Sample Code

Programming Example
Kinetix 3 with the Micro 830 and the
Connected Component Workbench

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Introduction
This sample code example shows three methods to control a Kinetix 3 drive with a Micro830 PLC using
Modbus-RTU.

This document will cover the following items:

• Basic drive setup.

• Communication connections for Kinetix 3 and Micro830.
• Brief explanation of the program code.

Choose which axes to use and then add the global variables and the programs associated with those
axes. These are the axes that are given as examples:

Axis01: The status word for this axis is monitored in the controller, and the command word for this axis
is set in the controller and transmitted over Modbus-RTU to the drive. The drive will ignore any
behavior on the physical digital inputs. This axis is configured as an indexer, and moves through a series
of indices when running.

Axis02: The status word for this axis is monitored in the controller, and the command word for this axis
is set in the controller and transmitted over Modbus-RTU to the drive. The drive will ignore any
behavior on the physical digital inputs. This axis is configured for preset velocity, and will cycle through
five seconds at each of three different preset speeds.

Axis03: The status word for this axis is monitored in the controller however the command word is
ignored. The commands for this drive are issued through the physical digital inputs of the drive. Those
inputs could be hooked up to sensors, the controller, or another drive’s outputs. This increases wiring
and it results in faster execution at the scan rate instead of the at the Modbus transfer rate.

Once the axes have been imported, modify the code or add programs as needed to see drive status,
trigger events, and control all the axes.

Basic Drive Setup

Install, connect, and commission the drive per user manual 2071-UM001. The user manual will step
through using Ultraware online with the drive, configure the drive for the installed motor/feedback and
autotuning.

Note: Ultraware V1.80 or later is required. It is also recommended that the latest version of drive
firmware is used.

In addition to the basic setup, the following steps are specific to this sample code. Although the drive
configuration is accomplished using Ultraware, parameter numbers are included if the user chooses to
use the integral keypad.

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Included with the sample code is an Ultraware file of the three drives configured to run with this sample
code.

Note: The Ultraware file does not show the drive serial communications as Modbus. This is because the
drive is connected to Ultraware when the file was saved.

Set Operations Mode

On the Drive tab, set Operations Mode (Main/Override) to these modes:

 Axis01: Indexing/None
 Axis02: Preset Velocity/None
 Axis03: Indexing/None

Set Modbus Control

On the Drive tab under Communications, set MODBUS Run Function Control to “Enable” for all three
drives and MODBUS Input Function Control to these modes:

 Axis01: Enable
 Axis02: Enable
 Axis03: Disable

Index and Velocity Configuration

The following configures the index and velocity values for the drives, but your application code will likely
differ.

Note: The motor in the example has an absolute encoder with 131072 counts/rev. Velocity is in RPM.
For Axis01, on the Indexing tab under Mode Configuration, configure Indices 0-3:

Index 0 Setup Index 1 Setup Index 2 Setup Index 3 Setup

Mode Absolute Incremental Incremental Incremental
Distance 0 131072 262144 -65536
Dwell 0 2000 1500 0
Velocity 750 100 50 200
Accel 62.50 62.50 62.50 62.50
Decel 62.50 62.50 62.50 62.50
Next Index 0 2 3 0
Action When Complete Stop Start Next Start Next Stop

The following table shows the configuration for the Axis02 sample code.

On the Preset tab under Mode Configuration, set Preset Speeds:

 Preset Velocity 1: 100 RPM

 Preset Velocity 2: 250 RPM
 Preset Velocity 3: 500 RPM
 Preset Velocity 4: 400 RPM

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 Preset Velocity 5: 500 RPM

 Preset Velocity 6: 600 RPM
 Preset Velocity7: 700 RPM

Note: The motor in the example has an absolute encoder with 131072 counts/rev. Velocity is in RPM
For Axis03, on the Indexing tab under Mode Configuration, configure Index 0:

Index 0 Setup
Mode Incremental
Distance 0
Dwell 0
Velocity 750
Accel 62.50
Decel 62.50
Next Index 0
Action When Complete Stop

Note: The motor in the example has an incremental encoder with 2000 lines/revolution and an
interpolation factor of 4. Velocity is in RPM.

Homing Configuration
Homing is required before the drive will run an Index. The two drives shown in this example in indexing
mode (Axis01 and Axis03) have different homing modes to illustrate the benefit of using the digital
inputs for run control instead of Modbus Run Control.

On the Homing tab under Mode Configuration, configure only the following Homing parameters:

Axis01 Axis03
Homing Type Home to Marker To Home sensor/Fwd to Marker
Auto Start Homing Inactive Inactive
Homing Velocity 100 RPM 100 RPM
Home Sensor Polarity Active-Going Transition Active-Going Transition

Configure Digital Inputs

Though Axis01 and Axis02 will not be able to read from the digital inputs while the Modbus Input
Function is Enabled, the pins must be set correctly to avoid a warning on the drive display. The inputs
for Axis03 must be wired according to the controller outputs as well.

On the Digital Inputs tab, configure the following parameters:

Axis01 Axis02 Axis03

Input 1 Drive Enable Drive Enable Drive Enable
Input 2 Fault Reset Fault Reset Fault Reset
Input 3 Moving Enable Moving Enable Homing Sensor
Input 4 Unassigned Preset Select 1 Start Homing

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Input 5 Unassigned Preset Select 2 Start Indexing

Input 6 Unassigned Preset Select 3 Index Select 0
Input 7 Unassigned Preset Direction Stop Homing
Input 8 Unassigned Unassigned Stop Indexing

Set Serial Port Configuration

The drive serial port configuration can be viewed with Ultraware. However changing one of the
parameters will cause a communication loss. After the configuration is complete in Ultraware, it is
recommended that the serial port configuration and node address be set through the drive keypad.

Note: Only one drive will be visible in Ultraware at a time.

Pr0.09 Serial Port Configuration

Kinetix 3 Drive serial port configuration for communication with a PC running Ultraware:

 Set to 0x0005. (0x0005 – Default)

 0x5 – Digit 0 Baudrate - 57600 bps
 0x0 – Digit 1 8 Data, No Parity, 1 Stop bit
 0x0 – Digit 2 Protocol ASCII
 0x0 – Digit 3 RS232 – 0

Kinetix 3 Drive serial port configuration for Modbus communication with Micro830 controller:

 Set to 0x1102. (0x0005 – Default)

 0x2 – Digit 0 Baudrate - 19200 bps
 0x0 – Digit 1 8 Data, No Parity, 1 Stop bit
 0x1 – Digit 2 Protocol MODBUS-RTU
 0x1 – Digit 3 RS485 - 1

Pr0.07 Drive Address

 Axis01 – 1
 Axis02 – 2
 Axis03 – 3

Kinetix 3 communication Connections

The Kinetix 3 communication port can be configured for RS-232 communications for Ultraware or RS-
485 Modbus RTU.

3 cables are available for serial communication with the Kinetix 3.

2090-CCMPCDS-23AAxx
Kinetix 3 Comm0A or Comm0B to PC 9-pin serial port for RS-232 programming with Ultraware.

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2090-CCMCNDS-48AAxx
Kinetix 3 Comm0A or Comm0B to Micro830 embedded serial port (channel 1) for RS-485 Modbus RTU.
This is not a recommended connection since this serial port is not isolated and is not recommended for
connection to variable frequency drives. This cable can be modified to connect to the 2080-SERIALISOL
plug-in module.

2090-CCMDSDS-48AAxx
Kinetix 3 Comm0A or Comm0B to Kinetix 3 Comm0A or Comm0B for multi-drive RS-485 Modbus RTU.
This cable can be modified to connect to the 2080-SERIALISOL plug-in module.

Note: The configuration of the serial port includes both Comm0A and Comm0B. Changing between RS-
232 and RS-485 Modbus requires different cabling and serial port configurations. If the Kinetix 3 is the
only device on the network or the last device on the network, the 485 Term switches on the front of the
drive need to be set “ON”.

Basic Controller Setup

If a different controller is used than the 2080-LC30-24QBB base in the example project, then the
controller will need to be configured. Add a 2080-SERIALISOL module to one of the slots. Set the
parameters:

 Driver: Modbus RTU

 Baud Rate: 19200
 Parity: None
 Unit Address: 0
 Modbus Role: Modbus RTU Master

Under Advanced Settings for the 2080-SERIALISOL, set:

 Media: RS485

Sample Code
The 2080-LC30-24QBB is used in the example but can be converted to another controller in the
Micro830 family.

There are three programs in the sample code and each program contains most of its variables locally,
with a few variables that are stored globally. This code is designed to work together, but also so that
each program can be imported independently of the others. Therefore, each program references some
global variables that may need to be changed, depending on the application. Make sure that any
references to global variables in the program correspond to the correct variable.

Within each of the programs, some of the local variables may need configuring. For any variable of the
type MODBUSLOCPARA, the Channel must be configured to the location of 2080-SERIALISOL (with the

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first slot as 5, the second slot as 6, etc). For any local variable of the type MODBUSTARPARA, the Node
must be changed to match Pr0.07 in the drive.

Here are the global variables common to all of the programs:

Name Description Data Type Dimension

AxisXX_Comm_Fault Indicates a fault in any of the message BOOL
instructions sent to that drive
AxisXX_Cmd Represents the command word of that BOOL [0..47]
Kinetix 3 drive
AxisXX_Sts Represents the status word of that Kinetix 3 BOOL [0..31]
drive
HMI_Fault_Reset Global command to reset alarms on the BOOL
drives from a user interface
HMI_Run Global command to start the run sequence BOOL
for the drives from a user interface
HMI_Start_Homing Global command to start homing from a user BOOL
interface
HMI_Stop Global command to stop all motion from a BOOL
user interface
Global_MSG_IP Prevents flooding the buffer by only allowing BOOL
one message instruction at a time.

The following variables are global, but are only used by Axis03. They would be used to represent a
registration sensor and distance.

Name Description Data Type Dimension

Inp_Trigger Represents a digital input that would be BOOL
wired to a registration sensor
Distance Represents a calculated registration distance DINT
that the drive will move.

Axis01 Program
• Fault Reset – This rung holds the alarm reset bit high for 2 seconds, approximately double the
time for a full message cycle at worst-case conditions [2 * (Write Timeout + Write Delay + Read
Timeout + Read Delay)].
• Homing Sequence – This sequence will check the ready status of the drive, then enable the drive
and start homing. When homing is complete, the drive will be disabled again.
• Running Sequence – This sequence will check the home status and ready status of the drive,
then enable the drive and set the bits for Index 1. After a 2 second delay, Index 1 is started.
When Index 3 is complete, the drive will wait two seconds and then start Index 0. When Index 0
is complete, Index 1 is initiated again after a 2 second delay, and the process repeats.

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• Stop Sequence – This sequence stops the motor and disables the drive after motion has come to
a stop.
• Fault Stop and Warning Detection – If a fault is detected in the drive, end all of the sequences
and reset the control bits.
• Communications Fault Stop – If a communications fault occurs end all of the sequences and
reset the control bits. This may not actually stop the drive since a communications fault could
be persistent (such as a broken cable). Additional branches can be added along with wiring to
the physical ESTOP input of the drive to stop motion if communications fails.
• Communications Sequence – Copies the command word to the message array and then sends
the command message. After the programmed delay, reads the status message and copies the
message array to the status word. Repeats the cycle after another programmed delay. To
accommodate other traffic on the Modbus network the spacing between messages is 250 ms.
• Error Monitoring and Fault Reading – If an alarm or warning is present in the drive, reads the
code. Also monitors for communications faults due to timeouts or errors.
• Status and Command Bits – Each bit is copied to the command word or read from the status
word.

Axis02 Program
• Fault Reset – This rung holds the alarm reset bit high for 2 seconds, approximately double the
time for a full message cycle at worst-case conditions [2 * (Write Timeout + Write Delay + Read
Timeout + Read Delay)].
• Running Sequence – This sequence will check the ready status of the drive, then enable the
drive and set the bits Preset Velocity 1. After 5 seconds within the speed window, Preset
Velocity 2 is started. After 5 seconds within the speed window, Preset Velocity 3 is started.
After 5 seconds in the velocity window, it loops back to Preset Velocity 2.
• Stop Sequence – This sequence stops the motor and disables the drive after motion has come to
a stop.
• Fault Stop and Warning Detection – If a fault is detected in the drive, end all of the sequences
and reset the control bits.
• Communications Fault Stop – If a communications fault occurs end all of the sequences and
reset the control bits. This may not actually stop the drive since a communications fault could
be persistent (such as a broken cable). Additional branches can be added along with wiring to
the physical ESTOP input of the drive to stop motion if communications fails.
• Communications Sequence – Copies the command word to the message array and then sends
the command message. After the programmed delay, reads the status message and copies the
message array to the status word. Repeats the cycle after another programmed delay. To
accommodate other traffic on the Modbus network the spacing between messages is 250 ms.
• Error Monitoring and Fault Reading – If an alarm or warning is present in the drive, reads the
code. Also monitors for communications faults due to timeouts or errors.
• Status and Command Bits – Each bit is copied to the command word or read from the status
word.

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Axis03 Program
• Fault Reset – This rung holds the alarm reset bit high for 50 ms. Since the fault reset signal is
sent through the digital I/O, it can respond much more quickly.
• Homing Sequence – This sequence will check the ready status of the drive, then enable the drive
and start homing. The home sensor in this case is triggered by the controller. When homing is
complete, the drive will be disabled again.
• Running Sequence – This sequence will check the home status and ready status of the drive,
then enable the drive and set the bits for Index 0. When the input trigger becomes active, the
new distance is copied to the drive with a message instruction, and upon message completion,
the updated index is executed, before cycling back to wait for the next index.
• Stop Sequence – This sequence stops the motor and disables the drive after motion has come to
a stop.
• Fault Stop and Warning Detection – If a fault is detected in the drive, end all of the sequences
and reset the control bits.
• Communications Fault Stop – If a communications fault occurs end all of the sequences and
reset the control bits. Additional branches can be added along with wiring to the physical ESTOP
input of the drive to stop motion if communications fails. The delay is set to 100 ms. This axis is
assumed to need more accurate data, so it cycles faster than the others.
• Communications Sequence – Reads the status message and copies the message array to the
status word. Repeats the cycle after another programmed delay.
• Error Monitoring and Fault Reading – If an alarm or warning is present in the drive, reads the
code. Also monitors for communications faults due to timeouts or errors.
• Status and Command Bits – Each bit is copied to the embedded I/O or read from the status
word.

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Disclaimer
This sample code delivered by Rockwell Automation is just an example of how to control a KINETIX 3
drive.

Disclaimer Of Warranty
THE MATERIALS DELIVERED WITH THIS EXAMPLE ARE PROVIDED "AS IS" WITHOUT WARRANTIES
OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION, ALL IMPLIED
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, NONINFRINGEMENT
OR OTHER VIOLATION OF RIGHTS. ROCKWELL AUTOMATION DOES NOT WARRANT OR MAKE ANY
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