Kinetix 3 Component Servo Drives
Contents
1. order paper copies of technical documentation contact your local Rockwell Automation pap P y distributor or sales representative Rockwell Automation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 19 Notes Rockwell Automation Publication 2071 IN001B EN P August 2010 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical manuals a knowledge base of FAQs technical and application notes sample code and links to software service packs and a MySupport feature that you can customize to make the best use of these tools For 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 www rockwellautomation com support Installation Assistance If you experience a problem 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 product up and running United States or Canada 1 440 646 3434 Use the Worldwide Locator at Outside United States i i or Canada http www rockwellautomation com support americas phone_en html or c2. 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 To avoid personal injury and or equipment damage make sure shielded power cables are grounded to prevent potentially high voltages on the shield Rockwell Automation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 13 Mating Connectors and Cables Connector Type of Connector Wire Size Cat No 2 Input Power Single row spring clamp ae i n connectors with 7 5 mm 8 mm 0 31 in of 2071 CONN1 Output Motor Power 0 30 in spacing wire exposed ol Input Output 0 pin mini D 0 25 0 05 mm2 2071 TBIO Motor Feedback 20 pin mini D 24 30 AWG 2071 TBME 1 The tool Wago 231 131 for opening individual cage clamp power connectors is supplied with the drive You can purchase the replacement tool separately Connector Type of Mating Cable Cable 090 CCMPCDS 23AA01 090 CCMPCDS 23AA03 Serial Interface pene 090 CCMCRDS 48AA01 Configuration 2 Comm0A Comm0B 2090 CCMCRDS 48AA03 2 2 090 CCMDSDS 48AA01 090 CCMDSDS 48AAP3 Drive to drive control Rockwell Automation Publication 2071 IN001B EN P August 2010 14 Kinetix 3 Component Servo Drives Ground Your Kinetix 3 Drive to the Subpanel If
3. 0 ip T T 6 71 ERE 155 0 ay Wel 6 11 a pe l Ome i uf i a 00 ha H K geaen Mounting hole top and slot bottom Chassis Ground require M5 x 10 bolts Terminals 2 Dimensions are in millimeters inches Drives are designed to metric dimensions inches are a mathematical conversion Rockwell Automation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 7 Connector Data Use this illustration to identify the Kinetix 3 drive features and indicators Kinetix 3 Drive Features and Indicators Item Description 1 Left right and up down keys 2 Analog output A out 3 RS 485 communication termination switch 4 Input power IPD 5 Main power indicator s 6 Shunt power BC e 7 Motor power MP ED 8 Ground lug 9 Motor feedback MF m 10 10 Input output 1 0 11 Serial interface CommO0B down r 12 Serial interface Comm0A up D I 13 Enter key 14 Mode set key 15 7 segment status indicator o A 9 Kinetix 3 Drive Connectors Designator Description Connector A out Analog output 4 pin connector header IPD AC and control power input 6 pin quick connect ter
4. MP header a connector tool for opening wire clamps on the power connector a ground clamp and two 6 32 x 1 screws to provide ground and strain relief for the motor power cable these installation instructions publication 2071 IN001 Replacement connector sets catalog number 2071 CONN1 are also available Refer to the Kinetix Motion Control Selection Guide publication GMC SG001 for more information on replacement connector sets R ockwell Automation Publication 2071 IN001B EN P August 2010 4 Kinetix 3 Component Servo Drives Install the Kinetix 3 Drive These procedures 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 SHOCK HAZARD To avoid hazard of electrical shock perform all mounting and wiring of the Kinetix 3 drive prior to applying power Once power is applied connector terminals may have voltage present even when not in use 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 Mount the Kinetix 3 Dr
5. com literature 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 or 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 liability 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 part without written permission of Rockwell Automation Inc is prohibited Throughout this manual when necessary we use notes to make you aware of safety considerations dentifies 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 dentifies information about practices or circ
6. 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem 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 Rockwell Automation Publication 2071 IN001B EN P August 2010 PN 85627 Supersedes Publication 2071 IN001A EN P April 2010 and 2071 DU001A EN P August 2010 Copyright 2010 Rockwell Automation Inc All rights reserved Printed in the U S A
7. 7 Digital output 3 BK OUTPUT3 48 Digital output 3 BK OUTPUT3 49 0 C for pulse of 24V level 24V_PULS 50 Reserved _ Rockwell Automation Publication 2071 IN001B EN P August 2010 12 Kinetix 3 Component Servo Drives Power Wiring Requirements 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 proper operation Terminals Cat No Description Pin Signal IPD L1 L1 2071 APO IPD L2 L2 2071 AP1 IPD L1C Lic 2071 AP2 IPD L2C L2C 2071 AP4 Ground screw Ground IPD L1 L1 IPD L2 L2 IPD L3 L3 2071 AP8 Input and control iPD L1C Lic power IPD L2C L2C Ground screw Ground IPD L1 L1 IPD L2 L2 2071 A10 IPD L3 L3 2071 A15 IPD L1C LIC IPD L2C L2C Ground screw Ground P U U P V V 2071 xxx Motor power P W WwW Ground screw GND n 1 BC B1 B1 2071 xxx Shunt resistor BC B2 B2 1 Use for shunt resistor connection only ATTENTION To avoid on and off Recommended Wire Size mm AWG 2 5 14 Strip Length mm in 8 0 3 Torque Value Nem bein N A 1 25 11 N A 1 25 11 N A 1 25 11 N A 1 25 11 N A 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
8. Installation Instructions Allen Bradley Kinetix 3 Component Servo Drives Catalog Numbers 2071 APO 2071 AP1 2071 AP2 2071 AP4 2071 AP8 2071 A10 2071 A15 Topic Page About the Kinetix 3 Drives 1 Important User Information 2 Catalog Number Explanation 3 Before You Begin 3 Connector Data 7 Power Wiring Requirements 12 Mating Connectors and Cables 13 Ground Your Kinetix 3 Drive to the Subpanel 14 Additional Resources 18 About the Kinetix 3 Drives Kinetix 3 component servo drives provide simple solutions for applications with output power requirements in the range of 1 30 12 37 A rms 50 1500 W Refer to the Kinetix 3 Component Drive User Manual publication 2071 UM001 for detailed information on wiring applying power troubleshooting and integrating with MicroLogix controller platforms For application related information about Kinetix 3 drives refer to the online help provided with Ultraware software version 1 79 or later catalog number 2098 UWCPRG Rockwell Allen Bradley Rockwell Software Automation 2 Kinetix 3 Component Servo Drives 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 or online at http www rockwellautomation
9. N 5 High frequency pulse input A HF_PULS 6 High frequency pulse input A HF_PULS 7 Encoder z pulse Z PULSE 8 Encoder z pulse Z PULSE g Velocity command input VCMD 20 Velocity command input VCMD 21 Current command input ICMD 22 Current command input ICMD 23 High frequency pulse input B HF_SIGN 24 High frequency pulse input B HF_SIGN 25 O C for sign of 24V level 24V_SIGN 26 Digital input 8 INPUT8 27 Digital input 9 INPUTS 28 Digital input 10 INPUT10 29 Buffered encoder channel A AM 30 Buffered encoder channel A AM 31 Buffered encoder channel B BM 32 Buffered encoder channel B BM Rockwell Autom ation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 11 1 0 10D Connector cont 10D Pin Description Signal 33 Buffered encoder channel Z IM 34 Buffered encoder channel Z IM 35 Serial data of absolute encoder PS 36 Serial data of absolute encoder PS 37 Alarm output 1 FAULT1 Digital output4 QUTPUT4 38 Alarm output 2 FAULT2 Digital output OUTPUTS 39 Alarm output 3 FAULT3 Digital output6 OQUTPUT6 40 Alarm output FCOM Digital outputs ground OUT COM 41 Digital output 1 P_COM OUTPUT1 42 Digital output 1 P_COM OUTPUT1 43 Digital output 2 TG_ON OUTPUT2 44 Digital output 2 TG_ON OUTPUT2 45 Servo alarm FAULT 46 Servo alarm FAULT 4
10. cal conversion Catalog Number 2071 AP4 153 4 58 0 F 6 04 J F 2 29 7 5 0 48 3 4 0 50 0 0 20 F a9 r 5 55 1 asn 7 4 F H o H H p T i oO QE a o 145 155 0 5 71 6 11 D E E 4 HEEL Es Sea H t 0 20 Mounting hole top and slot bottom require M4 x 10 bolts Chassis Ground Terminals 2 Dimensions are in millimeters inches Drives are designed to metric dimensions inches are a mathematical conversion Rockwell Automation Publication 2071 IN001B EN P August 2010 6 Kinetix 3 Component Servo Drives Catalog Numbers 2071 AP8 2071 A10 and 2071 A15 198 6 81 0 H 7 82 D Ce 30 59 0 50 0 0 2 186 2 02 937 734 4 1 97 1 B T m i 145
11. d 0 Breakout Board Installation Instructions blication 2071 INO02 nformation on installing and wiring a Kinetix 3 motor 1 0 breakout board p Serial Communication Cables Installation nstructions publication 2090 IN019 nformation on installing and schematics for the seria communication cables used with a Kinetix 3 drive icroLogix nstallation Instructions publica 100 Programmable Controllers ion 1763 INO01 how spec ifications nformation on how to assemble and mount the controller o upgrade firmware and controller technical icroLogix 1400 Programmable Controllers nformation on how to assemble and mount the controller nstallation Instructions publication 1766 IN001 how to upgrade firmware and controller technical specifications Kinetix 3 Component Servo Drive Serial Host nformation on the serial communication commands both Command Reference Manual publication ASCII and ModBus for interfacing a motion controller 2071 RMO00 with the Kinetix 3 drive Industrial Automation Wiring and Grounding Provides general guidelines for installing a Rockwell Guidelines publication 1770 4 1 Automation industrial system Product Certifications website Provides declarations of conformity certificates and other http Awww ab com certification details You can view or download publications at http www rockwellautomation com literature To
12. he drive Lay out and drill holes for the cable clamp ATTENTION Plan the installation of your system so that you can perform all A 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 Locate the position on the motor power cable that comes under the clamp and remove about an 25 4 mm 1 in of the cable jacket to expose the shield braid Position the exposed portion of the cable braid directly in line with the clamp Clamp the exposed shield to the panel with the clamp and two 6 32 x 1 screws provided Repeat steps 1 9 for each Kinetix 3 drive you are installing Rockwell Automation Publication 2071 IN001B EN P August 2010 18 Kinetix 3 Component Servo Drives Additional Resources These documents contain additional information concerning related Rockwell Automation products Resource publication 2 Kinetix 3 Component Servo Drive User Manual 071 UM001 Description roub drive nformation on installing configuring starting up leshooting and specifications for your Kinetix 3 servo system otor Feedback Breakout Board Installation nstructions publication 2071 INO03 nformation on installing and wiring a Kinetix 3 motor eedback breakout boar
13. ive Follow these steps to mount the drive 1 Observe these clearance requirements when mounting the drive to the panel Dimensions are in millimeters inches t 50 0 1 97 Minimum 30 0 1 18 Panel Depth 1 18 qe 10 0 039 mp ob 2 IMPORTANT Mount the module in an upright position as shown Do not mount the module on its side 2 Mount the Kinetix 3 drive to the cabinet subpanel with an M4 6 32 steel machine screw torqued to 1 1 Nem 9 8 lbein Rockwell Automation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 5 Product Dimensions Catalog Numbers 2071 APO 2071 AP1 and 2071 AP2 i 53 4 4 6 04 41 0 a2 k ra xA H 5 55 al 145 0 on 5 71 oo i i tg Eee Eo eke oad fh TT OF 155 0 6 11 7 5 0 A 0 20 Mounting hole top and slot Chassis Ground bottom require M4 x 10 bolts Terminal 1 Dimensions are in millimeters inches Drives are designed to metric dimensions inches are a mathemati
14. minal block BC Shunt power 2 pin quick connect terminal block MP Motor power 3 pin quick connect terminal block Comm0A Serial interface up 6 pin IEEE 1394 connector Comm0B Serial interface down 6 pin IEEE 1394 connector 10D 1 0 50 pin mini D connector MF Motor feedback 20 pin mini D connector Rockwell Automation Publication 2071 IN001B EN P August 2010 8 Kinetix 3 Component Servo Drives Analog Output A out Connector A out Pin Description Signal 1 Analog output 1 AOUT1 2 Analog output 1 ground ACOM 3 Analog output 2 AOUT2 4 Analog output 2 ground ACOM Input Power IPD Connector IPD Pin Description Signal L1 Main AC power L1 L2 Main AC power L2 L3 Main AC power L3 LiC L1C Control power LIC L2C L2C Control power L2C DC DC bus negative DC not supported 1 L3 is not used for single phase drives Shunt Power BC Connector Description B1 Shunt resistor B1 DC bus positive not supported B2 Shunt resistor B2 Motor Power MP Connector MP Pin Description Signal U Motor power U U V Motor power V V W Motor power W W Rockwell Automation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 9 Motor Feedback MF Connector MF Pin Description Signal 1 Encoder power ground ECOM 2 Thermal sensor input TS 3 A positive differential inpu
15. n Publication 2071 IN001B EN P August 2010 16 Kinetix 3 Component Servo Drives Kinetix 3 Drive Power and Ground Wiring Bulletin TLY LDC Series and LDL Series motors and MPAS and TLAR actuators Follow this procedure to install Bulletin TLY LDC Series and LDL Series motors and MPAS and TLAR actuators with catalog number 2090 CPWM4DF xAExx or 2090 CPWMG6DF 16AAxx 1 Terminate the power input ground wire with a ring lug as shown in Kinetix 3 Drive Power and Ground Wiring Bulletin TL motors on page 15 Dimensions are in millimeters inches aS Item Description 2071 AP4 Kinetix 3 drive shown 2 Motor power ground clamp 3 Motor power cable 4 Expose 25 mm 1 in of cable shield 5 If panel is painted remove paint to provide metal to metal contact 6 Sub panel 7 Ring lug 8 Ground screw 2071 AP0 2071 AP1 and 2071 AP2 drives have one grounding screw on the heatsink 2071 AP4 2071 AP8 2071 A10 and 2071 A15 drives have two grounding screws on the heatsink 2 Terminate motor power ground wire with a ring lug Rockwell Automation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 17 Attach power input ground wire and motor power ground wire to ground screws Torque the ground screw to 1 25 Nem 11 Ibein Locate a suitable position for installing the cable shield clamp within 50 75 mm 2 3 in of t
16. ontact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation 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 and needs to be returned follow these procedures Contact your distributor You must provide a Customer Support case number call the United States oe phone number above to obtain one to your distributor to complete the return process Please contact your local Rockwell Automation representative for the return Outside United States procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Allen Bradley Kinetix LDC Series LDL Series MicroLogix Rockwell Software Rockwell Automation TechConnect and Ultraware are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Rockwell Otomasyon Ticaret A Kar Plaza Merkezi E Blok Kat 6 34752 erenk y istanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382
17. t A 4 A negative differential input A 5 B positive differential input B 6 B negative differential input B 7 ndex positive differential input l 8 ndex negative differential input l g egative limit sensor input LMT 10 Serial positive SD Hall feedback S1 S1 11 Shield drain GND 12 Reserved 13 Serial negative SD 14 Hall feedback S2 S2 15 Reserved 16 Hall feedback S3 S3 17 Positive limit sensor input LMT 18 BAT for motor side BAT 19 BAT for motor side BAT 20 Encoder 5 input power EPWR Serial Interface Comm0A up and Comm0B down Connector sommes and Description Signal CommOB Pin 1 RS 232 transmit XMT 2 RS 232 receive RCV 3 Reserved 4 5V power ground GND 5 RS 485 DX 6 RS 485 DX Rockwell Automation Publication 2071 IN001B EN P August 2010 10 Kinetix 3 Component Servo Drives 1 0 10D Connector 10D Pin Description Signal 1 24V Input 24V PWR 2 24V Input 24V PWR 3 Digital input 1 SV ON INPUT1 4 Digital input 2 P OT INPUT2 5 Digital input 3 N OT INPUT3 6 Digital input 4 P CON INPUT4 7 Digital input 5 A RST INPUTS 8 Digital input 6 N TL INPUT6 9 Digital input 7 P TL INPUT7 0 ESTOP default disable ESTOP 1 Follower input A PLUS 2 Follower input A PLUS 3 Follower input B SIGN 4 Follower input B SIG
18. the Kinetix 3 drive is mounted on a painted subpanel bond it to the cabinet ground bus To do this attach a braided ground strap or 0 4 mm 12 AWG solid copper wire that is 100 mm 3 9 in long between the top mounting screw and the bonded cabinet ground Connecting the Braided Ground Strap Example Item Description Mounting screw Braided ground strap Bonded cabinet ground bus Ground grid or power distribution ground on A wy N 2071 AP4 Kinetix 3 drive shown Rockwell Automation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 15 Kinetix 3 Drive Power and Ground Wiring Bulletin TL motors Follow this procedure to install a Bulletin TL motor with catalog number 2090 DANPT 16Sxx cable Terminate the power input ground wire with a ring lug Attach input power and motor power grounds to ground screws and torque to 1 25 Nem 11 lbein Item Description 2071 AP4 Kinetix 3 drive shown Input power cable Control power cable Motor power cable Ring lug Ground screw 2071 AP0 2071 AP1 and 2071 AP2 drives have one grounding screw on the heatsink 2071 AP4 2071 AP8 2071 A10 and 2071 A15 drives have two grounding screws on the heatsink oO om A wl N Rockwell Automatio
19. umstances 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 consequences Labels may be on or inside the equipment for example drive or motor to alert people tha dangerous voltage may be present Labels may be on or inside the equipment for example drive or motor to alert people tha surfaces may reach dangerous temperatures PP Pe IMPORTANT Identifies information that is critical for successful application and understanding o the product Rockwell Automation Publication 2071 IN001B EN P August 2010 Kinetix 3 Component Servo Drives 3 Catalog Number Explanation This publication applies to the following Kinetix 3 drives Cat No Component Servo Drive 230V 2071 APO Kinetix 3 220V AC 1 0 6 A 2071 AP1 Kinetix 3 220V AC 1 1 1 A 2071 AP2 Kinetix 3 220V AC 1 1 7 A 2071 AP4 Kinetix 3 220V AC 1 3 3 A 2071 AP8 Kinetix 3 220V AC 1 or 3 5 0 A 2071 A10 Kinetix 3 220V AC 3 7 0 A 2071 A15 Kinetix 3 220V AC 3 9 9 A Before You Begin Remove all packing materials wedges and braces from within and around the components After unpacking check the item nameplate catalog number against the purchase order Parts List The Kinetix 3 drive ships with a general purpose power input IPD header shunt resistor BC header and motor power
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