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write to read motor position

Python Program to Read Motor Position from Kinetix 5100 via EtherNet/IP

Here's a complete Python program that reads the motor position from a Kinetix 5100 servo drive using EtherNet/IP communication:

python

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from pycomm3 import LogixDriver

import time

import argparse

class KinetixPositionReader:

    def __init__(self, plc_ip, axis_tag, update_interval=0.1):

        """

        Initialize the position reader

        Args:

            plc_ip (str): IP address of the Logix controller

            axis_tag (str): Name of the axis tag (e.g., "Axis_1")

            update_interval (float): Time between reads in seconds

        """

        self.plc_ip = plc_ip

        self.axis_tag = axis_tag

        self.update_interval = update_interval

        self.running = False

    def connect(self):

        """Establish connection to the controller"""

        try:

            self.plc = LogixDriver(self.plc_ip)

            self.plc.open()

            print(f"Connected to {self.plc_ip}")

            return True

        except Exception as e:

            print(f"Connection failed: {e}")

            return False

    def read_position(self):

        """Read the current motor position"""

        try:

            # Standard tag structure for Kinetix axes

            tag_path = f"{self.axis_tag}.AxisStatus.ActualPosition"

            result = self.plc.read(tag_path)

            if result:

                return result.value

            else:

                print(f"Read error: {result.error}")

                return None

        except Exception as e:

            print(f"Read failed: {e}")

            return None

    def monitor_position(self, duration=None):

        """

        Continuously monitor the motor position

        Args:

            duration (float): Optional monitoring duration in seconds

        """

        if not self.connect():

            return

        self.running = True

        start_time = time.time()

        try:

            while self.running:

                position = self.read_position()

                if position is not None:

                    print(f"\rCurrent Position: {position:.3f}", end='', flush=True)

                if duration and (time.time() - start_time) >= duration:

                    break

                time.sleep(self.update_interval)

        except KeyboardInterrupt:

            print("\nMonitoring stopped by user")

        finally:

            self.plc.close()

            print("\nDisconnected from controller")

def main():

    parser = argparse.ArgumentParser(description='Kinetix 5100 Position Monitor')

    parser.add_argument('ip', help='Controller IP address')

    parser.add_argument('axis', help='Axis tag name')

    parser.add_argument('--interval', type=float, default=0.1, 

                       help='Update interval in seconds (default: 0.1)')

    parser.add_argument('--duration', type=float, 

                       help='Monitoring duration in seconds (continuous if not specified)')

    args = parser.parse_args()

    monitor = KinetixPositionReader(args.ip, args.axis, args.interval)

    print(f"Starting position monitoring for axis '{args.axis}' on {args.ip}")

    print("Press Ctrl+C to stop...")

    monitor.monitor_position(args.duration)

if __name__ == "__main__":

    main()

How to Use This Program:

1. Install Requirements:

2. bash

3. Copy

4. Download

5. pip install pycomm3

6. Run the Program:

7. bash

8. Copy

9. Download

10. python kinetix_position.py <controller_ip> <axis_tag> [options]
    Example:

11. bash

12. Copy

13. Download

14. python kinetix_position.py 192.168.1.100 Axis_1 --interval 0.05 --duration 10

15. Program Features:

    • Connects to the Logix controller via EtherNet/IP

    • Reads the ActualPosition parameter from the specified axis

    • Provides real-time position monitoring

    • Configurable update interval (default 100ms)

    • Optional monitoring duration

    • Clean shutdown on Ctrl+C

Key Parameters for Kinetix 5100:

The program reads the standard AxisStatus.ActualPosition tag, but you may need to adjust the tag path based on your specific configuration. Common alternatives include:

• Axis_1.ActualPosition (direct parameter access)

• Kinetix_5100_Drive:Axis1.ActualPosition (module-scoped tag)

• Program:MainProgram.Axis1.ActualPosition (program-scoped tag)

Troubleshooting:

1. If you get connection errors:

   • Verify the controller IP address

   • Check network connectivity

   • Ensure the controller allows EtherNet/IP communications

2. If you get "Tag not found" errors:

   • Verify the exact tag name in Studio 5000

   • Check if the tag is program-scoped or controller-scoped

   • Ensure the axis is properly configured

3. For better performance:

   • Reduce the update interval (but don't overload the controller)

   • Consider using UDT (User-Defined Type) reads for multiple values

Would you like me to add any additional functionality, such as:

• Logging positions to a CSV file?

• Plotting real-time position data?

• Reading additional axis parameters (velocity, torque, etc.)?

• Writing position commands for motion control?

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write python program eds file

Python Program to Work with EDS Files for Kinetix 5100

Here's a Python program that demonstrates how to work with EDS files for Allen-Bradley Kinetix 5100 drives, including reading parameters and parsing EDS file information:

python

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import os

import re

from collections import defaultdict

import xml.etree.ElementTree as ET

import pandas as pd

class EDSFileProcessor:

    def __init__(self, eds_file_path):

        self.eds_file_path = eds_file_path

        self.parameters = defaultdict(dict)

        self.device_info = {}

    def parse_eds_file(self):

        """Parse the EDS file and extract device information and parameters"""

        try:

            with open(self.eds_file_path, 'r') as file:

                content = file.read()

            # Extract device information

            self._extract_device_info(content)

            # Extract parameters

            self._extract_parameters(content)

            return True

        except Exception as e:

            print(f"Error parsing EDS file: {e}")

            return False

    def _extract_device_info(self, content):

        """Extract device information from EDS file"""

        device_section = re.search(r'\[Device\](.*?)\[', content, re.DOTALL)

        if device_section:

            device_info = device_section.group(1)

            for line in device_info.split('\n'):

                if '=' in line:

                    key, value = line.split('=', 1)

                    self.device_info[key.strip()] = value.strip().strip('"')

    def _extract_parameters(self, content):

        """Extract parameter information from EDS file"""

        param_sections = re.findall(r'\[Param(.*?)\](.*?)(?=\[|$)', content, re.DOTALL)

        for param_num, param_content in param_sections:

            param_num = param_num.strip()

            if not param_num.isdigit():

                continue

            param_data = {}

            for line in param_content.split('\n'):

                if '=' in line:

                    key, value = line.split('=', 1)

                    param_data[key.strip()] = value.strip().strip('"')

            if param_data:

                self.parameters[int(param_num)] = param_data

    def get_parameter_info(self, param_number):

        """Get information for a specific parameter number"""

        return self.parameters.get(param_number, {})

    def generate_parameter_table(self):

        """Generate a pandas DataFrame with all parameters"""

        data = []

        for param_num, param_data in self.parameters.items():

            row = {'Parameter': param_num}

            row.update(param_data)

            data.append(row)

        return pd.DataFrame(data)

    def save_to_excel(self, output_file):

        """Save parameter information to Excel file"""

        df = self.generate_parameter_table()

        df.to_excel(output_file, index=False)

        print(f"Parameter information saved to {output_file}")

# Example usage

if __name__ == "__main__":

    # Replace with your actual EDS file path

    eds_file = "2097-V31PR0.eds"  # Example Kinetix 5100 EDS file

    if not os.path.exists(eds_file):

        print(f"EDS file not found: {eds_file}")

        print("Please download the EDS file from Rockwell's website and place it in this directory.")

    else:

        processor = EDSFileProcessor(eds_file)

        if processor.parse_eds_file():

            print("\nDevice Information:")

            for key, value in processor.device_info.items():

                print(f"{key}: {value}")

            # Example: Get specific parameter info

            print("\nExample Parameter (Position Loop Proportional Gain):")

            param_info = processor.get_parameter_info(91)  # Example parameter number

            for key, value in param_info.items():

                print(f"{key}: {value}")

            # Save all parameters to Excel

            output_excel = "kinetix_5100_parameters.xlsx"

            processor.save_to_excel(output_excel)

How to Use This Program:

1. Obtain the EDS File:

   • Download the appropriate EDS file for your Kinetix 5100 drive from Rockwell's website

   • Place the EDS file (e.g., 2097-V31PR0.eds) in the same directory as the script

2. Run the Program:

   • It will parse the EDS file and display device information

   • It shows details for an example parameter (Parameter 91 - Position Loop Proportional Gain)

   • It generates an Excel file with all parameters and their attributes

3. Key Features:

   • Parses standard EDS file format used by Rockwell Automation

   • Extracts device information (vendor, product name, etc.)

   • Organizes all parameters with their attributes

   • Provides easy lookup for specific parameters

   • Generates a comprehensive Excel report

4. Customization:

   • Change the example parameter number (91) to any parameter you need to examine

   • Modify the output Excel filename as needed

   • Add additional parsing logic for specific sections you're interested in

Important Notes:

• The parameter numbers in the example correspond to common Kinetix drive parameters, but you should verify these against your specific drive's documentation

• Some EDS files may use slightly different formats - the script may need adjustments for non-standard EDS files

• For production use, you may want to add more robust error handling

Would you like me to add any specific functionality to this EDS file processor, such as generating code snippets for parameter access or validating EDS file contents?

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show me the Kinetix 5100 drive EDS file

The Kinetix 5100 servo drive is part of Rockwell Automation's motion control portfolio. The EDS (Electronic Data Sheet) file is used for device configuration in software like Studio 5000 Logix Designer or RSLinx.

How to Get the Kinetix 5100 EDS File:

1. Rockwell Automation Product Compatibility & Download Center (PCDC)

   • Visit: https://compatibility.rockwellautomation.com

   • Search for "Kinetix 5100" and filter by EDS files.

   • Download the appropriate EDS file for your specific drive model (e.g., 2097-VxxxPRx).

2. Rockwell Automation Manuals & Firmware Page

   • Check the Kinetix 5100 User Manual for references to EDS files.

   • Firmware updates sometimes include updated EDS files.

3. Studio 5000 Auto-Update Feature

   • If connected to the internet, Studio 5000 may automatically download missing EDS files when you add the device.

4. Direct Link (Example, verify exact model)

   • Example EDS file name:

     • 2097-V31PR0.eds (for Kinetix 5100 model 2097-V31PR0)

   • Download from:

     • Rockwell EDS File Search

How to Install the EDS File:

• Use RSLinx Classic → Tools → EDS Hardware Installation Tool.

• Or manually place the .eds file in:

  • C:\Program Files (x86)\Rockwell Software\RSCommon\EDS

If you need the exact EDS file for a specific Kinetix 5100 model, let me know the full catalog number, and I can help locate it!

Would you like assistance with installing or troubleshooting the EDS file?

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..//

pycomm3  ethernet/ip, Explicit message, 

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write python program to read motor position using pycomm3  ethernet/ip, Explicit message

Python Program to Read Motor Position Using PyComm3 (EtherNet/IP)

Here's a Python script that reads the motor position from a Kinetix 5100 drive using PyComm3 over EtherNet/IP with explicit messaging:

python

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from pycomm3 import LogixDriver

import time

def read_motor_position(plc_ip, axis_tag_name):

    """

    Reads motor position from a Kinetix 5100 drive using EtherNet/IP

    Args:

        plc_ip (str): IP address of the controller

        axis_tag_name (str): Name of the axis tag (e.g., "Axis1")

    Returns:

        float: Current motor position in user units

    """

    try:

        with LogixDriver(plc_ip) as plc:

            # Read the axis status structure

            tag_name = f"{axis_tag_name}.AxisStatus.ActualPosition"

            result = plc.read(tag_name)

            if result:

                return result.value

            else:

                print(f"Error reading position: {result.error}")

                return None

    except Exception as e:

        print(f"Communication error: {e}")

        return None

if __name__ == "__main__":

    # Configuration - Update these values for your system

    CONTROLLER_IP = "192.168.1.10"  # Replace with your controller's IP

    AXIS_TAG = "Axis1"              # Replace with your axis tag name

    print(f"Reading motor position from {CONTROLLER_IP}, axis {AXIS_TAG}...")

    while True:

        position = read_motor_position(CONTROLLER_IP, AXIS_TAG)

        if position is not None:

            print(f"Current Position: {position:.2f}")

        time.sleep(0.5)  # Read every 500ms

Important Notes:

1. Prerequisites:

   • Install pycomm3: pip install pycomm3

   • Your Kinetix 5100 must be properly configured in the Logix controller

   • The controller must have Ethernet/IP communications enabled

2. Required Adjustments:

   • Replace 192.168.1.10 with your controller's IP address

   • Replace Axis1 with your actual axis tag name

   • The tag path assumes a standard Kinetix axis structure (AxisName.AxisStatus.ActualPosition)

3. Alternative Approach:
   If you need to read directly from the drive (not through the controller), you would need to use the drive's direct tags. Here's an alternative tag path example:

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# For direct drive access (if configured)

tag_name = "Kinetix_5100_Drive_1:O.AxisActualPosition"

4. Error Handling:
   The script includes basic error handling, but you may want to expand it for your specific application needs.

5. Performance:

• The example reads every 500ms, but you can adjust this based on your requirements

• For faster updates, consider using CIP cyclic connections instead of explicit messaging

Would you like me to modify this for any specific scenario or add additional functionality?

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…start

To read data from a Kinetix 5100 servo drive over EtherNet/IP using Python, you can use a library that supports the EtherNet/IP (CIP) protocol, such as pycomm3.

⚠️ Prerequisites

1. Kinetix 5100 must be connected to the same network.
   
   

2. EtherNet/IP and CIP must be enabled/configured on the drive.
   
   

3. Know the IP address of the drive and the CIP path (usually 1,0 for slot 0).
   
   

4. Tags or Class/Instance/Attribute (CIA) path if using implicit messaging.
   
   

✅ Install the required library

pip install pycomm3

🔧 Basic Example Using pycomm3 to Read from an EtherNet/IP Device

Here’s a basic script to read an attribute (using CIP explicit messaging):

from pycomm3 import CIPDriver

# Replace with your drive's IP

drive_ip = '192.168.1.10'

with CIPDriver(drive_ip) as driver:

    # You need to know Class/Instance/Attribute IDs

    # Example: Class 0x04 (Assembly), Instance 0x64, Attribute 0x03 (Data)

    response = driver.generic_message(

        service=0x0E,            # Get_Attribute_Single

        class_code=0x04,         # Assembly Object

        instance=100,            # Instance number (0x64)

        attribute=3,             # Attribute ID

        connected=False

    )

    if response.status == 0:

        print(f"Response: {response.value}")

    else:

        print(f"Failed with status: {response.status}")

📌 Notes

• class_code, instance, and attribute depend on what data you want from the Kinetix 5100. You’ll likely find this in the Kinetix 5100 EtherNet/IP documentation or Rockwell EDS files.
  
  

• You can also use pycomm3.LogixDriver if the Kinetix 5100 is accessed via a Logix controller (e.g., CompactLogix or ControlLogix PLC).
  
  

📚 Resources

• Kinetix 5100 User Manual
  
  

• Rockwell Knowledgebase
  
  

• pycomm3 GitHub
  
  

Would you like help figuring out the correct class/instance/attribute values for specific data from the drive?