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2093-UM001 - Rockwell Automation

1. Lu LT Publication 2093 UM001A EN P March 2007 Seven axis Power Rail Module 2093 PRS7 Mounting the Kinetix 2000 Drive System 39 IMPORTANT Position the integrated axis module IAM in the leftmost slot of the power rail Position your axis modules AM shunt module SM and slot fillers SF to the right of the IAM Install axis modules according to power utilization highest to lowest from left to right The AM requiring the highest power utilization should be on the left Install the shunt module to the right of the last AM Only slot fillers may be installed to the right of the shunt module Do not mount a shunt module on the power rail of a follower IAM Common bus follower IAMs will disable any rail mounted or external shunt modules To avoid personal injury due to electrical shock place a slot filler module in all empty slots on the power rail A unoccupied power rail connector will di
2. af 18 i i Vo sensitive T equipment within D 150 mm 6 0 in l Kinetix 2000 oat ME EE RE 1 u fi fl f inetix Le C _ D ATE System Line Interface Module leader IAM VO Bhd Motor Power Cables Feedback Cables C gor Fiber optic cables Common Bus Segregated lt _ gt not in wireway E sensitive LL equipment within H 150 mm 6 0 in VD 1 i E 170 264V ac E amp Kinetix 2000 Single phase System Auxiliary Power follower IAM e 1 0 and Motor Power Cables Feedback Cables C C Route 24V dc 1 0 Route encoder analog registration shielded cable shielded cable Publication 2093 UM001A EN P March 2007 Planning the Kinetix 2000 Drive System Installation 33 1 Very Dirty connections must be shielded with braid clamp at both ends For examples of shield clamp attachment System Design for Control of Electrical Noise Reference Manual publication GMC RM001 publication System Design for Control of Electrical Noise Reference Manual publication GMC RM001 0 IAM AM 1 0 cable contains dirty relay wires route cable with 1 0 cable in dirty wireway B
3. Matos Divo ME onnector onnector Pin MPF A5xx M S sip i a MELA Pin MPF MPS A45xx M S MPS A5xx M S 13 TS TS TS 11 14 TS TS TS 15 Reserved Reserved S1 12 16 Reserved Reserved S2 13 17 Reserved Reserved S3 8 2090 XXNFY Sxx Feedback Cable Motor Incremental Encoder Drive MF Connector Feedback Connector Pin Y Series Motors Pin 9 AM 1 10 AM 2 11 BM 3 12 BM 4 13 IM 5 14 IM 10 15 S1 12 7 S2 13 19 S3 8 22 EPWR_5VM 14 23 ECOMM 6 24 Drain A Reserved Reserved 7 Reserved Reserved 9 Reserved Reserved 11 Reserved Reserved 15 Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System 95 Wiring Feedback and 1 0 Connectors Integrated Axis Module a 2093 ACO5 MPx is shown J These procedures assume you have mounted your Kinetix 2000 system completed all power wiring and are ready to connect your feedback and 1 cables For this connection Go To Premolded cable Connecting Premolded Motor Feedback Cables on page 95 Low profile connector Wiring Low profile Connector Kits on page 95 Panel mounted breakout board Wiring 15 pin Panel mounted Breakout Kit on page 97 Connecting Premolded Motor Feedback Cables Motor feedback cables with premolded connectors plug directly into 15 pin motor feedback MF connectors on either the or AM no witing is necessary
4. Publication 2093 UM001A EN P January 2007 100 Connecting the Kinetix 2000 Drive System The CompactLogix platform 1768 is limited to four axes per module In this example two Logix modules are installed in separate Logix chassis Fiber optic Cable Example 2 two Logix chassis 1756 MO8SE SERCOS Interface Modules Logix Chassis ControlLogix is shown Transmit Publication 2093 UM001A EN P January 2007 Receive Transmit Receive poos Fiber Optic Ring Receive Transmit Transmit Receive Kinetix 2000 System 2093 PRS8S power rail SERCOS Fiber Optic Ring When connecting a 2093 5 integrated axis module or 2093 double wide axis modules use 2090 SCEP0 2 0 2 m 7 0 in cables When connecting 2093 single wide axis modules use 2090 SCEP0 1 0 1 m 5 1 in cables Fiber optic Cable Example 3 Double wide Modules 1756 M08SE SERCOS Interface Module 5 SERCOS Fiber Optic Ring rd FEE 0 1m 5 1 in ControlLogix Chassis
5. 0 2 m 7 0 in 4 ag je Kinetix 2000 System 2093 PRS4 power rail amp lean the fiber optic cable connectors prior to installation Dust in the IMPORTANT ane p p connectors can reduce signal strength For more information refer to Fiber optic Cable Installation and Handling Instructions publication 2090 13010 Connecting the Kinetix 2000 Drive System 101 In this example the second Kinetix 2000 system is located in a separate cabinet and connected with bulkhead adapters IMPORTANT To avoid signal loss do not use bulkhead adapters to connect glass cables Use bulkhead adapters only for plastic to plastic cable connections Fiber optic Cable Example 4 bulkhead adapters 1756 MO8SE SERCOS Interface Module Transmit ControlLogix Chassis SERCOS Fiber Optic Bulkhead Adapter 1 Transmit SERCOS Fiber Optic Ring stis Ring Receive x p Transmit Kinetix 2000 System 2093 PRS5 power rail d EB B 3 SERCOS Cables Receive SERCOS Fiber Optic Bulkhead Adapter 1 Kinetix 2000 System 2093 PRS5 power rail T
6. E Workstation with RSLogix 5000 Software Logix Chassis ControlLogix is shown ee SERCOS Integrated Fiber optic Ring Shunt Module Axis 2090 SCxxx x and Slot Filler Module Module IAM Required when slot is unoccupied by an IAM AM or Shunt Bonded Cabinet Ground Bus 9 o Power Rai Axis Modules 4x Kinetix 2000 Multi axis Servo Drive System SERCOS Fiber optic Ring 2090 5 Shunt Module optional component Slot Filler Module Required when slot is unoccupied by an IAM AM or Shunt Bonded Cabinet Ground Bus 9o 5 Axis Modules 4x In the example above a leader IAM is connected to a follower IAM via the dc common bus When planning your panel layout you must calculate the total bus capacitance of yout dc common bus system to correctly size the leader IAM to pre chatge the entire system In RSLogix5000 software you identity the common bus follower disabling its shunt capabilities and
7. y Slot Filler Module Required when slot is unoccupied by an IAM AM or Shunt Bonded Cabinet Ground Bus Y Power Rail Axis Modules 4 and Control String Motor Feedback 1 0 Connections Motor Power MPL MPAI TL and Y Series Motors MP Series Low Inertia Motors Shown Publication 2093 UM001A EN P March 2007 14 Start Typical Kinetix 2000 System Installation without LIM ControlLogix Controller Programming Network D Workstation with RSLogix 5000 Software 1756 MO8SE SERCOS Interface Module NN 170 264V ac fe Single phase ControlLogix Chassis or Three phase Input Power 1 H E p l I ig Kinetix 2000 Multi axis Servo Drive System ine Disconnect Device SERCOS fiber optic ring Input Fusin
8. 210 Calculating Additional Bus 210 Kinetix 2000 Capacitance Values s ed ere eR wee 241 Common Bus Capacitance Example 212 Setting the Additional Bus Capacitance 213 Remove SERCOS 213 Set the Additional Bus Capacitance Parameter 213 Save the Add Bus Cap Parameter to Non volatile Memory 215 Reconnect SERCOS 216 Rockwell Automation cer kg a ER me e RR RAD Era 2 IriscallatioHe Assistance ta tired dre ttn D e RR eS 2 New Product Satisfaction 2 Publication 2093 UM001A EN P March 2007 Publication 2093 UM001A EN P March 2007 About This Publication Who Should Use This Manual Conventions Used in This Manual Preface Read this preface to familiarize yourself with the rest of the manual This manual provides detailed installation instructions for mounting wiring and troubleshooting your Kinetix 2000 drive and system integration for your drive motor combination with a Logix controller This manual is intended for engineers or technicians directly involved in the installation and wiring of a Kinetix 2000 drive and programmers directly involved in the operation field maintenance and integration of a Kinetix 2000 drive with a SERC
9. You must also know where to find your firmware update extension a or binary file 1 Press Enter to open the Hyperterminal main menu on Eik 1203 SSS Smart Self powered Serial Converter DPI Revision 3 005 Build 4 Main Menu Enter Number for Selection 1 Display Setup Parameters 2 gt Display Event Queue 3 Flash Upgrade Connected 0 00 06 Auto detect 38400 8 N 1 If you have difficulty opening a Hypterminal session verify you have e the port setting the same as in the previous section e 1203 SSS connected e the baud rate setting the same as in the previous section Upgrading Firmware 205 2 Enter 3 to select Flash Upgrade The following dialog opens K2K FLASH HyperTerminal 5 05 g 1203 SSS Smart Self powered Serial Converter DPI Revision 3 005 Build 4 Main Menu Enter Number for Selection 1 gt Display Setup Parameters 2 Display Event Queue 3 Flash Upgrade Flash Upgrade Enter Number for Selection 0 2093D SERVO 2 This 1203 SSS Connected 0 01 07 Auto detect 38400 8 N 1 3 Enter 0 as the 2093 SERVO Kinetix 2000 was identified earlier The following dialog appears FLASH HyperTerminal 1203 SSS Smart Self powered Serial Converter DPI Revision 3 005 Build 4 Main Menu Enter Number for Selection 1 gt Display Setup Parameters 2 gt Display Event Queue 3 gt Flas
10. 97 Shunt Module 98 Connecting Your SERCOS Fiber optic 99 SERCOS Cables Tuner we REC E cation esha eae ae dca 101 Chapter 6 Introduction pese ao se bed EN ub a URS eats 103 System Configuration Requirements 103 Configure the LAM AM oL deo esee eer era tengo 103 Configure the Logix SERCOS Interface Module 109 Configure the Logix Controller 109 Configure the SERCOS Interface 110 Configure the Kinetix 2000 113 Configure the Motion 118 Configure Axis 118 Download the 5 122 Apply Power to the Kirietix 2000 Divers es ACER Re UH ER RC E a 123 Test and Pune the Axes 2r Cc eee ee t eds 126 T stthe ARES od sevepues suh d pue eb irte deer bd edi 126 Tate Par REA RARE RALIS 128 Chapter 7 Inttoduction i3 ue EEG DEG RW ENTARIPRCBR YS 133 Safety Precautions 4 Lees Lada pep RECEN RAS RR EO HA 133 Interpreting Status 5 134 GCodesc sono es Blac Ris ce 134 IAM AM Status Indicators 139 SM Status Indicatots icr RR ERA DE ERO S 140 Troubl
11. aia Displaying fixed 3 phase 3 Th ph e drive is configuring device specific parameters Wait for Check motor catalog number against ase 4 or take corrective action until you reach phase 4 selection 1 Displaying a fixed 4 phase 4 The drive is configured and active Go to Step 6 Flashing an E followed by two numbers 1 You can get diagnostic information from the module by high selection does not match the installed motor Drive is faulted Refer to Error Codes on page 134 ighting the module name in RSLogix 5000 software A Pseudo Key Failure often indicates that the motor For additional troubleshooting information refer to the appropriate SERCOS Installation Instructions referenced on page 10 5 Determine your source of three phase input power If your three phase power Then Is sourced from a LIM a Set CB1 to the ON position b Verify the Hardware Enable Input signal IOD AF pin 43 for each axis is at 0 volts c Remove the connection between IOD AF pins 43 and 44 if one exists d Go to main step 4 Is not sourced from a LIM a Apply 170 264V 230V ac input power to the IAM IPD connector b Verify the Hardware Enable Input signal IOD AF pin 43 for each axis is at 0 volts Remove the connection between IOD AF pins 43 and 44 if one exists c Go to main step 4 6 Observe the Drive
12. Topic Page Configure the IAM AM 103 Configure the Logix SERCOS Interface Module 109 Apply Power to the Kinetix 2000 Drive 123 Test and Tune the Axes 126 Configuration of a Kinetix 2000 system requires these products as a minimum Product Catalog Number Version RSLogix 5000 software 9324 RLD300NE 16 0 or later RSLinx 0355 RSLETENE 2 50 00 or later SERCOS Interface Card Firmware 1756 MxxSE 16 20 or later 1756 L60MO3SE 16 03 or later 1768 MO4SE 16 03 or later 1784 PM16SE Follow these steps to configure the not released 1 Verify that there is no power applied to the IAM AM and that the SERCOS fiber optic cables are plugged into the Tx and Rx connectors To verify your fiber optic cable connections refer to Connecting Your SERCOS Fiber optic Cables on page 99 To configure Begin with The integrated axis module IAM Step 2 An axis module AM Step 4 Publication 2093 UM001A EN P March 2007 104 Configure and Startup the Kinetix 2000 Drive System 2 Set the base node address for the IAM by rotating the SERCOS Node Addtess switch IMPORTANT When two or more IAMs are connected to the same SERCOS interface module each node address must be unique Refer to the node addressing examples on pages 105 107 and 108 Valid node addresses are 01 99 The left hand switch sets the most significant digit MSD and the right hand switch sets the least signifi
13. esee zd Establishing Noise 28 Cable Categories for Kinetix 2000 34 Noise Reduction Guidelines for Drive Accessories 36 Chapter 3 THEFOCUEH ORs 25652 evt 37 Installing the 2093 Power Rail 37 Determining Mounting Order 38 2093 PRS8S Module 39 Mount the asses seme sari e POSER E pait 40 Mounting the Line Interface 41 Segregating Power and Logic 42 Chapter 4 T attOducHOtio ove deret siehe e ea ub de es 43 Locating AM AM Connectors and Indicators 43 I O Connector Pinouts 46 Motor Feedback Connector Pinouts 48 Input Connector ree e 49 IAM and AM Motor Power and Brake Connector Pinouts 50 IAM AM Signal Specifications 1 51 Publication 2093 UM001A EN P March 2007 Connecting the Kinetix 2000 Drive System Publication 2093 UM001A EN P March 2007 Digital deuote eb Ce IO esee SU te ote Seed 51 SERCOS Conticcuonss osi adi o 53 Contactor Enable Relay zer er c c Ca 53 Motor Brake Relays 21d ou RE Ee Bc ud 54 Control Po
14. ots LED Status Potential Cause Possible Resolution Steady Green Communication ready No faults or failures N A Flashing Green Establishing communication System is still in the process of establishing SERCOS communication Wait for steady green LED indicator Node address setting on the drive module does not match SERCOS controller configuration Verify proper node switch setting Off No communication 1 Loose fiber optic connection Verify proper fiber optic cable connections Broken fiber optic cable Replace fiber optic cable Receive fiber optic cable connected to SERCOS transmit connector and vice versa Refer to Fiber optic Cable Installation and Handling Instructions publication 2090 IN010 for more information Bus Status LED Indicator Check proper SERCOS fiber optic cable connections 2D Status Condition B bled Normal when US power IS present axis enabled 24V is applied to Hardware Enable Input IOD AF 43 Steady Green No faults or failures ii A d e MSO instruction is commanded in RSLogix 5000 software Publication 2093 UM001A EN P March 2007 140 Troubleshooting the Kinetix 2000 Drive System Pre Siati SLED Status Condition Normal when Flashing Green Bus power is present axis disabled No faults or failures 24V is not applied to Hardware Enable Input IOD AF 43 MSO instruction is not com
15. IMPORTANT When using Bulletin 2090 cables with premolded connectors tighten the mounting screws finger tight to improve system performance Premolded Feedback Cable Attached to MF Connector 1 er remem mne dA Integrated Axis Module Side View 2093 AC05 MPx is shown Power and 1 0 connectors removed E di Premolded Connector Motor Feedback MF Connector 2090 UXNFBMP Sxx cable Wiring Low profile Connector Kits Low profile connector kits 2090 K2CK D15M are suitable for motor feedback connections on any IAM or AM Publication 2093 UM001A EN P January 2007 96 Connecting the Kinetix 2000 Drive System 15 pin Connector Kit and Flying Lead Cable attached to MF Connector FI al Torque the screws on the connector cover to 0 4 Nm 3 5 Ib in Tightening the cover mounting screws is essential for shield integrity Wiring 15 pin Flying lead Feedback Cable Connections 2090 XXNFxx Sxx Feedback Cable 15 pin male Connector on 15 pin female Motor Feedback Bare wires Low Profile Connector Kit Connector on Kinetix 2000 IAM AM Wire insulation jl Pin 10
16. 09 5 2093 05 1 2093 05 2 Single phase 5 8 8 0 10 3 12 6 14 8 2093 09 5 Inverter IAM and AM 1 2093 AC05 MP1 and 2093 AMP1 31 6 33 6 35 6 37 6 39 6 2093 AC05 MP2 and 2093 AMP2 33 0 36 4 39 8 43 3 46 8 2093 AC05 MP5 and 2093 AMP5 36 2 42 9 49 8 56 8 63 9 2093 1 38 3 46 7 55 3 64 1 73 1 2093 AM02 44 3 55 6 67 3 792 91 4 Shunt module SM 2093 ASP06 35 8 45 8 55 8 65 8 75 8 Power Rail 2093 PRSxx 0 0 0 0 0 Connector Kit 2093 K2CK D15M 0 0 0 0 0 1 Internal shunt power is not included in the calculations and must be added based on utilization Publication 2093 UM001A EN P March 2007 Specifications and Dimensions 161 General Specifications This section contains general specifications for your Kinetix 2000 system components Maximum Feedback Cable Lengths Kinetix 2000dtive motor feedback combinations are limited to the maximum cable length shown in the tables below These tables assume the use of recommended cables IMPORTANT Operating a Kinetix 2000 drive at maximum temperature with maximum cable length may necessitate derating of the drive MP Series Y Series and TL Series Motors Actuators MPL A 230V M 1 MPG A MPF A and MPS A MPAI A 230V Y Series TL Series Motors 230V Motors Linear Actuators 230V Motors 4 230V Motors Absolute Incremental Absolute Absolute Incremental Absolute Increme
17. IAM 2 24V dc Output PWR2 Power Rail Ground Stud KINETIX 2000 INTEGRATED AXIS MODULE 2093 AC05 MP x Motor Power MP Connector Three Phase 9 Motor Power Connections Note 14 N Connector 10 COM2 I0 PWR2 10 COM2 gt feJ 1 3 5 STOP 10 PWR1 1 0 IOL Connector Note 11 12 COILE COIL_E2 10 COMI Publication 2093 UM001A EN P March 2007 Motor Brake BC Connector N CONT_EN CONT_EN ps 1 0 Connector Note 12 To CED connector IAM_2 1 0 Connection BR TE Motor Brake Connections 1 0 Connection Interconnect Diagrams 171 From CPL Connector LIM Bonded Cabinet Ground Bus KINETIX 2000 INTEGRATED AXIS MODULE 2093 AC05 MP x IAM 2 Power Rail Ground Stud 1 U Three Phase Motor Power V gt Motor Power MP Connector 3 Connections 1 L l Note 14 2 4 n From CPL Connector 2 Control Power CTRL2 CPD Connector 1 2 41 Three Phase 2 p AC Line 3 12 Cc gt L_T Filter 1 L3 Main Power Note 3 5 I IPD Connector nput Fusing zu Note 2 6 DC DC 1 PWR 2 BR Motor Brake r MBRK lt BR Motor Brake
18. ControlLogix Controller Programming Network Typical Kinetix 2000 system installations include three phase ac common bus configurations configurations with and without the line interface module LIM and dc rail To avoid personal injury due to electrical shock place a slot filler catalog number 2093 PRF in all empty slots on the power Any power rail connector without a module installed will disable the Kinetix 2000 three phase power however control power is still present Typical Kinetix 2000 System Installation with LIM M 1756 M08SE SERCOS Interface Module VECES ControlLogix Chassis Kinetix 2000 Multi axis Servo Drive System SERCOS fiber optic ring 170 264V ac Single phase Control Power 170 264V ac Single phase or Three phase Input Power Line Interface Module optional component Line Filter built into this LIM 2094 AL09 To Input Sensors Workstation with RSLogix 5000 Software Shunt Module and Integrated Axis Module
19. Line Interface Module LIM ControlLogix chassis and modules controller Size the Kinetix 2000 servo drive and LIM and use the results to predict the amount of heat dissipated into the enclosure You will also need heat Publication 2093 UM001A EN P March 2007 22 Planning the Kinetix 2000 Drive System Installation dissipation data from other equipment inside the enclosure such as ControlLogix controller Once the total amount of heat dissipation in Watts is known the minimum enclosure size can be calculated Kinetix 2000 System Heat Dissipation Example Heat Dissipation 1 Enclosure Component Description Loading 1 Watts er tre eis modula IAM 3 dd converter 20 7 0 1 A inverter section 4096 33 6 2093 AM02 Axis module AM 230V 9 A 60 67 3 2093 AM02 Axis module AM 230V 9 A 60 67 3 2093 AM01 Axis module AM 230V 6 A 40 46 7 2093 AM01 Axis module AM 230V 6 A 40 46 7 2093 AM01 Axis module AM 230V 6 A 20 46 7 2093 AL09 Line interface module LIM 230V 6 kW 6 A 24V dc 3 A 100 72 0 2093 PR6 Power rail 230V 6 axis N A 0 0 Total Kinetix 2000 system Wattage 387 3 I To determine heat dissipati on specifications for the Kinetix 2000 components refer to Power Dissipation Specifications on page 160 ControlLogix System Heat Dissipation Example Sopa nein M 756 M08SE 8 axis SERCOS i
20. RC Pin Description Signal 1 External resistor connection 1 2 DC 2 Internal shunt connection INT 3 Collector connection COL 1 Factory default bypasses the external shunt resistor by placing a jumper between RC 2 and RC 3 2 External shunt resistor is not supported in the initial release of Kinetix 2000 Refer to Wiring 15 pin Panel mounted Breakout Kit on page 97 when wiring the RC and TS connectors Chapter 5 Connecting the Kinetix 2000 Drive System Introduction This chapter provides procedures for wiring your Kinetix 2000 system components and making cable connections Topic Page Basic Wiring Requirements 61 Determining Your Type of Input Power 63 Setting the Ground Jumper in Ungrounded Power Configurations 69 Grounding Your System 71 Power Wiring Requirements 73 Wiring Guidelines 76 Wiring the LIM Connectors 77 Wiring the IAM AM Connectors 81 Feedback and 1 0 Cable Connections 92 Wiring 15 pin Panel mounted Breakout Kit 97 Connecting Your SERCOS Fiber optic Cables 99 Basic Wiring Requirements This section contains basic wiring information for the Kinetix 2000 drive ATTENTION SHOCK HAZARD Plan the installation of your system so that you can perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other fo
21. without control or with connector Check and correct motor feedback wiring reduced torque Publication 2093 UM001A EN P March 2007 Sine Cosine Rotor lead sets of resolver feedback are reversed Check and correct motor feedback wiring Troubleshooting the Kinetix 2000 Drive System 145 Logix Drive Fault Behavior This section provides the drive fault actions and indicates whether the fault action is programmable Drive Fault Action Definitions Drive Fault Action Definition The drive disables and the contactor enable relay opens Uncontrolled Shutdown stop motor coasts to a stop Disable Drive The drive is disabled Uncontrolled Stop motor coasts to a stop Logix configuration for velocity loop Kp Ki is followed When zero speed is Stop Motion reached or stopping time is exceeded the drive is disabled Stopping time and stopping torque are user defined parameters in RSLogix 5000 software Status Onl Drive continues to operate Status is provided by seven segment Fault y Status LED indicator Drive Status LED indicator and DPI if used Logix Drive Fault Behavior Message RSLogix Description Fault Action BusUndervoltageFault wa osa E00 A blown fuse was detected in the inverter pcb SHUTDOWN N own fuse The motor thermal switch was tripped MotorOvertempFault Firmware Ft protection does not generate a fault r
22. 10 Foil shield gt Pin 5 Pin 15 Pin 15 38s Pin5 Braided shield Screws Pin 1 Pin 11 Pin11 one Pin 1 Outer insulation 5 i jn Pin 6 2090 XXNFMP Sxx iz HHE AAT Refer to Chapter 2 for feedback signal descriptions 110987654321 Refer to Appendix B for the motor feedback interconnect drawing for l your drive motor combination Exposed Braid under clamp Wrap Turn clamp over to hold small wires secure 2090 XXNFMP Sxx Feedback Cable Clamping the exposed area of the cable braid and any shield or drain wires under the shield clamp is critical Turn clamp over if necessary to achieve a proper ground connection Publication 2093 UM001A EN P January 2007 Kinetix2000 D 2093 ACO5 is shown rive b Connecting the Kinetix 2000 Drive System Wiring 15 pin Panel mounted Breakout Kit 97 A panel mounted breakout kit catalog number 2090 UXBK D15 xx is available This kit permits connection between a motor feedback device and the motor feedback MF connector A cable connects between a panel mounted terminal block and the 15 pin motor feedback MF connector Wires from an external motor feedback devic
23. 9 Acceler ating TMORPM BAL Connection DPI Sy roves Parameter ame Value Internal Value 0 2070 serve 1 Master Tene 2000 2000 18 Ut Ring Comm Tine 2000 200 5000 aun 3 AT Rat Tee nx 20 i IAM Dogs 10 1 45000 Ga AM Group Min Fb Proc Time 375 we 35 1 1 65000 S IAM JO 5 de 25 1 1 sooo BAe 7 Fb Capture Pt 1608 usec 106 w o 65000 BA Command vaks im E 203 0 0 BA 9 MOT Drive Pos 1 1 1 1 2 B 9200 00 16 bre v 4 4 pont MO Sak Conn rers 6600060000000000 0500000000000 OOOO pet 12 Drive Warnings 0803003000030000 0000000000000000 0000000000000000 1111111111111 03 rive Status 0900009001 001011 0000000000000000 0000000000000 11311111111 11 04936 14 Commun Errors 0002000000000100 0000000000000000 0000000000000000 1111111111111111 Ga Aw 31 0 15 Teiegam 7 1 4 o H 02494 16 ON Lt AT 0 eu As 40 MOT v v 7 Group MST rors 0 0 3 Aes 410 MOT Errors 9 3 Axe S 0 01 9510 o Ga 500 2 Pre OP Mode C 1000000000000 3 Axs S Group 1 0900000000000 3 B 5100 0 0000 9 pet 00000 Ans 6 og e 4999 9991 p 999997 Md BE 5000 0002 50000002 3 lao 0 0042 pem w 0 0000 46 600000000000 o 0000000000000000 Col od Custom lu 000000000000 2 106000000000000 0 00000000900000
24. BC Connector CL MBRK t is Connections 4 COM From IOL Connector 1 co CONTEN o Contactor Enable LIM and CED Connector jid 2 CONTEN 1 2 CED Connector Publication 2093 UM001A EN P March 2007 172 Interconnect Diagrams The configuration on this page does not include a LIM You must supply input power components The single phase and three phase line filters are wired downstream of fusing and the M1 contactor Wiring the contactor enable CED relay is required To avoid ATTENTION injury or damage to the drive wire the contactor enable relay into your safety control string Refer to Contactor Enable Relay on page 53 for more information Three Phase Power Input without LIM to IAM Wiring Example KINETIX 2000 INTEGRATED AXIS MODULE 2093 AC05 MPx lod Bonded Cabinet Ground Bus Power Rail X e Chassis Ground Stud Control Power CPD Connector Single Phase Input T 170 264V ac RMS LI i Notes 1 2 Input Fusing 2 Three Transformer Motor Power Motoi Note 5 MP Connector Ww L Conn sie Input Fusing VAC Line y CH HHE B Three Ph Three Phase Input ree Phase e IIT 2 1 170 264V ac RMS JAC Line Filter 3 i Notes 1 2 Not
25. clamp and ground stud Wiring the Motor Brake BC Connector This example applies to axis modules AM and the inverter section of integrated axis modules IAM Integrated Axis Module Axis Module BC connector Integrated Axis Module 2093 AC05 MPx shown EJ B Wiring 24V dc Brake Input Power Connections If your system includes a line interface module LIM you can source the 24V dc from the LIM P1L or PSL connector Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System If the number of axes and other unique 24V power loads unique to certain applications exceeds the capability of the LIM the use of an external power supply such as those listed below may be necessary Output Power Input Power Power Supply 30W 85 264V ac 1606 XLP30E 50W 1606 XLP50E 72W 1606 XLP72E 80 W 85 267V ac 1606 XLS80E 100 W 85 264V ac 1606 XLP100E 120 W 85 267V ac 1606 XLS120E 240 W 1606 XLS240E Wiring the Motor Brake Connections The procedure for wiring your motor brake varies slightly depending on the motor series you are using Refer to the table below to determine where the brake wires for your servo motor are located and for the appropriate brake cable or connector kit catalog number Motor Series Brake Wires Cable Catalog Number MPL A3xxx MPL M xxx d The
26. sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools Por an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnect Support programs For more information contact your local distributor or Rockwell Automation representative or visit http support rockwellautomation com Installation Assistance If you experience a problem with a hardware module within the first 24 hours of installation please review the information that s contained in this manual You can also contact a special Customer Support number for initial help in getting your module up and running 1 440 646 3223 United States Monday Friday 8am 5pm EST Outside United Please contact your local Rockwell Automation representative for any States technical support issues New Product Satisfaction Return Rockwell tests all of its products to ensure that they are fully operational when shipped from the manufacturing facility However if your product is not functioning it may need to be returned Contact your distributor You must provide a Customer Support case number United States call the phone number above to obtain one to your distributor in order to complete the return process Outside United Please contact your local Rockwell Automation representative for return States procedure www rockwellautomation
27. tripped motor cooling Motor wiring error Check motor wiring at MF connector on the IAM AM Incorrect motor selection Verify the proper motor has been selected Publication 2093 UM001A EN P March 2007 Troubleshooting the Kinetix 2000 Drive System 135 Error Fault Message Code RSLogix HIM Problem or Symptom Potential Cause Possible Resolution Verify continuity of motor power cable and Motor cables shorted connector Disconnect motor power cables from the Motor winding shorted internally motor If the motor is difficult to turn by hand it may need to be replaced e Check for clogged vents or defective fan Kinetix 2000 drive temperature too high I e Make sure cooling is not restricted by Self protection of the insufficient space around the unit DriveOvercurrent Intelligent Power Module E05 Fault IPM is indicating a major e Verify ambient temperature is not too Power Fault power related fault high condition Operation above continuous power rating T and or product environmental ratings Y Ss within the continuous power e Reduce acceleration rates Remove all power and motor connections and preform a continuity check from the dc Kinetix 2000drive has a short circuit bus to the U V and W motor outputs If a overcurrent or failed component continuity exists check for wire fibers between terminals or sen
28. 11 Implementation of safety circuits and risk assessment is the responsibility of the machine builder Please ATTENTION reference international standards EN 1050 and EN 954 estimation and safety performance categories For more information refer to Understanding the Machinery Directive publication SHB 900 12 Wiring the contactor enable relay is required To avoid personal injury or damage to the drive wire the ATTENTION ni Haki in contactor enable relay into your safety control string The recommended minimum wire size for wiring the safety circuit to the contactor enable connector is 1 5 mm 16 AWG Refer to the Contactor Enable Relay on page 53 for more information 13 The Kinetix 2000 axis module referenced is either an individual axis module 2093 AMPx or 2093 AMx or the resident integrated axis module 2093 5 14 For motor cable specifications refer the Kinetix Motion Control Selection Guide publication 56001 15 Wire colors are for flying lead cable 2090 XXNFxx Sxx and may vary from the premolded connector cable 2090 UXNFBxx Sxx 16 Y Series feedback cables have a drain wire that must be folded back under the low profile connector clamp 17 MPL A3xx MPL A4xx MPL A45xx and MPG Axxx encoders use the 45V dc supply 18 MPL A15xx MPL A2xx MPF A3xx MPF A4xx MPF A45xx and MPS Axxx encoders use the 45V dc supply 19 Single phase powering of the Kinetix 2000 is shown connected to L1 and L2 but any two line i
29. 4 E n Note 1 5 L1 a DC DC 1 MBRK PWR D 24V dc Output _ COM 3 Connector MBRK PWR FEE 1 MBRK COM PWR 2 BR Motor Brake MBRK lt Motor Brake BC Connector MBRK BR Connections z 4 I0 PWR COM I O Connector STOP Note 11 12 CONT EN 4 Contactor Enable CONT LLL CED Connector COIL A2 INDICATES USER SUPPLIED COMPONENT Publication 2093 UM001A EN P March 2007 170 Interconnect Diagrams Multiple IAM Wiring Example with LIM 2094 ALxxS or 2094 XL75S C2 Bonded Cabinet Ground Bus l VAC Load _2 l1 Three Phase IPL Input _3 12 170 264V ac RMS 4 Note1 H Auxiliary Power Input Single Phase SPL 170 264V ac RMS Note 1 LINE INTERFACE MODULE 2094 AL32S or XL75S C2 Control Power Single Phase Input CTRL 1 CTRL 1 Control Power 170 264V ac RMS CTRL2 2 o 2 2 CPD Connector 1 m gt connector gt AM2 Note 8 4 1 Lt 3 I e Three Phase 7 11 12 7 AC Line n 12 13 Filter 7 13 Main Power n m Note 3 I IPD Connector Input Fusing lt De Note 2 UC connector IAM 2 10 PWR2 gt connector 10 COM2
30. Comm and Bus status LED indicators on the front of the IAM AM Condition Status Do This a off Normal condition Observe the Comm Status LED indicator rive Steady red Drive is faulted Refer to IAM AM Status Indicators on page 139 Publication 2093 UM001A EN P March 2007 Configure and Startup the Kinetix 2000 Drive System 125 Status LED indicator Condition Status Do This Flashing green Establishing communication with network Wait for steady green Comm Steady green Communication is ready Observe the Bus Status LED indicator off No ring present Refer to IAM AM Status Indicators on page 139 1 Verify Hardware Enable Input IOD AF pin 43 is open E 2 Verify MSO instruction is not commanded in Steady green Axis is enabled when status should be disabled RSLogix 5000 software Bus 3 Return to Apply Power to the Kinetix 2000 Drive 1 123 Flashing green 1 Bus is up axis is disabled normal status Go to step 7 Off complete pre charge If SERCOS LED State is DC bus is not present Refer to IAM AM Status Indicators on page 139 The follower IAM has a 2 5 second delay after dc bus voltage is applied before the Bus Status LED indicator begins flashing This provides the common bus leader time to 7 Observe the three SERCOS LED indicators on the SERCOS module The Status is Do This Flashing green and red Establishing communic
31. Drive to motor power cables must not exceed 30 m 98 5 ft Use 2090 series motor feedback cables or use connector kits and properly terminate the feedback cable shield Drive to motor feedback cables must not exceed 30 m 98 5 ft Install the Kinetix 2000 system inside an enclosure Run input power wiring in conduit grounded to the enclosure outside of the enclosure Separate signal and power cables Wiring instructions are available in Chapter 5 of this publication Product catalog numbers are listed in the Kinetix Motion Control Selection Guide publication GMC SG001 Publication 2093 UM001A EN P March 2007 18 Start CE Requirements System with LIM To meet CE requirements when your Kinetix 2000 system includes the line interface module LIM follow all the requirements as stated in CE Requirements System without LIM and these additional requirements as they apply to the ac line filter Install the LIM 2094 ALO9 as close to the integrated axis module LAM as possible Install the LIM 2094 ALxx or XL75S C with the line filter 2090 X X LF xxxx as close to the IAM as possible When the LIM 2094 ALxxS or XL75S Cx supports two IAMs each IAM requires an ac line filter installed as close to the IAM as possible Publication 2093 UM001A EN P March 2007 Introduction System Design Guidelines Chapter 2 Planning the Kinetix 2000 Drive System Installation This chapter describes sy
32. Expand Node 1 to view the system configuration This example has one IAM Axis 1 and five AMs Axes 2 6 RED RD RT RET T A 8 88 8D DE 1203 555 R5232 DF1 Parameter List Node 2 1203 SSS RS232 DFI is the SCANport device 10 Double click on Node 2 1203 SSS RS232 DFI to examine the SCANport device configuration Devices Node 1 20930 SERVO 1203 SSS 0 2093D SERVO Config Parameter List IAM 1 203 SSS Pwr Supply Data Shunt Data RS232 DF1 Configuration Monitor Port 2 TAM Diss Revision 3 005 Series B IAM Group IAM I O l Axis 2 Operational Axis 2 Diags Axis 2 Group 11 Click on Node 1 2093D SERVO to return to the Kinetix 2000 system configuration display Upgrading Firmware 191 12 Double click on Parameter List to display the parameter functions Devices S N P P Name Value units Node 1 2093D SERVO R 1 04 Master Time 2000 usec 0 2093D SERVO Config 1 0 2 Ring Comm Time 2000 uSec Parameter List R 1 0 3 AT Start Time 20 uSec R 1 04 Xmit Rec Tr Time 10 uSec R 1 0 5 Min Fb Proc Time 375 uSec Pwr Supply Data p 10 6 AT Trans St Time 25 uSec Shunt Data R 1 07 Fb Capture Pt 1608 uSec Configuration R 1 08 Command Valid Tm 203 uSec Monitor R 1 09 MDT Drive Pos 1 IAM Diags R 1 0 10 MDT Length 16 byte IAM Group R 1 011 Shut Down Errors 0000 0000 0000 0000 IAM I O R 1 0 12 Drive Warnings 0000 0000 00
33. For CE certification the control power input requires an ac line filter that provides electromagnetic compatibility EMC For wiring examples refer to Power Wiring Examples beginning on page 169 Source 2093 AC05 MPx 230V IAM control power from the three phase input power line to line Supplying 230V control power from any other source requires an isolation transformer If used do not ground either leg of the isolation transformer output IMPORTANT Refer to Transformer Specifications for Control Power Input on page 158 Control Power Current Specifications Attribute Value 170 264V ac rms single phase or three phase Input voltage Input power frequency 47 63 Hz Control Power Current Requirements Publication 2093 UM001A EN P March 2007 56 Kinetix 2000 Connector Number of Axis Data Current Requirements Current Requirements Modules 1 115V ac input 230V ac input Max Inrush Input VA 0 0 3A 0 15A 50 VA 1 0 8A 0 30 A 99 VA 2 09 045 148 VA 3 12A 0 60 A 197 VA 4 15A 0 75 A 93A 247 5 18 0 90 A 296 VA 6 21A 1 05 A 345 VA 7 24A 120A 395 VA Shunt 25A 25A 410 VA Slot Filler This number does not include the axis module inve Publication 2093 UM001A EN P March 2007 rter section that resides inside the integrated axis module Kinetix 2000 Connector Data 57 Feedba
34. HB Jai 3 Phase 13 Input VAC Ground Lo Bonded Cabine B Ground Ground Grid or To Power Rail Ground Stud Power Distribution Ground Grounded Three phase B phase Power Configuration Delta secondary a D e f g Integrated Axis Module front view al 2093 5 H A 0 Transformer Delta Secondary S Gy 2 gc D QO 0 8l d 0 foodo Bonded Cabinet 7 To Power Rail Ground Stud Ground Ground Grid or Power Distribution Ground The integrated axis module LAM has a factory installed ground jumper configured for grounded power distribution If you determine that you have grounded power distribution in your IMPORTANT plant you do not need to modify your IAM Connecting the Kinetix 2000 Drive System 65 Ungrounded Three phase Power Configurations Ungrounded power configurations are allowed but you must jumper across resistor internal to the to prevent high electrostatic build up The ungrounded power configuration shown below does not provide a neutral ground point The IAM has a ground jumper set for grounded power distribution default configuration IMPOR
35. Kinetix 2000 system needs to be protected by a device having a short circuit interrupt current rating of the service capacity provided or a maximum of 100 000 A If an upstream circuit protection device is rated for the overload current and short circuit rating a supplementary circuit protection device such as the 1492 product can be used as the only Kinetix 2000 branch circuit protection device The upstream fully rated device let through must be less than or equal to the 10 kA interrupt rating of the 1492 circuit protection device The wiring interconnection in the figures below provide examples of the needed protection and follows UL and NEC codes Full compliance is dependent on final wiring design and installation Circuit Protection under NEC 1999 110 10 preferred fully rated devices Required Protection under 110 10 of NEC 1999 Preferred Fully Rated Breakers Breakers Selected for Device Protection Fully Rated Short Circuit Interrupt Capability Required Protection o o 1 ji under 110 10 of l Fully Rated Fully Rated Fully Rated NEC 1999 Es N Fused Fused Fused Preferred Fully Disconnect Disconnect Disconnect Rated Breakers e 2 Fully Rated Fully Rated Fully Rated Distribut L Breaker ee Breaker 6 Breaker pieces lon l Breakers Selected for Device Protection Fully Rated Short Circuit p Interrupt Capab
36. March 2007 52 Kinetix 2000 Connector Data Enable and Home Digital Input Circuits 1 suPPLv 100 30 38 41 44 gt 100 29 37 40 43 INPUT S 24V de D 2k Q gt gt INPUT t 0 1 ub 5110 1 IO 100 28 36 39 42 N Customer supplied Input Device Kinetix 2000 IAM AM Lu 1k 24V dc source range 21 6 26 4V supplied by drive not to exceed 300 mA total Maximum current input 10 mA Overtravel Digital Input Circuit 24V yo supply 100 30 38 41 44 100 29 37 40 43 ma Di VCC xo 1 OT INPUT 0 1 u 5110 y 1 1 IDD 28 36 39 42 I0 COM gt gt Customer supplied Input Device Kinetix 2000 IAM AM 1 24V dc source range 21 6 26 4V supplied by drive not to exceed 300 mA total Maximum current input 10 mA Registration Digital Input Circuits 10D 24 27 24V de 1 0 SUPPLY gt VCC 100 23 26 INPUT S i 4 02k Q 1kQ EAA 402kQ 270 001 uF 511 Q gt gt REG INPUT io 0022 25 HCPL 0631 4 Customer supplied Registration L Kinetix 2000 IAM AM Input Device Publication 2093 UM001A EN P March 2007 Kinetix 2000 Connector Data 53 SERCOS Co
37. March 2007 Configure and Startup the Kinetix 2000 Drive System 121 9 Select the Fault Actions tab and edit the default values if appropriate for your application The default settings are acceptable for most applications 2 Axis Properties Axis_1_ General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset Fault Actions zi Set Custom Stop Action Drive Thermal Disable Drive v Motor Thermal Disable Drive x a Warning Modifying fault actions Feedback Noise Disable Drive t requires user to ensure axis is stopped and disabled to protect Feedback Disable Drive personnel machine and property Position Error Disable Drive Please reference user manual for additional information 32 Phase Loss Shutdown 2 Cancel 5 10 If the motor for this axis has a brake click the Set Custom Stop Action tab The Custom Stop Action Attributes dialog opens Custom Stop Action Attributes StoppingTorque 262 39066 Rated StoppingTimeLimit 1005 BrakeEngageDelayTime 00s BrakeReleaseDelayTime 00s ResistiveBrakeContactDelay 00s Close Cancel Help The Custom Stop Action Attributes window lets you set delay times for servo motors brakes Refer to the Kinetix Motion Control Selection Guide publication IMPORTANT GMC SG001 publication Kinetix Motion Con
38. i E Conduit 4 Wire Cable LII Ba Transformer 3Phase Input VAC LIED tprarmimdA Ground Bonded Cabinet Ground Ground Grid Power Distribution Ground To Power Rail Ground Stud Single phase Power Configuration line to neutral ses Integrated Axis Module Front View 2093 AC xx MPx B a Conduit 4 Wire Cable 4 0 0 7 qp E x 3 5 1 Transformei H 0 2 o 3 Phase o Input VAC 3 p Ground Bonded Cabinet Ground Internal Jumper Must Be Changed Ground Grid or For This Configuration Power Distribution Ground To Power Rail Ground Stud Connecting the Kinetix 2000 Drive System 67 DC Common Bus Configurations Common Bus Leader IAM 170 264V ac Three Phase Input Power DC Common Bus When an integrated axis module LAM is used in a dc common bus configuration the LAM is known as a leader IAM or follower IAM The
39. shunt time out 138 shutdown 145 single phase power configuration 66 slot filler catalog number 16 dimensions 165 SM bus capacitance 211 software RSLogix 5000 109 software overtravel 135 specifications certifications 163 circuit breakers 157 contactor ratings 159 control power 55 environmental 162 163 feedback motor and auxiliary 57 power supply 59 fuses 157 I O contactor enable relay 53 digital inputs 51 Kinetix 2000 brake relay coil current 182 maximum feedback cable length 161 power AM 230V 155 AM inverter 155 auxiliary power 156 IAM converter 154 IAM inverter 155 single phase system re quirements 156 SM 156 157 three phase system re quirement 156 weight 162 line filters 163 power dissipation 160 SERCOS connections 53 transformer 159 status indicators 134 status LEDs 1223 139 status only 145 stop motion 145 surge suppression 90 switches base node address 104 baud rate 104 optical power level 104 system block diagrams converter 184 IAM AM inverter 183 shunt module 185 system ground 71 system mounting requirements 19 system overview 12 dc common bus 15 with LIM 13 without LIM 14 T task init 138 temperature fault LED 141 testing motor 126 testing axes hardware enable input 127 hookup tab 126 thermal switch 36 total bus capacitance 15 example 212 Kinetix 2000 maximum 210 transformer sizing 20 transformer specifications 159 transition phase 113 troubleshooting bus status LED 139 1
40. 1717171717141 lt C 4 amp corno pr kn bz DK Apply Drive Explorer does not do the flashing but it allows you to determine which drives to setup for flashing with Hyperterminal The Axes to Flash window shown indicates Axes 1 and 2 are selected for flashing 15 Select Apply and then OK after you have selected all axes to flash 16 Close Drive Explorer Publication 2093 UM001A EN P March 2007 Upgrading Firmware 193 Using Drive Executive to Setup the Kinetix 2000 Drives to Flash Follow these steps to use Drive Executive v4 01 to identify the Kinetix 2000 axes to be flashed 1 Connect the 1203 SSS serial cable between the appropriate COM port your personal computer and the serial communication port on the Anacanda 2 Connect the 1203 SSS SCANport cable between the SCANport on the Anacanda and the DPI connector on the top of the IAM The drive sources power to the 1203 SSS communication device when Control power is applied to the drive 3 Observe the LED indicator to verify that the 1203 SSS has power SCANport DPI Connector gt Power LED Serial Communication Connector 4 Open RSLinx software Drive Executive must exchange information via RSLinx This requires serial communication between the DPI port on the Kinetix 2000 drive and your personal computer Ethernet or other communication standards are not compati
41. 2000 Connector Data 45 Integrated Axis Module Axis Module Connectors Designator Description Connector Present on IAM or AM BC Motor brake 4 position plug header IAM AM CED Contactor enable 2 position plug header IAM CPD Control input power drive 2 position plug header IAM DPI Drive peripheral interface factory use only 8 pin mini DIN IAM IOD AF User 1 0 drive and auxiliary feedback 44 pin high density D shell female IAM AM IPD V ac input power drive 230V and dc bus 6 position plug header IAM MF Motor feedback 15 pin high density D shell female IAM AM MP Motor power 4 position plug header IAM AM Tx and Rx SERCOS transmit and receive SERCOS fiber optic 2 IAM AM Integrated Axis Module Axis Module Switches and Indicators Description Type Present on IAM or AM SERCOS Node Address Rotary switches AM SERCOS Baud Rate and Optical Power DIP switches IAM and AM Fault or SERCOS Status Seven segment LED indicator AM and AM Drive Status LED indicator AM and AM Communication Status LED indicator AM and AM Bus Power Status LED indicator AM and AM 1 The node address setting for the IAM establishes the base address n for that power rai and the address for the other axis modules AMs increment from the base address 2093 AMPx n 1 and 2093 AMO0x 2 Refer to the Node Addressing Example 4 on page 108 for information on physical and
42. 2000 converter Overtemperature e Check for clogged vents or defective fan e Make sure cooling is not restricted by insufficient space around the unit Publication 2093 UM001A EN P March 2007 Troubleshooting the Kinetix 2000 Drive System 137 RSLegix HAM Problem or Symptom Potential Cause Possible Resolution P PhasoL e One or more phases of the input ac power is missing e Check input ac voltage on all phases E37 Fault ne ere e Axis was enabled when main three phase power was removed e Disable axis before removing power Phase Loss Fit e Common bus follower axis was enabled when dc bus power was removed SERCOSFault The SERCOS ring is not Check that fiber opti ptic cable is present and E38 SERCOS Ring Flt active Cable disconnected connected properly e Verify that there are no impediments to motion at startup such as hard limits E39 DriveHardFault Self sensing Commutation Motion required for self sensing startup e Increase self sensing current if high Self Sense Fit Startup Error commutation was obstructed friction or load conditions exist e Check motor or encoder wiring using wiring diagnostics e An attempt was made to enable the e Disable the Drive Enable Input fault axis through software while the Drive dre Enable nt Enbleerdvare Dre rele a
43. 250 kHz sine cosine input Commutation feedback Hall sensor Specification The following specifications apply to both motor and auxiliary feedback channels 17 Bit Serial TTL Incremental Hiperface Sine Cosine nput voltage Differential per EIA RS 422 5 0 V Uy 2 5 V at ly 20 mA Ui 2 5 V at l 20 mA 0 8 1 2 V pk pk Protocol 1V pk pk Sine Cos with RS 485 0 6 1 2 V pk pk 2 nput frequency AM BM IM 5 MHz max AM BM 250 kHz max Line count 17 bit single turn Max limited by input signal frequency SRx 1024 Sine Cos per rev 12 bit Max limited by input signal frequency nterpolation 4x line count 11 bit Termination 120 Q Line loss detection No response all zeros to any position request or three consecutive bad requests cause a CRC error Eight consecutive sample of normalized absolute value of A or B is lt 0 75 and AQB freq is lt 10 kHz Avg sin cos gt constant Data communications RS 485 proprietary RS 422 RS 485 9600 baud Support Motor feedback channel only 5V Incremental encoder with differential Memory support Programmed Unprogrammed Allen Bradley motor data Allen Bradley motor data Encoders on auxiliary channel Multi turn support Power on Power off 254 253 linear revs 4096 rotary 2047 linear revs 254 rotary 253 linear revs 4096 r
44. A f the mounting bracket is coated threads to maximize ground with a non conductive material connection anodized or painted scrape the Use plated panels or scrape paint on Star Washer material around the mounting hole front of panel Bolt mounting a Ground Bus or Chassis to the Back panel Subpanel Tapped Hole Ground Bus or Mounting Bracket ES Star Washer Scrape paint on both sides of panel and use star washers Star Washer Flat Washer If the mounting bracket is coated with a non conductive material Star Washer anodized or painted scrape the material around the mounting hole Bonding Multiple Subpanels Bonding multiple subpanels creates a common low impedance exit path for the high frequency energy inside the cabinet Subpanels that are not bonded together may not share a common low impedance path This difference in impedance may affect networks and other devices that span multiple panels Publication 2093 UM001A EN P March 2007 28 Planning the Kinetix 2000 Drive System Installation Publication 2093 UM001A EN P March 2007 Multiple Subpanels and Cabinet Recommendations Bond the top and bottom of each subpanel to the cabinet using 25 4 mm 1 0 in by 6 35 mm 0 25 in wire braid XXXXX Cabinet ground bus bonded to the subpanel Scrape the paint around each fastener to maximize metal to metal contact Establi
45. Control of Motor Brake KINETIX 2000 IAM inverter or AM Motor Brake BC Connector 24V de 3 0A max User Supplied Publication 2093 UM001A EN P March 2007 Interconnect Diagrams 183 System Block Di agrams This section provides block diagrams of the Kinetix 2000 modules For block diagrams of the line interface module LIM refer to the Line Interface Module Installation Instructions publication 2094 IN005 Refer to Additional Resources on page 10 for the documentation available for those products IAM AM inverter Block Diagram Motor Brake Connections Three phase Motor Output Three phase Inverter POWER RAIL CW TJ Switch Mode CONV_ID 5 Power Supply GSHUNT 2 CAN 2 Chassis Publication 2093 UM001A EN P March 2007 Interconnect Diagrams 184 IAM converter Block Diagram amod Ai roej papunos6 ijnejap uwous 1eduunf uonoajag sso 0 3005 pue 4914994 ZNJ 1NO9 Ina 1N09 Ni _LNOO clu L1819 m indu 13M0d 04007 u01 99 9q SS0 Jeduinf punoit a D N 9 eem 3021 among junus obpug apoiq pue 1919007 19 INI ndul 30141 Publication 2093 UM001A EN P March 2007 Interconnect Diag
46. Feedback MF Connector otor Powe MP Connecto Mounting Tabs Publication 2093 UM001A EN P March 2007 44 Kinetix 2000 Connector Data Axis Module Connectors and Indicators Axis Module Front View 2093 AMx shown Mounting Screw SERCOS Receive Rx Connector shown SERCOS Transmit Tx Connector SERCOS Baud Rate and Optical Power Switches lt Seven Segment Fault Status Display Indicators mn Drive Status LED ton COMM Status LED gt l Bus Status LED onnector 1 0 and Machine Motor Power MP Connector 8 Feedback IOD AF Connector E Motor Feedback MF Connector Mounting Tabs i Axis Module Front View SERCOS Receive Rx Connector 2093 AMPx shown Mounting Screw 4 p SERCOS Transmit Tx Connector SERCOS Note gt Address Switches Motor Brake BC Connector Motor Power MP Connector Mounting Tab Publication 2093 UM001A EN P March 2007 SERCOS Baud Rate and Optical Power Switches Seven Segment Fault Status Display Indicators Drive Status LED COMM Status LED Bus Status LED 1 0 and Machine Feedback IOD AF Connector Motor Feedback MF Connector Kinetix
47. IAM non common bus and leader IAM have identical three phase input power connections The leader LAM is responsible for discharging the dc bus and for providing common bus follower drives with dc bus pre charge bus regulation phase loss detection and ground fault detection Follower IAMs do not have three phase input power connections but have dc bus connections from a leader IAM IAM Terminology and Use This IAM Is Wired And is IAM With three phase input power Not wired in common bus mode With three phase input power but has Leader IAM common bus connections to a Wired in common bus mode follower IAM Without three phase input power but Wired in common bus mode and Follower IAM has dc common bus connections from configured using RSLogix 5000 2093 ACO5 MPx 2093 LN EN a leader IAM software IMPORTANT Use Kinetix 2000 drive firmware v1 95 18 and RSLogix 5000 software version 16 or later for common dc bus power configurations The Kinetix 2000 leader IAM can operate with non Kinetix 2000 follower drives as can the Kinetix 2000 follower IAM operate with non Kinetix 2000 common bus leader drives However non Kinetix 2000 leader and follower drives must meet the same functional requirements as the Kinetix 2000 leader and follower IAMs IMPORTANT Any non Kinetix 2000 common bus leader that does not provide pre charge is required to add an additional external pre charge
48. MP2 2093 AC05 MP5 Bandwidth Velocity Loop 1 500 Hz Current Loop 860 Hz PWM frequency 8 kHz Nominal input voltage 325V de Continuous current rms 10 20 3 0A Continuous current 0 pk 141A 2 83A 424A Peak current rms 3 0A 6 0A 90A Peak current 0 pk 4 20A 8 48A 127 A Peak output current time max 3 s from 096 drive utilization 096 soak Continuous power out nom 0 3 kW 0 6 kW 0 9 kW Efficiency 9896 Capacitance 200 uF Capacitive energy absorption 7 5 J Inverter PCB leakage current 1 mA 1 Bandwidth values in the velocity loop vary based on tuning parameters and mechanical components AM Inverter Power Specifications Specification 2093 AMP1 2093 AMP2 2093 AMP5 2093 AM01 2093 AM02 Bandwidth Velocity Loop 500 Hz Current Loop 860 Hz PWM frequency 8 kHz Nominal input voltage 325V de Continuous current rms 10 20 3 0A 6 0A 95A Continuous current 0 pk 141A 2 83 A 4 24 A 8 48A 134A Peak current rms 3 0A 6 0A 90A 18 0A 285A Peak current 0 pk 4 20 A 8 48 A 127 A 25 5 A 40 3 A Peak output current time max 3 s from 0 drive utilization 0 soak Continuous power out nom 0 3 kW 0 6 kW 0 9 kW 1 9 kW 3 0 kW Efficiency 98 Capacitance 200 uF 540 uF Capacitive energy absorption 7 5 20 J Inverter PCB leakage current 1 mA 1 Bandwidth values vary based on tuning parameters and mechanical components Publication 2093 UM001A EN P March 2007 156 Specificat
49. Memory Init e f fault persists replace module The fan on the IAM or an AM failed Replace the failed module he cabinet ambient temperature is Check the cabinet temperature above rating Driven varom Inverter thermal switch E72 reu tripped M e ans Change the command profile to reduce Drive Overtemp the Mh speed or increase time The airflow access to the Kinetix 2000 Check airflow and re route cables away System is limited or blocked from the Kinetix 2000 system 3 Power rail CAN communications failed Check module for proper mount 73 Communicate Backplane Comm Power rail connection shorted or open T rail and module for foreign e Check for proper motor sizing DriveOvercurrent Motor or transmission malfunction e Check replace transmission device E74 Fault eae current exceeds e Check replace motor Bus OverCurrent Check for proper IAM sizing IAM not properly sized e Install larger kW rated IAM e Use a properly sized shunt or modify DriveOvervoltage duty cycle of the application E75 Fault The IAM AM or SM has exceeded its shunt resistor continuous rating e System uses internal shunt and Shunt Time Out requires external shunt for additional capacity e Reset System DriveHardFault DPI hardware initialization 76 CAN Init fault detected Control board hardware failure e f fault persists replace system module DriveHardFault e Cycle power E78 ASTE E Control hardware fault detecte
50. Shunt Power 14 watt 1 0 597 Shunt Res 50 00 Ohms H0590 fusRec ib 1 0 599 Add Bus Cap es 6 698 Reserved 5 Double click the N P x599 Add Bus Cap parameter The command dialog for parameter x599 Add Bus Cap opens Value Edit Advanced Value Internal Value C Hex Min 0 3420 Default 0 1340 uF 1340 Dec C Oct Select Default Read Se OK Cancel Apply DC Common Bus Applications 215 6 Select the Value Edit tab and enter the Add Bus Cap Value uf 7 Click OK and verify the correct Add Bus Cap value is displayed in the Node Port Axis hierarchy 1 0 598 Bus Reg ID 1 1 0 599 Add Bus Cap 1340 uF R 1 0 600 Reserved l 1 0601 Soft Ovrtryl Act Drive Action Save the Add Bus Cap Parameter to Non volatile Memory Follow these steps to save the Add Bus Cap parameter to non volatile memory 1 From the menu bar choose Actions Non volatile Memory The following message dialog opens Save current device values to non volatile memory Save Recall device values from non volatile memory Recall Reset device values to defaults Load Defaults 2 Click Save The changes are saved to non volatile memory and the following cautionary message dialog opens Non Volatile Memory 2093D SERVO Config 0000 Caution This action will overwrite existing device values that are currently saved in the product s non volatile memory Continu
51. When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to Chapter 4 of the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Observe the following guidelines when individual input power components are used in the Kinetix 2000 system and the LIM 2094 xLxx or 2094 xLxxS xx is not used The clean zone C is beneath the Kinetix 2000 system and includes the I O wiring feedback cable and dc filter grey wireway The dirty zone D is above the Kinetix 2000 system black wireway and includes the circuit breakers transformer 24V power supply contactors ac line filter and motor power cables The very dirty zone VD is limited to where the ac line EMC filter VAC output jumpers over to the IAM Shielded cable is required only if the very dirty cables enter a wireway The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones No LIM Dirty Wireway Clean Wireway Very dirty EMC filter IAM connection segregated not in wireway A Contactors Circuit Breaker 24V Motor 4 E Line Filter UJ DC Kinetix 2000 Filter System i 1 0 and Feedback Cables Route Motor Power and Route Encoder Analog Registration 24 V dc 1 0 Shielded Cables Shielded Cables If IAM AM 1 0 cable contains di
52. click the new motion group and select Properties The Motion Group Properties dialog opens Dx Axis Assignment Attribute Tag Unassigned Assigned Axis_1_Aux Axis_1 Add gt lt Remove tees 5 Select the Axis Assignment tab and move your axes created earlier from Unassigned to Assigned 6 Select the Attribute tab and edit the default values as appropriate for your application The coarse update rate must be a multiple of the SERCOS ring rate 7 Click OK Configure Axis Properties Follow these steps to configure axis properties Publication 2093 UM001A EN P March 2007 Configure and Startup the Kinetix 2000 Drive System 119 1 Right click an axis in the DriveExplorer software dialog and select Properties 2 Select the General tab after the Axis Properties dialog opens 3 Select the Drive Motor tab and edit the default values as appropriate for this axis a Set the Kinetix 2000 Amplifier Catalog Number 2093 AC05 MPx 2093 AMPx or 2093 AMOx b Set the Motor Catalog Number E i Ox Axis Assignment attibute Tag Unassigned Assigned Axis_1_Aux Axis_1 Add gt lt Remove IMPORTANT If you do not know the catalog number you may refer to the name plate on the amplifier or motor for its catalog number 4 Clear the Drive Enable Input Checking checkbox When checked default the drive system requires a hardware based drive enabl
53. commutation fault detected DISABLE N Self Sense Fit DriveEnablelnputFault si Vise amon E43 Generated when Enable input switches off when drive is enabled STOP Y Drive Enable Fit SERCOSFault SERCOS iud ADDR E50 Duplicate node address detected on SERCOS ring STOP N DriveHardFault E54 Current feedback hardware fault detected SHUTDOWN N DriveHardFault E60 Invalid module type identified by firmware when applying power SHUTDOWN N Unknown Axis AuxFeedbackFault mos es 9 E61 Auxiliary encoder has encountered an illegal state transition DISABLE N AuxFeedbackFault TAE UAM E62 The feedback wiring is open shorted or missing DISABLE N Aux Fdbk Loss AuxFeedbackNoi noe 18 E63 Presence of noise on auxiliary feedback cable Aux Fdbk Noise DISABLE Ni MotorFeedbackNoise E64 iu tor feedback resence of noise on motor feedback cable Mtr Fdbk Noise No Fault Message dition indicated b message 65 Hookup procedure failed DISABLE N Hookup Fault No Fault Message dition indicated b condition indicated by E66 Autotune procedure failed DISABLE N on screen message Atune Flt Publication 2093 UM001A EN P March 2007 Troubleshooting the Kinetix 2000 Drive System 147 E RSLogix Fault Message RSLogix Error D a Drive Fault escription Programmable HIM Code Action Fault Action Dri
54. error code shown and faults with assigned error codes is designed to help you resolve anomalies When a fault is detected the seven segment LED indicator will display an E followed by the flashing of the two digit error code one digit at a time This is repeated until the error code is cleared Seven segment LED Indicator Error Codes Problem or Symptom Potential Cause Possible Resolution Power PWR indicator not ON No ac power or auxiliary logic power Verify ac control power is applied to the Kinetix 2000 system Internal power supply malfunction Call your Rockwell Automation sales representative to return module for repair Motor jumps when first enabled Motor wiring error e Check motor wiring e Run Hookup test in RSLogix 5000 software Incorrect motor chosen Verify the proper motor is selected Digital 1 0 not working correctly 1 0 power supply disconnected Verify connections and 1 0 power source BusUndervoltage A blown fuse was detected Fault Call your Rockwell Automation sales E00 on the inverter PCB Blown fuse representative to return module for repair Blown fuse e Operate within not above the continuous torque rating for the High ambient motor temperature and or ambient temperature excessive current 40 C 104 F maximum MotorOvertemp Fault Motor thermal switch e Lower ambient temperature increase Motor Overtemp
55. gt WHT BLACK XX 2 8 Feedback 2 9 2090 Soo RED COS 3 MF Motor Power Cable a WHI RED XX COS 4 Connector Note 4 i Motor Feedback gt gt m TEE we M 5 z G BR 13 MBRK 2 Black lt lt 9 5VDC 14 5 Motor MBR E is CER 3 aoe 10 jon waar i Brake 1 24V dc 11 ORANGE BC PWR PENES o3 WHT ORANGE XX TS 11 Connector COM User Supplied Thermostat iY Eco UM illustration lower left 777 for proper grounding technique Grounding Technique for Feedback Cable Shield Clamp 4 Exposed shield secured under clamp Clamp screw 77 Low Profile Connector 2090 K2CK D15M shown urn clamp over to hold small cables secure 2090 XXNFMF Sxx Feedback Cable Notes 4 9 Publication 2093 UM001A EN P March 2007 180 Interconnect Diagrams Wiring Example for TL Series Motor with 230V Axis Module IAM or AM KINETIX 2000 TL Series 230V IAM inverter or AM 2090 XXNPT xx Sxx Motor SERVO MOTOR Power Cable WITH Note 4 HIGH RESOLUTION FEEDBACK 0 N 1 1 Brown 1 U 2 U 2 Black 2 lt lt V T hree Phase Motor Power V lt lt T Motor Power 4 MP W 3 Blue 3 Connector a 4 Green Yellow 4 lt 7 1 GND 8 77 Motor Feedback 3 Motor Feedback 10 MF Connector 2090 DANBT 18Sxx B
56. logical addressing of axis modules Publication 2093 UM001A EN P March 2007 46 Kinetix 2000 Connector Data 1 0 Connector Pinouts IAM AM 1 0 and Auxiliary Feedback 44 pin IOD AF Connector er Description Signal UAE Description Signal 1 Reserved 23 Registration input 2 REG2 2 Reserved 24 Registration input 2 24V 24V REG2 3 Reserved 25 Registration input 1 common 24VCOM REG1 4 Reserved 26 Registration input 1 REG1 5 Reserved mE 2 Registration input 1 24V 24V REGI 6 Reserved E 28 24V common 24VCOM 7 Reserved 29 Overtravel input negative OT 8 Reserved 30 24V power outpu 24VPWR 9 Reserved 31 Sine A positive differential input 10 Reserved 32 Sine A negative differential input SINE A 11 Reserved 33 Cosine A positive differential input COSINE B 12 Reserved 34 Cosine A negative differential input COSINE B 13 Reserved 35 Reserved 14 Reserved 36 24V common 24VCOM 15 Reserved 37 Overtravel input positive OT 16 positive differential input DATA l 38 24V power output 2ANPWR 17 ie negative differential input DATA l 39 24V common 24VCOM 18 Encoder 5V power supply EPWR 5V 40 Home input HOME 19 Encoder common ECOM 41 24V power output 24VPWR 20 Encoder 9V power supply EPWR 93V 42 24V common 24VCOM 21 Reserved E 43 Enable ENABLE 22 Registration input 2 common 24VCOM REG2 44 24V power o
57. option to Disable Keying unless the application requires a different setting 7 Click OK Publication 2093 UM001A EN P March 2007 Configure and Startup the Kinetix 2000 Drive System 115 8 Select the Associated Axes tab Iii Module Properties SERCOS 2093 05 5 1 1 General Connection Associated Axes Power Madule Info Node 1 lt none gt E E New Axis Node 123 lt none gt X El Auxiliary Axis Status Offline Cancel 9 Click the New Axis button The New Tag dialog opens 10 Add the axis 1 Name the axis 2 Select AXIS_SERVO_DRIVE as the data type 11 Click OK The axis appears under the Ungrouped Axes folder in the Controller Organizer software dialog 12 Assign your axis to the node addresses as shown in the dialog below IB Module Properties SERCOS 2093 ACO5 MP5 1 1 General Connection Associated Axes Power Madule Info Node 1 Axis 1 z New Axis Node 129 Axis 1 Aux T Asian Anis Status Offline Cancel he __ amp _ 13 Repeat steps 9 11 to create an auxiliary axis for Node x 128 Publication 2093 UM001A EN P March 2007 116 Configure and Startup the Kinetix 2000 Drive System Publication 2093 UM001A EN P March 2007 14 Verify the axis name assigned to both the primary and auxiliary axis Bil Module Properties SERCOS 2093 ACO5 NP5 1 1 General Con
58. personnel and damage to equipment caused by short circuits transient overvoltages and accidental connection of energized conductors to the equipment chassis ATTENTION The National Electrical Code contains grounding requirements conventions and definitions Follow all applicable local codes and regulations to safely ground your system For CE grounding requirements refer to Agency Compliance on page 17 Grounding Your System to the Subpanel The 2093 power rail 2093 PRSxx ships with a braided ground strap 100 mm 3 9 in The ground strap connects the power rail ground stub to the bonded cabinet ground bus Connecting the Braided Ground Strap Examples 2093 Power Rail 2093 PRS3 shown Bonded Cabinet Ground Bus Ground Grid or Power Power Rail Distribution Ground Ground Stud Braided Ground Strap For power rail dimensions refer to the Kinetix 2000 Power Rail Installation Instructions publication 2093 IN004 When 2094 mounting brackets may be used to mount LIM over the ac line filter the braided ground strap must be attached to a mounting bracket ground stud Publication 2093 UM001A EN P January 2007 72 Connecting the Kinetix 2000 Drive System Grounding Multiple Subpanels Extending the chassis ground to multiple subpanels is illustrated in the figure below High frequency bonding is not illustrated Subpanels Connected to a Sing
59. publication 2000MM UMO0QI for instructions To avoid personal injury or equipment damage at least one end of a ATTENTION SERCOS fiber optic cable must be disconnected from the drive This ensures that motion will not occur while changes are being made to the Add Bus Cap parameter Remove SERCOS Communication Follow these steps to remove break SERCOS communications 1 Remove three phase and control power from the Kinetix 2000 drive system 2 Remove one of the SERCOS fiber optic cables Fibet optic cable connections Tx and Rx are located on the top of each IAM AM 3 Reapply three phase and control power Setthe Additional Bus Capacitance Parameter Follow these steps to set the Additional Bus Capacitance parameter 1 Start your DriveExplorer software 2 From the menu bar choose Explore Connect Local or enter Ctrl L from the keyboard Publication 2093 UM001A EN P March 2007 214 DC Common Bus Applications Publication 2093 UM001A EN P March 2007 DriveExplorer software will read your system 3 Observe the Linear List of parameters as grouped by Node Port and Axis hierarchy as shown below Linear List Legend x xxx 30 Version Data Axis Number 0 IAM axis 1 1 axis 2 2 AM axis 3 3 AM axis 4 DPI Port Number Network Node N to Parameter Number umber 4 Select the appropriate Devices Node Product path and navigate to the N P x599 Add Bus Cap para
60. safety standards UL 508 C File E226834 European Union 89 336 EEC EMC Directive compliant with EN 61800 3 2004 Adjustable Speed Electrical Power Drive Systems Part 3 EMC Product Standard including specific test methods CE European Union 73 23 EEC Low Voltage Directive compliant with EN 60204 1 1997 Safety of Machinery i EN 50178 1997 Electro Electrical Equipment o nic Equipment for use in Power Installat Machines ions Functional Safety Sy stems EN954 1 1996 Safety of mach EN 60204 1 1997 Safety of Machinery IEC 61508 Part 1 7 2000 Electrical Equipment o inery Safety related parts of con Machines Functional Safety of Electrical Electronic Programmable Electronic Safety related rol systems Part 1 General principles for design V Refer to http www rockwellautomation com products certification for Declarations of Conformity Certificates Line Filter Specifications Line filters are required to meet the conducted emissions requirements Three phase and single phase versions of the filters are available to meet the input power configuration Line Filter Selection Catalog Number Main Input Power Line Filter ac Wire 2093 AC05 MP1 E 170 264V ac 2090 XXLF TC316 2093 05 2 three phase Tesch NF310 16 2093 AC05 MP5 z 4 mm 10 AWG 2093 AC05 MP1 170 264V ac 2090 XXLF TC116 2093 ACOS MP2 single phas
61. 00 9 S uonaauuo 0 1 L YMd suonoeuuo Qul Jamog 1 L LZ 8 L Z 3 ST ry zm SWH 92 0 1 J 9 suonoauuo t 203290005 Samp eseug ae1u 9 G JaMO 1010 JAMO 1 Sur OVA suoieuuo 041 T aseug aelu A 1 LE 10180003 049 z i9 e 1819 90 Za JN Jewogjonuo 4475 lt n suonaeuuo M 204990005 Z JN l JAMOg 10404 JAMOg 10404 7 seyg 314 n 10128uu0 049 2 1910 7 Lo J8MOd 2 pnis punog rwo E sng punolg jeuiqe papuog pnis punog samog XdIN SODV E602 INVI 43M07101 SNE NOWINOD 0002 XILINDI sng jeuiqe papuog XdW S02 V 60Z INV 430Y71 SN NOINWOS 0002 XLL3NDI Publication 2093 UM001A EN P March 2007 Interconnect Diagrams 175 Leader IAM Wiring Example with Multiple Follower IAM gt To Follower gt Main Power Bonded Cabinet Ground Bus Connector To Follower Control Power Kinetix COMMON BUS LEADER IAM 2093 AC05 MP x Kinetix 2000 or 2094 AC xx M xxx Kinetix 6000 Power Rail 170 264VAC RMS Note 1 2 Three Phase VAC Line Single Phase Input gt gt Ground Stud Control
62. 00 0000 gt R 1 013 Drive Status 0000 0000 0100 1011 a Axis 2 R 1 0 14 Commun Errors 0000 0000 0000 0100 Axis 2 Diags R 1 0 15 Telegram Type 7 Axis 2 Group R 1 0 16 IDN List AT 51 Axis 200 R 1 0 17 Reserved 0 Axis 3 R 1 0 18 Reserved 0 Axis 3 Diags es oe 0 D eservel 3 foun 1 0 21 Reserved 0 Axis 31 0 R 1 022 Reserved Axis 4 R 1 023 Reserved 0 Axis 4 Diags R 1 0 24 IDN List MDT 47 Axis 4 Group 1 0 25 Reserved 0 Axis 400 R 1 026 Reserved 0 p R 0028 MST Enor 0 ee D rrors A dp R 1 029 MDT Errors 0 Axis 5 Group 1 0 30 Version Data VER 01 95 18 Axis 5 TO R 1 031 Reserved Axis 6 1 0 32 Prime OP Mode 0 0000 0000 0000 0011 Axis 6 Diags 1 0 33 Prime OP Mode 0 0000 0000 0000 0011 Axis 6 Group R 1 0 34 Reserved 0 Each parameter includes these functions Column Description of Contents S Status R Read only NE Fditable The node number of the device on the network The port number 0 if a device The parameter number associated with a specific programming parameter N BP voz Parameter number progression is 0 999 Axis 1 IAM 1000 1999 Axis 2 2000 2999 Axis 3000 3999 Axis 4 4000 4999 Axis 5 5000 5999 Axis 6 6000 6999 Axis 7 7000 7999 Axis 8 Name The item name Value The present value of the item Units The unit of measurement for the item For example scrolling down to Parameter 30 1 0 30
63. 00 6000000061111111 abf 2 120 585 es 1 1 1 1 1 e 1002653711 1002653711 0 ls o st 1883653710 1883653710 Parameters For Help press F1 Parameter coke descriptions Chamgeable RunResdOny Read Orly Linked 15 Expand node x 2093 SERVO in the device workspace and double click on the Linear List Linear List contains one IAM and five other axes The same parameters as Drive Explorer but in a slightly different format IMPORTANT The parameters in Drive Executive are read write and may be saved as an extension dno file Upgrading Firmware 199 16 Expand 1203 SSS in the device wotkspace Double click on the Linear List to view the 1203 SSS or Anacanda listing both baud rate and revisions Drin lt 2093D SERVO gt _ i 105 8081225 1 1 Accelerating v 0 2282 82 48 Connection DPI Node 1 L Parameter Name Value Units Internal Value Comment Default Min Max Alias i B o 20930 SERVO T DPI Port 2 2 a 7 A Linear List 2 DF1 Addr Cfg 1 1 1 0 254 4 IAM 3 DF1 Rate Cfg 38 4kbps x 2 9600bps 9600bps 38 4kbps IAM Diags 4 Comm Fit Action Fault 0 Fault Fault Hold Last IAM Group 5 Reset Module Ready z 0 Ready Ready Set Defaults IAM 1 0 6 Clear DF1 Counts Ready EZ 0 Ready Ready Clear Counts 9 Axis 2 7 DF1 Packets Sent 20237 20237 0 0 4294967295 Axis 2 Diags 8 DF1 Pack
64. 007 Specifications and Dimensions 159 DC Common Bus Fuse Specifications Catalog Number 2093 AC05 MP1 DC Common Bus Bussman Fuse 2093 5 2 N A 2093 5 5 Ferraz Shawmut Fuse 50 20 1 1 Fusing of dc common bus is independent of main input power configuration Contactor Ratings The table below lists the recommended contactor ratings for integrated axis modules installed without a line interface module Catalog Number Main Input Power AC Coil Contactor DC Coil Contactor 2093 05 1 F 170 264V ac 2093 AC05 MP2 single phase N A N A 2093 AC05 MP5 2093 05 1 5 170 264V ac 2093 05 2 three phase 100 C23x10 100 237 10 2093 05 5 Transformer Specifications for Control Power Input Attribute Value 23V system Input volt amperes 500VA Input voltage 230V ac Output voltage 200 240V ac Publication 2093 UMO001A EN P March 2007 160 Specifications and Dimensions Power Dissipation Use the following table to size an enclosure and calculate required ventilation Specifications for your Kinetix 2000 system Usage as a Percentage of Rated Power Output Watts Kinetix 2000 Modules 20 40 60 80 100 Converter IAM 1 2093 05 1 2093 05 2 Three phase 7 0 10 5 14 0 17 4 20 9 2093
65. 1 5 16 6 5 0 26 0 5 4 4 Flexible with ferrule 1 5 16 2 1 DC common bus connections leader IAM to follower IAM should be kept as short as possible 2 The actual gauge of the contactor enable wiring depends on the system configuration Consult your machine builder the NEC and applicable local codes ATTENTION B To avoid personal injury and or equipment damage make sure installation complies with specifications regarding wire types conductor sizes branch circuit protection and disconnect devices The National Electrical Code NEC and local codes outline provisions for safely installing electrical equipment To avoid personal injury and or equipment damage make sure motor power connectors are used for connection purposes only Do not use them to turn the unit on and off To avoid personal injury and or equipment damage make sure shielded power cables are grounded to prevent potentially high voltages on the shield Publication 2093 UM001A EN P January 2007 14 Connecting the Kinetix 2000 Drive System IAM AM Power Wiring Requirements Connects to Terminals Strip Module Catalog Number Description z Recommended Wire Size Length Torque Value Pin Signal mm AWG mm Nm Ib in 1 U Solid H05 07 V U 2 5 14 MP2 V Stranded H07 V R 2 5 14 Motor power W Flexible H05 07 V K 2 5 14 MP 3 i 1 2093 AC05 MPx 4 sift Flexible with ferrule 2 5 14
66. 1 YELLOW S2 3 lt lt 15 gt T WITYRLOW XX 83 8 9 DRAIN mi 2090 XXNFT Sxx or 2090 XXNFLT Sxx shown Feedback Cable Notes 4 9 Refer to Low Profile Connector Illustration lower left for proper grounding technique Interconnect Diagrams 181 KINETIX 2000 IAM inverter or AM Note 8 gt C5 oF WN AM 230V Wiring Example with Y Series Motor Y Series 230V SERVO MOTOR WITH INCREMENTAL FEEDBACK 1 3 Black 1 lt Motor Power 2 2 Black 2 V Motor Feedback MP V 58 iad 3 lt lt W Three Phase F Connector Connector W 4 lt lt Motor Power IAM AM EM lt lt 9 BLACK A 1 05 WHUBAC XX AM 2 11 RED 3 Motor Feedback 12 gt warmed XX MF E 13 GREEN IM Connector Motor S 14 WHT GREEN X IM 10 15 WHT BLUE 1 12 Feedback z E W 37 13 gt gt BROWN S3 8 UT BRK 2 Black 7 lt lt S S wemesow X Brake BRK 3 3 lt S GRAY 5VDC 14 lt WHT GRAY _ XX 6 PWR 24V dc gt DRAIN Connector mm 4 1 2A IN S o j 2090 XXNFY S User Supplied Feedback Cable Note 4 9 Refer to Low Profile Connector illustration below for proper
67. 143 no rotation 144 Logix drive fault behavior 145 no communication 139 programmable fault action 145 shunt fault LED 141 shunt module 140 shutdown 145 status indicator 134 status only 145 stop motion 145 temperature fault LED 141 tuning axes bandwidth 130 hardware enable input 129 tune tab 129 tuning drive motor 126 typical installation dc common bus 15 with LIM 13 without LIM 14 U ungrounded power configuration 65 units tab 120 unknown axis 137 upgrading 187 W weight specifications Kinetix 2000 162 wiring building your own cables 62 contactor enable 84 earth ground 71 ground jumper setting 69 grounded power configuration 63 I O connections 92 IAM BC connector 89 CED connector 84 CPD connector 81 IPD connector 82 MP connector 85 IAM with LIM 24V connector 80 APL connector 77 CPL connector 79 IPL connector 77 OPL connector 78 P2L connector 79 input powet determining type 63 low profile connectors 95 motot brake 89 motor power 86 87 88 requirements 61 IAM 73 IAM AM 74 SM 74 routing power and signal wiring 62 SERCOS fiber optic cables 99 shunt resistor 97 single phase power configuration ungrounded power configuration 65 Rockwell Automation Rockwell Automation provides technical information on the Web to assist you Suppo rt in using its products At http support rockwellautomation com you can find technical manuals a knowledge base of FAQs technical and application notes
68. 3 005 Build 4 Main Menu Enter Number for Selection 1 Display Setup Parameters 2 Display Event Queue 3 Flash Upgrade 10 Close the Hyperterminal session Publication 2093 UMO001A EN P March 2007 208 Upgrading Firmware 11 Return to Drive Explorer or Drive Executive to verify that parameter 30 for each axis module upgraded to the new firmware revision Publication 2093 UM001A EN P March 2007 D DC Common Bus Applications Introduction This appendix provides integration procedures specific to the Kinetix 2000 multi axis setvo drive systems configured for dc common bus The procedure involves calculating capacitance values and setting the Add Bus Cap parameter using DriveExplorer software Topic Page Before You Begin 209 Calculating Total Bus Capacitance 210 Calculating Additional Bus Capacitance 210 Kinetix 2000 Capacitance Values 211 Common Bus Capacitance Example 212 Setting the Additional Bus Capacitance Parameter 213 Before You Begin These procedures assume you have mounted and wired your Kinetix 2000 dc common bus system Before you set the Additional Bus Capacitance Add Bus Cap parameter in DriveExplorer software you need to calculate the following values Total bus capacitance and Additional bus capacitance Publication 2093 UM001A EN P March 2007 210 DC Common Bus Applications Calculating Total Bus Total bus capacitance is the su
69. 40M product evaluation of the short circuit available current is critical and must be kept below the short circuit rating of the 140M product As long as you do this review and the conditions for use are met the 140M product is appropriate for use with the Kinetix 2000 system The line interface module LIM contains different circuit protection based on type e 2094 AL09 contains supplementary protection device 1492 CB UL 508 and therefore class CC or J fuses with 5kA SCCR must be used on the line side of the 2094 AL09 LIM e 2094 AL15S 2094 AL25S 2094 AL50S 2094 AL75S and 2094 XL75S contain Bulletin 140U UL 489 motor branch circuit protection Overcurrent protection must be adequately coordinated per NEC 2002 article 240 In most cases fuses selected to match the drive input current rating will meet the NEC requirements and provide the full drive capabilities Dual element time delay slow acting fuses should be used to avoid nuisance trips during the inrush current of power initialization Refer to Circuit Breaker Fuse Specifications on page 157 for recommended circuit breakers and fuses Refer to Power Specifications on page 154 for input current and inrush current specifications for your IAM Enclosure Selection The following example is provided to assist you in sizing an enclosure for your Kinetix 2000 system The example system consists of the following components e Six axis Kinetix 2000 servo drive system
70. 41 comm status 139 contactor enable 142 disable drive 145 drive status LED 139 error codes 134 fault action 145 general autotune fault 137 aux fdbk noise fault 137 aux feedback AQB 137 223 aux feedback loss 137 auxiliary encoder error 136 backplane comm 138 blown fuse 134 bus overcurrent 138 bus overvoltage 135 bus undervoltage 135 CAN init 138 common bus flt 139 CPLD FLT 138 digital I O not working 134 drive enable fault 137 drive overcurrent 135 drive overtemp 136 138 drive undervoltage 136 encoder communication fault 136 follow error 136 ground fault 136 hardware overtravel 135 hookup fault 137 Ifbk HW fault 137 illegal hall state 135 IPM fault 135 memory init 138 motor encoder error 136 motor feedback loss 135 motor jumps when first enabled 134 motor overtemp 134 mtr fdbk noise fault 137 NV mem init 138 objects init 138 overspeed fault 136 power indicator not on 134 power phase loss 137 pre charge fault 136 pre charge timeout flt 139 SCANport comm 138 self sense fault 137 SERCOS init 138 SERCOS ring fault 137 SERCOS same addr 137 shunt module fault 138 shunt time out 138 software overtravel 135 task init 138 unknown axis 137 general system problems 143 abnormal noise 144 axis unstable 143 Publication 2093 UM001A EN P March 2007 224 Publication 2093 UM001A EN P March 2007 erratic operation 144 feedback noise 144 motor accel decel problems 143 motor overheating 144 motor velocity
71. 5 18 5 44 300 mA 9V dc EPWR 93V 8 30 9 10 9 90 350 mA 1 Total current is for both channels and is independent of usage by the other channel Publication 2093 UMO001A EN P March 2007 60 Kinetix 2000 Connector Data Locating Shunt Module Connectors and Indicators Publication 2093 UM001A EN P March 2007 The Kinetix 2000 shunt module 2093 ASP06 is suitable for both 230V applications Locating Shunt Module Connectors and Indicators Shunt Module front view 2093 ASP06 Indicators Power Fault LED Over temp Fault LED r Bus Status LED External Thermostat H s a TS2 TS Connector External Shunt Resistor E IN RC Connector Note External resistors not supported at initial release Shunt Module Connectors Designator Description Connector TS Thermal switch connector Two position connector housing RC External shunt resistor connector Three position connector housing External Thermal Switch Two pin TS Connector Pinout TS Pin Description Signal 1 External passive shunt module thermal TS1 2 switch connections 1 2 TS2 1 Factory default bypasses the external thermal switch by placing a jumper between TS 1 and TS 2 7 External shunt resistor is not supported in the initial release of Kinetix 2000 External Shunt Resistor Three pin RC Connector Pinout
72. 8 O dus i a S Line Interface Module optional component SM 2093 SM 164 pF AM 2093 AM02 540 pF AM 2093 AM01 540 pF IAM 2093 5 5 Converter 540 pF Inverter 200 pF Leader Bus Capacitance 1984 pF Follower IAM A t PRF 2093 PRF 0 pF 2093 1 200 uF AM 2093 AMP2 200 pF AM 2093 5 200 pF IAM 2093 ACO5 MP5 Converter 540 pF Inverter 200 pF Follower Bus Capacitance 1340 pF Publication 2093 UM001A EN P March 2007 DC Common Bus Applications 213 Setting the Additional Bus Capacitance Parameter In this procedure you will set the Add Bus Cap parameter using DriveExplorer software The following hardware and software tools are required to provide the necessary communication link between your personal computer and the Kinetix 2000 drive system running DriveExplorer software Description Catalog Numbers Version DriveExplorer software 2 9306 4EXPOZENE 5 02 or later Anacanda Serial to Adapter a 1203 SSS Series B 3 004 or later RSLogix 5000 Software http www ab com support abdrives 9324 RLD300NE 16 0 or later Refer to DriveExplorer Getting Results Manual publication 9306 GRO001 for instructions Additional information regarding these communication and software tools is available at B Refer to 1203 SSS series FRN 3 xxx User Manual
73. 9 NA axis 5 occupies slot Occupied but not in use by 2093 PRS8S power rail occupied by four double wide AMs Publication 2093 UM001A EN P March 2007 SERCOS Fiber optic Ring Node Addressing Example 4 1756 M08SE SERCOS Interface Module 1 5 Y 1756 M08SE SERCOS Interface Module 2 o t ControlLogix Chassis Transmi SERCOS Fiber optic Ring Receive Transmit Aje Aje iB e aje Aje aje aja 8 51 Ti Kinetix 2000 System 2 2093 PRS8S power rail i Node Addresses N A Shunt not an axis 17 axis 16 single wide AM 16 axis 15 single wide AM 15 axis 14 single wide AM 14 axis 13 single wide AM 13 axis 12 single wide AM 12 11 single wide AM 11 10 single wide AM 10 9 IAM base node address Unavailable for axis use in a 2093 PRS8S power rail occupied by eight single wide AMs In Example 4 xxxxx system 1 with an eight axis power rail contains one IAM and four double wide AMs xxxxx system 2 with an eight axis power rail contains one IAM eight single wide AMs and a shunt mod
74. 9 axis unstable 143 backplane comm 138 bandwidth 130 base node address 104 example with double wide modules 107 example with two ControlLogix chassis 106 108 example with two power rails 105 baud rate 104 Index block diagrams converter 184 converter 183 shunt module 185 blown fuse 134 bonding EMI ElectroMagnetic Interference 26 examples 27 high frequency energy 27 subpanels 27 brake 181 brake relay 182 building your own cables 62 bus common dc overcurrent 138 ovetvoltage 135 status LED 139 141 undervoltage 135 bus capacitance common dc 210 Kinetix 2000 maximum 210 module values 211 total 210 understanding 209 bus regulator 117 cables building your own cables 62 categories 34 fiber optic cable length 99 maximum feedback cable length 161 shield EMC 86 87 calculating follower bus capacitance 210 total bus capacitance 210 CAN init 138 catalog number axis module 16 integrated axis module 16 power rail 16 shunt module 16 slot filler 16 CB1 CB2 CB3 123 CE compliance 17 certifications 163 circuit breaker LIM 123 selection 21 Publication 2093 UMO001A EN P March 2007 218 Publication 2093 UM001A EN P March 2007 specifications 157 coil current 182 comm status LED 139 common bus refer to DC common bus common bus flt 139 configuring AM 103 axis properties 119 base node address 104 baud rate IAM 104 bus regulator 117 controller
75. Allen Bradley Kinetix 2000 Multi axis Servo Drive Catalog Numbers 2093 AC05 MP1 2093 AC05 MP2 2093 AC05 MP5 2093 AM01 2093 AM02 2093 AMP1 2093 AMP2 2093 AMP5 2093 PRS1 2093 PRS2 2093 PRS3 2093 PRS4 2093 PRS5 2093 PRS7 2093 PRS8S 2093 ASP06 2093 PRF User Manual Rockwell Automation Important User Information Solid state equipment has operational characteristics differing from those of electromechanical equipment Safety Guidelines for the Application Installation and Maintenance of Solid State Controls publication SGI 1 1 available from your local Rockwell Automation sales office online at http literature rockwellautomation com describes some important differences between solid state equipment and hard wired electromechanical devices Because of this difference and also because of the wide variety of uses for solid state equipment all persons responsible for applying this equipment must satisfy themselves that each intended application of this equipment is acceptable In no event will Rockwell Automation Inc be responsible or liable for indirect or consequential damages resulting from the use application of this equipment The examples and diagrams in this manual are included solely for illustrative purposes Because of the many variables and requirements associated with any particular installation Rockwell Automation Inc cannot assume responsibility or liabi
76. Cont 4 3A Peak 2093 AMP2 Kinetix 2000 230VAC AM 2 84 Cont 8 54 Peak 2093 AMPS Kinetix 2000 230VAC AM 4 2A Cont 12 7A Peak llen Bradley 2094 4CO5 MO1 Kinetix 6000 230VAC IAM 3kW PS 94 Cont 17A Peak Allen Bradley 11 gt Find id llen Bradley _ llen Bradley llen Bradley llen Bradley llen Bradley llen Bradley llen Bradley llen Bradley llen Bradley llen Bradley BEBPEBPEFEEBPEEEEE By Category By Vendor Favorites 2 Expand the Drives category and select the 2093 AC05 MPx 2093 AMP or 2093 AMO x AM drive appropriate for your Kinetix 2000 hardware configuration 3 Click OK The Module Properties dialog opens at the General tab Wi Module Properties SERCOS 2093 ACO5 MP5 1 1 General Connection Associated Axes Power Module Info Type 2093 05 5 Kinetix 2000 230VAC IAM 3kW PS 4 24 Cont 12 74 Peak Vendor Allen Bradley Name K2K Startup Node f ij Description Revision UM Electronic Keying Disable Keying Status Offline 4 Name the module with a descriptive title 5 Set the Node address to match the node setting on the drive Keep in mind that a double wide axis module 2093 AMO1 or 2093 AM02 requires two 2 node addresses Refer to Configure the IAM AM step 2 on page 104 and the node addressing examples on pages 105 108 for additional information on node addressing 6 Set the Electronic Keying
77. Design for Control of Electrical Noise Reference Manual publication GMC RMO001 Bonding Modules Bonding is the practice of connecting metal chassis assemblies frames shields and enclosures to reduce the effects of electromagnetic interference Unless specified most paints not conductive and act as insulators To achieve a good bond between powet rail and the subpanel surfaces need to be paint free or plated Bonding metal surfaces creates a low impedance return path for high frequency energy To improve the bond between the power rail and subpanel construct your subpanel out of zinc plated paint free steel Improper bonding blocks the direct return path and results in high frequency energy traveling elsewhere in the cabinet Excessive high frequency energy can effect the operation of other microprocessor controlled equipment The illustrations that follow show details of recommended bonding practices for painted panels enclosures and mounting brackets Planning the Kinetix 2000 Drive System Installation 21 Recommended Bonding Practices for Painted Panels Stud mounting the Subpanel Stud mounting a Ground Bus to the Enclosure Back Wall or Chassis to the Subpanel Subpanel Back Wall of Mounting Bracket or Enclosure Ground Bus Subpanel AN Welded Stud Star washer SS Flat Washer S Scrape Paint Welded Stud Fat Washer Use a wire brush to remove paint from
78. Environmental Specifications 162 Weight 5 162 D eu SER RM END I e 163 Line Filter Spe ifications ide S PETS PP td ete RP Tel axe smt 163 Product Dimensiones 4 ese st e osea e o e d Eee ia 164 Appendix B OBS 0A E Mee mw itte a 167 MOtinio Exampl s sera esee cab yuh ety xit fo aes 168 Power Wiring Examples oce ce be rece Phe dte 169 DC Common Bus Wiring 1 174 Shunt Module Wiring 1 177 Axis Module Motor Wiring 1 178 Controlling a Brake Example 181 System Block Diagrams cure oe as Qin o C CA I NR ED ICI 183 Appendix EOL NN PR MN as tele iss rete 187 Betote You Besin Rau awed d deb trate 187 Selecting Software Tools to Upgrade the Kinetix 2000 Firmware 188 Using Drive Explorer to Flash the Kinetix 2000 Drive 188 Using Drive Executive to Flash the Kinetix 2000 Drive 193 Using Hyperterminal to FLASH the Kinetix 2000 Drive 202 Flashing Kinetix 2000 Firmware with Hyperterminal 204 DC Common Bus Applications Appendix D tot spe obo aci adr Car cr pato paratas 209 Before You Beriti ie reote ipie eas 209 Calculating Total Bus
79. Fuse Specifications on page 157 for recommended fuse sizes Refer to DC Common Bus Wiring Examples on page 174 for interconnect diagrams Connecting the Kinetix 2000 Drive System 69 Setting the Ground Jumper in Ungrounded Power Configurations Setting the ground jumper is only necessary when using an ungrounded power configuration Setting the jumper involves removing the from the power rail opening the IAM and moving the jumper Setting the ground jumper is best done when the integrated axis module LAM is removed from the power rail and placed face up on a solid surface equipped as a grounded static safe workstation ATTENTION To avoid personal injury and or equipment damage remove the IAM from the power rail before setting the ground jumper To remove the IAM from the power refer to Remove Modules from the Power Rail on page 150 If you have grounded power distribution you do not need to reposition the ground jumper Refer to Grounding Your System on page 71 for more information When using ungrounded input power in common bus configurations use the table below to determine where to set the ground jumpet Ground Jumper Setting If Leader Drive is and Follower Drive is Then Set the Jumper in This Drive Kinetix 2000 IAM Kinetix 2000 IAM Leader Drive Kinetix 2000 IAM non Kinetix 2000 IAM Leader Drive Follower Drive non Kinetix 2000 IAM Kinetix 2000 IAM if no setting e
80. IAM or AM 2093 AMPx or 6 12 max 7 028 0 5 44 2093 AMOx BC 1 PWR Solid H05 07 V U 0 75 18 Brake control and BC 2 MBRK Stranded H07 V R 0 75 18 power BC 3 MBRK Flexible H05 07 V K 0 75 18 BC 4 COM Flexible with ferrule 0 75 18 The gauge of the motor power wiring is dependent on the drive and motor combination Consult your machine builder the NEC and applicable local codes Shunt Module Power Wiring Requirements Connects to Terminals Strip Module Catalog Number Description Recommended Wire Size Length Torque Value Pin Signal mm AWG mm in Nm Ib in DC bus to external RC 1 DC passive shunt module catalog RC 2 INT 10 8 2 number SM 2093 ASP06 1336 MOD KA005 1 RC 3 COL 7 0 28 0 5 4 4 TS 1 TS1 Thermal switch 0 75 18 TS 2 Tg2 External shunt resistor is not supported in the initial release of Kinetix 2000 drive Requires copper wire rated for 105 C 221 F 600V Publication 2093 UM001A EN P January 2007 Refer to Power Specifications on page 154 for additional information and to the Power Wiring Examples on page 169 for interconnect diagrams ATTENTION A This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be da
81. OS interface If you do not have a basic understanding of the Kinetix 2000 drive contact your local Rockwell Automation sales representative before using this product for information on available training courses These conventions are used throughout this manual Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information e Acronyms for the Kinetix 2000 drive components shown in the table below are used throughout this manual Kinetix 2000 Component Catalog Numbers Acronym Integrated Axis Module 2093 AC05 MPx IAM Axis Module double width 2093 AMOx Axis Module single width 2093 AMPx Shunt Module 2093 ASP06 SM Power Rail 2093 PRSxx PR Power Rail Slot Filler 2093 PRF SF 2094 AL09 2094 AL15S Line Interface Module 2094 AL25S 2094 AL50S LIM 2094 AL75S 2094 AL75S C2 Publication 2093 UM001A EN P March 2007 10 Additional Resources The following documents contain additional information concerning related Allen Bradley products Resource ControlFLASH Firmware Upgrade Kit User Manual publication 1756 6 5 6 Description For ControlFLASH information not specific to any drive family 3 8 or 16 axis SERCOS interface Module Installation Instructions publication 1756 IN572 ControlLogix SERCOS interface module installation instructions Logix5000 Controllers Motion Instruction
82. PF Series Power Cable Tie Wrap Secures and Bonds T Gun Brake Wires to Cable Shield Misc a Y Series Brake Wires are not shielded and require no bonding The cable shields shown above are mounted to the power rail IMPORTANT Secure the cable shield with a tie wrap is recommended to improve stress relief Publication 2093 UM001A EN P January 2007 88 Connecting the Kinetix 2000 Drive System Strip Length 10 mm 0 375 in lt Outer Insulation Motor Power Cable Exposed Braid 25 4 mm 1 0 in Cable Pinouts 2090 XXNPMF xxS xx and 2090 XXNPY 16S xx MPL A15xx MPL A2xx 2090 XXNPMP xxXxx cable Y Series Motors MPF A and MPS A Motors TL Series 2090 XXNPY xxXxx cable 2090 XXNPMF xxXxx cable 2090 XXNPT 16Sxx cable 1 White Spare N A wire N A 2 Red set 7 Black BR White rake Brake wires wires N A 9 Black BR Black 3 Black U Brown U Brown 2 Black Motor V Black Motor V Black Motor Power Power Power Wires Wires Wires 1 Black W Blue W Blue lt Grm Yel Grel E 120 mm 4 7 Publication 2093 UM001A EN P January 2007 gt 105 mm 4 1 in gt Refer to Axis Module Motor Wiring Examples beginning on page 178 for interconnect diagrams Motor Power MP Connector Servo Motor MP Con
83. PORTANT Disabled from discharging When configured in common bus follower mode Under some fault conditions two reset commands may be required to clear drive and SM faults Troubleshooting the Kinetix 2000 Drive System 141 Bus Status LED Indicator Bus Status LED x Indicator Status Potential Cause Possible Resolution Flashing Normal condition when control power is applied and bus voltage is less than N A 60V dc Normal condition when control power is applied and bus voltage is greater Steady Green than 60V dc N A Off Control power is not present Internal power supply failure Replace shunt module Temperature Fault LED Indicator Iona LED Status Potential Cause Possible Resolution Off Normal condition N A Shunt module fan failed Replace shunt module SM internal temperature exceeds operating Allow shunt module to cool temperature specification Shunt module temperature exceeds rating Reset faults Verify IAM bus regulator configuration Steady Red Allow shunt module to cool External over temperature External temperature switch is open Reset faults condition Verify IAM bus regulator configuration TS jumper is not present Install jumper Shunt Fault LED Indicator LED Status Potential Cause Possible Resolution Off Normal condition N A Mis wired shunt jumper or other short on RC TEM Y Steady Red Shorted internal or external connector Correct
84. Power CPD Connector Motor Power Connector Three Phase Motor Power 1 170 264VAC RMS gt 2 12 MP Connector Connections Note 1 21 3 Note 4 4 13 Main Power 5 MP Connector P DC DC Input Fusing PWR ie ae Note 2 2 BR Brake BC MBBK Connector cH 4 lt Contactor Enable CED Connector CONT EN CONT EN INDICATES USER SUPPLIED COMPONENT To Follower Control Circuit Connections Wire the Leader and Follower IAM contactor enable terminals in series with the safety control string or 1 0 Publication 2093 UM001A EN P March 2007 Interconnect Diagrams onded Cabinet Ground Bus 9 Power Rail Ground Stud Kinetix 2000 COMMON BUS FOLLOWER IAM 2093 AC05 MPx Note 4 a rie gt e 5 Control Power gt re CPD Connector onnections Note 4 Three Phase perm PE NC 1 Motor Power Motor Power i NC 2 12 MP Connector Connections B a Note 14 4 8 Main Power IPD Connector From Leader 5 DC Main Po
85. S interface modules National Electrical Code published by National Fire Protection Association of Boston MA An article on wire sizes and types for grounding electrical equipment You can view or download publications at http literature rockwellautomation com To order paper copies of technical documentation contact your local Rockwell Automation distributor or sales representative Publication 2093 UM001A EN P March 2007 Introduction Chapter 1 Start Use this chapter to become familiar with the Kinetix 2000 drive components This chapter also reviews design and installation requirements for Kinetix 2000 drive systems Topic Page About the Kinetix 2000 Drive System 12 Catalog Number Explanation 16 Agency Compliance 17 Publication 2093 UM001A EN P March 2007 12 Start About the Kinetix 2000 Drive System The Kinetix 2000 multi axis servo drive is designed to provide a Kinetix Integrated Motion solution for applications with output power requirements between 3 45 kW 4 49 A Kinetix 2000 Drive System Overview Catalog Numbers Description Integrated Axis 2093 ACOS MPx Integrated Axis Module IAM mounts on a Kinetix 2000 power rail and is a 230V ac power converter Module and inverter It is installed on a Kinetix 2000 power rail Axis Module 2093 AMxx Axis Module AM is a shared 230V dc bus power inverter that mounts on a Kinetix 2000 power rail Th
86. TANT If you determine that you have ungrounded power distribution in your facility you need to move the default jumper configured for grounded power to the ungrounded power position to prevent electrostatic buildup inside the IAM Refer to the Setting the Ground Jumper in Ungrounded Power Configurations on page 69 for more information Ungrounded Three phase Power Configuration delta secondary Integrated Axis Module Front View 2093 ACxx MPx Conduit 4 Wire Cable al EIE RE E 1 L1 Transformer L Y E 3Phase D Input VAC 13 a ee B Ground Bonded Cabinet 9 Ground Internal Jumper Must Be Changed For This Configuration e To Power Rail Ground Stud Ungrounded systems do not reference each phase potential to a ATTENTION e m power distribution ground This can result in an unknown potential to earth ground Publication 2093 UM001A EN P January 2007 66 Connecting the Kinetix 2000 Drive System Publication 2093 UM001A EN P January 2007 Grounded Single phase Power Configurations Common single phase power configurations with both line to line and line to neutral connections are acceptable Single phase Power Configuration line to line Integrated Axis Module Front View 2093 ACxx MPx
87. Version Data VER 01 95 18 indicates this is the IAM inverter with version 01 95 18 version 01 95 build 18 It is the first axis in the 2093 system or the IAM To view Publication 2093 UM001A EN P March 2007 192 Upgrading Firmware Axis 2 parameter 30 move to 1 0 1030 To view parameter 31 for Axis 2 move to 1 0 1031 t F 0 7 Keserveg u t 1 0 28 MST Errors 0 t 1 0 29 MDT Errors 0 1 0 30 Version Data VER 01 95 18 t 1 031 Reserved 0 n0 Prime OP Mode 0 0000 0000 0000 0011 1 0 33 Prime OP Mode 0 0000 0000 0000 0011 t 1 0 34 Reserved 0 o a 13 Go to the IAM in the Device Workspace and select Configuration Parameter 708 is the Axes to Flash when using Hypterminal El Devices E Node 1 2093D SERVO Drive OK 2 0 20930 SERVO Config 0000 1 0 521 Slave Node List 1 Parameter List R 1 0 529 Auto Ref Enabled 0 IAM E 1 0 708 Axes to Flash xxxx xxxx 1111 1111 Pwr Supply Data 1 0 501 A B Application SERCOS Servo Shunt Data Configuration Monitor TIP Check the firmware level of each axis on the power rail You should always have the same firmware level for each axis module in the system Parameter 708 is used to flash any axis on the 2093 power rail 14 Double click on parameter 708 to open the Axes to Flash window 708 Axes to Flash Bit Selection Advanced IAM Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis Axis 7 Axis 8 Select Default Hex Value
88. Wiring the LIM Connectors This section provides examples and wiring tables to assist you in making connections to the line interface module LIM connectors Wiring the Auxiliary Input Power APL Connector The Auxiliary Input Power APL connector is present only on the 2094 XL75S Cx models Line Interface Module APL connector Line Interface Module Top View 2094 XL75S Cx is shown Auxiliary Input Power APL Connector Recommended Wire Size Strip Length Torque Value Single phase Supply APLPin Signal mm AWG mln Nm Ib in L1 1 L1 0 2 0 24 10 7 0 0 28 0 5 0 6 4 4 5 3 L2 2 L2 N Wiring the VAC LINE IPL Connector Line Interface Module IPL connector Line Interface Module Top View 2094 XL75S Cx is shown Publication 2093 UM001A EN P January 2007 78 Connecting the Kinetix 2000 Drive System VAC LINE IPL Connector 2094 AL09 2094 ALxxS and 2094 XL75S C x Recommended Wire Size Strip Length Torque Value Three phase Supply IPLPin Signal mm AWG mm in Nm Ib in L1 4 L1 12 3 12 25 25 14 4 16 0 0 63 2 1 24 L3 2 L3 d 1 Wiring the VAC LOAD OPL Connector Line Interface Module OPL connector Line Interface Module Top View 2094 XL75S Cx is shown Line interface modules 2094 ALxxS and 2094 XL75S Cx are capable IMPORTANT of connecting to two IAMs providing eac
89. ac load shielded option X X OPL V ac load unshielded option X Control power output CPL X MBRK PWR MBRK COM P1L PSL X Status 1 0 IOL X Auxiliary 230V ac P2L X Publication 2093 UM001A EN P March 2007 36 Planning the Kinetix 2000 Drive System Installation Publication 2093 UM001A EN P March 2007 Noise Reduction Guidelines for Drive Accessories When mounting an ac EMC line filter refer to the sections below for guidelines designed to reduce system failures caused by excessive electrical noise Line Filters ac Observe the following guidelines when mounting your ac EMC line filter refer to the figure on page 33 for an example Mount the line filter on the same panel as the Kinetix 2000 drive and as close to the power rail as possible Good HF bonding to the panel is critical For painted panels refer to the examples on page 27 Segregate input and output wiring as far as possible IMPORTANT CE test certification applies only to ac line filter and single power rail Sharing a line filter with multiple power rails may perform satisfactorily but the user takes legal responsibility Motor Brake and Thermal Switch The thermal switch and brake are mounted inside the motor but how you connect to the axis module depends on the motor series Refer to Wiring the Motor Brake BC Connector on page 89 for wiring guidelines Refer to Axis Module Motor Wiring Examples beginni
90. ather it p E04 dynamically folds back current when 11096 of motor rating is STOP Motor Overtemp reached Setting the Motor Thermal fault action to Status Only will bypass this function ee E05 t over current was detected in the inverter power SHUTDOWN N HardOvertravelFault E06 Axis moved beyond the physical travel limits in the positive negative STOP Y direction This fault can be configured for status only Hard Overtravel MotFeedbackFault oV E07 The feedback wiring is open shorted or missing DISABLE N Motor Feedback Loss With three phase power applied the dc bus voltage is below limits BusUndervoltageFault es The trip point is 137V dc for 230V drives SHUTDOWN Bus Under Voltage DC bus voltage is below limits when any axis on common bus follower power rail was enabled DriveOvervoltageFault i imi ip point i is Binden E10 Me RENT above limits The trip point is 410V dc for 230V SHUTDOWN N MotFeedbackFault dini E11 State of Hall feedback inputs in incorrect DISABLE N SoftovertravelFault E16 Axis position exceeded maximum software setting in the positive STOP y 7 negative direction This fault can be configured for status only Software Overtravel OverSpeedFault Axis speed has reached 150 of the maximum rated setting The Ef E18 10096 trip point is dictated by the lesser of the user velocity limits or DISABLE N the motor rated base speed PositionErrorFault E19 Axis position error limit has been exceed
91. ation Wait for steady green on all three LED indicators Steady green Communication ready Refer to Test and Tune the Axes Not flashing green or red and not steady green SERCOS module is faulted Refer to the appropriate Logix manual for specific instructions and troubleshooting Publication 2093 UM001A EN P March 2007 126 Configure and Startup the Kinetix 2000 Drive System Test and Tune the Axes Publication 2093 UM001A EN P March 2007 This procedure assumes that you have configured your Kinetix 2000 drive your SERCOS interface module and applied power to the system Before proceeding with testing and tuning your axes verify that the IAM and AM seven segment and status LED indicators are as described in step 6 on page 124 For help using RSLogix 5000 software as it applies to testing and tuning your axes with ControlLogix CompactLogix or SoftLogix SERCOS modules refer to Additional Resources on page 10 Test the Axes Follow these steps to test the axes 1 Verify that the load was removed from each axis 2 Right click an axis in your Motion Group folder in the DriveExplorer software dialog and then select Axis Properties The Axis Properties dialog appears 3 Select the Hookup tab General Motion Planner Units Drive Motor Motor Feedback Aux Feedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultAct
92. attached 2093 AC05 MP1 44 pin connector kit options include 2093 AC05 MP2 e 2090 U3BK D44xx connector kit 2093 AC05 MP5 containing a 2090 U3BK D44 terminal 2093 AMP1 50 8 mm 2 0 in 50 8 mm 2 0 in block and 2090 U3BK D44xx cable 2093 AMP2 2093 AMP5 235 mm 9 25 in e 2090 U3BK D44 terminal block and 2093 1 custom built cable 2093 AM02 e 2090 U3BK D44 terminal block and flying lead cable 2093 ASP06 305 mm 12 0 in 50 8 mm 2 0 in 200 mm 7 9 in 2093 PRF None None None Additional clearance required to accommodate cable bend restrictions Publication 2093 UM001A EN P March 2007 Planning the Kinetix 2000 Drive System Installation 25 Although clearance left and right of the power rail is not necessary for ventilation additional clearance is required when mounted adjacent to noise sensitive equipment or clean wireways Refer to page 160 for power dissipation specifications Publication 2093 UM001A EN P March 2007 26 Planning the Kinetix 2000 Drive System Installation Minimizing Electrical Noise Publication 2093 UM001A EN P March 2007 This section outlines best practices which minimize the possibility of noise related failures as they apply specifically to Kinetix 2000 system installations For information on the concept of high frequency bonding the ground plane principle and electrical noise reduction refer to the System
93. aximum feedback cable length 161 memory init 138 module mounting order 38 module properties IAM 114 SERCOS module 111 Motion Analyzer CD 10 motion group properties 118 motor accel decel problems 143 motor and feedback tab 120 motor brake 36 motor encoder error 136 motor feedback loss 135 motor jumps when first enabled 134 motor overheating 144 motor overtemp 134 motor velocity problems 143 motors brake wiring 89 feedback pin outs 47 48 93 feedback specifications 57 ground termination 85 interconnect diagram external brake relay 182 MPF A and MPS A 179 MPG A 178 MPL A 178 MPL A and MPG A 178 TL Series 180 Y Series 181 power and brake pin outs 50 power wiring MP 86 87 Y Series 88 testing 126 tuning 126 mounting your drive 221 external shunt resistor 41 module mounting order 38 mounting modules 40 mtr fdbk noise fault 137 no communication 139 node address 114 noise feedback problems 144 zones 28 noise abnormal 144 NV mem init 138 0 objects init 138 optical power level 104 113 overspeed fault 136 ovetview 11 P panel requirements 19 parameter 213 pin outs I O connector IAM AM 46 input connector IAM 49 motor and brake connector 50 motor feedback connector 47 48 93 shunt module connector 60 planning your installation 19 power dissipation specifications 160 power indicator not on 134 power phase loss 137 power rail catalog number 16 dimensions 166 removing 151 removing modu
94. ble 5 n RSLinx configure a communication driver to interface between your and the DPI port on the Kinetix 2000 IAM 1 Select Add New Available Driver Types RS 232 DF1 devices E Add New 2 Name the device RS 232 DF1 devices as shown 3 Select OK Publication 2093 UM001A EN P March 2007 194 Upgrading Firmware Publication 2093 UM001A EN P March 2007 6 Configure the RS232 DF1 Device as shown Configure RS 232 DF1 Devices Device Name AB_DF1 1 Comm Port cout Device 1770 2 1 785 KE 5SCANpoi 38400 Station Number 01 Octal Parity None Error Checking Stop Bits 1 Protocol Fui Duplex Auto Configure Use Modem Dialer Configure Dialer OK Delete The baud rate for a 1203 SSS device is often written the back label If the baud rate is not found you should attempt to connect by enteting different baud rates e Select the correct baud rate for the device The diagram shows 38 400 as the correct baud rate Verify the correct Comm Port is selected for your pc No conflicting programs should be using this port at this time For example RSLinx should not be open at this time The SCANport must be listed as the Device and the octal Station Number is 01 7 Select Auto Configure Upgrading Firmware 195 8 A successful connection results in the following di
95. ble use shielded cable with shields grounded to the drive chassis and filter case For line filter specifications refer to the Line Filter Specifications on page 163 4 Terminal block is required to make connections 5 Source 2093 5 230V IAM control power from the three phase input power line to line Supplying 230V control power from any other source requires an isolation transformer If used do not ground either leg of the isolation transformer output 6 LIM model 2094 ALxxS supplies a maximum of eight axes LIM models 2094 XL75S Cx can supply a maximum of sixteen axes For common bus systems with more than sixteen axes multiple LIMs or control power transformers are required y LIM models 2094 ALxxS and 2094 XL75S Cx are capable of connecting to two IAMs providing each IAM has its own line filter and the maximum current specification is not exceeded 8 Contactor coil M1 needs integrated surge suppressors for ac coil operation Refer to the Contactor Ratings on page 159 for more information 9 Drive Enable input must be opened when main power is removed or a drive fault will occur A delay of at least 1 0 second must be observed before attempting to enable the drive after main power is restored 10 Default configuration for jumper is for grounded power at user site Ungrounded sites must jumper the bleeder resistor to prevent high electrostatic buildup Refer to Determining Your Type of Input Power on page 63 for more information
96. ble in dirty wireway When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to Chapter 4 of the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 Publication 2093 UM001A EN P March 2007 32 Planning the Kinetix 2000 Drive System Installation Observe the following guidelines when a LIM 2094 ALxxS 2094 XL75S Cx is used in a dc common bus configuration and the follower IAM is mounted below the leader The very dirty zone VD is from the filter output to the Leader IAM and the entire length of the dc common bus cable Shielded cable is required on the EMC filter load side and the braided shield attached to the clamp provided Keep the dc common bus cable very dirty segregated from all other cables not in a wireway The clean zone C is to the right and below the Kinetix 2000 system grey wireway The dirty zone D is to the left of the Kinetix 2000 system and above and below the LIM black wireway The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones dc common bus rty Wireway Clean Wireway D 170 264V ac Single phase 1 D DS Filter VD Auxiliary Power 3B B 70 264V ac Three phase Main Power Line AUX Vac Output 24V ac Load D D ae Fiber optic cables
97. cant digit LSD To Turn Increment the MSD LSD node address rotary switch clockwise Decrement the MSD LSD node address rotary switch counter clockwise The node address of the determines the base node address for the power rail Node addressing for all slot locations on the same power rail increment from left to right from the IAM to the AMs Refer to the node addressing examples beginning on page 105 IMPORTANT The base node address setting takes effect only after the IAM is initialized or control power is cycled 3 Set the SERCOS optical power level using DIP switch 1 Total Fiber Ring Length S Seung Optical Power 14 m 46 ft OFF Low 14 m 46 ft ON High 4 Set the SERCOS baud rate using DIP switches 2 and 3 Corresponding Baud Rate Baud Rate Switch Settings Switch 2 Switch 3 4 Mbps OFF ON Publication 2093 UM001A EN P March 2007 Configure and Startup the Kinetix 2000 Drive System 105 Integrated Axis Module 2093 AC05 MP X Switch in ON position DIP Switches Set For 4M Baud Application Low Power Setting DIP Switches Set For 8M Baud Application High Power Setting SERCOS Baud Rate and Optical Power Switches Switch in OFF position o o o o o L 5 Re
98. ce Parameter Publication 2093 UM001A EN P March 2007 DC Common Bus Applications 211 Kinetix 2000 Capacitance Use the tables below when calculating total bus capacitance and additional bus Values capacitance for your Kinetix 2000 common bus application IAM and AM 230V Modules IAM Converter Capacitance IAM or AM Inverter Capacitance 230V uF 230V uF 2093 AC05 MP1 or 2093 AC05 MP1 2093 AMP1 2093 AC05 MP2 or 2093 AC05 MP2 540 2093 AMP2 200 2093 05 5 or 2093 AC05 MP5 2093 AMP5 2093 AM01 540 2093 AM02 SM 230V Module SM Capacitance 230V uF 2093 ASP06 164 Publication 2093 UM001A EN P March 2007 212 DC Common Bus Applications Common Bus Capacitance In the example below the sum of the leader IAM power rail modules Example capacitance and the follower IAM power rail modules capacitance 1984 uF and 1340 uF equals 3324 uF total bus capacitance This configuration does not exceed the maximum total bus capacitance of 3420 uF for a common bus Kinetix 2000 system Calculating Common Bus Capacitance Three phase Kinetix 2000 230V Common Bus System 230V ac Leader Bus Capacitance 1984 pF Input Power Follower Bus Capacitance 1340 pF Total Bus Capacitance 3324 pF AC Line B Filter E Rm Leader IAM
99. circuit before connecting to any Kinetix 2000 common bus follower IAM Typical Common Bus Configuration Integrated Axis Modules Axis Module Axis Modules Common Bus 2093 5 2093 N EN Follower IAM Bonded Bonded Cabinet Cabinet Ground Ground Bus Bus DC Common Bus Publication 2093 UM001A EN P January 2007 68 Connecting the Kinetix 2000 Drive System Publication 2093 UM001A EN P January 2007 Common Bus Fusing Requirements When using a Kinetix 2000 leader dc bus fuses ate only required when wiring to more than one Kinetix 2000 follower LAM When wiring multiple follower IAMs terminal blocks are required to extend the dc common bus power to additional drives Fuses should be installed in both lines of the dc bus between the dc bus terminal block and each follower IAM These fuses should be rated based on the dc input current of each follower IAM When using a non Kinetix 2000 common bus leader dc bus fuses ate required in both lines of the dc bus between the common bus leader and follower IAM These fuses should be rated based on the leader s dc output current When using than one follower IAM fuses should be installed in both lines of the dc bus between the non Kinetix 2000 common bus leader and the terminal block as well as between the dc bus terminal block and each follower IAM Refer to Circuit Breaker
100. ck Specifications The integrated axis module LAM and axis module AM can accept motor Explaine d and auxiliary feedback signals from the following types of encoders e Stegmann Hiperface SKS SKM SRS SRM e Tamagawa 17 bit absolute encoders TL5669 e Sine Cosine w Marker 0 6 1 2V p p w single ended hall Commutation Tracks e Sine Cosine w Marker 0 6 1 2V p p e Differential TTL line driver RS422 with Marker and single ended Hall Commutation Tracks e Differential TTL line driver RS422 with Marker e Differential TTL line driver or Sine Cosine with Hall Effect Commutation and E Travel inputs from Anorad Raptor linear motors Renishaw linear encoders are provided on this product Auto configuration in RSLogix 5000 software of intelligent TIP absolute high resolution and incremental encoders is possible only with Allen Bradley motors Motor and Auxiliary Feedback Specifications AM BM and IM input encoder signals are filtered using analog and digital filtering The inputs also include illegal state change detection AM BM and IM Motor Encoder Input Circuits Drive AM and BM Channel Inputs IM Channel Input Publication 2093 UM001A EN P March 2007 58 Kinetix 2000 Connector Data Motor Encoder Feedback Specifications Attribute Value Encoder types Incremental TTL sine cosine Hiperface and 17 bit serial 5 0 MHz TTL input per channel Max input frequency
101. com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorstlaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 2093 UM001A EN P March 2007 Copyright 2007 Rockwell Automation Inc All rights reserved Printed in the U S A
102. connect drawing Control Power CPD Connector CPL Connector LIM or Other Single phase Input CPD Connector IAM 2094 ALxxS 2094 XL75S Cx Recommended Wire Size Strip Length Torque Value CPL Pin Signal CPD Pin Signal mm AWG mm in Nm Ib in 1 CTRL 1 1 CTRL EN 2 5 14 7 0 28 0 5 4 4 2 CTRL 2 2 CTRL EN Publication 2093 UM001A EN P January 2007 82 Connecting the Kinetix 2000 Drive System Wiring the Input Power IPD Connector This example applies to an integrated axis module LAM or leader dc common bus Integrated Axis Module IPD connector Integrated Axis Module 2093 AC05 MPx shown Input Power IPD Connections OPL Connector LIM or IPD Connector Other Three phase Input IAM or leader IAM 2094 ALxxS or 2094 XL75S Cx IPD Pin Signal OPL Pin Signal 1 L1 4 L1 2 L2 3 L2 3 L3 2 L3 4 d 1 il 5 DC N A 6 DC Termination Specifications Recommended Led n Axis Modulo InputVac Wire Size Strip Length Torque Value MEET mm AWG mm in Nm Ib in 2093 AC05 MPx 230V ac 2 5 14 7 0 28 0 5 4 4 Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System 83 This example applies to a follower dc common bus Input Power IPD Connections IPD Connector IPD Connector Fol
103. d diia SERCOS Init e f fault persists replace module Shunt module temperature fault LED indicator is steady red Refer to Temperature Fault LED Indicator on page 141 DriveOvervoltage 79 Fault Shunt module shunt fault LED indicator is steady red vi to Shunt Fault LED Indicator on page Shunt Module Fit me Install missing module on power rail Module missing from power rail Fill empty slot with slot filler module DriveHardFault E80 Control hardware fault detected Replace module CPLD Fit p Publication 2093 UM001A EN P March 2007 Troubleshooting the Kinetix 2000 Drive System 139 Error Fault Message Code RSLogix HIM Possible Resolution Problem or Symptom Potential Cause DriveHardFault Remove ac input power connections from E81 Common Bus iti Follower IAM detected ac input power being applied follower IAM DriveHardFault E90 din He Pre charge resistor power exceeds the resistor rating Allow resistor to cool Pre charge Timeout Flt All Call your local Rockwell Automation sales others RESERVED representative IAM AM Status Indicators Drive Status LED Indicator LED Status Potential Cause Possible Resolution Off Normal no faults N A N A Seven segment Fault Status display shows an Fault exists refer to Seven segment LED Steady Red Drive faulted error code Indicator Error Codes beginning on page 134 Comm Status LED Indicator
104. d Gear Motor MPL A and MPG A with 230V Axis Module IAM or AM KINETIX 2000 MPL A and MPG A 230V IAM inverter or AM SERVO MOTOR Note 8 WITH 2090 XXNPMP xx Sxx Motor HIGH RESOLUTION Power Cable FEEDBACK 0 Note 4 1 2 U 1 Brown A lt U Motor Feedback 2 Black B V i Motor Power V 3 s C lt lt W Msi as Connector MP W otor Power IAM AM 6 Connector 1 l4 Green Yellow D lt SIN 1 BLACK 7 Motor GND B WHT BLACK XX SIN 2 ns Es RED COS 3 10 Connector 2090 UXNBMP 18Sxx D XX COS 4 11 Brake Cable Motor E gt GREEN DATA 5 Note 4 WHT GREEN 2 8 C BR Feedback 2 XX xu ac GRAY 14 Motor MERK 3 White A lt lt BR L 44 WHT GRAY XX ECOM 6 15 Brake MBRK lt lt Ny J ORANGE 7 PWR 24V dc ot RS S wutvorance XX TS 11 Connector aa 4 1 2 max Thermostat Y Refer to User Supplied S Low Profile Connector illustration lower left L for proper grounding P gt technique Grounding Technique for Low Profile Feedback Cable Shield Connector 90 K2CK D15M shown Clamp Exposed shield secured under clamp p Clamp screw PS urn clamp over to hold small cables secure Publication 2093 UM001A EN P March 2007 2090 XXNFMP Sxx Fee
105. d be applied to the drive when upgrading the firmware In this section you have a choice of software tools to use when upgrading drive firmware Either Drive Explorer or Drive Executive may be used to setup the Kinetix 2000 axes to be flashed Hyperterminal is used to flash the drive selected through Drive Explorer or Drive Executive Drive Executive allows you to create a file and to reuse that file This is a important difference between Drive Executive and DriveExplorer as file reuse rather than creation proves useful when reviewing troubleshooting or evaluating files Using Drive Explorer to Setup the Kinetix 2000 Drives to Flash Follow these steps to use Drive Explorer v5 02 to identify the Kinetix 2000 axes to be flashed 1 Connect the 1203 SSS serial cable between the appropriate COM port on your personal computer and the serial communication port on the Anacanda 2 Connect the 1203 SSS SCANport cable between the SCANport on the Anacanda and the DPI connector on the top of the IAM The drive sources power to the 1203 SSS communication device when Control power is applied to the drive 3 Observe the LED indicator to verify that the 1203 SSS has power SCANport DPI Connector Power LED Serial Communication lt Connector 4 Verify RSLinx software is closed as it may conflict with DriveExplorer Upgrading Firmware 189 5 Open the DriveExplorer software 6 Select Connect and Configure Comm
106. d drive in for repair HardOvertravel Axis moved beyond the PEC winn E06 Fault physical travel limits in the Dedicated overtravel input is inactive e Verify motion profile Hard Overtravel positive negative direction e Verify axis configuration in software E07 The feedback wiring is open shorted or missin Motor Feedback Loss g I open g e Run Hookup test in RSLogix 5000 software e Verify voltage level of the incoming ac power With three phase power present the dc bus voltage power source for glitches or is below its limit P Fault s DC bus voltage for 230V system is below Install an uninterruptible power supply E09 137V UPS on your ac input Bus Undervoltage ge DC bus voltage fell below the undervoltage limit onthe follower axis before removing follower power rail was p enabled Excessive regeneration of power e Change the deceleration or motion profile When the motor is driven by an external tem mot d mechanical power source it may did gen Systema morran DriveOvervoltage shed busvoltade Ta regenerate too much peak energy Kinetix 2000 drive Fault through the drive power supply The e Install shunt module above its limit Bus Overvoltage System faults to save itself from an overload S voltage for 230V system is over Verify input is within specifications e Verify the Hall wiring at the MF MotFeedbackFault State of Hall f
107. dback Cable Notes 4 9 Motor Feedback MPL A 230V MF SERVO MOTOR Connector WITH INCREMENTAL IAM AM FEEDBACK 5 BLACK AM 1 5 51 2 Three Phase Es RED BM 3 W Motor Power D 5 XX BM 4 E GREEN IM 5 L 6 F WHT GREEN IM 10 Motor Feedback GRAY 45VDC 14 LSS waren XX ECOM 6 N 5 ORANGE 7 R WHT ORANGE TS 11 Thermostat TY _ ST XX 1 12 BR U YELLOW 82 13 p 3 Brake 5 venmetow XC sa H P gt Refer to Low Profile Connector illustration lower left 777 for proper grounding technique 2090 XXNFMP Sxx Feedback Cable Notes 4 9 Interconnect Diagrams 179 Wiring Example for MP Series Food Grade and Stainless Steel Motor MPF A and MPS A with 230V Axis Module IAM or AM KINETIX 2000 IAM inverter or AM Note 8 MPF A and MPS A 230V SERVO MOTOR WITH HIGH RESOLUTION FEEDBACK 0 Shield i 1 1 Brown A U 2 U lt lt 3 Motor Power Black B V lt Three Phase Motor Feedback Motor Power MF Connector 4 MP w 13 Blue C W 22 IAM AM 5 Connector l4 Green Yellow Mme 6 lt lt BLACK SIN 1 7 Mot l gt
108. de branch circuit protection to the IAM Line interface module 2094 AL09 contains a supplementary protection device 1492 CB UL 508 and therefore class CC or J fuses with 5kA SCCR must be used on the line side Follow all applicable NEC and local codes Main and Control Input Power Fuse Specifications Main Input Power Control Input Power Catalog Number 2093 ACO5 MP1 2093 5 2 2093 5 5 Main Input 170 264V ac three phase Fuse KTK R 20 20A 2093 AC05 MP1 2093 5 2 2093 5 5 1 When using Bulletin 1492 or 140M circuit protection devices the maximum short circuit current available from the source is limited to 5000 A 2 Fuse selection for control power is appropri 170 264V ac single phase Circuit Breaker 1492 Series 1 1492 CB3H300 Circuit Breaker 140M Series 1 140M F8E C16 N A iate for an eight axis system with the specified IAM Fuse 2 FNO R 10 10 or KTK R 5 5A Circuit Breaker 1492 Series 1 1492 CB2H060 ATTENTION A Bulletin 1492 and 140M circuit breakers should not be used on the output of an ac drive as an isolating disconnect switch or motor overload device These devices are designed to operate on sine wave voltage and the drive s PWM waveform does not permit proper operation As a result damage will occur to the device Publication 2093 UM001A EN P March 2
109. ding is OD AF 43 ENABLE nominally 10 mA A 24V dc input is applied to this terminal to activate each 10 21 ms Level axis Optically isolated single ended active high signal Current loading is OD AF 40 HOME nominally 10 mA Home switch normally open contact inputs for each axis 10 21 ms Level require 24V dc nominal Fast registration inputs are required to inform the motor interface to OD AF 26 REG1 capture the positional information with less than 3 us uncertainty Optically 3 us Ede OD AF 23 REG2 isolated single ended active high signal Current loading is nominally g 10 mA A 24V dc input is applied to this terminal to activate each axis Overtravel detection is available as an optically isolated single ended OD AF 37 OT active high signal Current loading is nominally 10 mA per input The pos 10 21 ms regal OD AF 29 OT neg limit switch normally closed contact inputs for each axis require 24V dc nominal System reaction time is a function of the input signal SERCOS ring time and application code scan time Digital Input Specifications Parameter Description Min Max On state voltage Voltage applied to the input with respect ENABLE HOME and 07 07 10 8V 26 4V to IOCOM to guarantee an on state REG1 and REG2 216V 254V On state current Current flow to guarantee an on state 3 0 mA 10 0 mA Off state voltage to the input with respect to IOCOM to guarantee AV 30V Publication 2093 UMO001A EN P
110. e 3 Click Yes The save to non volatile memory is complete and the following confirmation message dialog opens DriveExplorer E xj Save to non volatile memory was successful OK 4 Click OK 5 Close the DriveExplorer software Publication 2093 UM001A EN P March 2007 216 DC Common Bus Applications Reconnect SERCOS Communication Follow these steps to reconnect SERCOS communication 1 Remove three phase and control power from the Kinetix 2000 drive system 2 Replace the SERCOS fiber optic cable removed earlier Fiber optic cable connections Tx and Rx are located on the top of each IAM AM 3 Reapply three phase and control power Publication 2093 UM001A EN P March 2007 Numerics 1203 SSS serial cable 188 193 15 pin panel mount breakout kit 97 1756L60MO3SE 109 1756 MxxSE 109 1768 M04SE 109 1784 PM16SE 109 44 pin panel mount breakout kit 97 A ac line filters noise reduction 36 acronyms 9 additional bus capacitance 213 calculating 210 example 212 additional resources 10 AM inverter bus capacitance 211 anacanda software 213 applying power 123 autotune fault 137 aux fdbk noise fault 137 aux feedback AQB 137 aux feedback loss 137 auxiliary encoder error 136 auxiliary feedback specifications 57 axes to flash 188 193 axis module catalog number 16 configuring 103 connector designators 44 45 dimensions 164 status indicators 139 wiring requirements 74 axis properties 11
111. e Redundancy Nonvolatile Memory Memory The Date and Time displayed here is Contraller local time not workstation local time Use these fields to configure Time attributes of the Controller Set Date Time and Zone from Workstation Date and Time 1 17 1896 11 58 16 PM Change Date and Time Time Zone GMT 00 00 Greenwich Mean Time D Adjust for Daylight Saving 01 00 jv Make this controller the Coordinated DANGER If CST master is cleared online System Time master active axes in any controller in this chassis or chassis synchronized by SynchLink may Is the master experience unexpected motion Synchronized with a master Duplicate master detected Timer hardware faulted OK Cancel Help 7 Select the checkbox Make this controller the Coordinated System Time master IMPORTANT Only one ControlLogix processor can be assigned as the Coordinated System Time master 8 Click Apply and then click OK Configure the SERCOS Interface Module Follow these steps to configure the SERCOS interface module 1 Right click I O Configuration in the DriveExplorer software dialog and select New Module Configure and Startup the Kinetix 2000 Drive System 111 The Select Module dialog opens lil Select Module Module Description Digital Drives Motion 1756 HYDO2 2 Axis Hydraulic Servo Allen Bradley 1756 MO2AE 2 Axis Analog Encoder S
112. e 2093 AMPx AM must be used with an IAM 1 Shunt Module SM This module mounts on the Kinetix 2000power rail and provides additional shunting Shunt Module 2093 ASP06 capability in regenerative applications Power Rail PR consists of copper bus bars and a circuit board with connectors for each module The Power Rail 2093 PRS xx power rail provides power and control signals from the converter section to adjacent inverters The IAM AM SM and SF modules mount to the power rail Power Rail Slot 2093 PRF Slot Filler SF is used when one or more slots on the Kinetix 2000 power rail are empty after all other Filler power rail components are installed One slot filler is required for each empty slot Logix Controller 1756 L60MO3SE 1756 MxxSE and 1768 MO4SE modules SERCOS interface module PCI card serves as a link between the ControlLogix CompactLogix SoftLogix platform and Kinetix 2000 drive system The communication link uses the IEC 61491 SErial Real time Platforin and the 1784 PM16SE System SERCOS protocol over a fiber optic cable PCI card RSLogix 5000 7 RSLogix 5000 software provides support for programming commissioning and maintaining the Logix Software 9324 RLD300ENE family of controllers Servo Motors MP Series TL Series Compatible servo motors include the MP Series Low Inertia Food Grade and Stainless Steel 230V and Y Series motors TL Series motors and Y Ser
113. e Tesch NF210 16 2093 AC05 MP5 Publication 2093 UM001A EN P March 2007 164 Specifications and Dimensions i This section contains product dimensions for your Kinetix 2000 system roduct Dimensions P y y components Integrated Axis Module Dimensions 2093 AC05 MP1 2093 AC05 MP2 2093 AC05 MP5 T 192 zi 7 5 7 5 _ L9 6 8 3 5 __ 8 m 6 6 5 E Power 2 225 Rail T E 8 8 Dimensions are in mm in Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module Axis Module Dimensions 2093 AM01 2093 AM02 double wide and 2093 AMP1 2093 AMP2 2093 AMP5 single wide 192 J 7 5 80 40 d UU d b 167 5 6 6 0 ial l z Power _ Bs Bs 225 Rail __ 77 i 8 8 y L L Z Y 9 t Dimensions are in mm in Modules are sh
114. e 3 e T Th 13 Main Power a IPD Connections M1 Notes 7 8 5 pc 8 1 8 pc PWR BR Motor Brake E MBRK nc Notes 2 12 BC Connector E werk E BRE CR1 COM 24V AC DC M CR1 pu l or 1 120V AC Lx 50 60 HZ CRI Bai uh START 1 CONT Contactor Enable gt 42 CONT_EN T CED Connector Refer to Attention statement Note 11 INDICATES USER SUPPLIED COMPONENT ALTERNATE INPUT POWER CONNECTION SCHEME Bonded Cabinet Ground Bus Power Rail Chassis Ground Stud 0900 Single Phase Input Single Phase Lf GIRL Control P ingle Phase Inpu _1 ontrol Power 170 264V ac RMS Line Filter i 2 CTRL 2 CPD Connector Notes 1 2 Input Note 3 Fusing Isolation ransformer Input M1 Note 5 Fusing Notes 7 8 VAC Line 1 Three Ph Three Phase Input H ree 2 12 170 264V ac RMS JAC Line Filter 3 Main P Note1 2 L H Note 3 L3 eee i AI IIPD Connections 5 pc 8 Publication 2093 UM001A EN P March 2007 Interconnect Diagrams 173 The configuration on this page does not include a LIM You must supply input power components The single phase and three phase line filters are wired downstream of fusing and the M1 contactor ATTENTION Wiring the contactor enable CED relay is required To avoid injury o
115. e Chassis Ground Stud e Single Phase Input LH Single Phase dl TRL 1 Control Power 170 264V ac RMS AC Line Filter TRL 2 CPD Connector Notes 1 2 Input Note 3 Fusing Isolation Transformer M1 Note 5 VAC Line Notes 8 19 20 Single Phase Input 1 170 264V ac RMS Single Phase 21 To Note 1 2 Input 5 ter Fusing ote 4 L Connections ST bcr S pc Three Phase Motor Power Connections Note 14 1 0 Connection Motor Brake Connections 1 0 Connection Publication 2093 UM001A EN P March 2007 Interconnect Diagrams 174 DC Common Bus Wiring Examples le Follower IAM th S Leader IAM Wiring Example w lt 0 A Wn 20 jonuo AjiSjes eu uw s euiug 9 qeu3 104261007 INVI j9vo o4 pue Japea au AM ANINOdWO9 039915 ASN SILVINI 40 28uu0 032 ejqeu3 1037387409 L NAINO 31409 uonaauuo 0 1 102 101290 07 099 E NJ 109 suonaeuuo jeg Fa a F 3 101290002 28 9 qeu3 203201007 1010 1 ayelg 2010 4 ua J Na INO F 3 uon3euuo 0 1 uonaauuo 0 1 woo l su01 33uu09 3d Fa dal 10 98uU09 38 Aj ayelg 100 38 7 JUIN eyeig 1
116. e input signal De select the checkbox to remove clear that requirement 5 Verify the Drive Resolution and Drive Counts are correct 1 If correct advance to step 6 Publication 2093 UM001A EN P March 2007 120 Configure and Startup the Kinetix 2000 Drive System 2 If incorrect click the Calculate button to determine appropriate values for Drive Resolution and Conversion Constant Then click Update to change the drive s resolution and counts Calculate Position Parameters Position Unit Scaling 0 Position Units per 10 Motor Rev Position Range 1 0 Position Units Calculate Parameters Calculate Drive Resolution Drive Counts Motor Rev Conversion Constant Drive Counts Position Units 3 Close the Position Parameters Calculation dialog 6 Select the Motor Feedback tab and verify the data shown matches the hardware configuration for this axis Homing l Hookup Dynamics l Gains Output Limits Offset Fault Actions Tag General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Feedback Type Cycles 1024 Rev Interpolation Factor 2048 Feedback Resolution 2097152 Feedback Counts per Rev Cancel 7 Select the Units tab and edit the default values as appropriate for this axis 8 Select the Conversion tab and edit the default values as appropriate for this axis Publication 2093 UM001A EN P
117. e interface via the panel mounted terminal block 15 pin and 44 pin Breakout Kits for Use with Kinetix2000 Drives 44 pin 1 0 and Auxiliary Feedback Connector 2090 U3BC D44xx Breakout Cable e CACT 2202 psssss osdssdrosprsps i 1 mj 0 2090 U3BB D44 a 5 De 1 Panel mounted Terminal Block 15 pin S Feedback Connector 2090 UXBC D15xx Breakout Cable u me lee foa Wire Pedog 155599 Terminations Wiring 44 Panel mounted Breakout Kit Wire Terminations 2090 UXB B D15 Panel mounted Terminal Block A panel mounted breakout kit catalog number 2090 U3BK D44 is available This kit permits connection between external devices and the input output and auxiliary feedback IOD AF connector A cable connects between a panel mounted terminal block and the 44 pin I O and auxiliary feedback IO connector Wires from external devices interface via the panel mounted terminal block IMPORTANT The 15 pin and 44 pin breakout blocks accept wire in the range of 4 0 14 mm 12 26 AWG Publication 2093 UM001A EN P January 2007 98 Connecting the Kinetix 2000 Drive System Follow these guidelines when wiring your shunt Shunt Module Connections Follow these guidelines w
118. e performance of the gearbox ballscrew or other mechanical connections The motor connections are loose or open Check motor wiring and connections Foreign matter is lodged in the motor Remove foreign matter The motor load is excessive Verify the servo system sizing No rotation The bearings are worn Return the motor for repair The motor brake is engaged if supplied e Check brake wiring and function e Return the motor for repair The motor is not connect to the load Check coupling The duty cycle is excessive Motor overheating Change the command profile to reduce accel decel or increase time current The rotor is partially demagnetized causing excessive motor Return the motor for repair Motor tuning limits are set too high Run Tune in RSLogix 5000 software again Loose parts are present in the motor e Remove the loose parts e Return motor for repair e Replace motor Abnormal noise Through bolts or coupling is loose Tighten bolts The bearings are worn Return motor for repair Mechanical resonance Notch filter may be required Refer to Axis Properties dialog Output tab in RSLogix 5000 software Erratic operation Motor Motor power phases U and V U and W or V and W reversed Check and correct motor power wiring locks into position runs Sine Cosine or Rotor leads are reversed in the feedback cable
119. e to the closest earth ground IMPORTANT Refer to Pigtail Terminations on page 88 for more information Publication 2093 UM001A EN P January 2007 86 Connecting the Kinetix 2000 Drive System Publication 2093 UM001A EN P January 2007 Motor Power Cables with Three phase Wires Only Motor Motor Catalog Number Motor Power Cable Catalog Number MP Series Low Inertia MPL A3xxx MPL A4xxx MPL A45xxx MP Series Integrated Gear MPG AxxxxS M 2090 XXNPMP xxSxx TL Series TL AXxxx H 2090 XXNPT 16S xx These cables only contain the three phase wires and the motors have a separate connector for brake connections Thermal switch wires are included in the feedback cable IMPORTANT No drive end preparation is required for these cables Motor Power Termination three phase wires only Motor Power MP Connector Plug Cable Clamp with tie wrap K2k Two Axis System 2093 PRS2 2093 AC05 MPx and 2093 shown rre FS m m m m mu uu Cable Clamp with tie wrap Motor Power Cables with Three phase and Brake Wir
120. e upgrade file For Hyperterminal the file must be a binary or extension a Only SERCOS ControlFLASH has the extension nvs 7 Select Xmodem as the transfer Protocol 8 Click Send to statt the flash upgrade The following dialog opens It is followed by additional dialogs that detail the progress of the flash upgrade Xmodem file send for K2K FLASH Sending c Program Files Windows NT HyperTerminalc2093 v 1 95 18 2007 Packet 1646 Error checking ERC Retries 0 Total retries 0 Last error File 206K of 673K Elapsed 00 05 33 Remaining 00 12 37 Throughput 531 cps Cancel cps bps To avoid unrecoverable drive module faults do not interrupt ATTENTION control power to the IAM power to the 1203 SSS SCANport adapter or power to your computer while the flash upgrade is in progress Upgrading Firmware 207 When the firmware flashing has started this dialog opens FLASH HyperTerminal Fie Da sg 05 F Please wait for Flash Update to complete K2K FLASH HyperTerminal Edit View Call Transfer Help amp DPI Host Flash Program Updated Press any key to continue Connected 0 29 51 autodetect 584008 N 1 SCROLL CAPS Capture Print echo 9 Press Enter on the keyboard to return to step 1 FLASH HyperTerminal neg 23 019 T 1203 SSS Smart Self powered Serial Converter DPT Revision
121. ector Line Interface Module 24V connector Brake Power Output 24V dc Connector 2094 ALxxS 2094 XL75S Cx Recommended P1L Pin Signal Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 1 I0 PWR2 2 I0 COM2 3 I0 PWR2 0 08 1 5 28 16 7 0 0 28 0 5 4 4 4 10_ 2 5 10_PWR2 6 10_COM2 Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System 81 Wiring the IAM AM Connectors This section provides examples and wiring tables to assist you in making connections to the integrated axis module connectors Wiring the Control Power CPD Connector This example applies to an integrated axis module leader or follower Integrated Axis Module CPD connector Integrated Axis Module 2093 AC05 MPx shown LIM model 2094 AL75S will supply up to eight axes LIM model IMPORTANT 2094 XL75S Cx will supply up to sixteen axes IMPORTANT Source the 230V IAM control power from the three phase input power line to line Supplying 230V control power from any other source requires an isolation transformer If used do not ground either output leg of the isolation transformer Refer to Control Power Input on page 55 for more information and Single Phase Power Input without LIM to IAM Wiring Example beginning on page 173 for the inter
122. ed This fault can be STOP Y Follow Error configured for status only Publication 2093 UM001A EN P March 2007 146 Troubleshooting the Kinetix 2000 Drive System Fault Message RSLogix Error Description Drive Fault ide EUR HIM Code p Action Fault Action MotFeedbackFault hig D ie E20 Motor encoder has encountered an illegal state transition DISABLE N AuxFeedbackFault E21 Communication was not established with an intelligent Stegmann STOP N Aux Feedback Comm encoder on the Auxiliary feedback port MotFeedbackFault E30 Communication was not established with an intelligent Stegmann STOP N Motor Feedback Comm encoder on the Motor feedback port G dShortFault AM E34 Excessive ground current in the converter was detected SHUTDOWN N Ground Fault DriveUnd ItageFault E I ID E35 The converter pre charge cycle has failed SHUTDOWN N Precharge Fault DriveOvertempFault DT TM CIR E36 Converter internal temperature limit exceeded SHUTDOWN N System Overtemperature e or more phases of the ac input power is missing PowerPhaseLossFault E37 e Axis was enabled when main three phase power was removed SHUTDOWN STOP N Phase Loss Flt e Common bus follower axis was enabled when dc bus power was removed SERCOSFault SERCOS ie Flt E38 The SERCOS ring is not active after being active and operational STOP N DriveHardFault 9 Self sensing
123. ed steel shield instead For examples refer to Chapter 4 of the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 Publication 2093 UM001A EN P March 2007 Planning the Kinetix 2000 Drive System Installation 31 Observe the following guidelines when a LIM 2094 AL09 is used in the Kinetix 2000 system and mounted above the IAM The clean zone C is to the right and beneath the Kinetix 2000 system grey wireway The dirty zone D is to the left and above the Kinetix 2000 system and above and below the LIM black witeway The LIM VAC output is very dirty VD Use shielded cable with a braid clamp attached at both ends of the cable to reduce the rating to dirty D The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones LIM mounted above IAM 1 2 3 Dirty Wireway Clean Wireway Very Dirty LIM IAM connections must be shielded with braid clamp at both ends a Fiber optic Cable A o Sensitive Equipment Within 150mm Kinetix 2000 Drives 2 Power Cables Route Encoder Analog Registration Shielded Cables Route Motor Power and 24V dc 1 0 Shielded Cables For examples of shield clamp attachment refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 If IAM AM 1 0 cable contains dirty relay wires route ca
124. eedback pria on the AMAM E11 Se Bad connections Illegal Hall State Inputs Is incorrect e Verify 5V power supply to the encoder Softovertravel e Verify motion profile Fault E16 Axis position exceeded maximum software setting e Verify overtravel settings are Software appropriate Overtravel Publication 2093 UM001A EN P March 2007 136 Troubleshooting the Kinetix 2000 Drive System Error Fault Message Problem or Symptom Potential Cause Possible Resolution Code RSLogix HIM OverSpeedFault Motor speed has exceeded 150 of maximum rated speed The 100 e Check cables for noise E18 trip point is dictated by the lesser of the user velocity limits or the s Phaskdturi Overspeed Fault motor rated base speed EU tuning e Increase the feed forward gain e Increase following error limit or time PositionErrorFault iti i E19 Position error limit was exceeded Check position loop tuning Follow Error e Verify sizing of system e Verify mechanical integrity of system within specification limits e Use shielded cables with twisted pair wires MotFeedbackFault The motor encoder encountered an e Route the feedback away from E20 Mtr Fdbk Motor Encoder State Error illegal transition potential noise sources e Check the system grounds e Replace the motor encoder AuxFeedbackFault E21 Aux Feedback C Communication was not established with an intelli
125. eld bonded to both panel at both ends which then becomes category D Cable Categories for Kinetix 2000 Systems The table below indicates the zoning requirements of cables connecting to the Kinetix 2000 drive components Integrated Axis Module Converter Side Zone Method Wire Cable Connector very Dirty Ferrite Shielded CTRL 1 and 2 CPD X DC DC unshielded cable L1 L2 L3 shielded cable IPD X L1 L2 L3 unshielded cable X CONT EN and CONT EN M1 contactor CED X DPI DPI X X Publication 2093 UM001A EN P March 2007 Planning the Kinetix 2000 Drive System Installation 35 Integrated Axis Module or Axis Module Inverter Side Zone Method Wire Cable Connector ye Ferri y errite Shielded Dirty Dirty Clean Sleeve Cable U V W motor power MP X X MBRK motor brake X COM PWR 24V dc filtered BC X COM PWR 24V dc unfiltered 21 X Motor feedback MF X Auxiliary feedback AF X Registration outputs X 100 Others X Fiber optic Rx and Tx No Restrictions 1 This is a clean 24V dc available for any device that may require it U Thisisa dirty 24V dc available for motor brakes and contactors Line Interface Module Zone Method Wire Cable Connector Ver y Ferrite Shielded Dirty Dirty Clean Sleeve Cable V ac line main input IPL X 230V ac input APL V
126. en additional axis modules AM a shunt module SM A slot filler SF must occupy any open position Publication 2093 UM001A EN P March 2007 38 Mounting the Kinetix 2000 Drive System Determining Mounting Order Refer to the Kinetix 2000 Power Rail Installation Instructions publication 2093 IN004 when installing your power rail ATTENTION To avoid damage to the power rail during installation do not remove the protective boots until the module for each slot is ready for mounting Mount IAM AM and SM modules in the order left to right shown in the figure A slot filler SF must occupy any unoccupied slots Mount axis modules according to power utilization highest to lowest from left to right statting with the highest power utilization If power utilization is unknown position axis modules highest to lowest from left to right based on Amp rating Highest p Integrated Axis Module 2093 AC05 MP5 Module Mounting Order Power Utilization or Amp Rating 1 Lowest Axis Module Axis Module Axis Module Shunt Module Slot Filler Module 2093 AM01 2093 AMP2 2093 AMP2 2093 ASP06 2093 PRF prn nan
127. ersonal injury or damage to equipment disconnect the ATTENTION load to the motor Make sure each motor is free of all linkages when initially applying power to the system 2 Determine your source of control power If your control power Then Verify that CB1 CB2 and CB3 are in the OFF position Apply three phase input power to the LIM VAC Line connector Set CB3 to the ON position Set CB2 to the ON position Go To main Step 3 Apply 170 264V ac control power to the IAM CPD Is not sourced from a LIM connector Go To main Step 3 N Is sourced from a LIM gt N 3 Observe the logic power LED indicator Seven segment Fault Status LED Indicator Logic Power LED Indicator If the Logic Power LED indicator is Then ON Go To Step 5 1 Check your control power connections NON 2 Go to main step 2 4 Observe the IAM AM Fault Status LED indicator Publication 2093 UM001A EN P March 2007 124 Configure and Startup the Kinetix 2000 Drive System The Fault Status LED indicator initially flash the SERCOS node address then cycles through phases until final configuration phase 4 is reached IAM AM Fault Status LED Indicator Status Do This Actively cycling phase 0 M A E E 1 Check fiber optic connections Displaying a fixed 1 phase 1 e PURI 20 Check node addressing Displaying a fixed 2 phase 2
128. ervo Allen Bradley 1756 M02AS 2 Axis Analog 5SI Servo Allen Bradley 1756 MO3SE 3 Axis SERCOS Interface Allen Bradley 1756 MO8SE 8 Axis SERCOS Interface Allen Bradley 1756 M085EG 8 Axis Generic SERCOS Interface Allen Bradley 1756 M165E 16 Axis SERCOS Interface Allen Bradley Other Specialty By Category By Vendor Favorites 2 Expand the Motion category and select 1756 MxxSE 1756 L60M03SE 1768 MO04SE or 1784 PM16SE as appropriate for your actual hardware configuration 3 Click OK The Module Properties dialog opens Your module appears under the General tab in the DriveExplorer software dialog II Module Properties Local 1 1756 M16SE 16 1 x General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane 1756 M16SE 16 Axis SERCOS Interface Vendor Allen Bradley Name SERCOS Slot 1 p Description SERCOS card used for 1 axis of Kinetix 2000 Revision fe Electronic Keying Disable Keying S Status Offline Cancel Help 4 Configure the new module in the General tab display a Name the module b Select the slot where your module resides leftmost slot 0 c Select an Electronic Keying option select Disable Keying if unsure 5 Click OK Publication 2093 UM001A EN P March 2007 112 Configure and Startup the Kinetix 2000 Drive System 6 Select the Connection tab to verify that both Inhibit Module and Ma
129. es Motor Motor Catalog Number Motor Power Cable Catalog Number MP Series Low Inertia MPL A15xxx and MPL A2xxx V E MP Series Food Grade MPF AxxxxS M 2090 XXNPMF xxS xx MP Series Stainless Steel MPS AxxxxS M MPAI Linear Actuator MPF AxxxxS M TL Series 2090 XXNPT 16Sxx Y Series Y XXXX 2090 XXNPY 16Sxx Connecting the Kinetix 2000 Drive System 87 The MP Seties brake wires have a shield braid shown below as gray that folds back on the overall cable shield before the conductors are attached to the motor brake BC connector Y Series brake wires are not shielded The thermal switch wires for the MP Series motors are included in the feedback cable Refer to Axis Module Motor Wiring Examples beginning on page 178 for interconnect diagrams IMPORTANT No drive end preparation is required for these cables Refer to page 85 for drive end cable pinouts Motor Power Terminations three phase and brake wires K2k Two Axis System 2093 PRS2 2093 AC05 MPx and 2093 AMPx shown Motor Brake BC Connector Motor Power MP Connectors M
130. eshooting General System 143 Logix Drtive Fault 145 Chapter 8 Introductiom used boe e A ros o RR a aaa ER 149 Before Xou Besit apices het bee No C m ED eS pd oaa 149 Remove Modules from the Power Rail 150 Replace Modules on the Power 151 the Power Rall c eR EC E AW EVA 151 Replace the Power Rail ry tae don HARE pP an eese 152 Publication 2093 UMO001A EN P March 2007 Specifications and Dimensions Interconnect Diagrams Upgrading Firmware Publication 2093 UM001A EN P March 2007 Appendix A TORCH DEL ete hat ett ated deduce aede iss mdr AME 155 Power Spe ificatio ns x tosylate ee ol Ie E Vaf dobles 154 Converter Power Specifications 154 Inverter Power 155 Auxiliary Control Power Specifications 156 Shunt Module Power 157 Circuit Breaker Fuse v ed Ve etched adscrito 159 Transformer Specifications for Control Power Input 159 Power Dissipation 160 General Specifications oue A Sp que eta NAR ales aig wail 161 Maximum Feedback Cable Lengths 161
131. etect autodetect SCROLL caes NUM Capture Print echo 3 Type a new Hypterminal name and choose the first icon for the connection 4 Select OK and the following dialog opens Upgrading Firmware 203 Connect To S K2K Flash Enter details for the phone number that you want to dial Country region ec States 1 Area code Phone number Connect using cow 5 Select the appropriate COM port Be sure the port is not tied to another program or in use by other software For example if you just used Drive Executive RSLinx may be open 6 Select OK to open the next dialog box 1 Properties Port Settings Bits per second 38400 Data bits E Parity None 7 Stop bits 1 Flow control Restore Defaults DK Cancel Apply 7 Set up the port setting as shown in screen above Publication 2093 UM001A EN P March 2007 204 Upgrading Firmware Publication 2093 UM001A EN P March 2007 You may notice that the baud rate is the same setting as used with Drive Explorer or Drive Executive and is tied to the baud rate of the 1203 SSS device 8 Select OK This completes the configuration of your Hyperterminal session Flashing Kinetix 2000 Firmware with Hyperterminal This procedure assumes you have identified which axis modules require flashing have set the Axes to Flash parameters and have configured a Hyperterminal session
132. etermine what caused Open Not ready for main power For example E19 position error does not the fault Correct the problem s and clear cause this the fault Power rail has open slot or module is not fully seated e Verify that all power rail slots are occupied by a valid module e Verify that all modules are mounted and secured to the power rail Refer to module mounting instructions beginning on page 40 Connector pins on the power rail backplane or a module are bent SYS_OK or other pins Remove power and dismount each module IAM AM SM or SF Verify the connector pins on each module are not bent or misaligned and power tabs are evenly spaced Publication 2093 UM001A EN P March 2007 Troubleshooting the Kinetix 2000 Drive System 143 Troubleshooting General System Problems Condition Potential Cause Use the tables below for troubleshooting general system faults Possible Resolution Axis or system is unstable The position feedback device is incorrect or open Check wiring Unintentionally in torque mode Check to see what primary operation mode was programmed Motor tuning limits are set too high Run Tune in RSLogix 5000 software Position loop gain or position controller accel decel rate is improperly set Run Tune in RSLogix 5000 software Improper grounding or shielding techniques are causing noise to be transmitted into the posit
133. ets Revd 20239 20239 0 4294967295 a Axis 2 Group 9 Undelivered Msgs 0 o 0 o 65535 Gg Axis 20 10 ENQs Sent 0 0 0 0 65535 NN ENQs Received 3 3 0 0 65535 s 12 NAKs Received 0 0 0 0 65535 8 88 Axis 3 Diags 13 NAK Bad Packet 0 o 0 0 65535 Axis 3 Group 14 NAK No Memory 0 0 0 o 65535 Axis 31 0 15 Duplicate Msgs 0 o 0 o 65535 1 Axis 4 16 Interface Mode Auto zl 0 Auto Auto SCANport Axis 4 Diags 17 DPI Data Rate 125kbps o 125kbps 125kbps 500kbps Axis 4 Group 18 DF1 Addr Act 1 1 1 o 254 Axis 4 1 0 19 DF1 Rate Act 38 4kbps 2 9600bps 9600bps 38 4kbps Axis 5 20 Ref Fdbk Size 32 bit 1 16 bit 16 bit 32 bit Axis 5 Diags 21 Datalink Size 32 bit 1 16 bit 16 bit 32 bit Axis S Group Axis 5 1 0 Axis 6 Axis 6 Diags Axis 6 Group Axis 6 1 0 Default Custom gt fy 2 1203 555 1 Linear List Ca Default Custom For Help press F1 Parameters Parameter color descriptions Changeable Run Read Only Read Only Linked Go to Help in Drive Executive to scan for information such as Linear List or Parameter listing Breakdown of the functions listed are as follows Each parameter includes these functions Column Parameter Value Units Internal Value Source Parameter Comment Min Max Alias Description of Contents Parameter number Short name of the parameter Current value of the parameter Uni
134. f Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are the property of their respective companies Start Planning the Kinetix 2000 Drive System Installation Mounting the Kinetix 2000 Drive System Kinetix 2000 Connector Data Table of Contents Preface About This Publicati nz i EROR aS 9 Who Should Use This 9 Conventions Used in This 1 9 Additional R soutces sedes dah ede doth aw anit 10 Chapter 1 Tat OGdU Convert tae aeg ie tata 11 About the Kinetix 2000 Drive 12 Catalog Number 8 5 16 Agency Compliance oa scs dn se aia tle PIER Sea wes 17 CE Requirements System without 11 17 Requirements System with LIM aac eene ete 18 Chapter 2 Introducttoti tuo ae e die e dtl dala e a 19 System Design cts pfi eb Ap CERO Net edd aee 19 System Mounting 19 Transformer 1 20 Circuit Breaker Fuse 21 Enclosure Selecione RAUS AMA 21 Minimum Clearance Requirements 24 Minimizing Electrical Noise 26 Bonding Mod l s Vague amate e ei n eode as 26 Bonding Multiple Subpanels
135. g 170 264V ac Single phase Control Power Shunt Module Magnetic and Contactor Slot Filler Module Integrated Required when slot E B Axis is unoccupied by an 5 8 Module IAM AM or Shunt B B i fiL _ Bonded Cabinet Ground Bus o4 Bonded Cabinet ot Power E Rail lt Axis Modules 4x To Input Sensors and Control String 1 0 Connections Motor Feedback Motor Power EE MPL MPAI TL and Y Series Motors MP Series Low Inertia Motors Shown Publication 2093 UM001A EN P March 2007 Start 15 170 264V ac Single phase or Three phase Input Power IL I C T Line Interface Module optional component 2094 ALxxS 170 264V ac Single phase Control Power Common Bus Fusing Line Filter 2090 XXLF xxxx 170 264V ac Single phase Control Power Integrated Axis Module IAM Common Bus i Power Rail Typical DC Common Bus System Installation Logix Controller Programming Network ie Logix SERCOS Interface Module a MO Ol le E m
136. g transport Environmental Rating IP2X EN60529 For use only in a Pollution Degree 2 Environment UL508c section 2 7 Open Device UL508c section 2 5 Vibration 5 55 Hz 0 35 mm 0 014 in double amplitude continuous displacement 55 500 Hz 2 0 g peak constant acceleration Shock 15g 11 ms half sine pulse 3 pulses in each direction of 3 mutually perpendicular directions Conformal Coating IB31 DSP and SERCOS pins anti dust and anti humidity 1B73LSE Power Rail connector pins Converter Inverter Shunt Power Rail and Slot Filler PCB assemblies clear UL creepage and clearance issue 1 Peak current output is derated by 15 for each 1000 m over 1000 m 3281 ft Weight Specifications Catalog Number LEE Approx Nara 200 Catalog Number 2093 05 1 2093 1 0 27 0 6 IAM 2093 05 2 1 32 2 9 2093 PRS2 0 38 0 8 2093 05 5 2093 PRS3 0 51 1 1 2093 1 ce 2093 PRS4 0 64 1 4 2093 AMP2 0 67 1 5 2093 PRS5 0 77 1 7 AM 2093 AMP5 2093 PRS7 1 03 2 3 2093 AM01 2093 PRS8S 1 28 2 8 2093 AM02 cr SM 2093 ASP06 0 59 1 3 Slot Filler Module 2093 PRF 0 15 0 3 Publication 2093 UM001A EN P March 2007 Specifications and Dimensions 163 Certification 1 when product is marked Standards Certifications c UL us UL Listed to U S and Canadian
137. ge 170 264V rms single phase 230V nom Control power ac input current Nom 230V ac rms 1 25 A Max inrush 0 pk 93 0 A Bus output voltage nom 325V dc Line loss ride through 20 ms Continuous output current to bus Age 9 67 A 6 42 A Intermittent output current to bus Age 3 19 34 A 12 84 A Bus overvoltage 425V dc Bus undervoltage 137 5V dc Internal shunt Continuous power 15W Peak power 3000 W Internal shunt resistor 50 Q Shunt on 405V Shunt off 375V Continuous power output to bus 3 0 kW 2 0 kW Peak power output 6 0 kW 4 0 kW Efficiency 95 Converter inductance N A Converter capacitance 540 uF Converter leakage current max 2 0 mA All 2093 AC05 integrated axis modules are limited axis modules 2 B Intermittent output current duration equals 250 ms Publication 2093 UM001A EN P March 2007 0 two contactor cycles per minute with up to four axis modules or one contactor cycle per minute with five to eight Maximum inrush duration is less than 1 2 line cycle Specifications and Dimensions 155 Inverter Power Specifications The following tables list power specifications for the inverter section that resides within an integrated axis module or an axis module IAM Inverter Power Specifications Attribute 2093 AC05 MP1 2093 AC05
138. gent encoder Verify auxiliary encoder wiring ux Feedback Comm e Verify motor selection MotFeedbackFault e um e Verify the motor supports automatic E30 Motor Feedback Comm Communication was not established with an intelligent encoder identification e Verify motor encoder wiring e Check motor power wiring Wiring error P e Check input power wiring Motor internal ground short Replace motor Disconnect motor power cable from drive and enable drive with current limit set to 0 Internal malfunction If fault clears then a wiring error or motor f internal problem exists If fault remains pg GroundShortFault Excessive ground current in call your sales representative Ground Fault the converter was detected e Remove ground from control power input e Source control power from three phase Grounded control power terminal input power applies to 230V systems only Refer to the Power Wiring Examples on page 169 for more information e Add isolation transformer for control power DriveUndervoltage Low ac input voltage Check input ac voltage on all phases E35 Fault Converter pre charge cycle Pre charge Fault failed Internal malfunction Call your sales representative e Reduce acceleration rates e Reduce duty cycle ON OFF of commanded motion DriveOvertemp T e Increase time permitted for motion E36 Fault Converter thermal switch Excessive heat exists in the power od System tripped circuitry e Use larger Kinetix
139. grounding technique Controlling a Brake Example The relay output of the Kinetix 2000 drive MBRK signals 2 and BC 3 is suitable for directly controlling a motor brake subject to the relay voltage limit of 30V dc and the relay current limit as shown in the table below Brake Relay Current Limit Kinetix 2000 IAM AM Brake Current Rating Max 2093 AC05 M xx 2093 AMPx 2093 AMOx 1 0A IMPORTANT For brake requirements outside of these limits an external relay must be used Publication 2093 UM001A EN P March 2007 182 Interconnect Diagrams Coil Currents Rated at lt 1 0 A Compatible Brake Motors Coil Current Compatible Brake Motors Coil Current MPL x15xx 0 48 A TL A110P H TL A120P H and TL A130P H 0 208 A MPL x2xx 0 51A TL A220P H and TL A230P H 0 375 A MPL MPF MPS x310 x320 x330 0 50 A TL A2530P H and TL A2540P H 0 396 A xm MPF x430 MPF x4530 MPF x4540 Y 1002 and Y 1003 0 26 A MPG x004 0 33 A Y 2006 and Y 2012 0 31 A MPG x010 Y 3023 0 37 A MPG x025 is MPG x050 0 50 A MPG x110 1 0A This example shows a motor brake configuration using the MBRK signals and an external relay to control a motor brake that exceeds the internal relay rating of a Kinetix 2000 drive A properly rated flyback diode must be placed across the brake coil when using external relay to control the brake Wiring Example for External Brake Relay
140. h IAM has its own line filter and the maximum current specification is not exceeded Refer to Power Wiring Examples on page 169 for an example of the LIM wired to two IAMs VAC LOAD OPL Connector 2094 ALxxS or 2094 XL75S Cx _ Recommended Wire Size Strip Length Torque Value Three phase Supply OPL Pin Signal mm AWG di Nm Ib in L1 4 L1 12 3 L2 25 25 14 4 16 0 0 63 2 1 24 L3 2 L3 n Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System 79 Wiring the Control Power Output CPL Connector Line Interface Module CPL connector Line Interface Module Top View 2094 XL75S Cx is shown Control Power Output CPL Connector 2094 ALxxS 2094 XL75S Cx Recommended CPL Pin Signal Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 1 CTRL 1 0 2 4 0 24 10 7 0 0 28 0 5 0 6 4 4 5 3 2 CTRL 2 Wiring the Auxiliary Power Output P2L Connector Line Interface Module P2L connector Publication 2093 UM001A EN P January 2007 80 Connecting the Kinetix 2000 Drive System Auxiliary Power Output P2L Connector 2094 ALxxS 2094 XL75S Cx Recommended P2L Pin Signal Wire Size Strip Length Torque Value mm AWG mm in Nm Ib in 1 AUXI L1 2 AUX1 L2 0 2 4 0 24 10 7 0 0 28 0 5 0 6 44 5 3 3 AUX2_L1 4 AUX2_L2 Wiring the Brake Power Output 24V dc Conn
141. h Upgrade Flash Upgrade Enter Number for Selection 0 2093D SERVO 2 This 1203 SSS Vou have chosen to update 0 2093D SERVO To update the FLASH memory you need a terminal program capable of downloading a binary file using the XMODEM protocol and a FLASH update file from Rockwell Automation When you press V to signal that you are ready to proceed the terminal program will start displaying the letter C This signals the XMODEM protocol that the download may proceed Vou then have one minute to start the transfer Press CTRL X to cancel an update started by mistake flre you ready to proceed V N Auto detect 38400 8 N 1 4 Select Y when you are ready to perform the function and have found the firmware file The screen to the right of the Y N will fill with the character C to indicate it is waiting to download As displayed in the dialog above you have 1 minute to start IMPORTANT the transfer If you do not start the file transfer within this time you must repeat the previous sequence fromstep 1 5 From the Transfer menu select Send File Publication 2093 UM001A EN P March 2007 206 Upgrading Firmware Publication 2093 UM001A EN P March 2007 E Send File Folder C Program Files Windows NT HyperT erminal Filename 2093 VO1 95 1 8 2007 01 25f a Browse Protocol modem Y Send Close 6 Browse for your firmwar
142. h g your sh Shunt Module Wiring With this shunt module Cat No Do this Power rail mounted shunt 7093 ASPO6 e Verify the internal shunt jumper is in place between RC 2 and RC 3 as shown in the figure below module e Verify the thermal switch jumper is in place between TS 1 and TS 2 as shown in the figure below Publication 2093 UM001A EN P January 2007 Shunt Module Front View External Shunt Resistor External Thermal Switch Shunt Module Jumper Settings Shunt Module Front View 2093 ASP06 2093 ASP06 Jumpers 5 DC 5 INT oJ COL RC Connector TS Connector These jumpers are factory installed Connecting the Kinetix 2000 Drive System 99 Connecting Your SERCOS This procedure assumes you have your Logix SERCOS interface module PCI Fiber optic Cables CompactLogix Platform 1768 MO4SE SERCOS interface Module Front View Bottom View card and Kinetix 2000 IAM AM modules mounted and are ready to connect the fiber optic cables Plastic cable is available in lengths up to 32 m 105 0 ft Glass cable is available in lengths between 50 m 164 2 ft and 200 m 656 7 ft The SERCOS fiber optic ring is connected using the SERCOS receive Rx and transmit Tx connectors Refer to page 53 to locate the SERCOS connectors on your Kinetix 2000 IAM AM and to the figure be
143. he Kinetix 2000 supports the SERCOS fiber optic cables listed in the table Refer to the Fiber optic Cable Installation and Handling Instructions publication 2090 13010 for additional information SERCOS Cable Selection for Kinetix 2000 Drives Connection Adjacent Connection Catalog Number of module to the right SERCOS Cable 1 2093 AC05 MP1 2093 AMP1 2093 05 2 2093 2 2090 SCEPO 1 series 2093 AC05 MP5 2093 AMP5 2093 AC05 MP1 2093 AC05 MP2 2 ate 2090 SCEPO 2 2093 ACO5 MP5 2093 AMP1 2093 AMP1 2093 AMP2 2093 AMP2 2090 SCEPO 1 series B 2093 AMP5 2093 AMP5 Publication 2093 UM001A EN P January 2007 102 Connecting the Kinetix 2000 Drive System Publication 2093 UM001A EN P January 2007 SERCOS Cable Selection for Kinetix 2000 Drives Connection Adjacent Connection Catalog Number of module to the right SERCOS Cable 1 2093 1 2093 2 ACA 2090 SCEPO 2 2093 AMP5 2093 1 2093 AM01 2093 AM02 2093 AM02 2090 SCEP0 2 n 2093 AMP1 2093 AM01 2093 AMP2 2090 SCEP0 1 series B ene 2093 AMP5 1 Series B indicates an improved bend radius for use with Kinetix drives Introduction System Configuration Requirements Configure the IAM AM Configure and Startup the Kinetix 2000 Drive System Chapter 6 This chapter provides procedures for configuring your Kinetix 2000 system components with your Logix SERCOS module
144. ibution Configurations Main Power ac Auxiliary Control Power Supply Grounded Wye Line to Neutral Line to Line Ungrounded Wye Line to Neutral Line to Line Grounded B Phase Wye Line to Neutral Except Grounded Phase Line to Grounded B Phase Line to Line Grounded B Phase Closed Delta Line to Grounded Phase Line to Ungrounded Phase Closed Delta Ungrounded Line to Line Open Delta Grounded B Phase Line to Grounded Phase Line to Ungrounded Phase Open Delta Grounded Closed Phase to Closed Phase Open Phase to Closed Phase Grounded Three phase Power Configurations The grounded WYE power configuration lets you ground your three phase power at a neutral point This type of grounded power configuration is preferred Publication 2093 UM001A EN P January 2007 64 Connecting the Kinetix 2000 Drive System Publication 2093 UM001A EN P January 2007 Grounded Three phase Power Configuration WYE secondary BBB Integrated Axis Module Front View 2093 E E Conduit 4 Wire Cable 0 0 Transformer o m Lj mmm 12 l o o
145. ies motors meaa Linear MP Series Compatible linear actuators include the MPAI Axxx Integrated Actuator 230V actuators Motor power feedback and brake cables include integral molded bayonet style quick connect quick release connectors at the motor Power and brake cables have flying leads on the drive end and Motor Power Feedback straight connectors that connect to servo motors Standard feedback cables have angled connectors and Brake cables 45 on the drive end and straight connectors that connect to servo motors Optional feedback cables Cables have a straight connector on the motor end and flying leads that wire to a low profile connector kit on the drive end Fiber optic cables SERCOS fiber optic cables are available in enclosure only PVC nylon and glass with connectors at both ends Bulletin 2090 XXLF xxxx single phase and three phase ac line filters are required to meet CE and Sa er ae NEA available for use in 230V systems 2094 AL09 Line Interface Module LIM contains the circuit breakers ac line fil lies and Line Interface 2094 AL25S ine Interface Mox ule contains the circuit breakers ac line filter power supplies and contactor Module 2094 AL5OS required for Kinetix 2000 operation This module does not mount to the power rail 2094 AL75S Alternatively individual components may be purchased in place of a LIM Publication 2093 UM001A EN P March 2007 2094 AL75S C2 Start 13
146. ility Drive Drive Drive Publication 2093 UM001A EN P March 2007 158 Specifications and Dimensions Circuit Protection under NEC 1999 110 10 allowed but no longer preferred Required Protection under 110 10 of NEC 1999 Allowed But No Longer Preferred Breakers Selected for Device Protection With Limited Short Circuit Interrupt Capability R Tli Distribution Blocks i Current Limit Fused Disconnect or Breaker Distribution Rated for Blocks Short Circuit Traditional Drive Drive Available Limiting to Short Circuit Rating of Down Stream Breaker Required Protection under 110 10 of NEC 1999 i Allowed But No Longer Preferred i Breakers Selected for Device Protection With Limited Short 5 Circuit Interrupt Capability o O Traditional 4 Current Limit b X Fused Disconnect or Rated for Short Circuit Available Limiting to Short Circuit Rating of Down Stream Breaker V ur Use class CC J L or R fuses with current rating as indicated in the table below The following fuse examples and Allen Bradley circuit breakers are recommended for use with integrated axis modules 2093 AC05 MP when the Line Interface Module LIM is not used IMPORTANT Line interface modules 2094 ALxxS and 2094 XL75S Cx provi
147. in doing so require the leader IAM to control the entire common dc bus Refer to Appendix D beginning on page 209 for more information IMPORTANT If total bus capacitance of your system exceeds the leader IAM pre charge rating and input power is applied the IAM seven segment Fault Status LED indicator will display error code E90 pre charge timeout fault To correct this condition you must replace the leader IAM with a larger module or decrease the total bus capacitance by removing axis modules Publication 2093 UM001A EN P March 2007 16 Start Catalog Number Kinetix 2000 drive catalog numbers and descriptions are listed in the table Explanation PUE Kinetix 2000 Drive Catalog Numbers Integrated Axis Modules 230V Catalog Number inetix 2000 IAM 230V 3 kW Converter 1 A Inverter 2093 05 1 inetix 2000 IAM 230V 3 kW Converter 2 A Inverter 2093 05 2 inetix 2000 IAM 230V 3 kW Converter 3 A Inverter 2093 ACO5 MP5 Axis Modules 230V inetix 2000 AM 230V 1 A Inverter 2093 1 inetix 2000 230V 2 Inverter 2093 AMP2 inetix 2000 AM 230V 3 A Inverter 2093 AMP5 inetix 2000 AM 230V 6 A Inverter 2093 AM01 inetix 2000 AM 230V 9 A Inverter 2093 02 Power Rails inetix 2000 Single Axis Power Rail 2093 PRS1 inetix 2000 Two Axis Power Rail 2093 PRS2 inetix 2000 Three Axis Power Rail 2093 PRS3 inetix 2000 Fou
148. ing Noise Zones diagrams beginning on page 29 Publication 2093 UM001A EN P March 2007 Chapter Kinetix 2000 Connector Data Introduction This chapter provides power feedback and I O connector locations and signal descriptions for your Kinetix 2000 drive Topic Page Locating IAM AM Connectors and Indicators 43 IAM AM Signal Specifications Explained 51 Feedback Specifications Explained 57 Locating Shunt Module Connectors and Indicators 60 Locating IAM AM The physical size of the modules may vary but the location of the connectors and indicators is identical Connectors and Indicators Integrated Axis Module Connectors and Indicators Integrated Axis Module Front View 2093 AC05 MPx shown SERCOS Receive Rx Connector SERCOS Transmit Tx Connector Mounting Screw DPI Connector Y Y c m F SERCOS Baud Rate and Optical Power Switches Y fasa i SERCOS Node Q O B88 8 lt Seven Segment Fault Status Display Address Switches ndicators Drive Status LED Contactor Enable CED Connector gt Control Powe E E CPD Connecto Oo ain Power m IPD Connector gt 5 in Motor Brake m BC Connecto COMM Status LED Bus Status LED lt 1 0 and Machine Feedback IOD AF Connector lt otor
149. ing is incorrect e Check the controller e Check the wiring The motor wiring is open Check the wiring The motor thermal switch has tripped e Check for a fault e Check the wiring The motor has malfunctioned Repair or replace the motor The coupling between motor and machine has broken i e the motor moves but the load machine doesn t Check and correct the mechanics Primary operation mode is set incorrectly Check and properly set the limit Velocity or current limits are set incorrectly Check and properly set the limits Publication 2093 UM001A EN P March 2007 144 Troubleshooting the Kinetix 2000 Drive System Condition Potential Cause Possible Resolution been followed Recommended grounding per installation instructions have not e Verify grounding e Route wire away from noise sources e Refer to System Design for Control of Electrical Noise publication GMC RMO01 Presence of noise on command or motor feedback signal wires Line frequency may be present e Verify grounding e Route wire away from noise sources Variable frequency may be velocity feedback ripple or a disturbance caused by gear teeth or ballscrew balls etc The frequency may be a multiple of the motor power transmission components or ballscrew speeds resulting in velocity disturbance e Decouple the motor for verification e Check and improve th
150. ion feedback or velocity command lines causing erratic axis movement Q heck wiring and ground Motor Select limit is incorrectly set servo motor is not matched to axis module e Check setups e Run Tune in RSLogix 5000 software Mechanical resonance Notch filter or output filter may be required Refer to Axis Properties dialog Output tab in RSLogix 5000 software You cannot obtain the motor acceleration deceleration that you want Torque Limit limits are set too low Verify that current limits are set properly Incorrect motor selected in configuration Select the correct motor and run Tune in RSLogix 5000 software again The system inertia is excessive e Check motor size vs application need e Review servo system sizing The system friction torque is excessive Check motor size vs application need Available current is insufficient to supply the correct accel decel rate e Check motor size vs application need e Review servo system sizing Acceleration limit is incorrect Verify limit settings and correct them as necessary Velocity Limit limits are incorrect Verify limit settings and correct them as necessary Motor does not respond to a velocity command The axis cannot be enabled for 1 5 seconds after disabling Disable the axis wait for 1 5 seconds and enable the axis nable signal has not been applied or the enable wir
151. ions Test Increment 1 0 Position Units Test Marker Drive Polarity Test Feedback Test Command amp Feedback program mode Modifying polarity determined after executing the Test DANGER These tests may cause axis motion with the controller in AN Command amp Feedback test may cause axis runaway condition Cancel Configure and Startup the Kinetix 2000 Drive System 127 4 Select 2 0 as the number of revolutions for the test or choose another number more appropriate for your application This test Verifies Marker detection capability as you rotate the motor Test Marker shaft Feedback connections are wired correctly as you Test Feedback rotate the motor shaft Motor power and feedback connections are wired Test Command amp Feedback correctly as you command the motor to rotate Also lets you define polarity 5 If using an external enable apply the Hardware Enable Input signal IOD AF 42 for the axis you are testing To avoid personal injury or damage to equipment apply 24V ATTENTION ENABLE signal IOD AF 43 only to the axis you are testing 6 Click the Test button to verify connections for each of these tests Test Description Marker Requires the motor brake be manually released and the shaft Feedback must be manually rotated Test Command amp Software releases the brake if used and rotates the motor Feedback shaft Ver
152. ions and Dimensions Auxiliary Control Power Specifications This section lists auxiliary control power requirements for a Kinetix 2000 system comprised of an IAM up to seven AMs a Shunt Module or a Slot Filler Auxiliary Control Power Specifications Number of AMs 2093 AMPx or Current Requirements Current Requirements 2093 AMx 115V ac 230V ac Max Inrush Input VA 0 0 3A 0 15A 50 VA 1 0 6A 0 30 A 99 VA 2 0 9A 0 45 A 148 VA 3 12A 0 60 A 197 VA 4 15 0 75 A 247 V 93A 5 18 0 90 296 VA 6 241A 1 05A 345 VA 7 24A 120A 395 VA pia 25A 125A 410 VA 2093 ASP06 Slot Filler _ __ 2093 PRF Publication 2093 UM001A EN P March 2007 Specifications and Dimensions 157 Shunt Module Power Specifications The table below lists the power specifications for the 2093 ASP06 Shunt Module SM SM Power Specifications Kinetix 2000 Drives Specifications Fise Drive Resistance Peak Peak Continuous Capacitance Replacement atalog Number Voltage Power Current Power V ac Q kW A uF 2093 AC05 MP1 2093 AC05 MP2 2093 ASPOG 230 15 0 10 9 27 0 50 164 A internal 2093 AC05 MP5 V 4Contact your Allen Brad ey sales representative for availability of external shunt modules Circuit Breaker Fuse Specifications While circuit breakers offer some convenience there are limitations for their use Circuit breakers do not handle high current inrush as well as fuses A
153. it Breaker Fuse Specifications on page 157 and Transformer Specifications for Control Power Input on page 159 Multiple powet rails in a single cabinet require additional transformers or additional transformer capacity IMPORTANT If using an autotransformer make sure that the phase to neutral ground voltages do not exceed the input voltage ratings of the drive IMPORTANT Use a form factor of 1 5 for three phase power where form factor is used to compensate for transformer drive module and motor losses and to account for utilization in the intermittent operating area of the torque speed curve Example Sizing a transformer to the voltage requirements of a 2093 ACO05 MP5 Integrated Axis Module 2093 AC05 MP5 3 kW continuous x 1 5 4 5 transformer Planning the Kinetix 2000 Drive System Installation 21 Circuit Breaker Fuse Selection The Kinetix 2000 system utilizes internal short circuit output protection and is suitable for use on a circuit capable of delivering up to 100 000 Amperes when protected by class CC J L and R fuses Circuit breakers with adequate widthstand and interrupt ratings as defined in NEC 2002 article 110 9 and 110 10 are also permitted The Bulletin 140M product may be another acceptable means of protection with the Kinetix 2000 system As with fuses and circuit breakers you must make sure that the selected components are properly coordinated and meet applicable codes When applying the 1
154. ive modules Segregate input power wiring and motor power cables from control wiring and motor feedback cables Use shielded cable for power wiring and provide a 360 clamp termination Refer to Wiring the Motor Power MP Connector on page 85 for additional information To achieve best system performance run wires and cables in the IMPORTANT wireways as established in Establishing Noise Zones on page 28 Refer to the Line Interface Module Installation Instructions publication 2094 13005 for LIM power wiring requirements and connector locations Refer to Wiring Examples beginning on page 168 for interconnect diagrams including the LIM Follow these steps when wiring the connectors on your Kinetix 2000 drive modules or line interface module LIM 1 Prepare the wires for attachment to each connector plug by removing insulation equal to the recommended strip length Use caution not to nick cut or otherwise damage strands as you IMPORTANT 9 y remove the insulation 2 Route the cable wites to your Kinetix 2000 drive module or LIM 3 Insert wires into connector plugs Refer to connector pinout tables in Chapter 4 or the interconnect diagrams in Appendix B 4 Tighten the connector screws 5 Gently pull on each wire to be sure it does not come out of its terminal Reinsert and tighten any loose wires 6 Insert the connector plug into the module connector Connecting the Kinetix 2000 Drive System 71
155. iver e A small flat blade screwdriver 3 5 mm 0 14 in e Voltmeter Publication 2093 UM001A EN P March 2007 150 Removing and Replacing the Kinetix 2000 Drive Modules Remove Modules from the Follow these steps to remove modules from the power rail Power Rail 1 Vetify that all control and input power has been removed from the system Zero 0 V ac should be measured between these points on the IAM e IPD 1 IPD 2 and IPD 3 L1 L2 L3 for main input power CPD 1 and CPD 2 CTRL 1 and CTRL 2 for control input power ATTENTION To avoid shock hazard or personal injury verify that all power has been removed before proceeding This system may have multiple sources of power More than one disconnect switch may be required to de energize the system 1 Allow five minutes for the dc bus to completely discharge before proceeding Zero 0 V dc should be measured between these points on the IAM IPD 5 and IPD 6 DC and DC for common bus output power ATTENTION This product contains stored energy devices To avoid hazard of electrical shock verify that all voltage on capacitors has been discharged before attempting to service repair or remove this unit You should only attempt the procedures in this document if you are qualified to do so and are familiar with solid state control equipment and the safety procedures in publication NFPA 70E 2 Label and remove all connectors from the module IAM AM
156. jor Fault on Controller are not selected and that no Module Faults are detected Wil Module Properties Local 1 1756 M16SE 16 1 General Connection SERCOS Interface SERCOS Interface Info Module Info Backplane Requested Packet Interval RPI ms Inhibit Module Major Fault On Controller If Connection Fails While in Run Mode Module Fault Status Offline 7 Click OK 8 Select the SERCOS Interface tab and reference the table below Wil Module Properties Local 1 1756 M16SE 16 1 General Connection SERCOS Interface secos Interface Info Module Info Backplane Data Rate 8 v Mb Cycle Time 2 v ms Transmit Power High Transition To Phase a Status Offline Logix SERCOS Module Number of Axes per Module Data Rate 176 160MOSSE Up to 3 1756 088 Up to 8 4 or 8 Mbps PMGSE Up to 16 1768 MO4SE Up to 4 9 Verify that the Data Rate setting matches DIP switches 2 and 3 baud rate as set on the Kinetix 2000 axis module LAM or AM Refer to page 104 for a diagram and explanation of the SERCOS optical power and data rate switch settings Publication 2093 UM001A EN P March 2007 10 Set the Cycle Time according to the table below Configure and Startup the Kinetix 2000 Drive System 113 Data Rate Number of Axes Cycle Time Up to 2 0 5 ms 4 Mbps Up to 4 1 ms Up to 8 2 ms No support for axes 9 16 Up to 4 0 5 ms 8 Mbp
157. l Resources on page 10 Configure the Logix Controller Follow these steps to configure the Logix controller 1 Apply power to your Logix chassis personal computer containing the SERCOS interface module and open your RSLogix 5000 software 2 Choose New from the File menu A new Controller Properties dialog opens Date Time Advanced SFC Execution File Redundancy Nonvolatile Memory Memory General Serial Port System Protocol User Protocol Major Faults Minor Faults Vendor Allen Bradley Type Revision Name Description Chassis Type Slot 1756 L63 ControlLogix5563 Controller Change Controller 16 5 Kinetix_2000_Start_Up 1756 410 10 Slot ControlLogix Chassis xi 0 peu Azul OK Cancel Arey Help 3 Configure the new controller a Select controller type b Select the version of RSLogix 5000 software c Name the file d Select the Logix chassis size e Select the slot occupied by the new controller processor Publication 2093 UM001A EN P March 2007 110 Configure and Startup the Kinetix 2000 Drive System Publication 2093 UM001A EN P March 2007 4 Click OK 5 From the Edit menu choose Controller Properties The Controller Properties dialog opens 6 Select the Date and Time tab 0 ER General Serial Port System Protocol User Protocol Major Faults Minor Faults Date Time Advanced She Execution Fil
158. l addressing of an axis module in slot 8 Publication 2093 UM001A EN P March 2007 40 Mounting the Kinetix 2000 Drive System IMPORTANT Invalid module positioning on a 2093 PRS8S power rail may result in incorrect operation Mount the Modules Follow these steps to mount the IAM AM SM and SF modules All modules mount to the power rail using the same technique 1 Determine the next available slot and module for mounting IMPORTANT The IAM must be positioned in the leftmost slot of the power rail Position your axis modules shunt module and slot fillers to the right of the IAM To avoid damage to the pins located on the back of each module ATTENTION IAM AM SM and SF and to make sure that module pins mate properly with the power rail install modules as shown below The power rail must be mounted with the connectors in an upright or vertical orientation to the panel This provides proper cooling of the modules Do not mount modules if the power rail is not within three degrees of vertical 2 Insert the module in the power rail slot a Align the module locking screw with its corresponding slot on the power rail b Push the module straight forward by applying force at the top and bottom of the front covet Publication 2093 UM001A EN P March 2007 Mounting the Kinetix 2000 Drive System n Mounting the Line Interface Module The module is fully seated when each locking clip snaps into the botto
159. le Ground Point Follow NEC and applicable local codes Bonded Ground Bus Publication 2093 UM001A EN P January 2007 x Ness Ground Grid Power Distribution Ground For HF bonding information refer to Bonding Modules on page 26 Connecting the Kinetix 2000 Drive System 73 Power Wiring Wire should be copper with 75 C 167 F minimum rating Phasing of main ac power is arbitrary and earth ground connection is required for safe and Requirements J c m 3 proper operation Segregate input power wiring and motor power cables from control wiring and motor feedback cables Use shielded cable for power wiring and provide a 360 clamp termination The National Electrical Code and local electrical codes take IMPORTANT precedence over the values and methods provided IAM Power Wiring Requirements Connects to Terminals Strip Torque Module Catalog Number Description Recommended Wire and Size Length Value Pin Signal mm AWG mm Nm Ib in CPD 1 CTRL 1 Control input power 7 0 28 0 5 4 4 CPD 2 CTRL 2 Solid H05 07 V U 2 5 14 IPD 1 L1 Stranded H07 V R 2 514 DC bus es E Flexible H05 07 V K 2 5 14 and Flexible with ferrule 2 5 14 7 0 28 0 5 4 4 IAM 2093 AC05 MPx IPD 4 i V ac input power IPD 5 m IPD 6 DC CED 1 CONT EN Solid 5 07 V U 1 5 16 Stranded H07 V R 1 5 16 Contactor Enable GONTERE Flexible H05 07 V K
160. le for your Kinetix 2000 IAM AM 2 Anacanda Serial to DPI Adapter 9 1203 SSS Series 3 004 or later Personal computer with Hyperterminal software msLinx is required by Drive Executive software but it is not required by DriveExplorer software The correct MSI ControlFlash for Hyperterminal use is a binary file ending in a If unable to locate the file contact technical support at 440 646 5800 to receive the file email 3 The Serial to DPI Adapter catalog number 1203 SSS Series B contains 1203 SFC cable from PC serial to Anacanda 1202 Cxx cable from Anacanda to DPI port and an Anacanda body Control power 230V ac single phase must be present at CPD 1 and CPD 2 prior to flashing your drive The seven segment Fault Status display on the IAM inverter or AM to upgrade must display a fixed 2 3 or 4 before beginning this procedure This indicates the IAM AM is recognized on the SERCOS ring Publication 2093 UM001A EN P March 2007 188 Upgrading Firmware Selecting Software Tools to Upgrade the Kinetix 2000 Drive Firmware Publication 2093 UM001A EN P March 2007 ATTENTION To avoid personal injury or damage to equipment during the firmware upgrade do not apply main ac three phase or single phase or common bus dc input power to the drive This prevents unpredictable motor activity from occurring Only single phase control power shoul
161. lection and select Connect to Drive Upgrading Firmware 197 13 Select the workstation 01 in the preceding diagram and click OK Creating Device Database File Connection USMEQPJMICECH2I4B_DF1 1 1 Device 2093D SERVO v1 095 Configuration Config 0000 Cancel Parameter 4385 Value 0 Total Parms 5999 NOT LISED Elapsed Time 150 ms Samples Read 4385 Average Time 250 ms Total Elapsed Time 1098 185 sec Drive Executive should connect with the drive and begin to upload the Kinetix 2000 parameters Creating Device Database File Connection USMEGPJMICECH2IAB DF1 1 1 Device 20930 SERVO v1 035 Configuration Config 0000 Cancel File 11 Group 14 of 25 TotalFiles 24 Element 2073 42 parameter upload initially occurs followed by a file group upload Each upload displays in a separate screen Upload time varies It is based on the number of axes on the power rail and the baud rate of the 1203 SSS For example a baud rate of 38400 requires approximately 25 minutes to upload a six axis Kinetix 2000 system TIP Publication 2093 UM001A EN P March 2007 198 Upgrading Firmware Publication 2093 UM001A EN P March 2007 14 Successful uploading of the Kinetix 2000 parameters results in the following screen CP DriveExocuttve Lite AB_DF1 1 1 20930 SERVO gt Ore Perche Toos Window Mp 8x DS U SR S 08
162. les 150 replacing 152 power supply feedback 59 power up 123 pre charge 15 67 pre charge fault 136 pre charge flt 139 premolded feedback cables 95 Publication 2093 UM001A EN P March 2007 222 Publication 2093 UM001A EN P March 2007 problems general 143 programming fault actions 145 publications related 10 reducing electrical noise 36 reference documents 16 axis SERCOS interface installation 10 3 8 or 16 axis SERCOS interface installation 10 3 8 or 16 axis SERCOS interface installation 10 Kinetix motion control selection guide 10 line interface module installation 10 SoftLogix motion card configuration 10 related publications 10 relay output brake relay MBRK 181 release version 187 removing modules 150 replacing modules 151 rotation problems 144 routing power and signal wiring 62 RSLogix 5000 software 109 213 S SCANport comm 138 SCANport DPI adapter 213 SCANport DPI connector 188 193 self sense fault 137 SERCOS connecting cables 99 connections 53 SERCOS init 138 SERCOS module 109 properties 111 SERCOS ting fault 137 SERCOS same addr 137 setting parameter add bus capacitor 213 seven segment status LED 123 shunt bus capacitance 211 shunt fault LED 141 shunt module 185 catalog number 16 connector designators 60 connector locations 60 dimensions 165 interconnect diagram 177 pin outs 60 troubleshooting 140 wiring requirements 74 shunt resistor wiring 97 shunt time fault 138
163. les with premolded connectors ate designed to minimize EMI and are recommended over hand built cables to improve system performance However other options are available for building your own feedback and I O cables Options for Connecting Motor Feedback and 1 0 C tor Kit i i Catalog Number Cable Using this Type of Cable Premolded connectors Refer to the table below for the premolded N A Motor feedback motor feedback cable available for your motor Low profile connector Refer to the table below for the flying lead 2090 K2CK D15M Motor feedback cable available for your motor Panel mounted breakout its T Refer to Wiring 15 pin Panel mounted 2090 UXBK D15xx Motor feedback Breakout Kit on page 97 qn Refer to Wiring 44 pin Panel mounted 2090 U3BK D44xx 1 0 and auxiliary feedback Breakout Kit on page 97 Motor Feedback Cables for Specific Motor Feedback Combinations Feedback Cable Motor Series Feedback Type Pinout Premolded Flying lead MPL AxxxxS M High resolution encoder MPL A3xxx H Wide a Incremental encoder 2090 UXNFBMP Sxx 2090 XXNFMP Sxx Page 93 MPL A5xxx H MPG Axxxx S M High resolution encoder Incremental encoder MPL Axxxx V E N A 2090 XXNFMF Sxx Page 93 MPF Axxxx S M High resolution encoder MPS Axxxx S M TL Axxxx H Incremental encoder 2090 XXNFT Sxx 2090 XXNFLT Sxx Page 93 Y Series Incremental encoder 2090 UXNFBY Sxx 2090 XXNFY Sx
164. less than 9 or greater than 16 greater than 16 provides expansion capability for System 1 The node address for each axis module is determined by the base IMPORTANT node address switch setting on the IAM Do not position axis modules to the right of shunt or slot filler modules The added distance between non adjacent axes can increase electrical noise and impedance and requires longer fiber optic cable lengths Slot filler modules must be used to fill any unoccupied slot on the IMPORTANT power rail However the slot fillers may also be removed and replaced by an axis or shunt module in the future Node Addressing Example 2 1756 M08SE SERCOS 1756 M08SE SERCOS Interface Module ms Y s Interface Module 2 9 ControlLogix Chassis Transmit Receive Receive SERCOS Fiber optic Rings Receive Transmit E Kinetix 2000 Publication 2093 UM001A EN P March 2007 2093 PRS8S power rail i i Node Addresses L N A Slot Filler not an axis 07 axis 7 single wide AM 06 axis 6 single wide AM 05 axis 5 single wide AM 04 axis 4 single wide AM 03 axis 3 single wide AM 02 axis 2 single wide AM 01 axis 1 IAM In Example 2 SERCOS interface module 1 controls axe
165. lity for actual use based on the examples and diagrams No patent liability is assumed by Rockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in patt without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use 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 IMPORTANT Identifies information that is critical for successful application and understanding of the product TTENTION 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 and recognize the consequence Labels may be on or inside the equipment for example a drive or motor to alert people that dangerous voltage may be present AZ Labels may be on or inside the equipment for example a drive or motor to alert people that surfaces may reach dangerous temperatures Dp Allen Bradley CompactLogix ControlFlash ControlLogix DriveExplorer Kinetix Logix5000 RSLogix RSLogix 5000 SoftLogix SCANport Rockwell Automation and TechConnect are trademarks o
166. low to locate the connectors on your SERCOS interface module or PCI card CompactLogix ControlLogix and SoftLogix SERCOS Connector Locations ControlLogix Platform 1756 MxxSE SERCOS interface Module Miro SERCOS interface ooo 0 on 20 RSLogix 5000 Software SoftLogix Platform 1756 PM16SE SERCOS interface PCI Card as viewed from the back of your computer SERCOS Transmit Connector Tx RX Tx rear 3 p 3 Front View Rx fon SERCOS Receive Connector Rx s O Q SERCOS Receive Connector Rx front SERCOS Transmit Connector Tx rear L Connect the cable from transmit the Logix module to receive on the IAM then transmit to receive drive to drive and from transmit on the last drive back to receive on the Logix module SoftLogix and ControlLogix platforms are used in the examples beginning below however all platforms connect in the same mannet Fiber optic Cable Example 1 basic SERCOS ring connections 1784 PM16SE SERCOS Interface PCI Card Receive Transmit OsO 6 4 SERCOS Fiber Optic Ring Receive ansmit Receive Transmit E Bes B es 8 Bl Kinetix 2000 System t B 2093 PRS5 power rail Kinetix 2000 System 2093 PRS5 power rail
167. lower IAM IAM or leader IAM IPD Pin Signal IPD Pin Signal L1 1 L1 L2 2 L2 N A L3 3 L3 2 1 5 DC 5 DC 6 DC 6 DC IMPORTANT Do not connect three phase input power to the follower IAM Termination Specifications Recommended Axis Module InputVac Wire Size Strip Length Torque Value s mm AWG mm in Nm Ib in 2093 05 230V ac 2 5 14 7 0 28 0 5 4 4 Publication 2093 UM001A EN P January 2007 84 Connecting the Kinetix 2000 Drive System Wiring the Contactor Enable CED Connector This example applies to any integrated axis module IAM leader IAM or follower IAM Integrated Axis Module CPD connector Integrated Axis Module 2093 AC05 MPx shown ooo a oO ATTENTION A Refer to Contactor Enable Relay on page 53 Wiring the contactor enable relay is required To avoid personal injury or damage to the drive wire the contactor enable relay into your safety control string In common bus configurations the contactor enable CED connections for leader and follower drives must be wired in series to the safety control string For interconnect diagrams refer to Wiring Examples beginning on page 168 Contactor Enable CED Connector LIM 1 0 IOL Connector or R ded Other Control Strin CED Pin Signal Wire Size Strip Length Tor
168. m of all capacitance values for your Kinetix 2000 bus modules Specifically this includes the capacitance values for Capacitance each of these modules Leader IAM converter and inverter Each AM and SM if present on the leader IAM power rail Each follower IAM converter and inverter Each AM on the follower power rails Refer to Kinetix 2000 Capacitance Values on page 211 for IAM AM SM capacitance values If total bus capacitance exceeds the leader IAM maximum value pre charge time out fault is triggered and error code E90 is displayed This fault disables the drive If the Leader IAM 230V is the Total Bus Capacitance must not exceed 2093 05 1 2093 05 2 3420 pF 2093 05 5 If your total bus capacitance value exceeds the value in the table WM above you must decrease the total bus capacitance by removing axis modules tional bus capacitance is the sum o ollower capacitance Calculating Additional Bus Additional bus capacitance is th f all follower IAM and AM capaci C itan values for your Kinetix 2000 common bus modules Specifically this includes apacitance the capacitance values for each of these modules Each follower IAM converter and inverter e Each AM on the follower IAM power rails Enter the additional bus capacitance values in step 6 of Setting the Additional Bus Capacitan
169. m of the power rail and the locking screw boss is flush at the top of the power rail Locking screws Locking clips not visible on bottom of each module Top front view of Top front view of Top front view of IAM double wide AM single wide AM 2093 AC05 MPx 2093 AMOx shown SM or SF 2093 AMPx is shown 3 Torque mounting screws to 0 7 Nm 6 Ib in mounting screw on any Kinetix 2000 module IAM AM 4 Determine if you have additional modules to mount If You Then Return to step 1 and complete installation of your next AM SM or SF module Do not have additional modules to mount Go To Mounting the Line Interface Module Have additional modules to mount Your Kinetix 2000 drive requires an external power source To meet EU EMC requirements this requires you to install a line interface module or similar discrete components ac line filter contactor fusing and transformers that properly condition and control the input power Refer to Connecting the Kinetix 2000 Drive System on page 61 and the Interconnect Diagrams on page 37 for information about this specific installation Publication 2093 UM001A EN P March 2007 42 Mounting the Kinetix 2000 Drive System Segreg ating Power and Segregate input power wiring and motor power cables from control wiring and Logic Wires motor feedback cables Use shielded cable for power wiring For examples g refer to the Establish
170. maged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook Connecting the Kinetix 2000 Drive System 75 To avoid personal injury and or equipment damage ensure installation complies with specifications regarding wire types conductor sizes branch circuit protection and disconnect devices The National Electrical Code NEC and local codes outline provisions for safely installing electrical equipment To avoid personal injury and or equipment damage ensure motor power connectors are used for connection purposes only Do not use them to turn the unit on and off To avoid personal injury and or equipment damage ensure shielded power cables are grounded to prevent potentially high voltages on the shield Publication 2093 UM001A EN P January 2007 76 Connecting the Kinetix 2000 Drive System Wiring Guidelines Publication 2093 UM001A EN P January 2007 Use these guidelines as a reference when wiring the connectors on your Kinetix 2000 drive modules LAM or AM or line interface module LIM When tightening screws to secure the wires refer to the tables beginning on page 73 for torque values When removing insulation from wires refer to the tables beginning on page 73 for strip lengths Refer to page 43 for the connector locations of the Kinetix 2000 dr
171. manded in RSLogix 5000 software Off Publication 2093 UM001A EN P March 2007 Bus power not present Normal when bus power is not applied Fault exists refer to Seven segment LED Indicator Error Codes section beginning on page 134 Module Bus power is present in follower IAM Follower IAM is not configured as CommonBus Follow in RSLogix 5000 software After dc bus voltage is applied a 2 5 second delay before the LED indicator begins flashing green is normal operation to provide common bus leader time to complete pre charge SM Status Indicators Each of the shunt module LED indicators provide specific troubleshooting information General Shunt Module Troubleshooting Status Under These Conditions SM Fault is latched Until fault condition is corrected and cleared Fault is cleared e Using RSLogix MASR MAFR MGSR commands or the HIM red stop button e Only after the dc bus is discharged SM Bus Status LED indicator is flashing e Drive must be configured with 2093 ASPO06 or Bulletin 1336 external shunt resistor IAM AM regulation Disabled for dc bus e When the 2093 ASP06 shunt module is used on a 230V system e When a 230V system is configured with a Bulletin 1336 external shunt resistor e When configured in Common Bus Follower mode bus Enabled to discharge the dc Drive IAM or leader IAM three phase power is removed the dc bus IM
172. meter as shown Devices Node 1 2093D SERVO 5 0 20930 SERVO Config Parameter List IAM IAM Diags IAM Group IAM IJO Axis 2 Axis 2 Diags Axis 2 Group Axis 2 IJO Axis 3 Axis 3 Diags Axis 3 Group Axis 31 O Axis 4 Axis 4 Diags Axis 4 Group Axis 400 Axis5 Axis 5 Diags Axis 5 Group Axis 5 Axis 6 Axis 6 Diags Axis 6 Group Axis 6 IJO REDE EL DERE HE REIHE RED DERE DES EUER ERI E 2 1203 555 R5232 DF1 Parameter List Custom Views Compare Results Torq Lowpas Frq CC AED 1 0 563 Regen Energy Val 1000 0 1 0 564 Accel Feedback 0 000 rds2 1 0 565 Reserved 0 1 0 566 Reserved 1 0 567 Reserved 0 1 0 568 Reserved 0 1 0 569 Reserved 0 1 0 570 Reserved 1 0 571 Stopping Torque 1000 0 1 0 572 Stop Time Limit 10 sec 1 0 573 Torq Scale Gain 0 01908 1 0 574 Friction Window 0 1 0 575 Backlash Window 0 1 0 576 Cont Torq Limit 100 1 0 577 Reserved 0 1 0 578 Reserved 0 1 0 579 Reserved 0 1 0 580 Reserved 0 1 0 581 Home Torque Filt 500 ms 1 0 582 Auto Home Disabled 1 0 583 Orient Complete 0 1 0 584 Reg 1 Window Min 0 1 0 585 Reg 1 Window Max 0 1 0 586 Reg 2 Window Min 0 1 0 587 Reg 2 Window Max 0 1 0 588 Home Trq Thresh 20 0 1 0 589 HomeTorq gt Thrsh 0 1 0 590 Home to Torque 0 1 0 591 Shunt Cap 0 uF 1 0 592 Bus Reg Catalog Internal 1 0 593 Shunt Ws 25 1 0 594 Shunt Kl 150 sec 1 0 595 Shunt Ks 106 msec 1 0 596
173. mis wire shorted condition shunt resistor f problem persists replace shunt module Mis wired shorted external shunt wiring All SM Status LED Indicators SM Status LED indicator Status Potential Cause Possible Resolution Bus Status All three SM status LED indicators flash simultaneously Shunt module hardware failure e Temperature Fault e Shunt Fault e Cycle power e f problem persists replace shunt module Publication 2093 UM001A EN P March 2007 142 Troubleshooting the Kinetix 2000 Drive System Contactor Enable Relay CED 1 and CED 2 Contactor Enable Status Use this table for troubleshooting faults associated with the Contactor Enable signal CED 1 and CED 2 Status Potential Cause Possible Action or Resolution Ready for application of Main Contactor Enable closes independently of Closed ower the SERCOS ring status as a result of the CPR or CTRL power may be applied p conditions below being verified Verify 170 260V ac single phase power is applied to CPR 1 and CPR 2 e Verify control power indicator is ON e f control power indicator is OFF CTRL power not applied control board may be defective Control Power indicator is a dot on the lower right of the seven segment LED display Refer to diagram on page 123 for location Axis Shutdown fault such as E10 or User Logix Axis Servo Drive Axis Fault overvoltage condition and other tags to d
174. motor has a brake 2090 UXNBMP 18Sxx brake cable MPL A45xxx connector Brake wires TL Avoo0 H are in the brake cable 2090 DANBT 18Sxx brake cable MPL A15xxx MPL A2xxx The motor does not have MPF A and MPS A a brake connector Brake 2080 XXNPMEF xxS xx power cable wires are included in the Y Series power cable 2090 XXNPY 16Sxx power cable IMPORTANT Use surge suppression when controlling a brake coil Refer to the Controlling a Brake Example on page 181 Brake Cable Preparation Outer Insulation X Strip Length 7 mm 0 28 in Brake Cable BR e 105 mm 4 1 in Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System 91 Motor Brake BC Connector Motor Brake Wires BC Connector IAM AM REIN M 2090 DANBT 18S xxx 2090 XXNPMF xxS xx 2090 XXNPY 16S BC Pin Signal rake Cable Brake Cable Power Cable Power Cable A 1 BR F BR 7 2 BR C BR 2 BR G BR 9 BR 3 BR Termination Specifications BC Connector IAM AM Recommended Wire Size Strip Length Torque Value BC Pin Signal mm AWG mm in Nm Ib in BC 1 PWR BC 2 MBRK BC 3 MBRK 0 7 28 7 0 28 0 5 4 5 BC 4 COM Publication 2093 UM001A EN P January 2007 92 Connecting the Kinetix 2000 Drive System Feedback and 1 0 Cable Connections Connection Option Factoty made cab
175. ms Drive to motor power cables must not exceed 90 m 295 5 ft Motor Brake Connector BC Pin Description Signal 1 PWR V brake input power from LIM or customer supplied 2 MBRK 3 Motor brake connections MBRK 4 Motor brake common COM Publication 2093 UM001A EN P March 2007 Kinetix 2000 Connector Data 51 IAM AM Signal Specifications Explained A description of the Kinetix 2000 IAM AM input output OD SERCOS contactor enable CED brake BC and control power CPD connectors is provided on the following pages Digital Inputs Two fast registration inputs and four other inputs are available for the machine interface on the integrated axis module and axis module AM Each IAM and AM supplies 24V 300 mA total for the purpose of registration home enable over travel positive and over travel negative inputs These are sinking inputs that require a sourcing device A 24V power and common connection is provided for each input IMPORTANT To improve registration input EMC performance refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 IMPORTANT Overtravel limit input devices must be normally closed Digital Input Signal Specifications IOD AF Pin Signal Description System Reaction Time 1 Optically isolated single ended active high signal Current loa
176. n data of VERO1 95 18 Version 01 95 build 18 This is the first axis in the 2093 system or the IAM If Axis 2 were to be reviewed move to 1030 To view parameter 31 for Axis 2 move to 2031 28 MST Errors 0 0 0 0 65535 29 MDT Errors 0 0 0 0 65535 30 Version Data VER 01 95 18 0 VER 01 95 18 1 95 148 487 32 Prime OP Mode 0 000000000000001 1 3 00000000000 00000000000 11111111111 33 Prime OP Mode 0 0000000000000011 00000000000 00000000000 11111111111 36 Velocity Command 0 0000 mm 0 0 0000 214748 3648 214748 3647 a Velocity OFFeet n nnnn rnm n n nnnn 214748 364R 1474R 3647 17 Go to the IAM in the Device Workspace and select Configuration Parameter 708 has the Axes to Flash when using Hypterminal oe Se 0 2093D SERVO S10 Drive OK Dm 0 T 0 T E Linear List 521 Slave Node List 0 0 0 0 255 529 Auto Ref Enabled 0 0 0 0 1 708 Axes to Flash 0000000000000001 T 00000000111 00000000000 00000000111 501 Application SERCOS Spind 2 SERCOS Spind SERCOS Spind DPI Serva 7 TAM Minne 18 Double click on parameter 708 or Axes to Flash to open the Parameter 708 Axes to Flash Properties dialog Check the firmware level of each axis on the power rail You should always have the same firmware level for each module type Parameter 708 is used to flash any axis on the 2093 power rail TIP Publication 2093 UM001A EN P March 2007 Upgrading Firmware 201 Pa
177. nection Associated Axes Power Madule Info Node 1 Axis 1 EJ New Axis Node 129 Axis 1 Aux y Auxiliary Axis Status Offline Cancel pl Help In this example Node 1 Axis 1 and Node 129 Axis 1 Aux 15 Click OK Each axis appears under the Ungrouped Axes folder in the Controller Organizer software dialog If an axis is be associated with the node assigned to the auxiliary axis then the Axis Configuration on the General tab of the Axis Properties dialog is set to Feedback Only as shown below 2 Axis Properties Axis 1 Aux Conversion Homing Hockup Faut Actions Tag General Motion Planner Units Drive Motor MotorFeedback AuxFeedback Axis Configuration Feedback Only Motion Group Ree E Associated Module Module KK Startup Module Type 2093 ACO5 MP5 Node 129 Auxiliary Cancel ply Help Configure and Startup the Kinetix 2000 Drive System 117 16 Select the Power tab General Connection Associated Axes Power Module Info Bus Regulator Configuration intemal Input Power Three Phase Status Offline Cancel 17 Set Input Power to either Three Phase or Single Phase as appropriate for the powet source 18 Set the Bus Regulator Configuration as appropriate for your Kinetix 2000 hardware configuration If your IAM is And your shunt configuration is Then select Internal shunts o
178. nector IAM AM Y Series MP Series MP Pin Signal 1 Black U Brown 1 U 2 Black V Black 2 V 3 Black W Blue 3 W Green Yellow L Green Yellow 4 L Termination Specifications 1 Wire Size Strip Length Torque Value Cat No mm AWG mm in Nm Ib in 2093 AC05 MPx Motor power cable depends on 2093 AMPx moray aye 7 0 28 0 5 4 4 combination 2093 AMOx 4 0 14 12 26 max Pigtail lerminations TL Series and Y Seties motors have a short pigtail cable which connects to the motot but is not shielded The preferred method for grounding the TL Series and Y Series motor power cable on the motor side is to expose a section of the cable shield and clamp it directly to the machine frame The motor power cable also has a 150 mm 6 0 in shield termination wire with a ring lug that Motor Power Cable Connecting the Kinetix 2000 Drive System 89 connects to the closest earth ground The termination wire may be extended to the full length of the motor pigtail if necessary but it is best to connect the supplied wire directly to ground without lengthening Pigtail Terminations Cable Braid Clamped to Machine Frame Connectors Pigtail Cable Machine Frame JL lt 150 mm 6 0 Termination 1 TL Series or Y Series Motor 1 Remove paint from machine frame to ensure proper HF bond between machine frame and motor case shield
179. ng on page 178 for the interconnect diagram of your drive motor combination Introduction Installing the 2093 Power Rail Chapter J Mounting the Kinetix 2000 Drive System This chapter provides the system installation procedures for mounting your Kinetix 2000 drive components to the panel Topic Page Installing the 2093 Power Rail 37 Determining Mounting Order 38 Mount the Modules 40 Mounting the Line Interface Module 41 Segregating Power and Logic Wires 42 The procedures in this chapter assume you have prepared your panel and understand how to bond your system For installation instructions regarding equipment and accessories not included here refer to the instructions that came with those products To avoid hazard of electrical shock perform all mounting and wiring of IAM AM SM SF LIM or power rail prior to applying power Once power is applied connector terminals may have voltage present even when not in use ATTENTION T the installation of your system so that you can perform all cutting rilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components The Kinetix 2000 power rail comes in configurations that support one integrated axis module up to sev
180. nly Internal Configured as a Leader IAM common bus 1 Bulletin 2093 shunt module mounted on the power rail 2093 ASPO06 Configured as a Follower IAM 2 N A because shunts are disabled on Follower IAM CommonBus Follow Drive will not accept internal shunt 2093 ASPO6 selection if dc bus voltage is present without having three phase power applied 7 Drive will not accept CommonBus Follow selection if three phase power is applied When configured to the 2093 shunt modules the IAM Dus regulator capacity attribute displays the shunt module or passive shunt module utilization instead of the IAM internal shunt resistor utilization Common dc bus applications must calculate the Total Bus IMPORTANT Capacitance and the Additional Bus Capacitance and set the Add Bus Cap parameter 599 using DriveExplorer software Refer to the Appendix D beginning on page 208 for more information 19 Click OK 20 Repeat steps 1 15 for each 2093 AMPx or 2093 AMOx AM axis module Publication 2093 UM001A EN P March 2007 118 Configure and Startup the Kinetix 2000 Drive System Configure the Motion Group Follow these steps to configure the motion group 1 Right click Motion Groups in the DriveExplorer software dialog and select New Motion Group The New Tag dialog opens 2 Name the new motion group 3 Click OK New group appears under the Motion Groups folder 4 Right
181. nnections Two fiber optic connectots transmit and receive are provided on the integrated axis module LAM and axis module AM SERCOS Communications Specifications Attribute Value Data Rates AutoDetect 4 Mbps and 8 Mbps Cycle Times 0 5 ms 1 0 ms and 2 0 ms Transmit Rates Low and High Node Addresses 01 99 1 7 Node address assignments begin with the integrated axis module IAM Node addresses for axes on the same power rail are assigned by incrementing from left to right starting with the IAM address One SERCOS node address goes unused for each double wide AM on the power rail Contactor Enable Relay Contactor enable is a relay driven contact used in the safety control string to protect the drive electronics during certain fault conditions It is capable of handling 120V ac or 24V dc at 1 A or less Contactor enable is a function of the converter and is not available in the axis modules An active state indicates the IAM is Control powet is applied e No axis shutdown fault is detected All power rail slots occupied with a valid module ATTENTION Wiring the contactor enable relay is required To avoid personal injury or damage to the drive wire the contactor enable relay into your safety control string so that e three phase power is removed from the drive in the event of shutdown fault conditions e drive operation is prevented when the power rail is not fully populated e cont
182. nputs may be used 20 Single phase powering of a Kinetix 2000 IAM 2093 AC05 MPx requires setting the input power in RSLogix5000 Power tab in 1 0 Configuration 0 single phase input power 21 Common bus applications require configuring of the additional bus capacitance for the IAM leader 2093 AC05 MPx as described in Appendix D 22 Common bus applications require setting the IAM follower 2093 AC05 MPx 1 0 configuration Power tab Bus Regulator configuration to Common Bus Follower Publication 2093 UM001A EN P March 2007 Bonded Cabinet Ground Bus VAC Line Input 170 264V ac RMS Note 1 Interconnect Diagrams Power Wiring Examples Single IAM Wiring Example with LIM 2094 AL09 LINE INTERFACE MODULE 2094 AL09 Input Fusing Note 2 KINETIX 2000 INTEGRATED AXIS MODULE 2093 ACxx MPx 169 u gt i j i 5 V 2 Three Phase ti 5 Single Phase Output CTRL 1 2 2 CTRL 1 Control Power MP Connector wa Motor Power 170 264V ac RMS CTRL2 CTRL2 CPD Connector s Connections Note 1 a 4 Note 14 nput Fusing zm 4 Note 2 wr 1 2 Main Power i L2 2 11 3 L2 IPD Connector L3 Three Phase Output 13 13 170 264V ac RMS L
183. nt is 9 1V dc 8 896 350 mA total for both channels Kinetix 2000 Connector Data 49 IAM Input Connector Pinouts These connections have removable wiring plugs The pins are numbered consecutively from top to bottom and keyed to prevent incorrect insertion Control Power Connector CPD Pin Description Signal 1 Control power V ac input line 1 CTRL 1 2 Control power V ac input line 2 CTRL 2 Input Power and Common Bus Connector IPD Pin Description Signal 1 L1 Three phase input power 12 a 4 Chassis ground L An integral unregulated power supply consisting of ac line DC 6 input three phase bridge rectifier and filter capacitors DC Contactor Enable Connector CED Pin Description Signal 1 Relay driven dry contact used in the safety string for a CONT EN 2 three phase power contactor CONT EN1 Publication 2093 UM001A EN P March 2007 50 Kinetix 2000 Connector Data IAM and AM Motor Power and Brake Connector Pinouts These connections have removable wiring plugs The pins are numbered consecutively from top to bottom and keyed to prevent incorrect insertion Motor Power Connector MP Pin Description Signal 1 U ge Three phase motor power V 3 W 4 Chassis ground l To meet CE requirements combined motor power cable length for all IMPORTANT axes on the same dc bus must not exceed 160 m 525 ft with 230V syste
184. ntal High resolution High resolution High resolution High resolution m ft m ft m ft m ft m ft m ft m ft 30 98 4 30 98 4 30 98 4 30 98 4 30 98 4 30 98 4 30 98 4 1 Refers to MPL AxxxxS M and E V single turn or multi turn low inertia motors with absolute high resolution feedback Refers to MPL AxxxxH low inertia motors with 2000 line incremental feedback 2 Refers to MPG AxxxxS M single turn or multi turn integrated rotary actuators with absolute high resolution eedback Refers to MPF AxxxxS M single turn or multi turn food grade motors with absolute high resolution feedback Refers to MPS AxxxxS M single turn or multi turn stainless steel motors with absolute high resolution eedback 3 Refers to MPAI AxxxxV M multi turn integrated linear actuators with absolute high resolution feedback 4 Refers to Y Series motors with incremental optical encoder feedback 5 Refers to TL Axxxx B low inertia motors with absolute high resolution feedback Refers to TL Axxxx H low inertia motors with incremental feedback Publication 2093 UM001A EN P March 2007 162 Specifications and Dimensions Environmental Specifications Attribute Operational Range Storage Range non operating Ambient Temperature 0 50 C 32 122 F 40 85 C 40 185 F Relative Humidity 5 95 noncondensing 5 95 noncondensing Altitude 1000 m 3281 ft 3000 m 9843 ft with derating 1 3000 m 9843 ft durin
185. nterface module 3 2 0 1756 L55M12 5555 ControlLogix processor 4 5 0 756 IB16D 16 point input module 0 84 5 8 756 O0B16D 16 point output module 4 64 3 3 1756 ENBT Ethernet communications module 4 0 0 Backplane total 17 18 2 N A 1756 PB72 24V de ControlLogix power supply N A 25 2 1756 A7 7 slot mounting chassis N A N A Total ControlLogix system Wattage 34 1 por ControlLogix module specifications refer to the ControlLogix Selection Guide publication 1756 SG001 2 ControlLogix Real Power Publication 2093 UM001A EN P March 2007 1756 P B72 Backplane dc 60 1756 P B75 Power Load 45 Watts 30 15 0 Real power heat dissipation is determined by applying the backplane power load 17 18 W to the graph below 0 20 40 60 Real Power Watts 100 Planning the Kinetix 2000 Drive System Installation 23 For backplane power loading requirements of other ControlLogix power supplies refer to the ControlLogix Selection Guide publication 1756 56001 In this example the amount of power dissipated inside the cabinet is the sum of the Kinetix 2000 system value 387 W and the ControlLogix system value 34 W for a total of 421 W With no active method of heat dissipation such as fans or air conditioning either of the following approximate equations can be used Metric Standard English 0 380 4 080 re rtugesa su vu A A 1 8T 1 1 T 1 1 Where T is tempera
186. ntrol of Electrical Noise Reference Manual publication GMC RM001 Publication 2093 UM001A EN P March 2007 30 Planning the Kinetix 2000 Drive System Installation Observe the following guidelines when a LIM 2094 ALxxS or 2094 XL75S Cx is used in the Kinetix 2000 system and mounted left of the IAM with the ac EMC line filter mounted above the LIM The clean zone C is to the left and below the Kinetix 2000 system grey wireway e The dirty zone D is to the right and above the Kinetix 2000 system and above and below the LIM black wireway The very dirty zone VD is from the filter output to IAM Shielded cable is required on the EMC filter load side and the braided shield attached to the clamp provided The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones LIM mounted right of IAM Very Dirty Filter IAM Connections Segregated Not in Wireway Clean Wireway Dirty Wireway Line Filter Fiber optic Cab No Sensitive Equipment Within 150 VD Kinetix 2000 Drives Line Interface Module c 1 0 and Feedback Cables D Route Encoder Analog Registration Route Motor Power and Shielded Cables 24V dc 1 0 Shielded Cables IAM AM 1 0 cable contains dirty relay wires route cable with 1 0 cable in dirty wireway 7 When space does not permit the 150 mm 6 0 in segregation use a ground
187. o teat Soca take 76 Wiring the LIM Connectors 77 Wiring the Auxiliary Input Power APL Connector 77 Witing the VAC LINE IPL 77 Witing the VAC LOAD OPL 78 Wiring the Control Power Output CPL Connector T9 Wiring the Auxiliary Power Output P2L Connector 79 Wiring the Brake Power Output 24V Connector 80 Witing the TAM AM 81 Wiring the Control Power CPD 81 Wiring the Input Power IPD 82 Wiring the Contactor Enable CED Connector 84 Wiring the Motor Power MP 85 Wiring the Motor Brake BC 89 Feedback and I O Cable 92 Flying lead Feedback Cable 93 Wiring Feedback and I O 95 Connecting Premolded Motor Feedback Cables 95 Wiring Low profile Connector 95 Configure and Startup the Kinetix 2000 Drive System Troubleshooting the Kinetix 2000 Drive System Removing and Replacing the Kinetix 2000 Drive Modules Wiring 15 pin Panel mounted Breakout Kit 97 Wiring 44 pin Panel mounted Breakout
188. ollowing safety precautions when troubleshooting your Kinetix 2000 drive ATTENTION Capacitors on the dc bus may retain hazardous voltages after input power has been removed Before working on the drive measure the dc bus voltage to verify it has reached a safe level or wait the full time interval as indicated in the warning on the front of the drive Failure to observe this precaution could result in severe bodily injury or loss of life Do not attempt to defeat or override the drive fault circuits You must determine the cause of a fault and correct it before you attempt to operate the system Failure to correct the fault could result in personal injury and or damage to equipment as a result of uncontrolled machine operation ATTENTION a gt Provide an earth ground for test equipment oscilloscope used in ATTENTION troubleshooting Failure to ground the test equipment could result in personal injury gt Publication 2093 UM001A EN P March 2007 134 Troubleshooting the Kinetix 2000 Drive System Interpreting Status Indicators Error Fault Message Code RSLogix HIM Use these troubleshooting tables to identify faults potential causes and the appropriate actions to resolve the fault If the fault persists after attempting to troubleshoot the system please contact your Rockwell Automation sales representative for further assistance Error Codes The following list of problematic symptoms no
189. or supported feedback types Stegmann Sine Cosine MF Pin Hiperface Incremental Sine Cosine Incremental Renishaw 17 bit Serial 7 with Hall Incremental with Hall Incremental Raptor 1 AM 2 AM AM AM AM AM 3 4 BM BM 5 DATA DATA IM IM IM IM IM 6 ECOM ECOM ECOM ECOM ECOM ECOM ECOM 7 2 M mE 8 53 53 53 9 07 0 DATA DATA IM IM IM IM IM 19 TS TS TS TS TS TS TS 12 51 S1 S1 3 52 52 82 4 4 EPWR 5V EPWR 5V EPWR 5V EPWR 5V EPWR 5V EPWR 5V EPWR 5V 15 E_OT Not applicable unless motor has integrated thermal protection 38V battery connections are located in the 2090 K2CK D15M connector kit The battery 2090 DA BAT2 is required for this feedback type Pin 14 is EFWR 5V connection for motor applications 5V encoder power supply requirement is 5 18V dc 5 350 mA total for both channels Pin Orientation for 15 pin Motor Feedback MF Connector Publication 2093 UM001A EN P March 2007 15 pin Motor Feedback Connector Pin 15 H looo voco pe Pin 6 Pin 10 Pin 5 Pin 1 Pin 7 is EPWR 9V connection that can be used for third party motor applications Hiperface for example 9V encoder power supply requireme
190. or SM you are removing To identify each connector refer to page 43 IAM AM or page 60 SM A slot filler module has no connectors that are user accessible 3 Loosen the mounting screw top of each module 4 Grasp the module with one hand while unlocking the bottom clips with the other and pull the module straight out of the power rail Publication 2093 UM001A EN P March 2007 Removing and Replacing the Kinetix 2000 Drive Modules 151 Replace Modules on the Follow these steps to replace modules on the power rail Power Rail 1 Align the locking screw with the corresponding slot in the power rail 2 Push the module straight in while applying the force at the top and bottom of the front covet 3 The module is fully seated when each clip on the bottom snaps into the groove and the screw boss is flush with the top of the power rail TIP The IAM and double wide AM have two power rail connectors with integrated guide pins the single wide AM has one All other modules have one connector 4 Torque the locking screw to 2 26 Nm 20 Ib in 5 Reconnect the module connectors 6 Reapply power to the system 7 Verify that the system is operating properly TIP Because IAM and AM parameters reside in the RSLogix 5000 software you do not need to perform any tuning or setup procedures Remove the Power Rail This procedure assumes you have removed all modules from the power rail Follow these steps to remove the power
191. or feedback device malfunction resolution message Hookup Fault e Check motor power feedback wiring No Fault Message condition indicated T screen message for E66 by on screen Autotune procedure failed Motor or feedback device malfunction message Atune FIt e Perform Hookup in RSLogix 5000 software e Consult RSLogix 5000 help screen Publication 2093 UM001A EN P March 2007 138 Troubleshooting the Kinetix 2000 Drive System Error Fault Message Problem or Symptom Potential Cause Possible Resolution Code RSLogix HIM P DriveHardFault Software initialization fault detected due Cycle power E67 Operating system failed Task init P EUN to hardware failure e f fault persists replace module DriveHardFault E68 DPI communication failed The DPI device or cable is faulty Check DPI connections SCANport Comm DriveHardFault Load default parameters save to E69 Non volatile memory is corrupt due to control board hardware failure non volatile memory and recycle power or Objects Init reset the drive DriveHardFault Load default parameters save to E70 Non volatile memory is corrupt due to control board software error non volatile memory and recycle power or NV Mem Init reset the drive DriveHardFault e Cycle power E71 RAM or Flash memory validation failure abra
192. otary 2047 linear revs Single turn support Drive resolution equal to unwind modulo value without a battery Drive resolution equal to unwind modulo value without a battery Battery 2090 DA BAT2 External 3 6V 50 mA max 8 Phase shift 90 5 Distance coded marker Not supported not supported Hall inputs 51 S2 S3 75 Voltages higher than 7 may cause product damage Voltages higher than 24V may cause product damage Single ended TTL or open collector Single ended TTL or open collector Battery to supply power for absolute encoder output from the TL Series motors to the motor feedback connector on the drive must be installed in the Low Profile Connector Kit for Motor Feedback catalog number 2093 K2CK D15M Refer to publication 2093 INO05x EN P for information on wiring and installing this connector kit Publication 2093 UM001A EN P March 2007 Kinetix 2000 Connector Data AM BM and IM Input Specifications for TTL Encoders 59 Parameter Description Min Max AM BM and IM Input voltage difference between the plus input and 40V 47 0V On state input voltage he minus input that is detected as an on state AM BM and IM Input voltage difference between the plus input and AQV 70 Off state input voltage he minus input that is detected as an off state x Common mode Po
193. ower and signal wiring on a machine or system radiated noise from nearby relays transformers and other electronic drives can be induced into motor or encoder feedback signals input output communications or other sensitive low voltage signals This can cause system faults and communication problems Refer to Minimizing Electrical Noise on page 26 for examples of routing high and low voltage cables in wireways and to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 for more information Connecting the Kinetix 2000 Drive System 63 Determining Your Type of Input Power Before wiring input power to your Kinetix 2000 system you must determine the type of input power you are connecting to The IAM is designed to operate in both grounded and ungrounded environments ATTENTION When using a LIM with your Kinetix 2000 drive the ac input power to the VAC LINE terminal must come from a grounded configuration This is shown in the Grounded Three phase Power Configuration WYE secondary diagram on page 64 When not using a LIM with your Kinetix 2000 drive ungrounded configurations are permitted but you must set the jumper to prevent high electrostatic build up Refer to Setting the Ground Jumper in Ungrounded Power Configurations on page 69 for more information The following three phase power distribution configurations are supported by your Kinetix 2000 system Kinetix 2000 Power Distr
194. own mounted to the power rail and the dimensions reflect that in the depth of the module Publication 2093 UM001A EN P March 2007 Specifications and Dimensions 165 Shunt Module Dimensions 2093 ASP06 a 183 7 2 173 2 TERMS En 1 6 pat A 1675 6 6 i o Power f Rail 2 zu TT Modules are shown mounted to the power rail and the dimensions reflect that Dimensions in mm in the depth of the module Slot Filler Dimensions 2093 PRF 53 40 70 LO 167 5 6 6 Power Rail EN Dimensions are in mm in Modules are shown mounted to the power rail and the dimensions reflect that in the depth of the module Publication 2093 UM001A EN P March 2007 166 Specifications and Dimensions Power Rail Dimensions 2093 PRS1 2093 PRS2 2093 PRS3 2093 PRS4 2093 PRS5 2093 PRS7 2093 PRS8S 1531 __ 32 66 0 59 1 29 E 167 5 6 59 Dimensions are in mm Dimension Dimension B Dimension C Catalog Number Description mm lin mm lin mm lin 2093 PRS1 1 axis power rail 90 3 54 N A N A 2093 PRS2 2 axis powe
195. peat steps 3 and 4 for each axis module Node Addressing Example 1 1756 SERCOS Interface Module E ControlLogix Chassis Transmit Receive SERCOS Fiber optic Ring Receive esjen a A Kinetix 2000 Receive Transmit E n System 2 2093 PRS2 power rail Kinetix 2000 System 1 2093 PRS7 power rail Node Addresses 18 axis 1 single wide Node Addresses 17 axis 0 IAM Slot Filler not an axis Shunt not an axis 14 axis 4 single wide AM 13 axis 3 single wide AM 12 axis 2 single wide AM 11 axis 1 single wide AM 10 axis 0 IAM Reserved for expansion In Example 1 the Kinetix 2000 seven axis system 1 power rail contains one IAM four AMs a shunt and one slot filler module In this example the shunt module and slot filler do not use the node addresses although having a slot assignment The node address can be reserved by not assigning it and this will provide for future expansion of the system Publication 2093 UM001A EN P March 2007 106 Configure and Startup the Kinetix 2000 Drive System Kinetix 2000 two axis system 2 power rail contains one IAM and one AM The base node address of the LAM system 2 must be set for an address of
196. pied but not in use by double wide axis module In Example 3 the Kinetix 2000 seven axis power tail contains a LAM two double wide AMs one single wide AM and one slot filler module The slot filler module is assigned a node address but does not use it The leftmost slot of the double wide axis modules determine the node addresses that are in use 01 02 and 04 Node addresses 03 and 05 the rightmost slots of the double wide axis modules are not used Node address 07 the slot flitter is not used although it could be reserved for future expansion IMPORTANT Slot filler modules must be used to fill any unoccupied slot on the power rail However the slot fillers may also be removed and replaced by an axis or shunt module in the future Do not position axis modules to the right of shunt or slot filler IMPORTANT modules The added distance between non adjacent axes can increase electrical noise and impedance and requires longer fiber optic cable lengths Publication 2093 UM001A EN P March 2007 108 Configure and Startup the Kinetix 2000 Drive System Kinetix 2000 System 1 2093 PRS8S power rail Node Addresses 01 1 IAM base node address 02 2 single wide AM 03 NA axis 2 occupies slot 04 double wide AM 05 NA axis 3 occupies slot 06 4 double wide AM 07 NA axis 4 occupies slot 08 5 double wide AM 0
197. prise a Kinetix 2000 servo drive system Line Interface Module Installation Instructions publication 2094 IN005 nformation on the installation and troubleshooting of your Bulletin 2094 Line nterface Module LIM Rockwell Automation Industrial Automation Glossary publication AG 7 1 A glossary of industrial automation terms and abbreviations System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 EMC Noise Management DVD publication GMC SP004 Information examples and techniques designed to minimize system failures caused by electrical noise Kinetix Motion Control Selection Guide publication GMC SG001 Specifications motor servo drive system combinations and accessories for Kinetix motion control products Rockwell Automation Configuration and Selection Tools website http www ab com e tools Online product selection and system configuration tools including AutoCAD DXF drawings Motion Analyzer version 4 2 or later http www ab com motion software motion analyzer html Drive and motor sizing with application analysis software Rockwell Automation Product Certification website For declarations of conformity DoC currently available from Rockwell Automation Motion Modules in Logix5000 Control Systems User Manual publication LOGIX UM002 Information on configuring and troubleshooting your ControlLogix and CompactLogix SERCO
198. properties 110 conversion tab 120 coordinated system time master 110 cycle time 113 data rate 112 dc common bus 117 delay times 121 download program 122 fault actions 121 IAM 103 module properties 114 motion group 118 motor feedback 120 node address 114 optical power 113 optical power level 104 SERCOS module 109 SERCOS module properties 111 transition phase 113 units tab 120 connecting contactor enable 84 feedback 92 I O 92 motor brake 89 panel mounted IO and auxiliary feedback breakout kit 97 panel mounted motor feedback breakout kit 97 premolded feedback cables 95 SERCOS cables 99 shunt resistor 97 connector designators axis module 45 integrated axis module 45 shunt module 60 connector locations axis module 44 integrated axis module 43 shunt module 60 contactor enable relay 53 troubleshooting 142 wiring 84 contactor specifications 159 control power specifications 55 controlling a brake 181 conventions used in the manual 9 conversion tab 120 converter bus capacitance 211 CPLD FLT 138 cycle time 113 D data rate 112 date and time tab 110 dc bus applications 209 DC common bus follower IAM 67 fuse requirements 68 leader IAM 67 pre charge 67 dc common bus 213 configuring shunt 117 follower IAM 15 interconnect diagram 174 175 176 leader IAM 15 pre charge 15 total bus capacitance 15 typical installation 15 delay times 121 digital I O not working 134 digital input
199. que Value 2094 ALxxS 2094 XL75S Cx mm AWG mm in Nm Ib in I0 COM1 1 CONT EN 1 25 14 10 0 38 0 5 4 4 COIL_E2 2 CONT EN The actual gauge of the contactor enable wiring depends on the system configuration Consult your machine builder the NEC and applicable local codes Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System 85 Wiring the Motor Power MP Connector This example applies to axis modules AM and the inverter section of integrated axis modules IAM Integrated Axis Module Axis Module MP connector c mM Integrated Axis Module Front View 2093 ACO5 MPx shown Cable Shield Terminations Factoty supplied motor power cables for MP Seties TL Seties and Y Series motors are shielded The braided cable shield must terminate at the motor end after installation A small portion of the cable jacket is removed to expose the shield braid The cable is secured at the motor power MP connector plug To avoid hazard of electrical shock ensure shielded power cables are grounded at a minimum of one point for safety l CE requirements are met without grounding of the cable shield at the drive ATTENTION B For TL Series and Y Series motors also connect the 152 mm 6 0 in termination wir
200. r Axis Power Rail 2093 PRS4 inetix 2000 Five Axis Power Rail 2093 PRS5 inetix 2000 Seven Axis Power Rail 2093 PRS7 inetix 2000 Eight Axis Power Rail with Shunt or Slot Filler 2093 PRS8S Shunt Module inetix 2000 SM 230V 50 W 2093 ASP06 Slot Filler inetix 2000 SF Power Rail Slot Filler 2093 PRF V Derated to 2 kW for single phase operation Publication 2093 UM001A EN P March 2007 Start 17 Agency Compli ance If this product is installed within the European Union or EEC regions and has the CE matk the following regulations apply Meeting CE requires a grounded system and the method of grounding ATTENTION the ac line filter and drive must match Failure to do this renders the filter ineffective and may cause damage to the filter For grounding examples refer to Determining Your Type of Input Power on page 63 For more information on electrical noise reduction refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 CE Requirements System without LIM To meet CE requirements when your Kinetix 2000 system does not include the line interface module LIM the following requirements apply Install an ac line filter 2090 XXLF xxxx as close to the integrated axis module LAM as possible Use 2090 series motor power cables or use connector kits Combined motor powet cable length for all axes on the same dc bus must not exceed 160 m 525 ft with 230V systems
201. r damage to the drive wire the contactor enable relay into your safety control string Refer to Contactor Enable Relay on page 53 for more information Single Phase Power Input without LIM to IAM Wiring Example KINETIX 2000 INTEGRATED AXIS MODULE 2093 AC05 MPx ALTERNATE INPUT POWER CONNECTION SCHEME 5 Bonded Cabinet Ground Bus Power Rail Chassis Ground Stud 5 7 0 Single Phase Input T i E CTRL 1 Control Power 170 264V ac RMS IL CTRL 2 CPD Connector Notes 1 2 Input U 1 ing Isolation 2 Fusing Motor Power V Note 5 MP Connector L 4 VAC Line M1 Notes 8 19 20 Single Phase Input IL I 1 170 264V ac RMS Single Phase 2 12 Notes 1 2 27 AC Une Filter Tm 3 Note 3 pu 3 Main Power Fusing ArI IPD Connections 5 p r PWR Motor Brake L MBRK Notes 2 12 BC Connector MBRK 24V AC DC M1 cm m or 120V AC K 50 60 HZ em STOP START CONT EN t Contactor Enable gt CONT_EN 1 CED Connector Refer to Attention statement Note 11 INDICATES USER SUPPLIED COMPONENT Bonded Cabinet Ground Bus Power Rail O 4 l
202. r rai 130 5 12 40 1 57 N A 2093 PRS3 3 axis power rai 170 6 69 80 3 15 N A 2093 PRS4 4 axis power rai 210 8 26 120 4 72 N A 2093 PRS5 5 axis power rai 250 9 84 160 6 30 N A 2093 PRS7 7 axis power rai 330 12 99 240 9 45 120 4 72 2093 PRS8S 8 axis power rai 410 16 14 320 12 60 160 6 30 Publication 2093 UM001A EN P March 2007 B Interconnect Diagrams Introduction This appendix provides wiring examples and system block diagrams for your Kinetix 2000 system components Topic Page Wiring Examples 168 Power Wiring Examples 69 DC Common Bus Wiring Examples 174 Shunt Module Wiring Examples 77 Axis Module Motor Wiring Examples 178 Controlling a Brake Example 181 System Block Diagrams 183 Publication 2093 UM001A EN P March 2007 168 Interconnect Diagrams Wiring Examples This appendix provides wiring examples to assist you in wiring the Kinetix 2000 system The notes below apply to the wiring examples on the pages that follow Note Information 1 For power wiring specifications refer to Power Wiring Requirements on page 73 2 For input fuse and circuit breaker sizes refer to Circuit Breaker Fuse Specifications on page 157 3 Place ac EMC line filters as close to the drive as possible and do not route very dirty wires in wireway If routing in wireway is unavoida
203. r the existing mounting bolts IMPORTANT To improve the bond between the power rail and subpanel construct your subpanel out of zinc plated paint free steel 2 Tighten the mounting bolts 3 Re attach the braided grounding strap to the power rail grounding stud refer to page 151 Specifications and Dimensions Introduction This appendix provides product specifications and mounting dimensions for your Kinetix 2000 system components Topic Page Power Specifications 154 Power Dissipation Specifications 160 General Specifications 161 Line Filter Specifications 163 Product Dimensions 164 Publication 2093 UM001A EN P March 2007 154 Specifications and Dimensions Power Specifications This section contains power specifications for your or AM components Converter Power Specifications The following tables list power specifications for the converter section that resides within an integrated axis module IAM Converter three phase and single phase Power Specifications Attribute 2093 AC05 MPx 2093 AC05 MPx Three phase Input 230V nom Single phase Input 230V nom Input voltage ac 170 264V rms Input frequency ac 47 63 Hz Input current ac main 1 Nom rms 11 66 A 10 95 A Max inrush 0 pk 34 0A 34 0A Input voltage dc common bus follower 240 375V de Input current dc common bus follower 976A 6 42 A Control power ac input volta
204. rail 1 Disconnect the braided grounding strap from the grounding stud located on the right side of the power rail 5 i T Braided Ground Strap ea I Power Rail ne A 8 i Ko a 100 mm 3 9 in 2093 PRS8S BS ES ES shown ES ES EH ES Fa E Bonded Cabinet Ground _ e amp oe fg 2 Loosen the mounting bolts 3 Remove the mounting bolts along the bottom of the power rail 4 Lift the power rail up and off of the top mounting bolts Publication 2093 UM001A EN P March 2007 152 Removing and Replacing the Kinetix 2000 Drive Modules Replace the Power Rail Publication 2093 UM001A EN P March 2007 This procedure assumes you do not need to change the location of the power rail on the panel because you intend to reuse the mounting bolts in their existing locations to mount a new power rail IMPORTANT If you need to change the location of the power rail or if you are installing a power rail designed for additional or fewer modules than you removed refer to Kinetix 2000 Power Rail Installation Instructions publication 2093 IN004 To avoid damage to the power rail during installation do not remove the protective boots until the module for each slot is ready for mounting ATTENTION B Follow these steps to replace the power rail 1 Align the replacement power rail ove
205. rake Cable 11 Note 4 12 13 MBRK Black 2 BR 14 Motor 3 White lt lt 15 1 lt 3 Brake BC PWR 24V dc Connector 4 1 2 COM I User Supplied Grounding Technique for Feedback Cable Shield amp exza Low Profile m En E 0 K2CK D15M shown Motor Feedback MF Connector IAM or AM 12 s gt BROWN SD 5 WHT BROWN B 13 551 wm _ 10 7 GRAY 5VDC 14 8 WHT GRAY XX ECOM 6 14 ORANGE WHT ORANGE 3 gt gt DRAIN pd 2090 XXNFLT Sxx Feedback Cable Notes 4 9 Refer to Low Profile Connector Illustration lower left for proper grounding technique Clamp Exposed shield secured under clamp Clamp screw N small cables secure Pd D urn clamp over to hold Publication 2093 UM001A EN P March 2007 TL Series 230V Motor Feedback SERVO MOTOR MF WITH Connector INCREMENTAL FEEDBACK IAM AM 1 U 1 BLACK 2 lt lt V Three Phase 2 d WHT BLACK AM 2 3 Sew Motor Power 3 5 RED 3 4 WHT RED BM 4 lt a 5 GREEN IM 5 GND 10 4 WHT GREEN XX IM 0 12 2 sp M 13 55 XX SD 7 GRAY 5VDC 4 Motor Feedback 8 4 Waray XX COM IL 6 BLUE LR 2 lt q BR 6 WHT BLUE XX S 2 1 BR Brake 1
206. rameter 708 Axes to Flash Properties Value Documentation 0 jw IAM Ais 1 Axis 2 2 Axis 3 Axis 4 47 Axis 5 5 Axis 6 B Axis 7 Axis 8 Internal Value rr Dec Hex C Bin Parameter Help Range Value Internal Value Minimum 0000000000000000 0 Maximum 0000000011111111 255 Default 0000000011111111 255 19 Select axes to flash and then click OK Drive Executive does not flash the axes but it allows you to select one or more drives that are to be flashed with Hyperterminal 20 Close Drive Executive A prompt will ask whether you want to save the uploaded parameters If you choose Save an extension dno is applied to the file that allows you to reuse this Drive Executive file Publication 2093 UM001A EN P March 2007 202 Upgrading Firmware Using Hyperterminal to FLASH the Kinetix 2000 Drive Publication 2093 UM001A EN P March 2007 This section provides instructions on how to perform a HyperTerminal session Typically Hyperterminal is located in the directory path Programs Accessories Communications Hyperterminal 1 Start Hyperterminal 2 A new dialog opens New Connection HyperTerminal File Edit Yiew Call Transfer Help De ss na E Connection Description New Connection Enter a name and choose an icon for the connection Name K2K Flash 3556003 OK Disconnected Auto d
207. rams 185 Shunt Module Block Diagram POWER RAIL Switch Mode Power Su l External pp y Shunt Connectors Resistor DC COL Voltage TS1 Detector TS2 Ei 5 m LED Y Indicators CHASSIS GROUND SHUNT Signal TEMP Connection BUS SYS OK IN System Command SYS OK OUT Receiver Shunt Command GSHUNT p GSHUNT Publication 2093 UM001A EN P March 2007 186 Interconnect Diagrams Publication 2093 UM001A EN P March 2007 C Upgrading Firmware Introduction This appendix provides procedures for upgrading firmware The procedure requires you to complete two steps e Use Drive Explorer or Drive Executive to setup the Kinetix 2000 axes to be flashed Use Hyperterminal to flash the firmware in the selected drives Topic Page Before You Begin 187 Selecting Software Tools to Upgrade the Kinetix 2000 Drive Firmware 188 Using Drive Explorer to Setup the Kinetix 2000 Drives to Flash 188 Using Drive Executive to Setup the Kinetix 2000 Drives to Flash 188 Using Hyperterminal to FLASH the Kinetix 2000 Drive 202 Before You Begin Obtain the following software and information before you begin Description Catalog Number Firmware Revision DriveExplorer software 9306 4EXPO2ENE 5 02 or later Drive Executive software v4 01 or later RSLinx 2 50 00 or later Firmware Upgrade fi
208. reign matter can become lodged in the circuitry which can result in damage to components To avoid hazard of electrical shock perform all mounting and wiring of IAM AM SM LIM or power rail prior to applying power Once power is applied connector terminals may have voltage present even when not in use IMPORTANT This section contains common PWM servo system wiring configurations size and practices that can be used in a majority of applications National Electrical Code local electrical codes special operating temperatures duty cycles or system configurations take precedence over the values and methods provided Publication 2093 UM001A EN P January 2007 62 Connecting the Kinetix 2000 Drive System Publication 2093 UM001A EN P January 2007 Building Your Own Cables IMPORTANT Factory made cables are designed to minimize EMI and are recommended over hand built cables to optimize system performance Connect the cable shield to the connector shells on both ends of the cable with a complete 360 connection e Use a twisted pair cable whenever possible Twist differential signals with each other and twist single ended signals with the appropriate ground return Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for low profile connector kit drive end mating connector kit and motor end connector kit catalog numbers Routing Power and Signal Wiring Be aware that when you route p
209. rol power is applied to the drive prior to three phase power Refer to Single Phase Power Input without LIM to IAM Wiring Example on page 173 for a wiring example The recommended power up sequence is to apply Logix power and then close the CE relay to apply main power to the drive electronics Publication 2093 UM001A EN P March 2007 54 Kinetix 2000 Connector Data Publication 2093 UM001A EN P March 2007 IMPORTANT All power rail slots must have the proper module installed or the Contactor Enable relay will not close To avoid damage to the drive wire the Contactor Enable relay in your safety control string so that three phase power is removed from the drive in the event of certain fault conditions ATTENTION Refer to Power Wiring Examples on page 169 for wiring examples B Contactor Enable Relay Circuit mM Normally 6 CONT EN C CONT EN 1 Kinetix 2000 IAM Contactor Enable Relay Output Specifications Parameter Description Min Max On state eurt nt Current flow when the relay is closed 1A On state fesistance Contact resistance when the relay is closed 1Q Off state 120V ac or voltage Voltage across the contacts when the relay is open 24V dc Motor Brake Relay Two connections are required for the customer supplied motor brake input power BC 1 and BC 2 and two connections each for the motor brake output a
210. rtwar Drive Enable Flt Signal e The Drive Enable input transitioned through software from active to inactive while the axis was enabled SERCOSFault Verify that each SERCOS drive is assigned E50 SERCOS Same ADDR Duplicate node address detected on SERCOS ring a unique node address DriveHardFault E54 UE Current feedback hardware fault detected Replace the module DriveHardFault E60 m Illegal ID bits detected Replace the module e Use shielded cables with twisted pair wires E61 AuxFeedbackFault Auxiliary Encoder State The auxiliary encoder encountered an e Route the feedback away from Aux Fdbk AQB Error illegal transition potential noise sources e Check the system grounds e Replace the motor encoder AuxFeedbackFault Check the motor feedback cable E62 The feedback wiring is open shorted or missing connectors wiring to the IAM AM and Aux Fdbk Loss motor E63 AuxFeedbackNoise Noise on auxiliary e Verify grounding Aux Fdbk Noise feedback cable gro ding p t e Route feedback cable away from noise installation instructions has not been SOUICES MotorFeedbackNoise Noise on motor feedback followed e Refer to System Design for Control of Mtr Fdbk Noise cable Electrical Noise Reference Manual publication GMC RMO01 No Fault Message e Check motor power feedback wiring condition indicated e Refer to on screen message for E65 by on screen Hookup procedure failed Motor
211. rty relay wires route cable in dirty wireway When space to the right of the IAM does not permit 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to Chapter 4 of the System Design for Control of Electrical Noise Reference Manual publication GMC RM001 This is a clean 24V dc available for any device that may require it The 24V enters the clean wireway and exits to the right This is a dirty 24V dc available for motor brakes and contactors The 24V enters the dirty wireway and exits to the left Pu o ication 2093 UM001A EN P March 2007 34 Planning the Kinetix 2000 Drive System Installation Observe the following guidelines when installing a 1756 MxxSE SERCOS or other Logix interface modules e The clean zone C is beneath the less noisy modules such as I O encodet registration grey wireway The dirty zone D is above and below the power supply and noisy modules black witeway The SERCOS fiber optic cables are immune to electrical noise Establishing Noise Zones ControlLogix Dirty Wireway Clean Wireway Route dirty wireways directly above the ControlLogix rack shielded by the ControlLogix chassis Spare Slot s C Pas Dirty 1 0 Clean 1 0 ilter power supply 24V dc 1 0 AC 1 0 Analog Encoder connections Registration segregatdll not in 9 l 1 Segregate VD wiring from D and C wiring or use shielded cable shi
212. s 1 5 and interface module 2 controls axes 6 7 The slot filler or shunt module is not assigned a node address because this slot cannot be occupied by an inverter LAM or AM module Refer to the Node Addressing Example 4 on page 108 for slot nine restrictions unique to the 2093 PRS8S power rail You can mount the two SERCOS interface modules the same chassis as shown abov e or in two separate ControlLogix chassis Utilizing two SERCOS Configure and Startup the Kinetix 2000 Drive System 107 interface modules to control axes from a single Kinetix 2000 power rail reduces the cycle times Slot Filler modules must be used to fill any unoccupied slot on the IMPORTANT power rail However the slot fillers may also be removed and replaced by an axis or shunt module in the future Node Addressing Example 3 1756 MO16SE SERCOS Interface Module ControlLogix Chassis Transmit Receive SERCOS Fiber optic Ring Receive Kinetix 2000 2093 PRS7 power rail A n Node Addresses NR Slot Filler not an axis 06 axis 4 single wide AM 05 NA axis 3 occupies slot 04 double wide AM r 03 NA axis 2 occupies slot 02 2 double wide AM 01 1 IAM base node address Reserved for expansion Occu
213. s 51 IAM converter 211 IAM and single follower interconnect diagram 174 IAM converter 184 IAM inverter 183 IAM leader interconnect diagram 175 IAM with multiple followers interconnect diagram 176 IAM AM 211 Ifbk HW fault 137 illegal hall state 135 input connector pin outs IAM 49 input power source 124 input power wiring 3 phase delta 64 determining input power 63 ground jumper setting 69 grounded power configuration 63 single phase power configuration ungrounded power configuration 65 Publication 2093 UM001A EN P March 2007 220 Publication 2093 UM001A EN P March 2007 installing drive accessories ac line filters 36 motor brake 36 thermal switch 36 installing your drive 19 bonding examples 27 bonding subpanels 27 cable categories 34 circuit breakers 21 enclosure selection 21 fuses 21 HF bonding 26 noise zones 28 system mounting requirements 19 transformer 20 integrated axis module catalog number 16 configuring 103 connector designators 45 connector locations 43 dimensions 164 interconnect diagram 169 170 single phase interconnect diagram 173 status indicators 139 three phase interconnect diagram 172 wiring BC connector 89 wiring CED connector 84 wiring CPD connector 81 wiring IPD connector 82 wiring MP connector 85 wiring requirements 73 74 interconnect diagrams 2093 with MPF A and MPS A motor 179 2093 with MPG A motor 178 2093 with MPL A and MPG A mo
214. s 51 dimensions AM 164 IAM 164 PR 166 SF 165 SM 165 disable drive 145 download program 122 drive enable fault 137 drive fault actions 145 drive overcurrent 135 drive overtemp 136 138 drive status LED 124 139 drive tab 119 drive undervoltage 136 DriveExplorer software 213 E earth ground 71 electromagnetic compatibility increasing 36 EMC cable shield 86 87 motor ground termination 85 EMI ElectroMagnetic Interference bonding 26 enclosure requirements 19 selection 21 sizing Kinetix 2000 160 encoder communication fault 136 environmental specifications 162 163 erratic operation 144 error codes 134 establishing communications 139 external shunt resistor 41 F fault action 145 fault action programmable 145 fault actions 145 fault actions tab 121 feedback power supply 59 feedback tab 120 fiber optic signals 53 fiber optic cables drive to drive 100 receive and transmit connectors 99 firmware 187 flashing axes 188 193 flashing firmware 187 required software 187 follow error 136 follower IAM 15 67 fuse selection 21 fuse specifications 157 219 G general system troubleshooting 143 ground fault 136 ground jumper setting 69 grounded power configuration 63 grounding multiple subpanels 72 H hardware enable input 127 129 hardware overtravel 135 HF bonding 26 high frequency energy 27 hookup fault 137 hookup tab 126 I O connections 92 pin outs AM 46 pin outs IAM 46 specification
215. s Reference Manual publication 1756 RM007 The instructions needed to program a motion application ControlLogix Motion Module Programming Manual publication 1756 RM086 More detailed information on the use of ControlLogix motion features and application examples ControlLogix Controllers User Manual publication 1756 UM001 Information on installing configuring programming and operating a ControlLogix system CompactLogix SERCOS Interface Module Installation Instructions publication 1768 IN005 Information on configuring and troubleshooting a CompactLogix motion module 16 axis PCI SERCOS interface Card Installation Instructions publication 1784 IN041 SoftLogix SERCOS interface PCI card installation instructions 3 8 or 16 axis PCI SERCOS Interface Card Installation Instructions publication 1784 IN572 ControlLogix SERCOS interface module installation instructions SoftLogix Motion Card Setup and Configuration Manual publication 1784 UM003 nformation on configuring and troubleshooting your SoftLogix PCI card Fiber optic Cable Installation and Handling Instructions publication 2090 IN010 nformation on proper handling installing testing and troubleshooting fiber optic cables Kinetix 2000 Installation Instructions publication 2093 IN001 IAM and 2093 IN002 Shunt 2093 IN003 Power Rail and 2093 IN004 Slot Filler nformation on installing the individual modules that com
216. s Up to 8 1 ms Up to 16 2 ms The number of axes per Logix SERCOS module is limited to the Number of Axes per Module listed in the table for step 8 11 Verify that the Optical Power setting high or low matches DIP switch 1as set on the Kinetix 2000 axis module IAM AM The factoty default setting is high 12 Set the Transition to Phase to 4 The Transition to Phase setting stops the ring in the phase specified phase 4 13 Click OK 14 Repeat steps 1 13 for each SERCOS interface module Configure the Kinetix 2000 Modules Follow these steps to configure the Kinetix 2000 modules 1 Right click the SERCOS interface module you just created and select New Module Publication 2093 UMO001A EN P March 2007 114 Configure and Startup the Kinetix 2000 Drive System The Select Module dialog opens Wi Select Module Module Description Vendor ves 1394C SJTOS D 1394 460VAC SERCOS System Module SkW PS 1394C SJT10 D 1394 460VAC SERCOS System Module 10kW PS 1394C 5JT22 D 1394 460VAC SERCOS System Module 22kW PS 2093 ACOS MP1 Kinetix 2000 230VAC IAM 3kW PS 1 4A Cont 4 3A Pe 2093 05 2 Kinetix 2000 230VAC IAM 3kW PS 2 8 Cont 8 54 2093 ACOS MPS Kinetix 2000 230VAC IAM 3kW PS 4 24 Cont 12 74 P 2093 AMO1 Kinetix 2000 230VAC AM 8 54 Cont 25 5A Peak 2093 2 Kinetix 2000 230VAC AM 13 5 Cont 40 5A Peak 2093 AMP1 Kinetix 2000 230VAC AM 1 4A
217. s shown in the figure below Connections are rated for 24V and current as shown in the table below An active signal releases the motor brake BC 2 and BC 3 The brake signal on each inverter contains a suppression device The brake turn on delay specified in RSLogix 5000 software delays application of the motor brake activation by the time interval specified and the brake turn off delays release of the motor brake by the time interval specified for the signal Refer to Axis Module Motor Wiring Examples beginning on page 178 and Controlling a Brake Example on page 181 for wiring examples Kinetix 2000 Connector Data 55 Brake Relay Circuit Kinetix 2000 IAM AM io n B COM BRK PWR BC 4 BC 3 BC 2 BC 1 Noise suppression device Brake Relay Output Specifications Parameter Description IAM AM Max 2093 ACO5 MPx On state current vow nen the 2093 AMPxx 10 2093 AMxx On state resistance Contact resistance when the relay is closed 10 Off state voltage Voltage across the contacts when the relay is open 30V 1 For motors requiring more than the maximum current specified an external relay must be added Refer to the Wiring Example for External Brake Relay Control of Motor Brake on page 182 for a diagram of this circuit Control Power Input The integrated axis module LAM requires ac input power for logic circuitry
218. sable the Kinetix 2000 system however control power will still be present SHOCK HAZARD 2093 PRS8S Module Configuration The 2093 PRS8S power rail is unique in that it has nine slots but can accommodate only eight axis modules AM and AMs The last slot must be occupied by a shunt module SM or a slot filler SF or a double wide axis module AM occupying both slots 7 and 8 The table shows valid 2093 PRS8S power rail configurations with the maximum number of axis modules Configurations with fewer axis modules are valid when the slots to the right of the axis modules and AM are occupied by a single shunt module SM or slot filler SF modules as described in Determining Mounting Order on page 38 Valid 2093 PRS8S Module Positions Slot Number 0 1 2 3 4 5 6 7 8 AM AM AM IAM AM AM AM AM SM or SF 2 IAM AM AM AM AM AM SM or SF 2 IAM AM AM AM AM AM AM SM or SF 2 IAM AM AM AM AM AM AM AM SM or SF 2 1 Axis modules AM are available in double width 2093 AMO1 and 2093 AMO2 and single width 2093 AMP1 2093 AMP2 and 2093 AMP5 2 Only the following modules may occupy slot 8 in the 2093 PRS8S power rail a shunt module 2093 ASP06 a slot filler 2093 PRF or a double width axis module 2093 1 or 2093 02 occupying both slots 7 and 8 Refer to the Node Addressing Example 4 on page 108 for information on slot assignment and logica
219. se the system components it may be more efficient to provide a means of cooling a smaller cabinet Contact your cabinet manufacturer for options available to cool your cabinet Publication 2093 UM001A EN P March 2007 24 Planning the Kinetix 2000 Drive System Installation Minimum Clearance Requirements This section provides information to assist you in sizing your cabinet and positioning your Kinetix 2000 system components IMPORTANT Minimum Clearance Requirements Mount the module in an upright position Do not mount the module on its side Clearance above for airflow and installation Integrated Axis Module IAM catalog number 2093 AC05 MP1 is shown mounted on power rail as the first module Clearance left of the E module is not required 1 Clearance right of the module is not required 1 a a SEED Ss Clearance below for airflow and installation f The power rail catalog number 2093 PRS xx does not extend left of the first module or right of the last module Minimum Clearance Dimensions Cat No Clearance Above Min Clearance Below Min Cabinet Depth Clearance Min 1 If 15 pin connector kit catalog number 200 mm 7 9 in 2090 K2CK D15M is
220. shing Noise Zones Observe the following guidelines when a LIM 2094 AL09 is used in the Kinetix 2000 system and mounted left of the IAM This layout is preferred due to the reduced size of the very dirty zone e The clean zone C is to the right and beneath the Kinetix 2000 system grey wireway The dirty zone D is to the left and above the Kinetix 2000 system and above and below the LIM black wireway e The very dirty zone VD is limited to where the LIM VAC output jumpers over to the IAM Shielded cable is required only if the very dirty cables enter a wireway The SERCOS fiber optic cables are immune to electrical noise Planning the Kinetix 2000 Drive System Installation 29 Establishing Noise Zones LIM mounted left of IAM Dirty Wireway Clean Wireway Very Dirty LIM IAM Connections Segregated not in wireway Fiber optic Cable 5 Hpe i No Sensitive Equipment within 150 mm H Kinetix 2000 System 2094 AL09 Line Interface Module C ine Filter built into this LIM D 0 and Feedback Cables Route 24V dc Route Encoder Analog Registration 1 0 Shielded Shielded Cables 0 ar IAM AM 1 0 cable contains dirty relay wires route cable with 1 0 cable in dirty wireway 2 When space does not permit the 150 mm 6 0 in segregation use a grounded steel shield instead For examples refer to Chapter 4 of the System Design for Co
221. splay Configure RS 232 DF1 Devices Device AB_DF1 1 Comm Port cow Device 1770KF271785 KE SCANpor AutoConfiguration appears to have succeeded however RSLinx has Failed to identify the OK Auto Configure Auto Configuration Successfull Use Modem Dialer OK Delete Help If unsuccessful look at all of the settings device and baud rate and properly select Be sure RSLinx is occupying the appropriate COMM only Click OK to ignore the note that auto configuration appears successful but RSLinx could not identify the device Publication 2093 UM001A EN P March 2007 196 Upgrading Firmware Publication 2093 UM001A EN P March 2007 10 A second Caution will appear that also should be ignored by clicking OK Configure RS 232 DF1 Devices Device Name AB_DF1 1 Comm Port cow Device 1770 KF2 1785 KE SCANpoi Auto Configure Configuration Successfull Use Modem Dialer gure Diale Cancel Delete Help 11 Open RSWho in RSLinx to verify the new driver is recognized Connect To Drive Autobrowse _Refresh_ es z Browsing node 24 not found Workstation USMEQPIMICECH2 zx Linx Gateways Ethernet zx AB DF1 1 Data Highway Plus 01 il 01 Workstation USMEQPIMICECH2 Workstation zx AB ETH 1 Ethernet zx AB MASTR 1 DF1 1395 DC Serial Comm OK 12 Open Drive Executive advance to Drive Se
222. stem installation guidelines used in preparation for mounting your Kinetix 2000 drive components Topic Page System Design Guidelines 19 Minimizing Electrical Noise 26 ATTENTION Plan the installation of your system so that you can perform all cutting drilling tapping and welding with the system removed from the enclosure Because the system is of the open type construction be careful to keep any metal debris from falling into it Metal debris or other foreign matter can become lodged in the circuitry which can result in damage to components Use the information in this section when designing your enclosure and planning to mount your system components on the panel System Mounting Requirements The following is general information for selecting an enclosure and mounting your system components within the panel n order to comply with UL and CE requirements the Kinetix 2000 system must be enclosed in a grounded conductive enclosure offering protection as defined in standard EN 60529 529 to IP55 such that they are not accessible to an operator or unskilled person A NEMA 4X enclosure exceeds these requirements providing protection to IP66 The panel you install inside the enclosure for mounting your system components must be on a flat rigid vertical surface that won t be subjected to shock vibration moisture oil mist dust or corrosive vapors Publication 2093 UM001A EN P March 2007 20 Planning
223. ted 9 Recotd your bandwidth data for future reference 10 Click OK The Online Command Apply Tune dialog opens When the test completes the Command Status changes from Executing to Command Complete 11 Click OK Publication 2093 UM001A EN P March 2007 Configure and Startup the Kinetix 2000 Drive System 131 12 Determine if your test completed successfully If Then Your test completes successfully this dialog appears 1 Click OK 2 Go to step 13 4 Apply tune completed successfully Tune dependent attributes have been updated ue Refer to Help for a list of dependent attributes _ Your test failed this dialog appears 1 Click OK 2 Make an adjustment to motor velocity 3 Refer to appropriate Logix motion module 3 Tune canna 5s setup and configuration manual for more Command timed out information 4 Return to step 7 and run the test again OK Error 16382 0 13 Repeat Test and Tune the Axes for each axis Publication 2093 UM001A EN P March 2007 132 Configure and Startup the Kinetix 2000 Drive System Publication 2093 UM001A EN P March 2007 Introduction Safety Precautions Chapter Troubleshooting the Kinetix 2000 Drive System This chapter provides troubleshooting tables and for your Kinetix 2000 system components Topic Page Safety Precautions 133 Interpreting Status Indicators 134 Observe the f
224. tential difference between any encoder signal and input voltage logic ground 7 0V 12 0V Current draw dc Current draw into the or input 30 mA 30 mA Frequency of the AM or BM signal inputs The count E MM UE requency is 4 times this frequency since the circuitry 5 0 MHz g counts all four transitions Pulse width of the index input signal Since the index is IM pulse width active for a percentage of a revolution the speed will 125 nS determine the pulse width AM BM phase error Amount that the phase relationship between the AM 225 422 5 2 5 MHz line frequency and BM inputs can deviate from the nominal 90 i AM BM phase error Amount that the phase relationship between the AM 45 445 1 MHz line frequency and BM inputs can deviate from the nominal 90 AM BM and IM Input Specifications for Sine Cosine Encoders Parameter Description Min Max Sine cosine input signal Frequency of the Sine or Cosine signal inputs 250 kHz frequency Sine cosine Peak to peak input voltages of the Sine or Cosine 0 5V p p 2 0V p p input voltage inputs Feedback Power Supply The IAM and power circuit board generates 5V and 9V dc for motor and auxiliary feedback power Short circuit protection and separate common mode filtering for each channel is included Motor and Auxiliary Feedback Power Specifications Voltage Supply Reference Total Current Min Nominal Max 5 dc EPWR 5V 4 93
225. the Kinetix 2000 Drive System Installation Publication 2093 UM001A EN P March 2007 e Size the drive enclosure so as not to exceed the maximum ambient temperature rating Consider heat dissipation specifications for all drive components and other devices that radiate heat into the cabinet e Segregate input power wiring and motor power cables from control wiring and motor feedback cables as they leave the drive Maintain this separation throughout the wire run Use Rockwell Automation Allen Bradley shielded cable for power wiring and provide a grounded 360 clamp termination to the enclosure wall Use high frequency HF bonding techniques to connect the modules enclosure machine frame and motor housing and to provide a low impedance return path for high frequency energy and reduce electrical noise Refer to the System Design for Control of Electrical Noise Reference Manual publication GMC RMO001 to better understand the concept of electrical noise reduction To improve the bond between the power rail and subpanel construct your subpanel out of zinc plated paint free steel Transformer Selection The integrated axis module LAM does not require an isolation transformer for three phase input power However a transformer may be required to match the voltage requirements of the controller to the available service To size a transformer for the main ac power inputs refer to the Circu
226. tical applications require user intervention ATTENTION The Marker and Feedback tests require the motor brake be manually released The Test Command amp Feedback test releases the brake as a function of the test The Online Command dialog opens Follow the on screen test instructions When the test completes the Command Status changes from Executing to Command Complete Online Command Encoder Test x Command Status Command Complete K Move axis manually in positive direction ait for command to complete Check for errors if command fails Stop dill Help 7 Click OK Publication 2093 UM001A EN P March 2007 128 Configure and Startup the Kinetix 2000 Drive System The Online Command Apply Test dialog opens Feedback and Command amp Feedback tests only When the test completes the Command Status changes from Executing to Command Complete nline Command Apply Test x Command Status Command Complete A ait for command to complete Check for errors if command fails 8 Click OK 9 Determine if your test completed successfully If Then Your test completes successfully this dialog appears 1 Click OK 2 Remove Hardware Enable Input signal IOD AF 43 A Y Apply test completed successfully Feedback polarity has been updated _ 3 Go to the next section Tune the Axes Your test failed this dialog appears RSLogix 5000
227. tion Error Integratce Velocity Enoe integrator Friction Compensation I Velocity Feediorward AccelerationFeedtorward Torque Oliset Output Filter 9 c J e 3 Enter values for Travel Limit and Speed In this example Travel Limit 5 and Speed 10 The actual value for each programmed unit depends on your application 4 Select setting for Direction Forward Uni directional is the default 5 Check Tune boxes as approptiate for your application 129 6 Apply Hardware Enable Input signal IOD 43 for the axis you are tuning To avoid personal injury or damage to equipment apply 24V ATTENTION ENABLE signal IOD AF 43 only to the axis you are tuning A 7 Select the Start Tuning button to auto tune your axis The Online Command Tune Servo dialog opens When the test completes the Command Status changes from Executing to Command Complete Online Command Tune Servo x Command Status Command Complete OK i ait for command to complete after axis motion Stop Check for errors if command fails Help 8 Click OK Publication 2093 UM001A EN P March 2007 130 Configure and Startup the Kinetix 2000 Drive System The Tune Bandwidth dialog opens 84 10144 215 2997 Application Ress iter Actual bandwidth values Hz depend on your application and may require adjustment once motor and load are connec
228. tor SHUTDOWN Hard Fault Barm E80 Control hardware fault detected SHUTDOWN N HardwareFault i Common Bus Fit E81 Common bus follower IAM detected ac input power being applied SHUTDOWN N Hard Fault Flt E90 Pre charge resistor power exceeds the resistor rating SHUTDOWN N All RESERVED Others Publication 2093 UM001A EN P March 2007 148 Troubleshooting the Kinetix 2000 Drive System Publication 2093 UM001A EN P March 2007 Introduction Before You Begin Chapter 8 Removing and Replacing the Kinetix 2000 Drive Modules This chapter provides remove and replace procedures for your Kinetix 2000 system components Topic Page Before You Begin 149 Remove Modules from the Power Rail 150 Replace Modules on the Power Rail 151 Remove the Power Rail 151 Replace the Power Rail 152 ATTENTION This drive contains ESD Electrostatic Discharge sensitive parts and assemblies You are required to follow static control precautions when you install test service or repair this assembly If you do not follow ESD control procedures components can be damaged If you are not familiar with static control procedures refer to Allen Bradley publication 8000 4 5 2 Guarding Against Electrostatic Damage or any other applicable ESD Protection Handbook You will need the following tools available before you begin removal and replacement procedures e A flat blade screwdr
229. tor 178 2093 with MPL A motor 178 2093 with TL Series motor 180 2093 with Y Series motor 181 external brake relay 182 notes 168 power dc common bus 174 175 176 power IAM with LIM 169 170 power single phase IAM without LIM 173 power three phase AM without LIM 172 shunt module 177 interpreting status indicators 134 inverter bus capacitance 211 IPM fault 135 K Kinetix 2000 additional resources 10 axis properties 119 module capacitance values 211 module properties 114 overview 11 power single and three phase converter 154 specifications brake relay coil current 182 enclosure sizing 160 maximum feedback cable length 161 power AM 230V 155 AM inverter 155 auxiliary power 156 converter 154 inverter 155 single phase system 156 SM 156 157 three phase system 156 weight 162 system ovetview 12 Kinetix 2000 specifications 154 powet single and three phase 154 L leader IAM 15 67 LED bus status 139 141 comm status 139 drive status 124 139 logic power 123 SERCOS interface module 125 seven segment 123 shunt fault 141 status 123 temperature fault 141 line filters specifications 163 line interface module circuit breakers 123 interconnect diagram 169 170 three phase power 124 wiring 24V connector 80 wiring APL connector 77 wiring CPL connector 79 wiring IPL connector 77 wiring OPL connector 78 wiring P2L connector 79 logic power LED 123 low profile connector kits wiring 95 m
230. trol Selection Guide publication GMC SG001 to set the motor brake delay times 11 To configure the delay times a Set the Brake Engage Delay Time b Set the Brake Release Delay Time c Click Close 12 Click OK Publication 2093 UMO001A EN P March 2007 122 Configure and Startup the Kinetix 2000 Drive System 13 Repeat steps 1 12 for each axis module 2093 AMPx or 2093 AMO in the Kinetix 2000 system 14 Verify your Logix program and save the file Download the Program After completing the Logix configuration you must download your program to the Logix processor Publication 2093 UM001A EN P March 2007 Configure and Startup the Kinetix 2000 Drive System 123 Apply Power to the This procedure assumes that you have wired and configured your Kinetix 2000 Kinetix 2000 Drive system with or without the LIM and your SERCOS interface module To avoid hazard of electrical shock perform all mounting and wiring of IAM AM SM LIM or power rail prior to applying power Once power is applied connector terminals may have voltage present even when not in use Refer to the Line Interface Module Installation Instructions publication 2094 13005 when troubleshooting the LIM status indicators and for the location of LIM circuit breakers connectors and status indicators SHOCK HAZARD Follow these steps to apply power to the Kinetix 2000 system 1 Disconnect the load to the motot To avoid p
231. ts describes the measurement units for this parameter For example Volts and Amps Internal values are unscaled values used by the device and by controllers that communicate with the device The information in this field provides the scaling information to calculate the internal value from a scaled value Displays the source parameter if any Displays comments previously entered The minimum value is the lowest possible value for this parameter The maximum value is the highest possible value for this parameter Displays an alias or alternative name previously entered The following columns do not appear by default but can be made available through View Options Internal Default Internal Min Internal Max The default value expressed in internal units The minimum value expressed in internal units The maximum value expressed in internal units Publication 2093 UMO001A EN P March 2007 200 Upgrading Firmware Drive Executive parameters are identical to those in Drive Explorer but the format is different You only see the parameter number parameter name related data Parameter number progression is 0 999 Axis 1 IAM 1000 2000 3000 4000 5000 6000 7000 1999 Axis 2 2999 Axis 3 3999 Axis 4 4999 Axis 5 5999 Axis 6 6999 Axis 7 7999 Axis 8 For example scrolling down to parameter 30 In this example 30 or the IAM inverter versio
232. ture difference between Where T is temperature difference between inside air and outside ambient C Q is heat inside air and outside ambient F Q is heat generated in enclosure Watts and A is generated in enclosure Watts and A is enclosure surface area m The exterior surface enclosure surface area 2 The exterior surface of all six sides of an enclosure is calculated as of all six sides of an enclosure is calculated as A 2dw 2dh 2wh 2dw 2dh 2wh 144 Where d depth w width and h height are Where d depth w width and h height are in meters inches The maximum ambient rating of the Kinetix 2000 system is 50 122 F and if the maximum environmental temperature is 30 C 86 F then Q 606 and T 20 in the equation below 0 38 421 22025 7 458m 1800 11 479 In this example the enclosure must have an exterior surface of 4 58 meters If any portion of the enclosure is not able to transfer heat it should not be included in the calculation Since the minimum cabinet depth to house the 230V drive selected for this example is 200 mm 7 9 in then the cabinet needs to be approximately 2000 mm 78 7 in high x 1000 mm 39 4 in wide x 200 mm 7 9 in deep 2 x 0 2 x 1 0 2 x 0 2 x 1 0 2 x 1 0 x 2 0 4 8 m 2 x 7 9 39 4 2 x 7 9 x 39 4 2 x 39 4 x 78 7 48 ft Because this cabinet size is considerably larger than what is necessary to hou
233. ule SERCOS interface module 1 controls axes 1 5 and module 2 controls axes 9 16 The shunt module or a slot filler in xxxxx system 2 occupies a slot but is not assigned a node address since future expansion of this system is impossible IMPORTANT Only the following modules may occupy slot eight in the 2093 PRS8S power rail a shunt module 2093 ASPO6 a slot filler 2093 PRF or a double width axis module 2093 AMO1 or 2093 AM02 occupying both slots seven and eight IMPORTANT The node address for each axis module is determined by the base node address switch setting on the IAM Do not position axis modules to the right of a shunt or slot filler modules The added distance between non adjacent axes can increase electrical noise and impedance and requires longer fiber optic cable lengths Configure and Startup the Kinetix 2000 Drive System 109 Configure the Logix SERCOS Interface Module This procedure assumes that you have wired your Kinetix 2000 system and have configured the baud rate and optical power switches IMPORTANT In order for the Kinetix 2000 drive to communicate with the SERCOS interface module indicated by the three LED indicators on the module going solid green your RSLogix 5000 software must be version 11 0 or later For greater detail on the RSLogix 5000 software as it applies to configuring the ControlLogix CompactLogix or SoftLogix SERCOS modules refer to Additiona
234. unications from the Explore menu to configure the communication between your computer DriveExplorer and the 1203 888 SCANport The diagram shows the appropriate settings Configure Communication C Ethernet r Checksum Type Serial Port COM 1 Baud 38400 cRC46 Show Hidden Parameters Control Timeout 5 Defaults Cancel Comm Timeout 4 v 7 When communication is established DriveExplorer displays the following message and then begins to map your Kinetix 2000 system Device Read Node 1 Reading Product File Group Text Cancel 8 Successful uploading of your Kinetix 2000 system parameters results in a Kinetix 2000 system display Publication 2093 UM001A EN P March 2007 190 Upgrading Firmware Publication 2093 UM001A EN P March 2007 9 Expand Node 1 2093D SERVO to examine the Kinetix 2000 system configuration Node 1 2093D SERVO 0 20930 SERVO Config Custom View Compare Results Parana IAM IAM Diags IAM Group IAM Axis 2 Axis 2 Diags Axis 2 Group Axis 2 I O Axis 3 Axis 3 Diags Axis 3 Group Axis 3 I O Axis 4 Axis 4 Diags Axis 4 Group Axis 400 Axis 5 Axis 5 Diags Axis 5 Group Axis 5 IJO Axis 6 Axis 6 Diags Axis 6 Group 2093D SERVO Config 0000 Port 0 Revision 1 095 Series Sys Wait Bus Feedback Node 1 Port 0 2093D Servo Config is the Kinetix 2000 system 214748 214748 3647
235. utput 24VPWR Publication 2093 UM001A EN P March 2007 IMPORTANT Signals 24V_PWR and 24V COM are a 24V dc source that should only be used to power inputs on the 44 1 0 and AF connector listed above Kinetix 2000 Connector Data 47 Auxiliary Feedback Device Pinouts The table shows the connections made to the drive or connector kit for the following common auxiliary feedback devices e Stegmann Hiperface SKS SKM SRS SRM e Sine Cosine with Marker 0 6 12V Differential TTL line driver RS422 with matker 10D AF Pin 1 Hiparfaca A AQB Incremental Sine Cosine Incremental 16 DATA IM IM 17 DATA IM IM 18 EPWR_5V 9 EPWR 5V EPWR sy 9 19 ECOM ECOM ECOM 20 EPWR 9y EPWR_9V 9 31 BM BM BM 32 BM BM BM 33 AM AM AM 34 AM AM AM The polarity of the feedback is defined as B leads A for positive sense 2 Hiperface devices support only absolute homing B Power depends on device requirement Pin Orientation for 44 pin 1 0 and Auxiliary Feedback IOD AF Connector 44 pin IAM AM 1 0 and Auxiliary Feedback Connector Pin 30 Pin 31 Pin 1 Pin 16 Publication 2093 UM001A EN P March 2007 48 Kinetix 2000 Connector Data Motor Feedback Connector Pinouts The table shows the connections made to the drive or connector kit f
236. veHardFault E67 Operating system failed SHUTDOWN N Task init DriveHardFault SORGE i E68 DPI communication failed STOP N DriveHardFault usa E69 Non volatile memory attribute out of range SHUTDOWN N DriveHardFault ciat bn E70 Non volatile memory corrupted SHUTDOWN N NV Mem Init DriveHardFault iie E71 RAM or flash memory validation failure SHUTDOWN N Memory Init Inverter temperature limit exceeded DriveOvertempFault Drive 0 72 Firmware It protection does not generate a fault rather it SHUTDOWN Y Drive Overtemp dynamically folds back current when 11096 of drive rating is reached C icat E73 Power rail backplane CAN communications failed STOP N DriveO tFault dd E74 The converter has exceeded its converter rating SHUTDOWN N DriveO ItageFault The IAM AM or SM has exceeded its shunt resistor continuous Wird QE E75 rating SHUTDOWN for IAM DISABLE for AM IAM also provides SHUTDOWN N Shunt Time Out fault handling for shunt module DriveHardFault M s E76 Either DPI or backplane CAN initialization failure SHUTDOWN N DriveHardFault Generated by IAM if the power rating of an AM on the same power Module Mismatch pu rail does not match with IAM input power rating SHUTDOWN DriveHardFault 78 Control hardware fault detected SHUTDOWN N DriveOvervoltageFault Power rail mounted shunt module fault Displayed on IAM Shunt Module Fit E79 seven segment Fault Status LED indica
237. wer wee be es ance wale vaa pM arab teen s 55 Feedback Specifications 57 Motor and Auxiliary Feedback Specifications 57 Motor Encoder Feedback Specifications 58 Feedback Power Supply ere n n ce xr Gv ma ss 59 Locating Shunt Module Connectors and 60 Chapter 5 JG USO WELDEIS Ce el Crete Ru e bee uten fases oos 61 Basic Wiring Requirements 61 Building Your Own 62 Routing Power and Signal 62 Determining Your Type of Input Power 63 Grounded Three phase Power Configurations 63 Ungrounded Three phase Power Configurations 65 Grounded Single phase Power Configurations 66 DC Common Bus 67 Common Bus Fusing 68 Setting the Ground Jumper in Ungrounded Power Configurations 69 5 eub e a ee DERE CE Ora Raa 69 Grounding Your System Los tea ce Tel cie ub De pego 71 Grounding Your System to the 71 Grounding Multiple 72 Power Wiring Requirements 73 Witing Ure Gt itty conte ete Shien rte t
238. wer 6 DC Connections DC Bus Note 22 Fusing 1 Note 2 4 2 BR lt T Motor Brake Brake BC 3 lt BR Connections Connector 4 1 CONTEN Contactor Enable 2 CONTEN Connector Kinetix 2000 COMMON BUS FOLLOWER IAM 2093 AC05 MPx Bonded Cabinet Ground Bus Power Rail Ground Stud 1 2 CTRL 1 Control Power CTRL 2 CPD Connector 1 U I Three Phase NC 1 T Motor Power V 3 Motor Power NC 2 T MP Connector w H Connections DC Bus MEI 4 0 Note 14 Fusing ee ay L3 Main Power Note 2 l IPD Connector A DC DC Note 22 1 PWR lig BRE BR MBRK lt Motor Brake Brake 3 lt Connections Connector MBRK 4 COM From Leader 1 Control Circuit 2 CONT Contactor Enable Connections lt Publication 2093 UM001A EN P March 2007 CONT EN 1 CED Connector INDICATES USER SUPPLIED COMPONENT Interconnect Diagrams 177 Shunt Module Wiring Examples Shunt Module Wired for Internal Operation default configuration Kinetix 2000 SHUNT MODULE 2094 ASP06 External Thermal Switch TS1 TS Connector gt DC External Shunt Resistor 2 RC Connector INT 2094 ASPO6 is jumpered for internal shunt Publication 2093 UM001A EN P March 2007 178 Interconnect Diagrams Axis Module Motor Wiring Examples Wiring Example for MP Series Low Inertia an
239. x Command timed out Test Increment maybe to large i Test command cannot be completed OK Error 16382 0 Tune the Axes 1 Click OK 2 Verify the Bus Status LED indicator turned solid green during the test 3 Verify that the Hardware Fnable Input signal IOD AF 43 is applied to the axis you are testing 4 Verify conversion constant entered in the Conversion tab 5 Return to main step 7 and run the test again Follow these steps to tune the axes 1 Vetify the load is still removed from the axis being tuned ATTENTION A To reduce the possibility of unpredictable motor response tune your motor with the load removed first then reattach the load and perform the tuning procedure again to provide an accurate operational response Publication 2093 UM001A EN P March 2007 Configure and Startup the Kinetix 2000 Drive System 2 Select the Tune tab General Motion Planner Units Drive Motor Motor Feedback AuxFeedback Conversion Homing Hookup Tune Dynamics Gains Output Limits Offset FaultActions Tag Travel Limit foo Position Units x Ei p Position Units s DANGER This tuning A procedure may cause axis moton with the controller Temue Force 1000 Rated in program mode Direction Forward Uni direcbonal Forward Une directional Damping Factor Forward Bi direchonal Reverse Uni direcbonal Tune Reverse Bi deechonal Posi
240. x Page 94 Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System 93 Flying lead Feedback Cable Pin outs 2090 XXNFMP Sxx Feedback Cable Motors with High Resolution Feedback MER Motor Drive MF Connector MPL A3xxx M S MPL A3xxx H Connector Pin MPL AS MIS MPLA oac MS MPG Axxx M S MPL A5xxx H A Sine Sine AM 1 B Sine Sine AM 2 Cos Cos BM 3 D Cos Cos BM 4 E Data Data IM 5 F Data Data IM 10 K Reserved EPWR_5V EPWR_5V 14 L Reserved ECOM ECOM 6 N EPWR 9V Reserved Reserved 7 ECOM Reserved Reserved 6 R TS TS TS 11 S TS TS TS T Reserved Reserved S1 12 U Reserved Reserved S2 13 V Reserved Reserved S3 8 2090 XXNFMF Sxx Feedback Cable Motors with High Resolution Feedback CIBUM MM Motor PLACE Des onnector T V onnector Pin MPF ASxx M S MPEMPS ADOCM S MPL Azar H Pin MPF MPS A45xx M S MPS A5xx M S 1 Sine Sine 1 2 Sine Sine AM 2 3 Cos Cos BM 3 4 Cos Cos BM 4 5 Data Data IM 5 6 Data Data IM 10 9 Reserved EPWR 5V EPWR 5V 14 10 Reserved ECOM ECOM 6 11 EPWR_9V Reserved Reserved 7 12 ECOM Reserved Reserved 6 Publication 2093 UM001A EN P January 2007 94 Connecting the Kinetix 2000 Drive System Motors with High Resolution Feedback Motors with Incremental Encoder Feedback
241. xists in the leader drive Set Ground Jumper Follow these steps to set the ground jumpet 1 Remove the front panel on your IAM Disconnect all headers from the electrical connectors and the IMPORTANT SERCOS fiber optic cables on the IAM before attempting to remove the front panel Publication 2093 UM001A EN P January 2007 70 Connecting the Kinetix 2000 Drive System IAM Ground Jumper Connections IPD Connector 9 Grounded Input Power Configuration Ungrounded Input Power Configuration Factory Default Field Selected CONS Jumpered to CONG CON6 Jumpered to CON7 2 Move the jumper wire to connect CONG and CON pins The jumper wire and connections CON5 CON6 and CON7 are IMPORTANT located on the lower front of the Power Converter leftmost board below the Input Power IPD connector The factory default configuration for grounded power has the jumper installed between CON5 and CONG 3 Replace the IAM front panel 4 Remount the IAM on the power rail Refer to Replace Modules on the Power Rail on page 151 Publication 2093 UM001A EN P January 2007 Connecting the Kinetix 2000 Drive System 71 Grounding Your System All equipment and components of a machine or process system should have a common earth ground point connected to chassis A grounded system provides a ground path for short circuit protection Grounding your modules and panels minimize shock hazard to

2093-UM001 - Rockwell Automation

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