Bit 5 Sts_AtSetSpd 10.006 At Frequency
Word 0 Bit 6 Sts_AboveSetSpd 10.007 Above Set Frequency
Word 0 Bit 7 Sts_LoadReached 10.008 Rated Load Reached
Word 0 Bit 8 Sts_InCurrentLimit 10.009 Current Limit Active
Word 0 Bit 9 Sts_Regening 10.010 Regenerating
Word 0 Bit 10 Sts_DBActive 10.011 Braking IGBT Active
Word 0 Bit 11 Sts_DBAlarm 10.012 Braking Resistor Alarm
Word 0 Bit 12 Sts_CMDReverse 10.013 Reverse Direction Commanded
Word 0 Bit 13 Sts_RunningReverse 10.014 Reverse Direction Running
Word 0 Bit 14 Sts_InputPowerLoss 10.015 Supply Loss
Word 1 Sts_ErrorCode 10.020 Trip 0
Word 2 Sts_ActualMotorVoltage 5.002 Output Voltage
Word 3 Sts_ActualMotorHP 5.003 Output Power
Word 4 Sts_ActualSpeedHZ 2.001 Post Ramp Reference
Word 5 Sts_ActualCurrent 4.001 Current Magnitude
Word 6 Sts_OverloadAccum 4.019 Motor Protection Accumulator
Word 7 Sts_PercentLoad 4.020 Percentage Load
Word 8 Sts_DriveHeatsinkTemp 7.004 Stack Temperature
Word 9 Sts_DrivePwrCircuit2Temp 7.005 Auxiliary Temperature
Word 10 Sts_DriveIGBTTemp 7.034 Inverter Temperature
Word 11 Sts_TempAccumulator 7.035 Percentage of d.c. Link Thermal Trip Level
Word 12 Sts_DrivePwrCircuit3Temp 7.036 Percentage of Drive Thermal Trip Level
Word 13 Sts_DriveIOStatus 8.020 Digital I/O Read Word
Word 13 Bit 0 8.001 DI/O 1
Word 13 Bit 1 8.002 DI/O 2
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Application Tools
with SI-Ethernet
Word 13 Bit 2 8.003 DI 3

Word 13 Bit 3 8.004 DI 4
Word 13 Bit 4 8.005 DI 5
Word 13 Bit 5 8.006 DI 6
Word 13 Bit 6 8.007 DI 7
Word 13 Bit 7 8.039 STO 1
Word 13 Bit 8 8.040 STO 2
Word 13 Bit 9 8.008 RLY 1
Word 13 Bit 10 RLY 2
Word 14 Sts_DriveOutputWord1 18.011 Application Menu 1 Read-write Integer 11
Word 15 Sts_DriveOutputWord2 18.012 Application Menu 1 Read-write Integer 12
16
Phone: 800-893-2321
Fax: 952-995-8020
Application Tools
with SI-Ethernet
Cyclic Data from Drive (Out_ToDrive)
Word (32-Bit) Direct AOI Tag Unidrive M Notes

Parameter
Word 0 6.042 Control Word
Word 0 Bit 0 Cmd_DriveEnable 6.015 Drive Enable
Word 0 Bit 1 Cmd_RunForward 6.030 Run Forward
Word 0 Bit 2 Cmd_JogForward 6.031 Jog Forward
Word 0 Bit 3 Cmd_RunReverse 6.032 Run Reverse
Word 0 Bit 4 6.033 Forward/Reverse
Word 0 Bit 5 6.034 Run
Word 0 Bit 6 6.039 Not Stop
Word 0 Bit 7 Cmd_AutoManual Auto/Manual
Word 0 Bit 8 Cmd_AutoManual Analog/Preset Reference
Word 0 Bit 9 Cmd_JogReverse 6.037 Jog Reverse
Word 0 Bit 10 Unused Not Used
Word 0 Bit 11 Unused Not Used
Word 0 Bit 12 Cmd_ForceDriveTrip Trip Drive
Word 0 Bit 13 Cmd_FaultReset Reset Drive
Word 0 Bit 14 Unused Watchdog
Word 1 6.043 Control Word Enable
Word 2 Set_RunAccel 2.011 Acceleration Rate 1
Word 3 Set_RunDecel 2.021 Deceleration Rate 1
Word 4 Set_RunSpeedHZ 1.021 Preset Reference 1
Word 5 Cfg_Ref_Select 1.014 Reference Selector
Word 6 Set_DriveInputWord2 18.014 Application Menu 1 Read-write Integer 14
Word 7 Set_JogSpeedHZ 1.005 Jog Reference
Word 8 Set_JogAccel 2.019 Jog Acceleration Rate
Word 9 Set_JogDecel 2.029 Jog Deceleration Rate
Word 10 Set_DriveInputWord1 18.013 Application Menu 1 Read-write Integer 13
Word 11 Cfg_DriveMinHZ 1.007 Minimum Reference Clamp
Word 12 Cfg_DriveMaxHZ 1.006 Maximum Reference Clamp
Word 13 Cfg_DriveMaxCurrentLimitPct 4.007 Symmetrical Current Limit
Word 14 Cfg_MotoringCurrLim 4.005 Motoring Current Limit
Word 15 Cfg_RegenCurrLim 4.006 Regen Current Limit
17
Phone: 800-893-2321
Fax: 952-995-8020

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Application Tools

CTOLAOIUG, rev 1, 12/1/2015

Emerson Industrial Automation

Features and Functionality

Unidrive M I/O Wiring

Note: 0 V common on external 24 V dc power supply must be connected to drive 0 V common

Emerson Control Techniques Supplied Items

Setting up the Unidrive M200-M400

Setting the Drive IP Address:

Configure Drive Using Unidrive M Connect:

Run Autotune (no load attached to motor):

Testing Drive and Motor Setup (no load attached to motor):

Download AOI Macro File:

Setup the PLC Program using RSlogixTM 5000

Figure 1: Generic Ethernet Module (Unidrive M200-M400)

Figure 2: Generic Ethernet Module Setup (Unidrive M200-M400)

Import Add-On Instruction into PLC Program:

Figure 3: Unidrive M200-M400 Add-On Instruction

Creating the Application Logic:

Figure 4: Example Project

Figure 5: Example Jog Logic

Figure 6: Example Network (Auto)/Terminal (Manual) Control

Testing PLC Logic

Appendix A - PLC AOI Parameters

Sts_DriveIOStatus Output DINT Digital I/O Read Word

Appendix B – Ethernet IP Cyclic Data Interface

Word (32-Bit) Direct AOI Tag Unidrive M Notes

Word 13 Bit 2 8.003 DI 3

Cyclic Data from Drive (Out_ToDrive)

Word (32-Bit) Direct AOI Tag Unidrive M Notes

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